Benutzeranleitung / Produktwartung MR-J2S- A des Produzenten Mitsubishi Electronics
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General-Purpose A C Serv o J2-Super Series General-Purpose Interface MR-J2S- A Serv o Amplifier Instruction Manual B.
A - 1 Safety Instructions (Alwa ys read t hese instruct ions b efore us ing t he equipm ent.) Do not attem pt to install, ope rate, m aintain or ins pect the serv o amplif ier and ser vo motor unt il .
A - 2 1. To prevent electric shock, note the follow ing: WARNING Befor e wirin g or insp ection, s witc h power off and wait f or more th an 10 m inutes. Then, c onfirm the vol tage is saf e with v oltage t ester. Otherwis e, y ou ma y get an e lectric shock .
A - 3 4. Additional instruct ions The fol lowing ins tructions sho uld als o be ful ly noted . Incor rect h andling ma y ca use a fa ult, inj ury, el ectric shock , etc. (1) Transportation and installation CAUTION Trans port the pro ducts correc tly accor ding to their weights .
A - 4 CAUTION Secur ely att ach the ser vo m otor to th e mac hine. If at tach ins ecure ly, the ser vo m otor ma y come of f during operat ion. The s ervo motor with reductio n gear m ust b e insta lled in t he sp ecified direct ion to pr event oil leak age.
A - 5 (4) Usa ge CAUTION Prov ide an extern al emergenc y stop c ircuit to ensure th at oper ation ca n be sto pped and power sw itched off imm ediately. Any per son who is involv ed in dis assem bly a nd repa ir shou ld be f ully c ompete nt to do t he wor k.
A - 6 (6) Maintenance, inspection and parts replacement CAUTION W i th age, the el ectroly tic capacito r will d eterio rate. To prevent a secondary accident du e to a faul t, it is recom mended to r eplac e the e lectrol y tic capac itor e very 10 years when used in ge neral e nvironm ent.
A - 7 COMPLIANCE WITH EC DIRECTIVES 1. WHAT AR E EC DI RE C TIVES ? The EC directives were issued to standardize the regulations of t he EU countries and ensure smooth distribution of safet y-guaranteed products.
A - 8 (4) Power supply (a) Operate the servo amplifier t o meet th e requirements of the overvoltage category II set forth in IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN Standa rd shou ld be u sed in t he pow er input section .
A - 9 (7) Auxi liary equ ipment and op tions (a) T he no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant products of the models described in Section 13.2.2. (b) The size s of the cable s describe d in Section 13.2.1 mee t the fo llowing re quireme nts.
A - 10 CONFORMANCE WITH UL/C-UL STANDARD (1) Ser vo am plifier s and s ervo m otors us ed Use the servo amp lifiers and serv o motor s which comp ly with the s tandard mo del. Servo amp lifier series :MR-J2S-10 A(1) to MR- J2S-350A(1) Servo motor series :HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS (2) Installation Install a fan of 100CFM air flow 10.
1 CONTENTS 1. FUNCT IONS AND CO NFIGURATION 1- 1 to 1- 12 1.1 Intro duction............................................................................................................... ............................... 1- 1 1.2 Fu nction block diagram .
2 3.9 Servo motor w ith elec tromagnetic brake ..................................................................................... ........ 3-52 3.10 Ground ing ........................................................................................
3 7.1.2 Adj ustmen t using servo configur ation so ftware ............................................................................ 7- 2 7.2 Au to tuning ..............................................................................................
4 12.3 Dyn amic bra ke characteri stics ............................................................................................. .............. 12- 4 12.4 Enco der cable flexing life ...............................................................
5 14.12.8 Output signal pin O N/OFF (DO force d output) ...................................................................... 14- 24 14.12.9 Alarm hi story ..............................................................................................
6 Optional Servo Motor Inst ruction Manual CONTE NTS The rough table of conten ts of the optional ME L SERVO Servo Motor In struction Manua l is introd uced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Ampl ifier Ins truction M anual.
1 - 1 1. FUNCTIONS AND CONFIGURATI ON 1. FUNCTIONS A ND CONFIGURAT ION 1.1 Introduc tion The Mitsubish i MELSERVO-J2-Supe r series general-pu rpose AC servo is based on the ME LSERVO-J2 series and has further higher performance and higher fun ctions. It has position control, speed control and torque control modes.
1 - 2 1. FUNCTIONS A ND CONFIGURAT ION 1.2 Func tion block diagram The function block diagram of this servo is shown below. Regenerative brake Ba se amplif ier Volt age detection Overcurrent protectio.
1 - 3 1. FUNCTIONS A ND CONFIGURAT ION 1.3 Serv o amplif ier standard s pecif ications Servo Ampli fier MR-J2S - Item 10A 20A 40A 60A 70A 100A 200A 350A 10A1 20A1 40A1 Volta ge/frequ ency 3-phase 200 .
1 - 4 1. FUNCTIONS A ND CONFIGURAT ION 1.4 Func tion list The foll owing table l ists the functions of t his servo. For details of the functions, refer to the corresponding chapter s and sec tions. Function Description (Not e) Control m ode Refer to Position control mode This se rvo is us ed as p osition co ntrol se rvo.
1 - 5 1. FUNCTIONS A ND CONFIGURAT ION Function Description (Not e) Control m ode Refer to Alarm h i st ory cl ea r Al a rm hi s t ory is clea red. P, S, T Para m eter No .
1 - 6 1. FUNCTIONS A ND CONFIGURAT ION (2) Model MR–J2S–100A or less MR –J2S –200A 350A General-purpose interface Rated output [W] 100 10 Symbol Rated output 200 20 400 40 600 60 700 70 1000 100 2000 200 35 00 350 Rated output [W] Symbol Rating plate Rating plate MR–J2S– Series A Note:1.
1 - 7 1. FUNCTIONS A ND CONFIGURAT ION 1.7 Parts ident if ic ati on (1) MR-J2S-100A or less Used to set data. Used to change the disp lay or data in eac h mode. Used to change the mode. Refer to Section15.3 Chapter6 Name/Ap plication Bat te ry h o lde r Contains the battery for absolute position data backup.
1 - 8 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-J2S-200A or more POINT The servo am plifier is s hown without the front cover. For removal of t he front cover, refer to next page. Used to set data. Used to change t he display or dat a in each mod e. Used to change t he mod e.
1 - 9 1. FUNCTIONS A ND CONFIGURAT ION Removal of the front c over Reinstal l ation of the front cover Fro nt co ve r 2) 1) Front cover hook (2 places) Fro nt co ve r so cke t (2 places) 2) 1) 1) Hold down the removing knob. 2) Pull the front cover toward you.
1 - 10 1. FUNCTIONS A ND CONFIGURAT ION 1.8 Servo system with auxiliar y equipm ent W ARNING To preve nt an e lectric s hock , always c onnect t he pr otective earth (PE) ter minal (term inal m a rk ed ) of the ser vo amplifi er to the prot ecti ve earth (P E) of the co ntrol box.
1 - 11 1. FUNCTIONS A ND CONFIGURAT ION (b) F or 1-p has e 10 0V t o 12 0VA C 1-phase 100V to 120VAC power supply No-fuse breaker (NFB) or fuse Mag netic contacto r (MC) To CN2 To CN3 To CN1B Junction.
1 - 12 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-J2S-200A or more 3-phase 200V to 230VAC power supply No-fuse breaker (NFB) or fuse Magnetic contactor (MC) To CN 2 To CN 3 To CN1B Junction ter minal blo.
2 - 1 2. INSTALLATION 2. INSTALLA TION CAUTION Stack ing in ex cess of the l imited n umber of prod ucts is no t allo wed. Instal l the e quipm ent to inc ombus tibles. Ins tallin g them direct ly or clos e to com bustibles will led to a fire. Instal l the equi pment in a load- bear ing place in accorda nce with this Instruc tion Manual .
2 - 2 2. INSTALLATION 2.2 Instal lation dir ection and clearances CAUTION The equ ipment m ust be insta lled in the s pecif ied direc tion. Ot herwise, a fault m ay occur. Leave s pecifie d clearanc es bet ween th e servo amplif ier and contro l box inside walls or other equi pment.
2 - 3 2. INSTALLATION (2) I nstallat ion of two or m ore ser vo am plifiers Leave a large clearance b etween the top of the s ervo amplifier and the internal surface of the control box, and install a fan to prevent t he internal temperature of the control box from exceeding the environm ental cond itions.
2 - 4 2. INSTALLATION 2.4 Cable s tress (1) T he way of clampi ng the cable must be full y examined so that flexing stress and cable' s own weight stress are not appli ed to the cable connection. (2) In a ny application where the servo motor moves, the cables shoul d be free from excessive stress.
3 - 1 3. SIGNALS AND WIRI NG 3. SIGNALS AND W IRING W ARNING Any per son who is involv ed in wir ing sh ould be f ull y compete nt to d o the work. Befor e starti ng wiri ng, ma ke sure t hat the volt age is s afe in the test er mor e than 10 minutes after power -off.
3 - 2 3. SIGNALS AND WIRING 3.1 Standar d connect ion exam ple POINT For the connection of the p ower supply system, refer to S ection 3.7.1. 3.1.1 Pos ition control m ode (1) FX-10GM VDD RA1 RA2 RA3 .
3 - 3 3. SIGNALS AND WIRING Note: 1 . To prevent an elect ric shock, always connect the protective eart h (PE) terminal (t erminal marked ) of the servo ampl i fier to the protect ive earth (PE ) of the control box. 2. Connect the diode in the correct direct ion.
3 - 4 3. SIGNALS AND WIRING (2) AD75P (A1SD75P ) VDD RA1 RA2 RA3 18 15 5 14 8 9 16 17 1 11 EMG SON RES PC TL LSP LSN SD SG P15R LG 10 12 ALM 19 ZSP 6T L C 14 7 16 17 4 LA LAR LB LBR LG OP P15R SD 1 6 .
3 - 5 3. SIGNALS AND WIRING Note: 1 . To prevent an elect ric shock, always connect the protective eart h (PE) terminal (t erminal marked ) of the servo ampl i fier to the protect ive earth (PE ) of the control box. 2. Connect the diode in the correct direct ion.
3 - 6 3. SIGNALS AND WIRING 3.1.2 Speed control m ode RA1 RA2 RA3 18 10 SP1 SG CN1A 15 5 14 8 9 16 17 1 11 EMG SON RES ST1 ST2 LSP LSN SD SG P15R LG 10 2 ALM 19 ZSP 6T L C 15 5 14 7 16 17 4 LZ LZR LA .
3 - 7 3. SIGNALS AND WIRING Note: 1 . To prevent an elect ric shock, always connect the protective eart h (PE) terminal (t erminal marked ) of the servo ampl i fier to the protect ive earth (PE ) of the control box. 2. Connect the diode in the correct direct ion.
3 - 8 3. SIGNALS AND WIRING 3.1.3 T orque control m ode RA1 RA2 RA3 18 10 SP1 SG 15 5 14 9 8 10 1 11 EMG SON RES RS1 RS2 SG SD P15R LG 12 ALM 19 ZSP 6V L C 15 5 14 7 16 17 4 LZ LZR LA LAR LB LBR LG OP.
3 - 9 3. SIGNALS AND WIRING Not e: 1 . To prevent an electri c shock, always connect t he protective eart h (PE) terminal of the (t erminal marked ) servo amplifi er to the protecti ve earth (PE) of t h e cont rol box. 2. Connect t he diode in the correct direction.
3 - 10 3. SIGNALS AND WIRING 3.2 Interna l connect ion diagram of ser vo amplifier The foll owing is t he internal connection diagram where the signal assi gnment has been made in the initial status in each contro l mode.
3 - 11 3. SIGNALS AND WIRING 3.3 I/O sign als 3.3.1 Connec tors and si gnal arrangem ents POINT The connector pin-out s shown ab ove are viewed from th e ca ble connector wiring section side. Refer to the next page for CN1A and CN1B sig nal assignme nt.
3 - 12 3. SIGNALS AND WIRING (2) C N1A and CN1B signal assig n men t The signal assi gnment of connector changes with the control mode as indicated below; For the pins wh ich are given parame ter No.s in the related par ameter column, their signals can be changed using those parameters.
3 - 13 3. SIGNALS AND WIRING Note: 1. I : Input sig nal, O: Output signal 2. P : P o si tion control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: T orque/position control change mode 3.
3 - 14 3. SIGNALS AND WIRING 3.3.2 Sign al explanat ions For the I/O in terfaces (symbo ls in I/O column in the table), refer to Section 3.6. 2. In the control mode field of the tabl e P : Position control mode, S : Speed control mode, T: Torque control mode : Deno tes th at the signal may be u sed in the in itial setting statu s.
3 - 15 3. SIGNALS AND WIRING Control mode Signal S y m bol Connec- tor pi n No. Functions/Applicat ions I/O divisi on PST Torque limit selection TL CN1B 9 Torque l imit s election d isconn ecting TL-S G makes inter nal torq ue limit 1 (parameter No. 28) valid and connecting them makes analog torque limit (TLA) valid.
3 - 16 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions /Applicat ions I/O divisi on PST Speed sel ect i on 1 SP1 CN1A 8 <Speed co ntrol mod e> Used to sele ct the co mmand spe ed f or op era ti on. When using SP3, make it usable by making th e se tting of paramete r No.
3 - 17 3. SIGNALS AND WIRING Control mode Signal S y m bol Connec- tor pi n No. Functions/Applicat ions I/O divisi on PST Proport ion control PC CN1 B 8 Connect PC-SG to switch th e speed amplifier from the propo rtion al int egra l typ e to t he pr oporti onal type.
3 - 18 3. SIGNALS AND WIRING Control mode Signal S y m bol Connec- tor pi n No. Functions/Applicat ions I/O divisi on PST <Position/ speed cont rol change mode> Used to s elect t he con trol m ode in the posi tion/sp eed control change m ode. (Note) LOP Control mode 0P o s i t i o n 1 Speed Note .
3 - 19 3. SIGNALS AND WIRING (2) Output signals Control mode Signal S y m bol Connec- tor pi n No. Functions/Applicat ions I/O divisi on PST Trouble ALM CN1B 18 ALM- SG ar e dis connect ed wh en p ower i s swi tched off or the protective circuit is activated to shut off the base circ uit.
3 - 20 3. SIGNALS AND WIRING Control mode Signal S y m bol Connec- tor pi n No. Functions/Applicat ions I/O divisi on PST To use t his signal, set " 1 " in param eter No.49 . This signal is output when an alarm occurs. When there is no alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
3 - 21 3. SIGNALS AND WIRING Control mode Signal S y m bol Connec- tor pi n No. Functions/Applicat ions I/O divisi on PST Encod er Z- p ha se pulse (Open collector ) OP CN1A 14 Output s the zero -point signal of the encode r. One pulse is out put per se rvo mo tor revo lution .
3 - 22 3. SIGNALS AND WIRING (4) Power supply Control mode Signal S y m bol Connec- tor pi n No. Functions/Applicat ions I/O divisi on PST I/F internal power s upply VDD CN1B 3 Used to ou tput 24V 10% to across VDD-COM. When using this power supply f or digital interface, con nect it with COM.
3 - 23 3. SIGNALS AND WIRING 3.4 Deta iled desc ription of th e signals 3.4.1 Pos ition control m ode (1) Pul s e tr ai n in pu t (a) Input pulse waveform selection Encoder pulses may be input in any of th ree different forms, for which positive or negati ve logic can be cho sen.
3 - 24 3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collect or system Connect as shown below: Appro x. 1.2k Appro x. 1.2k SG SD NP PP OPC VDD Servo amplifier The explanat i on assumes t hat the in put waveform has been set t o the negative l ogic and forward and reverse rotati on pulse trains (parameter No.
3 - 25 3. SIGNALS AND WIRING 2) Diffe rentia l line dr iver sy stem Connect as shown below: PP NP Serv o am plif ier PG NG SD The explanat i on assumes t hat the in put waveform has been set t o the negative l ogi c and forward and reverse rotati on puls e trains (par ameter No.
3 - 26 3. SIGNALS AND WIRING (2) In-position (INP) PF-SG are connected when the number of droop pulses in the deviati on counter falls within the preset in-posit ion range (parameter No. 5). INP-SG may remain connected when low-speed operation is performed with a large value set as the i n-positi on range.
3 - 27 3. SIGNALS AND WIRING (5) Torque limit (a) Torque limit and generated torque By sett ing param eter No . 28 ( intern al tor que limi t 1), to rque i s alway s limi ted to the max imum value during operation. A relations hip between t he limit value and servo motor-generated torque is shown below.
3 - 28 3. SIGNALS AND WIRING 3.4.2 Speed control m ode (1) Speed setting (a) Speed command and speed The servo motor is run at the sp eeds set in t he parameters or a t the speed set in the applied voltage of the anal og speed command (VC).
3 - 29 3. SIGNALS AND WIRING (b) Speed selecti on 1 (SP1), speed selection 2 (SP2 ) and speed command value Choose a n y of the s peed settings made by th e i nternal speed commands 1 to 3 usin g speed selection 1 (SP1) and speed s election 2 (SP2) or the speed s etting made by the anal og speed command (VC).
3 - 30 3. SIGNALS AND WIRING 3.4.3 T orque control m ode (1) Torque control (a ) T o rq u e c omm a nd a n d g e ne r a te d t o rq u e A relationship between the applied voltage of t he analog t orque command (TC) and t he torque generated by the servo motor is shown below.
3 - 31 3. SIGNALS AND WIRING (b) Analog torq ue command offset Using pa rameter No. 30, the offset voltage of 999 to 999 mV can be add ed to th e TC applied volta g e as shown bel ow. 0 8( 8) Max. torque Generated torque TC applied vol tage [V] Parameter No.
3 - 32 3. SIGNALS AND WIRING (b) Speed selectio n 1(SP1) /speed selectio n 2(SP2)/ speed se lection 3( SP3) and spe ed limit values Choose a ny of the speed settings made by t he internal s peed limit.
3 - 33 3. SIGNALS AND WIRING 3.4.4 Pos ition/speed co ntrol chan ge mode Set "00 01" in par amete r No. 0 to swi tch to the po sition /spee d contro l chang e mod e. Thi s func tion i s not availa ble in the ab solute position de tectio n system.
3 - 34 3. SIGNALS AND WIRING (3) Sp ee d se tting i n sp eed co nt rol mod e (a) Speed command and speed The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed set in the a pplied voltage of t he analog s peed command (VC).
3 - 35 3. SIGNALS AND WIRING 3.4.5 Speed /torque con trol chang e mode Set "00 03" in par ameter No. 0 to swi tch to the sp eed/tor que con trol chan ge mod e. (1) C ontrol ch ange (LO P) Use control change (LO P) to s wit ch between the speed cont rol mode and the torque control mode from an exte rnal con tact.
3 - 36 3. SIGNALS AND WIRING (4) Sp ee d li mit in t orq ue con trol mode (a) Speed limit valu e and speed The speed is limited to the li mit value set in parameter No. 8 (internal speed limi t 1) or the value set i n the applied voltage of t he analog s peed limit (VLA ).
3 - 37 3. SIGNALS AND WIRING 3.4.6 T orque/positi on control ch ange m ode Set " 0005" in param eter N o. 0 to switc h to th e torqu e/po sition c ontro l change mode. (1) C ontrol ch ange (LO P) Use control change (LO P) to switch between the torque con trol mode and the position control mode from an external contact.
3 - 38 3. SIGNALS AND WIRING 3.5 Alarm occur rence timing c hart CAUTION W hen an alarm has oc curred , remov e its c ause, m ake sur e that t he oper ation sign al is not be ing in put, en sure safety, an d reset the alarm befo re resta rting operat ion.
3 - 39 3. SIGNALS AND WIRING 3.6 Interf aces 3.6.1 Comm on line The foll owing diagram sh ows t he power suppl y and its common li ne. DC24V CN1A CN1B CN1A CN1B DO-1 SG OPC PG NG SG P15R LG TLA VC etc. SD OP MR MRR SM DI-1 COM VDD ALM .etc LG SD RDP RDN SDP SDN LG CN3 RA CN2 SD MO1 MO2 LG SG TXD RXD RS-232C RS-422 (Note) Analog input ( 10V/max.
3 - 40 3. SIGNALS AND WIRING 3.6.2 Detai led descript ion of the interfac es This s ection gives the details of the I/ O si gnal interfaces (refer to I/O Division in the table) indi cated in Section s 3.3.2. Refer to this sec tion and conn ect the interfac es with th e extern al equip ment.
3 - 41 3. SIGNALS AND WIRING (b) Lamp load For use of internal p ower suppl y For use of externa l power su pply 24V DC VDD COM R Servo amplifi er ALM, e tc .
3 - 42 3. SIGNALS AND WIRING (b) Differential line driver syst em 1) Inte rface SD PG(NG) PP(NP) Max. input pulse frequency 500kpps Serv o am plif ier Am26LS31 or equivalent About 100 2) Condit ions of th e input pulse 0.9 PP PG tc tHL tc tLH tF tLH tHL 0.
3 - 43 3. SIGNALS AND WIRING (b) Differential line driver syst em 1) Inte rface Max. output current: 35mA LA (LB, LZ) LAR (LBR, LZR) LG SD LA (LB, LZ) LAR (LBR, LZR) SD Servo amplifi er Servo amplifi .
3 - 44 3. SIGNALS AND WIRING (7) Sourc e inpu t interfac e When u sing the inp ut inte rface of so urce ty pe, all Dl-1 in put s ignals are of source type. Source output cannot be provided. For use of internal power supply For us e of ex ternal power supply SG COM 24VDC VDD TR R: Approx.
3 - 45 3. SIGNALS AND WIRING 3.7 Input power suppl y circuit CAUTION W hen the s ervo am plifier has bec ome f aulty, s witch p ower off on the s ervo amplif ier p ower si de. Con tinuous flow of a larg e curr ent ma y cause a fire. Use the tro uble signa l to sw itch po wer off .
3 - 46 3. SIGNALS AND WIRING 3.7.2 T erminals The posit ions and signal arrangements of the terminal blocks change with the capacity of the servo amplifie r. Refer to Section 11.2.1 . Symbol Signal Description Supply L 1 , L 2 and L 3 with the f ollowing power: For 1-phase 230VAC, connect the power supply to L 1 /L 2 and leav e L 3 open .
3 - 47 3. SIGNALS AND WIRING 3.7.3 Power -on seque nce (1) Po wer-on proce dure 1) Alw ays wire the po wer sup ply as shown in above Section 3.7.1 u sing the magn etic contactor wi th the main circu it power s upply (three-phase 200V: L 1 , L 2 , L 3 , s ingle-ph ase 230V : L 1 , L 2 ).
3 - 48 3. SIGNALS AND WIRING 3.8 Conn ection of s ervo am plifier and s ervo m otor 3.8.1 Connec tion instr uctions W ARNING Insulate the con nections of th e power s uppl y termina ls to pre vent a n electr ic shock . CAUTION Connec t the wires to the corr ect phas e term inals ( U, V, W ) of the servo amplifi er and ser vo m otor.
3 - 49 3. SIGNALS AND WIRING Servo m otor Connection diagram HC-KFS053 (B) to 43 (B) HC-MFS053 (B) to 73 (B) HC-UFS13 (B) to 73 (B) U V W Servo amplifier B1 B2 24VDC EMG CN2 (Not e 1 ) Encoder Electro.
3 - 50 3. SIGNALS AND WIRING 3.8.3 I/O term inals (1) HC-KFS HC-MF S HC-UFS300 0r/min s eries 24 13 4 Power suppl y connector ( Molex make) Without electr omagnetic brake 5557-04R-21 0 (receptac le) 5556PBT L (F ema le terminal) With electrom agnetic br ak e 5557-06R-21 0 (receptac le) 5556PBT L (F ema le terminal) Encoder cable 0.
3 - 51 3. SIGNALS AND WIRING (2) HC-SFS HC-RF S HC-UFS2000 r/m in series Servo motor side connectors Servo motor For power supply For encoder Electromagnetic brake connector HC-SFS81(B) HC-SFS52(B) to 152(B ) HC-SFS53(B) to 153(B ) CE05-2A22- 23PD-B The c onnec t or for power is shared.
3 - 52 3. SIGNALS AND WIRING 3.9 Serv o motor with electrom agnetic brak e CAUTION Configur e th e electrom agnet ic brak e oper ation circ uit so that it is ac tivated not onl y by the ser vo amplif ier signa ls but also b y an extern al emerge ncy stop s ignal.
3 - 53 3. SIGNALS AND WIRING (3) T i m ing charts (a) Servo-on signal comm and (from controller) ON/OFF Tb (ms) after the servo-on (SON) signal is swit ched off, the servo lock is released and the servo motor coasts. If the electr omagnetic brake is made valid in the servo lock status, the b rake life may be shorter.
3 - 54 3. SIGNALS AND WIRING (c) Alarm occurrence Servo motor speed ON OFF Base cir cuit Electromagnetic brake inte rlock (MBR) Invalid (ON) Valid( OFF) Trouble (ALM) No (ON) Yes(O FF) Dynamic brake D.
3 - 55 3. SIGNALS AND WIRING 3.10 Gro unding W ARNING Ground th e serv o ampl ifier a nd ser vo motor securel y. To pre vent an electric shock , alwa y s con nect the protec tive ear th (PE) term inal of the ser vo am plifier with th e protec tive e arth (P E) of the contr ol box.
3 - 56 3. SIGNALS AND WIRING 3.11 Ser vo amplif ier term inal block (TE2) wirin g method (1) T erminati on of t he cabl es Solid wire: After the shea th has been stripped, t he cable can be used as it is. (Cabl e size: 0.2 to 2.5mm 2 ) Approx. 10mm Twiste d wire: Use the cable after str ippin g the shea th an d twi stin g the core.
3 - 57 3. SIGNALS AND WIRING (2) Connection Insert the core of the cable into the opening and tighten the screw wit h a flat-bla de screwdriver so that the cabl e does not come off. (Tightening torque: 0.5 t o 0.6N m) Before in serting the cable into the opening, make sure that the screw of the terminal is ful ly loos e.
3 - 58 3. SIGNALS AND WIRING MEMO.
4 - 1 4. OPERATION 4. OPERATION 4.1 W hen switching po wer on f or the first tim e Before starti ng operation, check the followi ng: (1) W iring (a) A correct power supply is connected to the power inpu t termin als ( L 1 , L 2 , L 3 , L 11 , L 21 ) of the servo amplifie r.
4 - 2 4. OPERATION 4.2 Startup W ARNING Do no t oper ate the switches with wet hands . You ma y get an e lectric sh ock. CAUTION Befor e starti ng oper ation, c heck th e param eters. Some m achines ma y perform unexpec ted oper atio n. Duri n g powe r- on fo r so me a fte r powe r- o ff, do no t tou ch or cl o se a pa rt s (c able et c.
4 - 3 4. OPERATION (4) Servo-on Switch t he servo-on in t he followin g procedure: (a) Switch on m ain circuit/con trol power. (b) Switch on the servo-on signal (SON). When pla ced in the s ervo-on status, t he servo a mplifier is ready t o operate an d the servo mot or is locked.
4 - 4 4. OPERATION 4.2.3 Speed control m ode (1) Power on (a) Switch off the servo-on (SON) signal. (b) When main circuit power/control circuit power is switched on, the display shows "r (servo motor spee d)", an d in tw o sec ond l ater, show s data .
4 - 5 4. OPERATION (6) Stop In any of the followin g statuses, the servo amplifi er interrupts and stops the operation of the servo motor: Refer to Section 3.
4 - 6 4. OPERATION (4) Servo-on Switch t he servo-on in t he followin g procedure: (a) Switch on m ain circuit/con trol power. (b) Switch on the servo-on signal (SON) (short SON-SG). When placed in the servo-on status, t he servo amplifier is ready to operate a nd the servo motor is locked.
5 - 1 5. PARAMETERS 5. PARAME TERS CAUTION Ne ver adjust or change the par ameter values ex tremel y as it wi ll mak e operation instab le. 5.1 Param eter list 5.1.1 Par ameter writ e inhibit POINT After se tting the parameter No. 19 value, switch po wer of f, then o n to make tha t setting valid.
5 - 2 5. PARAMETERS 5.1.2 Lists POINT For any para meter whose symbol is preceded by *, set the parameter value and s witch power off once, then s witch it on again to mak e that parameter se tting valid. For details of the paramet ers, refer to the corresponding items.
5 - 3 5. PARAMETERS No. Symbol Name Control mode Initial value Unit Cust omer setti ng 20 *OP2 Function s election 2 P S T 0000 21 *OP3 Function selection 3 (Command pulse selection) P 0000 22 *OP4 Fu.
5 - 4 5. PARAMETERS No. Symbol Name Control mode Initial value Unit Cust omer setti ng 50 For manufacturer setting 0000 51 *OP6 Function s election 6 P S T 0000 52 For manufacturer setting 0000 53 *OP.
5 - 5 5. PARAMETERS (2) Details li st Class No. Sym bol Name and function Initia l value Unit Setting range Control mode Control mod e , reg enerati ve brake op tion sel ecti on Used to select t he cont rol mode and re generative brake op tion. Select the co ntrol mode.
5 - 6 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode 2 ATU Auto tuning Used to s et the respo nse level, etc . for exe cution of auto tuning. Refer to Chapte r 7. Auto tuning respon se leve l settin g If the machine hunts or generat es large gear sound, decre ase the set value.
5 - 7 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode 5 INP In-position range Used to set t he in -posit ion ( INP) signal outp ut ra nge i n the comma nd pul se in cre m ent s pr io r to e le ct r o nic gear c alc u lat io n.
5 - 8 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode Internal speed command 2 Used to s et speed 2 of int ernal s peed comma nds. S 9S C 2 Internal speed limit 2 Used to s et speed 2 of int ernal speed limi ts.
5 - 9 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode 14 TQC Torq ue co mmand time consta nt Us ed to set the const ant of a low pa ss fi lter in re spon se to th e tor que comman d.
5 - 10 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode Basic pa rameters 17 MOD Analog monitor output Use d to set the s i g n al prov ided to the analog mon i to r ou tput. ch1 ch2 Settin g 0 Analog monitor outpu t selection Servo motor spee d ( 8V/max.
5 - 11 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode 18 * DMD St a tus disp l ay se lec tion Used to select t he status display sh own at power-on.
5 - 12 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode Paramet er blo ck Used to sel ect th e refe rence a nd w rite ranges of th e para meters . Operati on can b e perf ormed for th e para meters marked .
5 - 13 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode 21 *OP3 Function selection 3 (Command p ulse selecti on) Used to s elect t he inp ut f orm of the p ulse t rain inpu t sign al. (Ref er to S ecti on 3.
5 - 14 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode 23 FFC Feed for war d gain Used to set the fee forward gain. At the setting of 100%, droop pulses during constant-speed oper ation will be almost zero.
5 - 15 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode Anal og s p e ed comma nd off s et Used to s et the offs et vol tage of th e ana log sp eed comma nd ( VC).
5 - 16 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode 39 VDC Speed di ffere ntial comp ensat ion Used to set the d ifferential compensation. Mad e valid when the p rop ortion c ontr ol sig nal i s swit ched on.
5 - 17 5. PARAMETERS Class No. Symbol Name and function In itial value Unit Setting range Control mode 43 *DI2 Input signal selection 2 (CN1B-pin 5) This paramete r is unavaila ble when pa rameter No.42 i s set to assign the control change signal (L OP) to CN1B-pin 5.
5 - 18 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode 45 * DI4 Input signal selection 4 (C N1A-pin 8) Allows any input signal t o be assigned to CN1A-pin 8. The assignable signals and setting method are the same as in input signal selection 2 (parameter No.
5 - 19 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode Expansio n parameters 1 49 *DO1 Output signal selecti on 1 Used to select t he connect or pins to output t he alar m code, warning (WNG) and battery warning (BWNG).
5 - 20 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode 50 For manufactur er setting Must not be changed. 0000 51 *OP6 Function selection 6 Used to sele ct the opera tion to be perfor med w hen t he ala rm r eset signal switches on.
5 - 21 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode 55 *OPA Function selecti on A Used to s elect t he posi tion comma nd a ccel eration/d ecelerati on ti me constant (paramet e r No. 7) c ontrol syst em.
5 - 22 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode 60 LPF Lo w-pass filter/adaptive vibration suppression c ontrol Used to s et the low-pass filter and adaptive vibration suppressi on control . (R efer t o Chapt er 8.
5 - 23 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode 65 *CDP Gain changing selection Used to select the gain changing conditio n. (Refer to Section 8.3.) 0 00 Gain changing selection Gains are changed in a ccordance with the settings of parameters No.
5 - 24 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mode Internal speed command 5 Used to s et speed 5 of int ernal s peed comma nds. S 73 SC5 Internal speed limit 5 Used to s et speed 5 of int ernal speed limi ts.
5 - 25 5. PARAMETERS 5.2 Deta iled desc ription 5.2.1 Elec tronic gear CAUTION W rong sett ing ca n lead to unexp ected fas t rotat ion, ca using i njur y .
5 - 26 5. PARAMETERS (b) Conveyor setting exampl e For rotation in incremen ts of 0.01 per pulse Machine sp ecificatio ns Table : 36 0 /rev Reduction ratio: n 4/64 Servo motor resolution: P t 13107 2 [pulse s/rev] Table Timi ng be lt : 4/ 64 Servo motor 131072 [p ulse/rev] CDV CMX Pt 131072 65536 1125 0.
5 - 27 5. PARAMETERS (3) Set ting f or use of AD75 P The AD75P also has the following electronic gear paramet ers. Normally, the servo amplifier side electronic gear must also be set due t o the restriction on the command puls e frequency (d ifferenti al 400kpuls e/s, open coll ect or 200kpuls e/s).
5 - 28 5. PARAMETERS To rotate the servo motor at 3000r /min in the open co llector system ( 200kpul se/s), set the electro nic gear as fo llows CDV CMX N 0 f 60 pt f : Input pulses [pulse/s] N 0 : Se.
5 - 29 5. PARAMETERS 5.2.2 Anal og output The s ervo stat us can b e output to two channel s in terms of volta ge. Use this funct ion when using an ammeter to moni t or the servo status or synchronizing the t orque/speed with t he other servo.
5 - 30 5. PARAMETERS Change the follow ing digits of parameter N o.17: Analog monitor c h1 output selection (Signal output to across MO1-LG) Analog monitor c h2 output selection (Signal output to across MO2-LG) Param eter N o. 1 7 00 Parameters No.31 and 32 can be used to set th e offset volta ges to the anal og outp ut voltages.
5 - 31 5. PARAMETERS 5.2.5 Pos ition sm oothing By setting the po sition command acceleration/dece leration time constant (parame ter No.7), you can run the servo motor smoothly in response to a s udden position command.
5 - 32 5. PARAMETERS MEMO.
6 - 1 6. DISPLAY AND O PERATION 6. DISPLAY AND OPERATION 6.1 Displ ay flowchart Use the display (5-digit , 7-segment LED) on the front panel of the servo amplifier for status display, paramete r setting , etc. Set the par ameters bef ore opera tion, diagn ose an alarm, con firm exte rnal sequences, and/or confirm the operati on status.
6 - 2 6. DISPLAY AND OPER ATION 6.2 Status disp la y The servo s tatus during operation is s hown on the 5 -digit, 7-segment L ED display. Press the "UP" or "DOWN" button to change display data a s desired. When the requ ired data is se lected, the corresponding symbo l appear s.
6 - 3 6. DISPLAY AND OPER ATION 6.2.2 St atus displa y l ist The foll owing tabl e l ists the s ervo status es that may be s hown: Refer to Appendix 3 for the measurement point. Name Symbol Uni t Descripti on Displa y range Cumulative feedback pulse s C puls e Feedba ck p ulses fro m the servo m oto r encod er a re cou nted and disp layed .
6 - 4 6. DISPLAY AND OPER ATION Name Symbol Uni t Descripti on Displa y range Within one-revoluti on posit i on h igh Cy2 100 pulse Th e withi n one-revolution position is displayed in 100 pulse incr em en t s of th e en coder . The va lue retur ns to 0 wh en it ex ceed s the maxi mum numbe r of pulse s.
6 - 5 6. DISPLAY AND OPER ATION 6.3 Diagnos tic mode Name Di splay D escrip tion Not r eady. Indicates that the s ervo amplifier is being initialized or an alarm has occurred. Sequence Ready. Indi cates t hat t he serv o was switc hed on aft er c omplet ion of initialization and the se rvo amplifier is ready to operate.
6 - 6 6. DISPLAY AND OPER ATION Name Di splay D escrip tion Motor s eries Press the " SET" butt on to show t he motor seri es ID of th e servo motor c urrentl y conne cted. For indication d etails, refer to the optional MELSERVO Serv o Motor Instru ction Man ual.
6 - 7 6. DISPLAY AND OPER ATION 6.4 Alarm mode The current alarm, past al arm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number tha t has occurred or the parameter num ber in error. Display example s are shown below.
6 - 8 6. DISPLAY AND OPER ATION 6.5 Param eter m ode The parameters whose abbreviati ons are marked are mad e val id by ch anging the set ting and then switching power off once and switching it on aga in.
6 - 9 6. DISPLAY AND OPER ATION 6.6 Externa l I/O signa l displa y The ON/OFF states of the digi tal I/O si gnal s connected to the servo a mplifier can be confi rmed. (1) Operation Call t he displa y screen shown aft er power-on. Using t he "MODE" button, show the diagnostic screen.
6 - 10 6. DISPLAY AND OPER ATION (a) Control modes and I/O signals (Note 2) Sym bols of I/O si gnals in control m odes Connector Pin No. Signal input/out put (Note 1) I/O P P/S S S/T T T/P Related paramet er 8 I CR CR/SP1 SP1 SP 1 SP1 SP1/CR No .43 to 48 1 4 O O PO PO P O PO PO P 18 O INP INP/SA SA SA/ /INP No.
6 - 11 6. DISPLAY AND OPER ATION (3) De fa ul t si gn al indi ca tio n s (a) Position control mode Lit: O N Extinguish ed:OFF Input signals Output signals TL (CN 1 B-9) Tor que limit PC (CN 1 B-8) P r.
6 - 12 6. DISPLAY AND OPER ATION 6.7 Output s ignal for ced output (D O forced out put) POINT When the servo system is used i n a vertica l lift appli cat ion, turni ng on the electromagnet ic brake interl ock signal after assi gning it to pin CN1B-19 will releas e the electr omagnetic brak e, causi ng a drop.
6 - 13 6. DISPLAY AND OPER ATION 6.8 Tes t operation m ode CAUTION The test operat io n mode is d esig ned to c onfir m serv o ope rat ion and not t o co nfir m ma chine opera tion. I n this mode, do not us e the servo motor wit h the mac hine. Alwa ys use the servo m otor alone.
6 - 14 6. DISPLAY AND OPER ATION 6.8.2 Jog o peration Jog operation can be performed when there is no command from the external comm and devi ce. (1) Operation Conne ct EMG-SG to start jo g operatio n and con nect VDD- COM to use the interna l power su pply.
6 - 15 6. DISPLAY AND OPER ATION 6.8.3 Pos itioning oper ation POINT The servo configuration soft ware is required to perform positioning operation. Positioni ng operation can be performed once wh en there is no command from the external command device.
6 - 16 6. DISPLAY AND OPER ATION 6.8.4 Motor -less operati on Without connecting the servo motor, you can provide output signal s or monitor the status display as i f the servo motor is running in response to external input signals. This operation can be used to check the sequence of a host program mable contro ller or the like.
7 - 1 7. GENERAL GAI N ADJUSTMENT 7. GENERAL GAIN ADJUS TMENT POINT For use in t he torque control mode, you need not ma ke gain adjustment . 7.1 Diff erent adjustm ent methods 7.1.1 Adjus tment on a single s ervo am plifier The gain ad justmen t in this sectio n can be made on a sing le servo ampl ifier.
7 - 2 7. GENERAL GAIN ADJUSTMENT (2) Adj ustment seque nce and mode us age Usage Used when you wa nt t o match the p osition gain (PG1) be tween 2 or more axes. No rmally not used for other purp oses. Allows adjustment by merely chan gin g the re spon se le ve l se t ting .
7 - 3 7. GENERAL GAIN ADJUSTMENT 7.2 Auto tuning 7.2.1 Auto t uning m ode The servo amplifier has a real-time auto tuning function which estimates the machine characteristi c (load inerti a momen t ratio) in real time an d au tomati cally se ts the optim um gain s acco rding to th at value .
7 - 4 7. GENERAL GAIN ADJUSTMENT 7.2.2 Auto t uning m ode operation The block dia gram of real-t ime auto tuning is shown bel ow. Motor 7 0 1 0 SW1 Command Automat ic settin g Control gains PG1,VG 1 P.
7 - 5 7. GENERAL GAIN ADJUSTMENT 7.2.3 Adjus tment proc edure b y auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo mo tor autom atica lly se ts the o ptimum gain s that match the m achine . Mere ly chan ging the resp onse level setting value as require d comple tes the adju stment.
7 - 6 7. GENERAL GAIN ADJUSTMENT 7.2.4 Respo nse level s etting in auto tuning m ode Set t h e response of the whole servo system in the first digit (response level setting) of parameter No.
7 - 7 7. GENERAL GAIN ADJUSTMENT 7.3 Manual m ode 1 ( simple m anual adj ustment) If you a re not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters.
7 - 8 7. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed contro l gain 2 ( VG2: par ameter N o. 37) This parameter determines the response level of the s peed control loop. Increasing this val ue enhances res ponse but a too high valu e will make the mechanical s ystem liable to vibrat e.
7 - 9 7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control g ain 1 (PG1: p arameter No. 6) This paramet er determines the response level of the position control loop. Increasing PG1 improves t rackability t o a position command but a too hi gh value will make overshooting liable to occu r at the ti me of sett l ing.
7 - 10 7. GENERAL GAIN ADJUSTMENT 7.4 Interpo lation m ode The i nterpolation mode is used to match the position control gains of the axes when performing the interpolati on operation of s ervo motors of two or more a xes for an X-Y table or the like.
7 - 11 7. GENERAL GAIN ADJUSTMENT 7.5 Dif ferences in au to tuning between M ELSERVO- J2 and MEL SERVO-J 2-Super 7.5 .1 Respon se level settin g To meet higher response demands, the MELSERVO-J 2-Super series has been changed i n response level setting range from the MELS ERVO-J2 series.
7 - 12 7. GENERAL GAIN ADJUSTMENT MEMO.
8 - 1 8. SPECIA L ADJUSTMENT FUNCTI O NS 8. SPECIAL A DJUST MENT FUNCTIONS POINT The functions given in this chapter need not be used genera lly. Use them if you are not sat isfied with the mach ine sta tus after m aking adjustm ent in the me thods in Ch apter 7.
8 - 2 8. SPECIAL ADJUSTMENT FUNCT IONS You can use the machine resonance suppression filter 1 (paramet er No. 58) and machine resonance suppression filt er 2 (paramet er No.
8 - 3 8. SPECIAL ADJUSTMENT FUNCT IONS POINT If the frequency of machine res onance is unknown, decrea se the notch frequency from higher t o lower ones in order.
8 - 4 8. SPECIAL ADJUSTMENT FUNCT IONS (2) Parameters Set the operation of adaptive vib ration suppression control in the third and fourth digits of para meter No.
8 - 5 8. SPECIAL ADJUSTMENT FUNCT IONS 8.3 Gain c hanging f unction This function can ch ange the gains. You can change between gain s during rotation and gains during stop or can use an external signal to change gains during operat ion.
8 - 6 8. SPECIAL ADJUSTMENT FUNCT IONS 8.3.3 Par ameters When using the gain changing function, always set " 4 " in parameter No.2 (auto tuning) to choose the manual mode of th e gain adjustment modes . The gain changing function cannot be used in the auto tuning mode.
8 - 7 8. SPECIAL ADJUSTMENT FUNCT IONS (1) Para meters No. 6, 34 to 38 These paramet ers are the same as in ordina ry manual adjustment. Gai n changing allows the val ues of GD2, PG2 , VG2 and VIC to be cha nged. (2) R atio of l oad in ertia m oment to s ervo m otor in ertia m oment 2 (GD2B : param eter No.
8 - 8 8. SPECIAL ADJUSTMENT FUNCT IONS 8.3.4 Gai n changing o peration This op eratio n will be descri bed by w ay of se tting e xample s. (1) W hen you c hoose c hanging by exter nal i nput (a) Setting Parameter No.
8 - 9 8. SPECIAL ADJUSTMENT FUNCT IONS (2) W hen you choose chan ging b y droop p ulses (a) Setting Parameter No. Abbrevi at ion Name Setting Unit 6 PG 1 Po sition control gain 1 100 r ad/s 36 VG1 Sp eed con t r ol ga i n 1 1000 rad/s 34 GD2 Rat io of loa d inerti a mom ent to servo motor inertia moment 40 0.
8 - 10 8. SPECIAL ADJUSTMENT FUNCT IONS MEMO.
9 - 1 9. INSPECTION 9. INSPECTION W ARNING Befor e starti ng maint enanc e and/ or inspec tion, m ake sur e that th e charg e lam p is off more th an 10 m inutes af ter po wer-off . Then, co nfirm that the voltage is saf e in the t ester or t he lik e.
9 - 2 9. INSPECTION MEMO.
10 - 1 10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 Troub le at start- up CAUTION Exc essive a djustm ent or c hange of param eter se tting m ust not be m ade as it will mak e operat ion inst able. POINT Using the optional servo configuration software, you ca n refer to unrotated servo motor reasons, etc.
10 - 2 10. TROUBLESHOOTING No. S tart-up sequence Fault Investigation Possibl e cause Refer to Rotation ripples (speed fluctuations) are la rge at low speed . Make gain adjustment in the follow ing p roc edure : 1. Inc reas e th e auto tunin g respons e level.
10 - 3 10. TROUBLESHOOTING (2) H ow to find the c ause of p ositio n shift Positioning unit (a) Outp ut pulse counter Q P CMX CDV (C) Servo-on (SON), s troke e nd (L SP/LSN) i nput (A) (b) Cu mulative comma nd p ulse s Electronic gear (parame ters No.
10 - 4 10. TROUBLESHOOTING 10.1.2 Spee d control m ode No. S tart-up sequence Fault Investigation Poss ible cause Refer to Not i mprov ed if connect ors CN1A, CN1B, CN2 and CN3 are di scon nected . 1. Power supply voltage fault 2. Servo amplifier is faulty.
10 - 5 10. TROUBLESHOOTING 10.1.3 T orque contr ol mode No. S tart-up sequence Fault Investigation Poss ible cause Refer to Not i mprov ed if connect ors CN1A, CN1B, CN2 and CN3 are di scon nected . 1. Power supply voltage fault 2. Servo amplifier is faulty.
10 - 6 10. TROUBLESHOOTING 10.2 W hen alarm or warning has oc curred POINT Configu re up a circuit w hich will d ete ct th e tro uble ( A LM) signal and tu rn off the servo-o n (SON) signal at occurrence of an ala rm. 10.2.1 Alar ms and warning list When a fault occurs during operation, the corresponding alarm or w arni ng is displayed.
10 - 7 10. TROUBLESHOOTING 10.2.2 Rem edies for al arms CAUTION W hen any alar m has oc curred, elim inate its caus e, ensur e safet y, then r eset t he alarm , and rest art op eration. Otherwis e, inj ury ma y occur. If an absolut e posit ion eras e alarm (AL.
10 - 8 10. TROUBLESHOOTING Display Name Definition Cause Action AL.17 Board erro r 2 CPU/par ts fault AL.19 Memory er ror 3 ROM m emory fa ult Faulty parts in the servo a mplifier Checkin g meth od Alarm (AL.17 or AL.19) occurs if power is switch ed on after CN1A, CN1B and CN3 connectors are disconne cted.
10 - 9 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Input co mm and pulse frequen c y exce eded t he p ermiss ible instantaneous sp eed frequency. Set comman d pu lses correctl y . 2. Small acceleration/deceler ation time constant caused oversh oot to be large.
10 - 10 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Pu lse f requ ency of th e com mand pulse is too high . Change the comman d puls e fr equen cy to a proper value. 2. Noise e ntered command pulses. Take action against noise. AL.35 Co mmand puls e freq uen cy error Input pul s e frequ ency of th e command pu lse is too high.
10 - 11 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Mac hine s truc k somet hing . 1. Rev iew operati on pa ttern. 2. Install limit switch es. 2. Wr ong c onnecti on of serv o mot or. Servo amplifier's output t erminals U, V, W do not ma t ch servo mo tor' s inpu t term ina l s U, V, W .
10 - 12 10. TROUBLESHOOTING Display Name Definition Cause Action 88888 Watc hdog CPU, parts faulty Fault of parts in serv o amplifier Checkin g meth od Alarm (88888) occurs if power is switched on after CN1A, CN1B and CN3 connec tors are disconne cted.
11 - 1 11. OUTLINE DIMENSION DRAWINGS 11. OUTLINE DIMENSION DRA W INGS 11.1 Servo am plifiers (1) MR-J2S-10A to MR-J2S-60A MR- J2S -10A 1 to MR- J2S - 40A1 [Un i t: m m ] 6 ( 0.24) mou nting hole A 70 (2.76) 135 (5.32) TE1 TE2 4(0.16) B 168 (6.61) 7 (0.
11 - 2 11. OUTLINE DIMENSION DRAW INGS (2) MR-J2S -70A MR-J2S- 100A C N 1 A OPEN MIT SUBISH I C N 1 B C N 2 E N C C N 3 7 (0.28) C N 1 A OPEN L1 L2 L3 UV W MIT SUBISH I C N 1 B C N 2 E N C C N 3 [Unit: m m] ([Un it: in] ) 70(2.76) 70(2.76) 190(7.48) 22 TE1 TE2 6(0.
11 - 3 11. OUTLINE DIMENSION DRAW INGS (3) MR-J2S -200A MR-J2S-3 50A MITSUBIS HI MITSUBIS HI 70(2.76) 195(7.68) 90(3.54) 78(3.07) 6 168(6.61) 156(6.14) 6 6 ( 0.24) mounting hole Ter min al la yo ut 3-M 4 sc rew TE1 12- M4 screw [Uni t: mm] ([Uni t: i n ]) TE2 PE te rminal (0.
11 - 4 11. OUTLINE DIMENSION DRAW INGS 11.2 Connectors (1) Servo amplifie r side <Sum itomo 3 M mak e> (a) Soldered type Model Connector : 10120-3000VE Shell kit : 10320-52F0-008 [Uni t: mm] ([Uni t: i n ]) 10. 0 (0.39) Logo, etc. are indicated here.
11 - 5 11. OUTLINE DIMENSION DRAW INGS (2) Co mmun i ca ti on cabl e co nn e cto r <Jap an Avia tion El ectroni cs Indu stry make> C D F A B [Un it: m m] ([Unit: i n ]) Fittin g fixing sc r e w G E (max. diamete r of cable used) Type A 1 B 1 C 0.
11 - 6 11. OUTLINE DIMENSION DRAW INGS MEMO.
12 - 1 12. CHARACTERISTI CS 12. CHARA CTE RISTICS 12.1 Overl oad protec tion charac teristics An electroni c thermal relay is built in th e servo am plifier to protect the servo motor and servo amplifier from overloads. The operation charact eristics of the electronic thermal relay are shown be low.
12 - 2 12. CHARA CTERISTICS 12.2 Power suppl y equipment c apacity and generated los s (1) Am ount of heat g enerat ed b y the ser vo am plifier Table 12.1 indicates servo amplifiers' power supply capacities and losses generated under r ated load.
12 - 3 12. CHARA CTERISTICS (2) H eat diss ipation area for encl osed ser vo ampl ifier The encl osed control box (hereafter called the control box) which will contain the servo amplif ier should be design ed to ensu re that it s temper ature ri se is w ithin 10 at the ambient temperature of 40 .
12 - 4 12. CHARA CTERISTICS 12.3 D y nam ic brak e characteris tics When an a larm, emergency stop or power failu re occur s, the dynamic brake is operated to bring the servo motor to a sudden stop. Fig. 12.4 shows the patt ern in which th e servo motor comes to a stop when t he dynamic b rake is operat ed.
12 - 5 12. CHARA CTERISTICS 0 0.002 0.004 0.006 0.008 0.0 1 0.012 0.014 0.016 0.018 0.0 2 0 500 1000 1500 20 00 250 0 3000 73 23 43 053 13 Speed [r/min] Time co ns tant [s] Time constant [s] 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0 50 500 0 100 0 121 201 301 81 S p eed [ r/min ] a.
12 - 6 12. CHARA CTERISTICS Use the dynamic brake at the l oad inertia moment indicated in the following table. If the load inertia mome nt is higher than this value, the bui lt-in dy namic b rake m ay burn. I f there is a po ssibili ty that the load inertia moment may exceed the value, contact Mitsubis hi.
13 - 1 13. OPTIONS AND AU XILIARY EQUIPMENT 13. OPTIONS AND AUX ILIARY EQUIPM ENT W ARNING Before co nnectin g any option or auxiliar y equi pment, m ake s ure that t he ch arge la mp is off mor e th an 10 minu tes a fter pow er-o ff, then confir m the volt age with a tester or the like.
13 - 2 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) To make selection according to regenera ti ve energy Use the following method when regeneration occurs continuousl y in vertical motion applic ati ons or when it is desired to make an in-depth selection of the regenerat ive brake opti on: a.
13 - 3 13. OPTIONS AND AU X I LIARY EQU IPMENT Subtract the capacitor charging from the result of multiply ing the sum total of regenera tive energies by the inverse effi ciency to calculat e the energy consumed by the regenerati ve brake opti on.
13 - 4 13. OPTIONS AND AU X I LIARY EQU IPMENT (4) Outline drawing (a) MR-RB032 MR-R B12 LA 5 (0.20) LB TE1 6 (0.23) 6 (0.23) 156 (6.14) 168 (6.61) 144 (5.
13 - 5 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.2 Cabl es and conn ectors (1) Cable make-up The followi ng cables a re used for connection with the servo motor and other models.
13 - 6 13. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic a tion 1) Standard encoder cable MR-JCCBL M-L Refer to (2) in this section.
13 - 7 13. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description A pplication 9) Control sig nal connecto r set MR-J2CN 1 Connector: 10120-3000VE Shell kit: 10320-52F 0-008 (3M or eq uivale nt) Qty: 2 each Connector: HIF 3BA-20D-2.
13 - 8 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) Encode r cable CAUTION If you hav e fabric ated t he encod er cab le, conn ect it correct ly. Other wise, m isoperati on or ex plosion m ay occ ur. POINT The encoder cabl e is not oil resistant. Refer to Secti on 12.
13 - 9 13. OPTIONS AND AU X I LIARY EQU IPMENT MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL5M-H 19 11 20 12 18 2 7 17 9 1 7 8 1 2 3 9 P5 LG P5 LG P5 LG MR MRR BT LG SD MD MDR 6 16 4 5 MR-JC CBL10M-.
13 - 10 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-JHSCBL M- L MR-JH SCBL M-H MR-ENC BL M- H These encoder cables are used with the HC-SFS HC-RFS HC-UFS 2000r/m in serie s servo moto rs.
13 - 11 13. OPTIONS AND AU X I LIARY EQU IPMENT MR-JHSCBL2M-L MR-JHSCBL5M-L MR-JHSCBL2M-H MR-JHSCBL5M-H MR-ENCBL2M-H MR-ENCBL5M-H MR-JHSCBL10M-L to MR-JHSCBL30M-L P5 LG P5 LG P5 LG MR MRR BAT LG SD MR.
13 - 12 13. OPTIONS AND AU X I LIARY EQU IPMENT (3) Co mmun i ca ti on cabl e POINT This cab le may not be used wit h some personal comput ers. After fully examining t he signals of th e RS-2 32C connector, refer to thi s section and fabricate the cable.
13 - 13 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.3 Junc tion term inal block (MR-T B20) POINT When usin g the junction termina l block, you cannot use SG of CN1A-20 and CN1B-20 .
13 - 14 13. OPTIONS AND AU X I LIARY EQU IPMENT (4) Ju nction t erminal block c able (M R-J2TBL M) Model : MR-J 2TBL M Cable l ength[m ] Symbol 05 1 0.
13 - 15 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.4 Main tenance junc tion card ( MR-J2CN3T M) (1) Usage The mai ntenance junction card (MR-J2CN3TM) is designed for use when a per s onal computer and analog monit or outputs are used at th e same time.
13 - 16 13. OPTIONS AND AU X I LIARY EQU IPMENT (4) Bus cable (MR-J2HBUS M) 10120-6000EL (connector) 10320-3210-000 (shell ki t) LG LG RD TD LG LG EMG BAT SD MR-J2HBUS0 5M MR-J2H BUS1M MR-J2H BUS5M 1 .
13 - 17 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.6 Ser vo configur ations sof tware The servo configuration software uses the communication function of the servo amplifier to perform parameter setting changes, graph di splay, test operation, e tc.
13 - 18 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Configuration diagram 1) Wh en using RS-23 2C CN3 CN2 Personal computer To RS-232C connector Communication cable Servo amplifi er Servo mo t or 2) Wh en using RS-42 2 You can make multidrop connection of up to 32 axes.
13 - 19 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2 Auxil iar y equipm ent Alway s use the d evice s indic ate d in th is sec tion or equ iva lent. To comply wi th the EN Stan dard or UL/C- UL Standard, use the products which conform to the corresponding standard.
13 - 20 13. OPTIONS AND AU X I LIARY EQU IPMENT Table 13. 2 Recom mended cr imping term inals Servo am plifier side crim ping terminals (A MP) Symbol Crim ping terminal Applicabl e tool a 32959 47387 b 32968 59239 (2) W ires for ca b les When f abricating a cable , use th e wire mo dels g iven in the follo wing ta ble or e quivalen t: Table 13.
13 - 21 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.2 No-f use break ers, fus es, magnetic c ontactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instea d of the no-fuse breaker, use the one having the speci ficati ons given in this s ection.
13 - 22 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.4 Re lays The followi ng relays should be used with the int erfaces: Interface Selection exam pl e Relay used especially for switching on-off analog input command an d inpu t comm and (interface DI-1) signals To preven t de fective con t act s , use a relay for smal l s ign al (twin contacts).
13 - 23 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Redu ction te chnique s for ex ternal noi ses tha t cause the servo amplifier to malfu nction If there a re noise s ources (such as a magnetic conta.
13 - 24 13. OPTIONS AND AU X I LIARY EQU IPMENT Noise transm issi on rout e Suppression t echniques 1) 2) 3) When measuring instruments, receiv ers, s ensors, etc.
13 - 25 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the li ke near the servo ampli fi er is shown below. Us e this product or equival ent.
13 - 26 13. OPTIONS AND AU X I LIARY EQU IPMENT Outline drawing Earth plate Clamp section diagram (Not e )M 4 s cr ew 11(0.43) 3 (0.1 2) 6 (0. 2 4) C A 6 22(0.87) 17.5(0.69) 35(1.38) 35 (1.38) L or l e ss 10(0.39) 30(1.18) 7 (0. 2 8) 24 0 0.2 Note: Screw hole for grounding.
13 - 27 13. OPTIONS AND AU X I LIARY EQU IPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiat ed from the power supply side and output side of the servo amplifier and als o in suppressing high-frequency leakage current (zero-phase current) especi ally wi thin 0.
13 - 28 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.7 Leak age current breaker (1) Selecti on method High-frequency chopper currents controlled b y pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supp ly.
13 - 29 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) S electio n exam ple Indicated below is an example of selecting a l eakage current break er under the followi ng conditions: SM Servo amplifier MR-J2 S-60A Servo motor HC-MFS73 Ig1 Ig 2 Iga Ig m NV 2mm 2 5m 2mm 2 5m Use a leakage curren t breaker generally available.
13 - 30 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.8 EMC f ilter For compliance with the EMC Directive of the EN Standard, it is recommended to use the following filter: (1) Co mbi n at io n wi th t.
14 - 1 14. COMMUNICATION FUNCTI ONS 14. COMMUNICATION FUNCT IONS This servo amplifi er has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc. However, the RS-42 2 and RS-232C communication functions cannot be used t ogether.
14 - 2 14. COMMUNICATION FUNCTIONS 14.1.2 R S-232C conf iguration (1) Outline A singl e axis of servo amplifi er is operat ed. CHARGE MITSUBISHI RS-232C Controller such a s persona l computer Servo a mplifier To CN3 (2) Ca bl e co nn e cti o n di ag ra m Wire as shown below.
14 - 3 14. COMMUNICATION FUNCTIONS 14.2 Comm unication specif ications 14.2.1 Com municatio n overvie w This servo amplifier is designed t o send a reply on receipt of an instruction.
14 - 4 14. COMMUNICATION FUNCTIONS 14.2.2 Par ameter s etting When th e RS-422/RS-23 2C communication function is used to operate the servo, set the communicati on specif ication s of the servo ampl ifier in the corre sponding parameter s.
14 - 5 14. COMMUNICATION FUNCTIONS 14.3 Protoc ol POINT Whether st ation nu mber setting w ill be made o r not must be selected if the RS-232C com municatio n function is used.
14 - 6 14. COMMUNICATION FUNCTIONS (2) T ransmis sion of d ata requ est from the co ntroller t o the s ervo S O H S T X E T X S T X E T X Controller side (Master statio n) Servo side (Slave station) 10 frames Command Data No.
14 - 7 14. COMMUNICATION FUNCTIONS 14.4 Charact er codes (1) C ontrol co des Code name H exadecimal (ASCII code) Description Person al com puter termin al key oper atio n (General) SOH STX ETX EOT 01H.
14 - 8 14. COMMUNICATION FUNCTIONS 14.5 Error codes Error codes are u sed in the following cases and an error code of single-code leng th is transmitted. On receipt of data from t he master station, the sla ve station sends the error code corresponding to that data to the master statio n.
14 - 9 14. COMMUNICATION FUNCTIONS 14.7 Tim e-out operat ion The master stat ion transmits EOT when the slave stati on does not start reply operation (STX is not receive d) 300[ms] af ter the master station ha s ended communica tion op eration. 100[ms] after th at, th e maste r statio n retran smit s the me ssage.
14 - 10 14. COMMUNICATION FUNCTIONS 14.9 Initia liza tion After th e slave st ation i s swi tched on , it c annot r eply to comm unica tion un til the intern al ini tializ ation processing terminates.
14 - 11 14. COMMUNICATION FUNCTIONS 14.11 Comm and and dat a No. list 14.11.1 R ead comm ands (1) Sta tus dis pla y (Comm and [0][ 1]) Command Data No.
14 - 12 14. COMMUNICATION FUNCTIONS (5) C urrent al arm (C ommand [0 ][2] [3][ 5]) Command Data No. Descripti on Frame length [0][2] [0][0] Current alarm n umber 4 Command Data No.
14 - 13 14. COMMUNICATION FUNCTIONS (5) Op eration m ode se lection (Com mand [8][ B]) Command Data No. Description Setting range Frame length [8][B] [0][0] Operation mo de changing 0000: Exit from t .
14 - 14 14. COMMUNICATION FUNCTIONS 14.12 Detai led explan ations of com mands 14.12.1 D ata process ing When th e maste r statio n tran smits a com mand data No. or a co mmand data N o . d ata to a slave station, the servo amplifier returns a reply or data according to the purpose.
14 - 15 14. COMMUNICATION FUNCTIONS (2) Wr iting the proces sed data When th e data to be w ritten is han dled as decim al, th e deci mal poin t po sition must be specif ied. If it i s not spec ified , the d ata cann o t be w ri tte n. Wh en the dat a is han dle d a s hex adec ima l, sp ecify "0" a s the decimal point position.
14 - 16 14. COMMUNICATION FUNCTIONS 14.12.2 Stat us dis pla y (1) Stat us displa y data read When the master stat ion transmits the dat a No. (refer to the following table for assi gnment) to the slave station, the slave sta tion sends back t he data val ue and data processing information.
14 - 17 14. COMMUNICATION FUNCTIONS 14.12.3 Param eter (1) Parameter read Read the parame ter setting . 1) Transm issio n Transmit command [ 0][5] and the data No. corresponding to the par ameter No. The data No. is expressed in hexadeci mal equivalent of t he data No.
14 - 18 14. COMMUNICATION FUNCTIONS (2) Parameter write POINT The number of parameter write times is restricted to 1,000,0 00 times. Writ e t he parameter s etting. Write the val ue within the s etting range. Refer to Secti on 5.1 for the setting range.
14 - 19 14. COMMUNICATION FUNCTIONS 14.12.4 Ex ternal I/O pin statuses (D IO diagn osis) (1) Ex ternal input p in status read Read the ON/OFF stat us es of the external i nput pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. Comm and Data No.
14 - 20 14. COMMUNICATION FUNCTIONS 14.12.5 D isable/enabl e of externa l I/O signals (DIO) Inputs can b e disabled i ndependently of the ext ernal I/O signal ON/OFF. When inputs are disabled, the input signals a re recognized as follows. Among the external i nput signals, EMG, LSP and LSN cannot be disabled.
14 - 21 14. COMMUNICATION FUNCTIONS 14.12.6 Ex ternal inp ut signal O N/OFF (tes t operatio n) Each input signal can be turned on/off for test operation. Turn off the external input signals. Send command [9] [2], data No. [0] [0] and da ta. Comm and Data No.
14 - 22 14. COMMUNICATION FUNCTIONS 14.12.7 T est operation m ode (1) I nstructio ns for test o peratio n mode The test operati on mode mu st be executed in the following procedure.
14 - 23 14. COMMUNICATION FUNCTIONS (2) Jo g oper ation Transmit the following commun ication commands: (a) Setting of jog operat ion data Item Comm and Data No.
14 - 24 14. COMMUNICATION FUNCTIONS 14.12.8 Ou tput signal pin ON/OFF (DO forc ed output) In the test operation mode, the output signal pins can be turned on/off independentl y of the servo status. Using command [ 9][0], d isable the outp ut sig nals in advanc e.
14 - 25 14. COMMUNICATION FUNCTIONS 14.12.9 Alar m history (1) Alarm No. read Read the alarm No. which occurred in the p ast. The alarm numbers and occurrence times of No. 0 (la st alarm) to No. 5 (sixth alarm in the past) are re ad. (a) Transmission Send command [3][3] and data No.
14 - 26 14. COMMUNICATION FUNCTIONS 14.12.10 Cur rent alarm (1) Current alarm read Read the alarm No. which is occurring current ly. (a) Transmission Send command [0][2] and data No. [0][0]. Comm and Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm curren tly occurring.
14 - 27 14. COMMUNICATION FUNCTIONS 14.12.11 O ther comm ands (1) S ervo m otor end puls e unit abs olut e posit ion Read the absol ute positi on i n the servo motor end pulse unit. Note that overflow will occur in the positi on of 16384 or more revolutions from the home position.
14 - 28 14. COMMUNICATION FUNCTIONS MEMO.
15 - 1 15. ABSOLUTE POS ITION DETECTION SYSTEM 15. ABSOLU TE POSITION DE TECTION SYSTEM 15.1 Outl ine 15.1.1 Fea tures For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revoluti on and a cumulative revoluti on counter designed to detect the number of revolutions.
15 - 2 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.2 Specif ic ati ons (1) Spec ificat ion list Item Descripti on System Electronic bat tery bac kup system Battery 1 pi ece of lithium ba tte ry ( primary ba tte ry, nominal 3.6V ) Type: MR-BAT or A6BAT Maxim um revoluti o n range Home pos ition 3276 7 rev.
15 - 3 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.3 Batter y inst al lat ion proc ed ure W ARNING Bef ore star ting batt er y insta llation procedur e, m ake sure th at the ch arge lamp is off more t h an 10 mi nu te s aft e r pow e r -o ff. Then , con fi r m th at th e v ol ta ge is sa fe in th e tester or the like.
15 - 4 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.4 Standar d connec tion diagram CR SG RA2 CN1B-3 CN1B-13 COM CN1B-16 LSP CN1B-17 LSN CN1B-7 TL CN1B-14 RES CN1B-10 SG CN1B-5 SON CN1B-15 EMG CN1B-8 .
15 - 5 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.5 Signal ex pla nat ion When the absolute posit ion data is transferred, the signals of connect or CN1 change as de scrib ed i n th is section. They return to the previous status on complet ion of data transfer.
15 - 6 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.6 Startup pr ocedur e (1) Battery in stalla tion. Refer to Sectio n 15.3 install ation of absolu te po sition b ackup battery . (2) Paramete r setting Set "1 "in parameter No. 1 of the servo amplifier and switch power off, then on.
15 - 7 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7 Absolut e pos ition data tr ans f er protoco l POINT After swit ching on the ABS tr a nsfer mode (ABSM), t urn on the servo-on signal (SON). When the ABS t ransfer mode is off, t urning on the servo-on signal (SON) does not swit ch on the b ase circuit.
15 - 8 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.2 T ransfer m ethod The sequence in which the bas e circuit is t urned ON (servo-on) when it is in the OFF state due to the servo-on (SON) signal goi ng OFF, an emergency stop, or alarm, is explai ned below.
15 - 9 15. ABSOLUTE POSITION D ETEC TION SY STEM 1) The ready signal (R D) is turned ON when the ABS transfer mode signal (ABS M) is turned OFF after transm ission of the ABS da ta. While the re ady sig nal (RD ) is O N, the ABS tr ansfer m ode signal ( ABSM) inpu t is not accep ted.
15 - 10 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) Detail ed description of abs ol ute position data trans fer OFF ON OFF ON OFF ON OFF ON OFF ON 3) 4) 5) 7) (Note) 1) 2) 6) Servo-on (p rog ramm ab.
15 - 11 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) Checksum The check sum is the code which is used by the programmable controller to check for errors in the received ABS data. The 6-bit check sum is t ransmitt ed fol lowing the 32 -bit A BS dat a.
15 - 12 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Transmission erro r (a) Time-out warning(AL.E5) In the ABS transfer mode, the time-out processing shown b elow is executed at the servo. If a time- out error occurs, an A BS time-out warning (AL.E5) is output.
15 - 13 15. ABSOLUTE POSITION D ETEC TION SY STEM 3) ABS transfer mode finish-time time-out check If the ABS t ransfer mode signa l is no t turne d OFF w ithin 5s af ter the last re ady to send signa l (19th signal for ABS data transmis si on) is t urned ON, it is regarded as the transmiss ion error and the ABS time-out warning (AL.
15 - 14 15. ABSOLUTE POSITION D ETEC TION SY STEM (3) At the time of alarm reset If an al arm occur s, turn OF F the servo-o n (SON) s ignal by detectin g the alarm ou tput (A LM). If an al arm has o ccurred, the ABS transf er mode signal (ABSM) c annot be accepte d.
15 - 15 15. ABSOLUTE POSITION D ETEC TION SY STEM (4) At t he tim e of em ergency stop r eset (a) If the power is switched ON in the emergency stop state The emergency stop state can be reset while th e ABS data is being transferred.
15 - 16 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) If emergency stop is activated during servo-on The ABS transfer mode si gnal (ABSM) is permissibl e while in the emergency stop stat e. In this case, the bas e circuit and the ready signal (R D) are turned ON after the emergency stop state is reset.
15 - 17 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.3 Hom e positio n setting (1) D og t y pe hom e posit ion re turn Preset a home position return creep speed at which the machine will not be given impact. On detection of a zer o pul se, the h ome po sition sett ing sign al (CR) is tur ned from off to on.
15 - 18 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Data set type home position return Move the machine to the positi on where the home position is to b e set by performing manual operati on such as jog operati on to turn the mot or shaft more tha n one revolution.
15 - 19 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.4 Use of servo m otor with elec tromagnetic brake The timing charts at power on/off and servo-on (SON) on/off are given below. Prese t " 1 " in parame ter N o. 1 to make the ele ctromag netic brake interlo ck sign al (MB R) usa ble.
15 - 20 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.5 How to process the a bsolute position data at detection of strok e end The servo amplifier stops the acceptance of the command pulse when stroke end (LSP LSN) i s detec ted, clears the droop pulses to 0 at the same time, and stops t he servo motor rapidly.
15 - 21 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.8 Exam ples of use 15.8.1 M ELSEC-A1S (A 1SD71) (1) Instruction s The absol ute coordinat e system (programmable control ler coordinat e system) of.
15 - 22 15. ABSOLUTE POSITION D ETEC TION SY STEM If the addres s of the mach ine hom e posi tion i s chang ed to an y coo rdinate value other than "0", the programm able co ntroller coordin ate sy stem wi ll be as illustr ated be low.
15 - 23 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) Slot arrangement The sequence programs presented in this section show I/O numbers (X, Y) assuming the arrangement of modules on the main bas e unit is as illustrat ed below. A 1SD71 is mount ed at I/O slots 0 and 1, a 16-po int inpu t modu le at slo t 2, and 16-po int outp ut modu le at slo t 3.
15 - 24 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Connec tion diagram PULSE- R PULSE- F PGO DOG RDY 16B 16A 15B 15A 9B 9A 5B 6B 0 1 2 3 4 5 7 COM 8 9 A B C D E F COM NC NC 6 0 1 2 3 4 5 7 6 8 9 A .
15 - 25 15. ABSOLUTE POSITION D ETEC TION SY STEM (3) Seq uence program exam ple (a) Conditions This sampl e program is an ABS s equence program example for a single axis (X axis). To transmit the ABS data usi ng the OFF-to-ON change of the servo-on signal as the trigger.
15 - 26 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) ABS data transfer program for X a xis This seq uence program example assumes the followi ng conditions: Parame ters o f the A1 SD71-S 2 (AD7 1) po.
15 - 27 15. ABSOLUTE POSITION D ETEC TION SY STEM M8 M12 PLS M12 X34 M9 Y43 X35 Y43 X33 M0 D0 K16 MOV M0 Y41 C1 1 1 2 2 C2 RST M9 M3 RST M8 RST Y48 D1 K3 MOV D2 K0 MOV D5 K0 MOV D9 K0 DMOV A0 K0 DMOV .
15 - 28 15. ABSOLUTE POSITION D ETEC TION SY STEM C0 C1 Y41 D3 A0 DMOVP K1 D8 K7872 H0001 FROMP M13 PLS M13 M4 C0 C1 2 2 3 3 A0 K0 MOVP D8 H0004 WAND A1 H8000 WAND D4 NEG D4 K1 D3 NEG D4 K1 D5 K1X30 M.
15 - 29 15. ABSOLUTE POSITION D ETEC TION SY STEM M4 C0 D5 K1X30 MOV K2 DROR D2 D2 D5 C0 C1 C2 M6 M5 Y41 X32 M7 Y42 X32 Y42 X32 T200 3 3 4 4 D5 H0003 WAND A0 D5 WOR D0 M6 PLS K10 RORP A0 H003F WAND M1.
15 - 30 15. ABSOLUTE POSITION D ETEC TION SY STEM M1 K1 D9 K7912 H0001 DFROP M1 Y4B D3 D3 D*P Y4B SET K1 D3 K41 H0001 DTOP Y49 X36 Y41 T0 Y41 Y42 Y41 X32 T0 T1 T3 4 4 D3 D9 D3 D P M3 SET Y41 RST K50 T.
15 - 31 15. ABSOLUTE POSITION D ETEC TION SY STEM M2 M10 C2 M11 T2 M9039 END 5 5 M10 PLS M11 SET C2 D7 T2 K1 M11 RST D100 A0 DMOV ABS tran sf e r ret ry co n tr o l ABS transf er retry st art pul s e .
15 - 32 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) X-axis control program This precludes executi on of the X-axis st art program while M3 (ready to send the ABS data) is OFF. When M3 (ready t o send the ABS data) is turned ON, th e X-axis start command executes the X -axis start prog ram.
15 - 33 15. ABSOLUTE POSITION D ETEC TION SY STEM (g) Electromagnetic brake output During ABS data tr ansfer (for several seconds af ter the servo-on signal is turned on), the servo motor must be at a s top. Set "1 1 " i n parameter No. 1 of the servo amplifier to choose the electromagnetic brak e interlock sign al.
15 - 34 15. ABSOLUTE POSITION D ETEC TION SY STEM (4) Seq uence program - 2-ax is con trol The following program is a reference example for creation of an ABS sequence program for the second axis ( Y axis) u sing a single A 1SD71 mod ule. Cre ate a p rogram fo r the th ird axi s in a sim ilar man ner.
15 - 35 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.8.2 MEL SEC FX (2N) -32MT (FX (2N) -1PG) (1) Connection diagram (a) FX-32MT (FX-1PG) 3.3k 3.3k 3.3k N COM2 Y4 Y5 Y6 Y10 24 SG SG S/S DOG STO P VH V.
15 - 36 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) FX 2N -32MT (FX 2N -1PG) 3.3 k 3.3k 3.3k CN1B N COM2 Y4 Y5 Y6 Y10 24 S/S DOG STOP VIN FP COM0 RP COM1 CLR L Power supply FX 2N -32M T SG 10 DO1 4 .
15 - 37 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Seq uence program exam ple (a) Conditions 1) Ope ration pattern ABS data transf er is made as soon as the servo-on pushbutton is turned on.
15 - 38 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) Device list X input contact Y output contact X0 ABS bit 0 / co mpleti on of posi tioni ng Y0 Serv o-on X1 ABS bit 1 / zero speed Y1 ABS transfer m.
15 - 39 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) ABS data transfer program for X-a xis M8002 D24 K0 DMOV K1 K0 K3 K0 TO K1 K100000 K4 K0 DTO K1 K10000 K7 K0 DTO K1 K50000 K9 K0 DTO K1 K1000 K11 K.
15 - 40 15. ABSOLUTE POSITION D ETEC TION SY STEM X6 M6 M5 SET M5 Y12 X6 Y0 Y12 1 1 2 2 M64 M62 ZRST M1 PLS C1 RST C2 C0 ZRST M99 RS T M5 RST Y1 RST Y2 RST M6 RST Servo-on request Servo-on output ABS .
15 - 41 15. ABSOLUTE POSITION D ETEC TION SY STEM X4 M0 Y3 Y3 C1 RST M64 M0 ZRST X5 X3 M1 2 2 3 3 D3 D0 ZRST C2 RST C0 RST M0 Y10 Y1 RST Y2 RST M99 RST M5 RST M6 RST Y1 SET M64 M10 ZR ST D2 D0 ZRST C2.
15 - 42 15. ABSOLUTE POSITION D ETEC TION SY STEM Y1 X2 M3 PLS M3 Y2 X2 C2 C2 C0 M64 3 3 4 4 D3 K2M52 MOV Y2 SET K1M10 H0003 K1X0 W ANDP K2 K38 M20 M10 SFTR D2 D2 K1M 10 ADDP K16 C0 K19 Y2 RST Y1 RST .
15 - 43 15. ABSOLUTE POSITION D ETEC TION SY STEM M63 D0 K8M20 DMOVP D0 D24 D0 DADDP K1 D0 K26 K0 DTOP M99 SE T Y11 X6 Y1 T201 Y1 Y2 Y1 X2 T201 T202 T203 M2 T200 M6 4 4 5 5 M64 M62 ZRST M6 RST Y1 RST .
15 - 44 15. ABSOLUTE POSITION D ETEC TION SY STEM M8000 M109 X7 X12 M9 9 M120 PLS X10 JOG X11 JOG X7 X14 M120 K1 D100Z K17 K0 DTO M121 K6 Z DCMP M122 INDX 6 Z K0 DMOV X12 M0 X16 5 5 6 6 M110 M111 M112.
15 - 45 15. ABSOLUTE POSITION D ETEC TION SY STEM M8000 K1 K4M 100 K25 K0 TO M200 K1 K3M200 K28 K0 FROM K1 D106 K26 K0 DFROM M108 RST END 6 6 FX2 1PG Transmission of control signals 1PG FX2 Transmissi.
15 - 46 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) Data set t ype home position retur n After jogging the machine to the position where the home positi on (e.g.500 ) is to be set, choose the home positio n retu rn mod e set the ho me pos ition w ith th e home posit ion retu rn start ( PBON).
15 - 47 15. ABSOLUTE POSITION D ETEC TION SY STEM (g) Zero speed To create the sta tus information for servo zero speed. During ABS data tr ansfer (for several seconds af ter the servo-on signal is turned on), the servo motor must be at a s top.
15 - 48 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.8.3 M ELSEC A1SD 75(AD75) (1) Connection diagram PULSE- R PULSE- F PGO DOG STOP RDY 4 22 3 21 25 24 7 14 11 0 1 2 3 4 5 7 COM 8 9 A B C D E F COM N.
15 - 49 15. ABSOLUTE POSITION D ETEC TION SY STEM Note 1: For the dog typ e home position r eturn. Need n ot be connected f or the data set type home p osition return. 2: If the servo motor provided with the z ero point signal is started, the A1SD75(AD75) will output the deviatio n counter clear signa l .
15 - 50 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Seq uence program exam ple (a) Conditions 1) When the servo-on signal a nd power supply GND are shorted, t he ABS data is t ransmit ted at power-on of the servo amplifier or on the leading edge of the RUN signal a fter a PC reset operati on (PC-RESET).
15 - 51 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) ABS data transfer program for X a xis This seq uence program example assumes the followi ng conditions: Parame ters o f the A1 SD75-P 1 (AD7 5-P1).
15 - 52 15. ABSOLUTE POSITION D ETEC TION SY STEM X26 M13 SET M23 K1 D11 K8 16 H0000 FRO M D11 H0 001 WAND M23 1 1 2 2 D11 K1 M24 PLS M13 M14 M1 6 X26 M8 RST M13 RST C0 RST C1 RST Y30 M5 PLS M13 M17 P.
15 - 53 15. ABSOLUTE POSITION D ETEC TION SY STEM M5 D0 K16 MOV M5 Y31 C1 2 2 3 3 D1 K3 MOV D2 K0 MOV D5 K0 MOV D9 K0 DM OV A0 K0 DM OV C0 RST C1 RST Y31 8) C0 C1 Y31 D3 A0 DMOVP K1 D8 K5 H0000 FROMP .
15 - 54 15. ABSOLUTE POSITION D ETEC TION SY STEM M9 C0 C1 3 3 4 4 D5 K1X20 MOV D5 H0003 WAND A0 D5 WOR K2 ROR M10 PLS D1 M9 C0 D5 K1X20 MOV K2 DROR D2 D2 D5 C0 C1 C2 D5 H0003 WAND A0 D5 WOR D0 M11 PL.
15 - 55 15. ABSOLUTE POSITION D ETEC TION SY STEM M11 M10 Y31 X2 2 M12 Y32 X2 2 Y32 X22 T200 4 4 5 5 Y32 RS T M12 PLS Y32 SE T T200 K1 M9 M6 K1 D9 K0 072 H0000 DFROP D3 D3 K D*P D3 D9 D3 D P M6 Y3B M2.
15 - 56 15. ABSOLUTE POSITION D ETEC TION SY STEM Y39 X26 Y31 T0 Y31 Y32 Y31 X22 T0 T1 T3 5 5 Y31 RST K50 T1 K10 T3 K10 Y39 M7 M15 C2 M16 T2 M9039 END M15 PLS M16 SET C2 D7 T2 K1 M16 RST D110 A0 DMOV .
15 - 57 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) X-axis program Do not execute the X-axis program while the ABS ready (M8) is off. M8 When "M8" (ready to send ABS dat a) switches on, the X-axis start program is execut ed by the X-axis start command.
15 - 58 15. ABSOLUTE POSITION D ETEC TION SY STEM (f) Data set type home position ret urn After jogging the machine to the position where the home position (e. g. 500) is to be set, choose the home positio n retu rn mod e and set the home posit ion wi th the h ome po sitio n retu rn star t (PBO N).
15 - 59 15. ABSOLUTE POSITION D ETEC TION SY STEM (g) Electromagnetic brake output During ABS data tr ansfer (for several seconds af ter the servo-on signal is turned on), the servo motor must be at a s top. Set "1 1 " in parameter No. 1 of the servo amplifi er to choose the electromagnetic bra k e interlock sign al.
15 - 60 15. ABSOLUTE POSITION D ETEC TION SY STEM (3) Seq uence program - 2-ax is con trol The following program is a reference example for creation of an ABS sequence program for the second axis ( Y axis) u sing a single A 1SD75 mod ule. Cre ate a p rogram fo r the th ird axi s in a sim ilar man ner.
15 - 61 15. ABSOLUTE POSITION D ETEC TION SY STEM (4) D ifferenc es bet ween A1S D75 (A D75) and A1SD 71 (AD7 1) The sequence programs shown in (2) of this section differ from those for the A1SD71 (AD71) in the follow ing por tions. 1) to 2 0) in th e follow ing sentence s indic ate the number s in the prog rams giv en in (2) of this section.
15 - 62 15. ABSOLUTE POSITION D ETEC TION SY STEM 6) Wri ting a bsolute posi tion d ata to A1SD75 The slo t num ber and bu ffer ad dre ss of the X-a xis c urrent value changing area are change d from [DTOP H000 1 K41 D3 K1] to [DTOP H0000 K1154 D3 K1 ] 14 ).
15 - 63 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.9 Confir mation of absolute p osition detect ion data You can confirm the absolute po siti on data with servo configuration software (MRZJW3-SETUP121E). Choose "Diagnost i cs" and " Absol ute Encoder Data" to open the absolute positi on data dis play screen.
15 - 64 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.10 Abs olute posit ion data tra nsfer er rors 15.10.1 C orrective act ions (1) Error list The nu mber w ithin p arenth ese s in the table indica tes the outp ut co il or inp ut con tact nu mber of the A1SD7 1 (AD71).
15 - 65 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) ABS communicati on error (a) The OFF period of the send data ready signal output from the servo ampl ifier is check ed. If the OFF period is 1s or longer, this is regarded as a t ransfer fault an d the ABS communication error is generated.
15 - 66 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) To detec t the AB S time- out wa rning ( AL.E 5) at the servo ampl ifier, the time require d for the AB S reque st sign al to go OFF after it has be en tur ned ON (ABS re ques t time) is chec ked.
App - 1 App endix App 1. Sig nal arr angement r ecording sheets (1) Positio n control mode 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DO1 LG VDD SG P15R COM 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15.
App - 2 Appendix App 2. Analog monit or block diagr am PWM M Current control Speed control Current comm and Position control Dr oop pu ls e Differ- ent ial Command pulse frequency Bus voltage Speed co.
App - 3 Appendix App 3. Stat us display block diag ram Effec tive load ratio Effec tive value calculation Instantaneous torque Peak load ratio Peak hold PWM M Current control Spe ed control Ser vo mot.
App - 4 Appendix MEMO.
REVISIONS *The manual numb er is given on the bottom left of t he b ack cover. Print data *Manual n umber Revision Nov.,1999 S H(NA)030006-A First edition Sep.
Print data *Manual n umber Revision Sep.,2000 SH(N A)030006-B Section 10.2.2: Additi on of descripti on to AL.30 Addition of Cause t o AL.33 Chapter 11: C hanged to only outl ine dimens ional drawing Section 11.2 (2) : Addition Section 1 2.2 (1): Review of Note for Tabl e 12.
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