Benutzeranleitung / Produktwartung MR-J2S- A des Produzenten Mitsubishi Electronics
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SH (NA) 030006-J (0712) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE J2-Super Series J MR-J2S- A Servo Amplifier .
A - 1 Safety Instructions (Alwa ys read t hese instruct ions b efore us ing t he equipm ent.) Do not att empt to insta ll, opera te, maint ain or ins pect the ser vo 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, t urn of f the po wer an d wait for 15 min utes or more un til the c harge lamp tur ns off . Then, co nfirm that the voltage betwee n P an d N is s afe with a vol tage test er and o thers.
A - 3 4. Additional instruct ions The f ollowing instruct ions s hould also be f ully n oted. I ncorrec t hand ling m ay cause a fault, injur y, electr ic shock , etc. (1) Transportation and installation CAUTION Trans port the pro ducts correc tly accor ding to th eir mass es.
A - 4 CAUTION Do not inst all or oper ate the ser vo amplif ier and ser vo motor wh ich has be en damag ed or has an y par ts missing. Prov ide adeq uate pr otectio n to pre vent sc rews a nd other c onduc tive m atter, o il and ot her com bustib le matter from enterin g the ser vo am plifier and s ervo m otor.
A - 5 (3) Te st run adjust ment CAUTION Befor e operat ion, c heck th e param eter set tings. Im proper settin gs m ay cause s ome m achines to perf orm unexpec ted oper atio n. The par ameter settin gs m ust not be chang ed excess ively. Oper ation will be insatia ble.
A - 6 (6) Maintenance, inspection and parts replacement CAUTION W i th ag e, the ele ctroly tic capacito r of the servo ampli fier will dete riorate. To p revent a second ary acciden t due t o a fault , it is recom mended t o rep lace the electrol ytic c apacitor ever y 10 year s when us ed in general environm ent.
A - 7 COMPLIANCE WITH EC DIRECTIVES 1. W HA T ARE EC DI RECTIVES ? The EC directives were issued to standardize the regulations of t he EU countries and ensure smooth distributi on of safety-guaranteed products.
A - 8 (3) E nvironm ent Operate t he servo amplif ier at or above the conta mination level 2 set forth in IEC606 64-1. For this purpose, install t he servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc . (IP54).
A - 9 (7) Auxi liary equ ipment and op tions (a) The no-fuse breaker and magnetic contact or used should be the EN or IEC standa rd-compliant produ cts of the model s de scribed in section 13. 2.2. (b) The sizes of the cables described in section 13.2.
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.
A - 11 (7) Abo ut wiri ng protec tion For instal lation in United States , branch circuit protection must be provided, in accordance with the National Electrica l Code and any app licable loca l codes.
A - 12 MEMO.
1 CONTENTS 1. FUNCT IONS AND CO NFIGURATION 1- 1 to 1- 24 1.1 Intro duction............................................................................................................... ............................... 1- 1 1.2 Fu nction block diagram .
2 3.8.3 I/O termina ls ............................................................................................................ ........................ 3-54 3.9 Servo motor w ith elec tromagnetic brake ............................................
3 6.8.4 Motor-le ss ope ration ..................................................................................................... ................... 6-16 7. GEN ERAL G AIN ADJU STMENT 7- 1 to 7-12 7.1 Differe nt adju stment methods ...............
4 12. CH ARACT ERISTICS 12- 1 t o 12- 8 12.1 Ove rload pro tection chara cteristic s ....................................................................................... ............ 12- 1 12.2 Po wer supply equipmen t capacity and generate d loss .
5 14.8 Retry ope ration .................................................................................................................................... 14- 9 14.9 In itializat ion...................................................................
6 Optional Servo Motor Inst ruction Manual CONTE NTS The rough ta ble of co ntents o f the opt ional ME LSERVO Servo Mo tor Instruc tion Manual i s introduced 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 CONFIGURATION 1.1 Introduc tion The Mitsubish i MELSERVO-J2-Super series genera l-purpo se AC servo is based on the MELSERVO-J2 series and has further higher performance and higher fun ctions. It has position control, speed control and torque cont rol 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. (1) MR-J2S-350A or less Base amplifier CON1 D C Encoder Current detection NF.
1 - 3 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-J2S-500A MR- J2S-7 00A Cooling fan Regene- rative TR Base amplifier CON1 C Encoder Current detection NFB MC L 1 L 2 L 3 L 11 L 21 B2 U V W B1 Regenerative.
1 - 4 1. FUNCTIONS A ND CONFIGURAT ION (3) MR-J2S-11KA or more Cooling fan Base amplifier CON1 N Encoder Current detection NFB MC L 1 L 2 L 3 L 11 L 21 B2 U V W B1 Reg ene rat ive opt ion MR-B AT Puls.
1 - 5 1. FUNCTIONS A ND CONFIGURAT ION 1.3 Serv o amplif ier standard s pecif ications Servo Amplifier MR-J 2S- Item 10 A 2 0A 4 0 A 60 A 70 A 100A 200A 350A 50 0A 700A 11 KA 15 K A 22K A 10A 1 20A1 4.
1 - 6 1. FUNCTIONS A ND CONFIGURAT ION 1.4 Func tion list The followi ng table lists the functions of this servo. For deta ils of the functions, refer to the reference field. Function Description (Not e) Control m ode Reference Position control mode This se rvo is us ed as p osition co ntrol se rvo.
1 - 7 1. FUNCTIONS A ND CONFIGURAT ION Function Description (Not e) Control m ode Reference Ret urn conv erter Used when the regen erativ e optio n cann ot provid e enou gh regenera tive p ower. Can be used with th e MR -J2S-500A to MR-J2S-22KA. P, S, T Section 13.
1 - 8 1. FUNCTIONS A ND CONFIGURAT ION (2) Model MR–J2S–100A or less MR – J2S – 200A 35 0A Rating plate Rating plate MR-J 2S-5 00A MR- J2S-7 00A Rat ing pl ate Rating plate MR-J2S-11KA 15KA MR-J2S-2 2KA Rating plate Rating plate Note 1. 1-phase 230V is supported by 750W or less.
1 - 9 1. FUNCTIONS A ND CONFIGURAT ION 1.6 Com bination with s ervo motor The follow ing table lists combina tions of servo amplif iers and serv o motors. The same combina tions apply to the model s with e lectro magnet ic br akes and the mo dels w ith re duction gears .
1 - 10 1. FUNCTIONS A ND CONFIGURAT ION 1.7 Structure 1.7.1 Parts identif ication (1) MR-J2S-100A or less POINT The servo am plifier is s hown without th e front cover.
1 - 11 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-J2S-200A MR- J2S-3 50A POINT The servo am plifier is s hown without th e front cover. For removal of t he front cover, refer to section 1.
1 - 12 1. FUNCTIONS A ND CONFIGURAT ION (3) MR-J2S-500A POINT The servo am plifier is s hown without th e front cover. For removal of t he front cover, refer to section 1.7.2. Fixed part (4 places) MODE UP DOWN SE T Cooling fan Enco der con nect or (CN2 ) Used to connect the servo motor en coder.
1 - 13 1. FUNCTIONS A ND CONFIGURAT ION (4) MR-J2S-700A POINT The servo am plifier is s hown without th e front cover. For removal of t he front cover, refer to section 1.7.2. MODE UP DOWN SET Fixed part (4 places) Cooling fan Enco der con nect or (CN2 ) Used to connect the servo motor en coder.
1 - 14 1. FUNCTIONS A ND CONFIGURAT ION (5) MR-J2S-11KA or more POINT The servo am plifier is s hown without th e front cover. For removal of t he front cover, refer to section 1.7.2. MODE UP DOWN SE T Cooling fan Fixed part (4 places) MODE UP DOWN SET Battery h older Contains the batter y for absolute position d ata backup.
1 - 15 1. FUNCTIONS A ND CONFIGURAT ION 1.7.2 Rem oval and rei nstallatio n of the front c over CAUTION Befor e remov ing or ins talling the f ront cov er, turn off th e power and wait f or 15 minutes or m ore unti l the char ge lam p turns off. T hen, conf irm that the voltage betwe en P and N is saf e with a volta ge test er and others.
1 - 16 1. FUNCTIONS A ND CONFIGURAT ION (3) For MR-J2S-700A Removal of the front c over A) 1) A) 2) B) Reinstal lation of the front cover Fro nt co ver soc ket (2 places) 2) 1) Front cove r hook (2 places) 1) Push the removing knob A) or B), and put you finger into the front hole of the front c over.
1 - 17 1. FUNCTIONS A ND CONFIGURAT ION (4) For MR-J2S-11KA or more Removal of the front c over Mounting screws (2 places) Mounting screws (2 places) 1) Rem ove the front cover m ounting screws (2 places) and remove t he front cover. 2) Rem ove the front cover m ounting screws (2 places).
1 - 18 1. FUNCTIONS A ND CONFIGURAT ION Reinstal lation of the f ront cover Mounting screws (2 places) 1) Insert the front cover i n the direction of arrow. 2) Fix it with the mounting screws (2 places). Reinstal lation of the f ront cover Mounting sc r ews (2 places) 3) Fit t he front cover and fix it with the mounting screws (2 places).
1 - 19 1. FUNCTIONS A ND CONFIGURAT ION 1.8 Servo system with auxiliar y equipm ent W ARNING To preve nt an elec tric s hock, a lways c onnect t he protec tive e arth ( PE) ter minal ( ) of th e servo am plif ier to th e protec tive e arth (P E) of th e contro l box .
1 - 20 1. FUNCTIONS A ND CONFIGURAT ION (b) F or 1-p hase 100V to 120VA C (Note 2) Powe r supp ly No-fuse breaker (NFB) or fuse Magnetic contactor (MC) To CN2 To CN3 To CN1B Junction terminal block To.
1 - 21 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-J2S-200A MR-J2S-350A or more Power fact or improving reactor (FR-BAL) (Note) Power supply No-fuse breaker (NFB) or fuse Magnetic contactor (MC) To CN2 To.
1 - 22 1. FUNCTIONS A ND CONFIGURAT ION (3) MR-J2S-500A To CN1A (Note 2) Power supply No-fuse breaker (NFB) or fuse Magnetic contactor (MC) Power facto r improving reactor (FA-BAL) Servo amplifier L 1.
1 - 23 1. FUNCTIONS A ND CONFIGURAT ION (4) MR-J2S-700A W V (Note 2) Power supply No-fuse breaker (NFB) or fuse Magnetic contactor (MC ) Power fact or improving reactor (FA-BAL) L 1 L 2 L 3 U (Note 1).
1 - 24 1. FUNCTIONS A ND CONFIGURAT ION (5) MR-J2S-11KA or more (Note 1) L 11 L 21 L 2 L 1 L 3 MITS UBI SHI UV W BV BU C P To CN1A To C N1B (Note 3) Power supply No-fuse breaker (NFB) or fuse Magneti .
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 equipm ent on incom busti ble mater ial. Insta lling them direc tly or c lose t o com bustibles will lead to a fire .
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 dir ection . Other wise, 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 cooling fan to prevent the int ernal temperature of the control box from exceeding the environm ental cond itions.
2 - 4 2. INSTALLATION 2.4 Cable s tress (1) The way of clamping the cable must be fully examined so that flexing stress and cabl e's own mass stress are not appli ed to the cable connecti on.
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 wirin g, turn of f the p ower an d wait for 15 m inutes or m ore unti l the charg e lamp tur ns off.
3 - 2 3. SIGNALS AND W IRING 3.1 Standar d connect ion exam ple POINT Refer to section 3.7.1 f o r the connection of t he power supply sys tem and refer to section 3.
3 - 3 3. SIGNALS AND W IRING Note 1. To prevent an electric shock, al w ays c onnect the protective earth (PE) terminal ( ) of the servo amplifier to the protective eart h (P E) of th e cont ro l bo x.
3 - 4 3. SIGNALS AND W IRING (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 W IRING Note 1. To prevent an electric shock, al w ays c onnect the protective earth (PE) terminal ( ) of the servo amplifier to the protective eart h (P E) of th e cont ro l bo x.
3 - 6 3. SIGNALS AND W IRING 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 W IRING Note 1. To prevent an electric shock, al w ays c onnect the protective earth (PE) terminal ( ) of the servo amplifier to the protective eart h (P E) of th e cont ro l bo x.
3 - 8 3. SIGNALS AND W IRING 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 O.
3 - 9 3. SIGNALS AND W IRING Note 1. To prevent an electric shock, al w ays c onnect the protective earth (PE) terminal of the ( ) servo ampl ifier to the protective earth (P E) of th e cont ro l bo x.
3 - 10 3. SIGNALS AND W IRING 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 W IRING 3.3 I/O sign als 3.3.1 Connec tors and si gnal arrangem ents POINT The pin configura tions of the connect ors are as viewed from the cable connector wiring section. Refer to ( 2) CN1A and CN1B signa l assignment for CN1A and CN1B signal assig nment.
3 - 12 3. SIGNALS AND W IRING (b) MR-J2S-11KA or more 2 RXD 4 6 8 10 1 LG 3 5 7 TRE 9 12 TXD 14 16 18 20 11 LG 13 15 17 19 RDN RDP SDP P5 SDN CN3 CON2 MITSUBISHI CHARGE 2 LG 4 6 MD 8 10 1 LG 3 5 7 MR 9 12 LG 14 16 MDR 18 P5 20 11 LG 13 15 17 MRR 19 P5 P5 BAT CN2 CN1A CN1B CN4 1 2 4 MO1 MO2 LG Same as the one of the MR -J2S -700A or less .
3 - 13 3. SIGNALS AND W IRING (2) C N1A and CN 1B signal assign ment 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 - 14 3. SIGNALS AND W IRING (3) Sy mbols and sig nal names Symbol Signal name Symbol Si gnal name SON Serv o-on VLC Limitin g speed LSP Forward rota tion stro ke end RD Ready LSN Reve rse rota tion .
3 - 15 3. SIGNALS AND W IRING 3.3.2 Sign al explanat ions For th e I/O interfac es (sy mbol s in I/O d ivision column in the ta ble), refer to section 3.6.2. In the control mode field of the tabl e P : Position con trol mode, S: Speed control mode, T: To rque control mode : Deno tes th at the signal may be u sed in the in itial setting statu s.
3 - 16 3. SIGNALS AND W IRING Control mode Signal S ymbol Connector pin No. Functions/Appl ications I/O divisi on PST External torqu e limit selection TL CN1B 9 Turn TL off to make Internal torque limit 1 (parameter No. 28) valid, or turn it on to make Analog torqu e limit (TLA) valid.
3 - 17 3. SIGNALS AND W IRING Control mode Signal Symbol Connec tor pin No. Funct ions/Appli cations I/O divisi on PST Speed selection 1 SP1 CN1A 8 <Speed control mod e> Used to sele ct the command speed for operation. When using SP3, mak e it usable by making the setting of paramete r No.
3 - 18 3. SIGNALS AND W IRING Control mode Signal S ymbol Connector pin No. Funct ions/Applications I/O divisi on PST Proport ion control PC CN1B 8 Connect PC-SG to switch th e speed amplifier from th e propo rtio nal int egra l typ e to t he pr oporti onal type .
3 - 19 3. SIGNALS AND W IRING Control mode Signal S ymbol Connector pin No. Funct ions/Applications I/O divisi on PST <Position/ speed cont rol change mode> Used to s elect t he con trol mode i n th e posi tion/sp eed contr ol change m ode. (Note) LOP Control m ode 0P o s i t i o n 1 Speed Note.
3 - 20 3. SIGNALS AND W IRING (2) Output signals Control mode Signal S ymbol Connector pin No. Functions/Appl ications I/O divisi on PST Trouble AL M CN1B 18 ALM tu rns of f wh en p ower is swit ched of f or t he p rotecti ve ci rcuit is activated to shut off the base circuit.
3 - 21 3. SIGNALS AND W IRING Control mode Signal S ymbol Connector pin No. Functions/Appl ications I/O divisi on PST To use t his signal, set " 1 " in p aram eter No.49. This signal is output whe n an alarm occurs . When there is no alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
3 - 22 3. SIGNALS AND W IRING Connector pin No. Control mode Signal Sym bol 7k W or less 11kW or mor e Functions/Applicat ions I/O divisi on PST Encod er Z-phase pulse (Open collector ) OP CN1A 14 CN1A 14 Output s the zero-po int signal of the enco der.
3 - 23 3. SIGNALS AND W IRING (4) Pow er supply Connector pin No. Control mode Signal Sy m bol 7k W or less 11kW or mor e Functions/Appl ications I/O divisi on PST I/F internal power s upply VDD CN1B 3 CN1B 3 Used to ou tput 24V 10% to across VDD-SG. When using this power supply f or digital interface, connect it with COM.
3 - 24 3. SIGNALS AND W IRING 3.4 Deta iled desc ription of th e signals 3.4.1 Pos ition control m ode (1) Pul se trai n input (a) Input pulse waveform selection Command pulses may be input in any of three different forms, for which positive or negative logic can be cho sen.
3 - 25 3. SIGNALS AND W IRING (b) Connections and waveforms 1) Open collect or system Connect as shown below. SG SD Servo amplifier VDD PP NP OPC Approx.
3 - 26 3. SIGNALS AND W IRING 2) Diffe rentia l line dr iver sy stem Connect as shown below. PP NP Servo amplifier PG NG SD (Note) Note. Puls e train input interf ace is comprised of a photo coupler. Therefore, it may be any malfuncti on s sinc e the current is reduc ed when connect a resistanc e to a pul se t rain signal line.
3 - 27 3. SIGNALS AND W IRING (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 in-position range.
3 - 28 3. SIGNALS AND W IRING (5) Torque limit CAUTION If the to rque limit i s canceled du ring servo lock, the serv o m ot or may suddenly rotate accordi ng to pos ition d eviatio n in resp ect to th e com mand pos ition. (a) Tor que limit and torqu e By sett ing param eter No .
3 - 29 3. SIGNALS AND W IRING 3.4.2 Speed control m ode (1) Speed setting (a) Speed command and speed The servo motor is run at the s peeds set in t he parameters or a t the speed set in the applied voltage of t he anal og speed command (VC).
3 - 30 3. SIGNALS AND W IRING (b) Spe ed sele ction 1 (SP1) , spee d select ion 2 (S P2) and speed command value Choose a ny of the speed settings made by t he internal s peed comm ands 1 t o 3 using speed selection 1 (SP1) and speed s election 2 (SP2) or the speed setting made by the analog speed command (VC).
3 - 31 3. SIGNALS AND W IRING 3.4.3 T orque control m ode (1) Torque control (a) Torque command and torque A relati onship between t he applied voltage of the a nalog torque command (TC) and the torque by the servo motor is s hown below. The maximum torque is generated at 8V.
3 - 32 3. SIGNALS AND W IRING (b) Analog torq ue command offset Using pa rameter No. 30, the offset voltage of 999 to 999mV can be added to the TC applied volta ge as shown bel ow. 0 8( 8) Max. t orque Generated torque TC applied voltage [V] Parameter No.
3 - 33 3. SIGNALS AND W IRING (b) Spe ed sele ction 1(SP1)/s peed selec tion 2(S P2)/spe ed sele ction 3( SP3) an d spee d limit v alues Choose a ny of the speed settings made by t he internal s peed .
3 - 34 3. SIGNALS AND W IRING 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 pos ition de tection system.
3 - 35 3. SIGNALS AND W IRING (3) Sp eed sett ing in spee d control mode (a) Speed command and speed The s ervo motor is run at the s peed set in parameter No. 8 (internal speed command 1) or at t he speed set in the applied voltage of the anal og speed command (VC).
3 - 36 3. SIGNALS AND W IRING 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 switch between the sp eed cont rol mode and the torque control mode from an exte rnal con tact.
3 - 37 3. SIGNALS AND W IRING (4) Sp eed limit in torque control mod e (a) Speed limit valu e and speed The speed is limited to the li mit value set in parameter No. 8 (internal speed l imit 1) or the value set i n the applied voltage of t he analog s peed limit (VLA).
3 - 38 3. SIGNALS AND W IRING 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 t o r que control mode and th e posit ion control mode from an externa l contac t.
3 - 39 3. SIGNALS AND W IRING 3.5 Alarm occur rence timing c hart CAUTION W hen an alarm has occurr ed, rem ove its caus e, mak e sure t hat the operat ion sign al is not be ing in put, ensure safety , and reset the alarm be fore rest arting operat ion.
3 - 40 3. SIGNALS AND W IRING 3.6 Interf aces 3.6.1 Comm on line The foll owing diagram shows t he power suppl y and its common li ne. 24VDC CN1A CN1B CN1A CN1B DO-1 SG OPC PG NG SG P15R LG TLA VC etc . SD OP MR MRR M DI-1 COM VDD ALM .etc LG SD SDP SDN RDP RDN LG CN3 RA CN2 SD MO1 MO2 LG SG TXD RXD RS-232C RS-422 (Note) Ana log in put ( 10V/max.
3 - 41 3. SIGNALS AND W IRING 3.6.2 Detai led descript ion of the interfac es This secti on gives the details of the I/O signal interfaces (refer t o I/O Division in the table) indicated in sectio ns 3.3.2. Refer to this sec tion and conn ect the interfac es with th e extern al equip ment.
3 - 42 3. SIGNALS AND W IRING (2) Digital output interface DO-1 A lamp, relay or photocoupler can be driven. Pr ovide a diode (D) for an inductive load, or an inru sh current suppressing resistor (R) for a l amp load. (P ermissible current: 40mA or less, inrush current: 100mA or less) A maximum of 2.
3 - 43 3. SIGNALS AND W IRING (3) Pul se trai n input interfa ce DI-2 Provide a pulse train signal i n the open collector or differential line driver system. (a) Open collector s ystem 1) Interface For use of internal p ower suppl y For use of external po wer suppl y VDD OPC PP, NP SG SD Max .
3 - 44 3. SIGNALS AND W IRING (b) Differential line driver syst em 1) Inte rface SD PG(N G) PP(N P) Max. input pulse frequency 500kpps Servo amplifier Am26LS31 or equivalent Approx. 100 V OH : 2.5 V V OL : 0.5 V (Note) 10m (393.70in) or less Note. Puls e train input interf ace is comprised of a photo coupler.
3 - 45 3. SIGNALS AND W IRING (b) Differential line driver syst em 1) Inte rface Max. output current: 35mA LA (LB, L Z) LAR (LBR, LZR) LG SD LA (LB, LZ) LAR (LBR, LZR) SD Servo amplifier Servo amplifi.
3 - 46 3. SIGNALS AND W IRING (7) Sourc e inpu t interfac e When u sing the input inte rface of source ty pe, all Dl-1 in put signa ls are of sourc e type . Sour ce ou tput cannot be provided. For use of internal power supply For use of external power supply SG COM 24VDC VDD TR R: A pprox.
3 - 47 3. SIGNALS AND W IRING 3.7 Input power suppl y circuit CAUTION Alwa ys c onnect a m agnetic cont actor (M C) bet ween the m ain circ uit po wer sup ply and L 1 , L 2 , and L 3 of the ser vo amplif ier, an d conf igure t he wiri ng to be able to shut down th e power suppl y on the s ide of the ser vo ampl ifier’s power s uppl y .
3 - 48 3. SIGNALS AND W IRING (2) For 1-phas e 100 t o 120VA C or 1-p hase 23 0VAC powe r sup ply RA OFF ON MC MC SK NFB MC L 1 L 2 L 3 L 11 L 21 EMG SON SG VDD COM ALM RA Power supp ly 1-phase 100 to 120 VAC o r 1-phase 230VAC Eme rge ncy s top Servo-on (Note 2) Servo amplifier Troubl e Emergency stop (Note 1) Note 1.
3 - 49 3. SIGNALS AND W IRING 3.7.2 T erminals The posit ions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to section 11.1. Symbol Connect ion Target (Applic a tion) Descript ion Supply L 1 , L 2 and L 3 with the f ollowing power.
3 - 50 3. SIGNALS AND W IRING 3.7.3 Power -on seque nce (1) Po wer-on procedur e 1) Alw ays wire the po wer sup ply as shown in above section 3.7.1 u sing the magnetic contac tor with the main circuit power supply ( three-phase 200V: L 1 , L 2 , L 3 , single-phase 230V, single-phase 100V: L 1 , L 2 ).
3 - 51 3. SIGNALS AND W IRING (3) Em ergenc y stop CAUTION Prov ide an exter nal for ced sto p circui t to ens ure that opera tion ca n be stop ped an d power s witche d off imm ediatel y . Make up a circuit th at shuts off ma in circuit power as soon as EMG is turned off at an emergency stop.
3 - 52 3. SIGNALS AND W IRING 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 pr event an electric 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 - 53 3. SIGNALS AND W IRING 3.8.2 Connec tion diagram CAUTION Duri ng power- on, do not open or clos e the m otor powe r line . Other wise, a ma lfunction or fau lty ma y occur. POINT For the co nnection diagram o f the MR-J2S-1 1KA to MR-J2 S-22KA, re fer to section 3.
3 - 54 3. SIGNALS AND W IRING Servo mo tor Connection diagram HC-SFS81 (B) HC-SFS52 (B) to 152 (B) HC-SFS53 (B) to 153 (B) HC-RFS103 (B) to 203 (B) HC-UFS7 2 (B) 152 (B) El ectr oma gne tic brake (Not.
3 - 55 3. SIGNALS AND W IRING (2) HC-SFS HC-RF S HC-UFS2000 r/m in series Ser vo moto r sid e con nect ors Servo motor For pow er supply F or e ncode r 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 tor for power is shared.
3 - 56 3. SIGNALS AND W IRING 3.9 Serv o motor with electrom agnetic brak e CAUTION Configur e th e electrom agnet ic brak e oper ation circ uit s o t hat it is activate d no t on ly by the ser vo amplif ier signa ls but also b y an extern al emerge ncy stop s ignal.
3 - 57 3. SIGNALS AND W IRING (2) Setting 1) Se t " 1 " in par amete r No. 1 to ma ke the electr omagn etic b rake inte rloc k (MBR) valid . 2) Using parameter No.
3 - 58 3. SIGNALS AND W IRING (b) Emergency stop (EMG) ON/OFF Servo motor speed Electromagnetic brake interlock (MBR) ON OFF Base circu it Emergency stop (EMG) (10ms) (180ms) (180ms) Dynamic brake Dyn.
3 - 59 3. SIGNALS AND W IRING (d) Both main and control circu it power supplies off Servo moto r speed ON OFF Base circu i t Electromagnetic brake interlock (MBR) Trouble (ALM) No (ON) Yes (OFF) ON OF.
3 - 60 3. SIGNALS AND W IRING 3.10 Gro unding W ARNING Groun d the ser vo am plifier and ser vo motor secur ely. To preve nt an electr ic shock , always con nect the protec tive ear th (PE) term inal of the ser vo am plifier with the p rotect ive e arth (P E) of th e contr ol box.
3 - 61 3. SIGNALS AND W IRING 3.11 Ser vo amplif ier term inal block (TE2) wirin g method POINT Refer to Table 13.1 2) and 4) in section 13.2.1 for th e wire sizes used fo r wiring.
3 - 62 3. SIGNALS AND W IRING (2) T erminati on of t he cabl es (a) When the wire is inserted di rectly Insert the wire to the end pressing the button wit h a small flat blade screwdriver or the like.
3 - 63 3. SIGNALS AND W IRING 3.11.2 For the servo am plifier produce d earlier tha n Dec. 200 5 (1) T erminati on of t he cabl es Solid wire: After the sheat h has been stripped, the cable can be used as it is. Approx. 10mm (0.39inch) Twiste d wire: Use the ca ble after strippi ng the she ath and twisting the core.
3 - 64 3. SIGNALS AND W IRING Use of a flat-blade torque screwdriver is recomme nd ed to man age the screw tigh tenin g torqu e. The follo wing table indic ates the r eco mmende d prod ucts o f the to rque screw drive r for tighte ning to rque management and the flat-blade bit for t orque screwdriver.
3 - 65 3. SIGNALS AND W IRING 3.13.1 Connec tion exam ple Wire the po wer supp ly/m ain circu it as sho wn belo w so that p ower i s shu t off an d the se rvo-o n sig nal turned off a s soon as an alarm occurs, a servo emer gency st op is m ade vali d, a contro ll er e mergency stop, or a se rvo moto r thermal re lay al arm is mad e valid .
3 - 66 3. SIGNALS AND W IRING 3.13.2 Se rvo am plifier term inals The posit ions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier.
3 - 67 3. SIGNALS AND W IRING 3.13.3 Ser vo motor terminals Pin Signal Pin Signal AM D K BM D R L CM R M DM R R N S H D EP F BAT R LG GL G S P 5 HT Key A N G S R T P HF J E K D L M B C Encoder connect.
3 - 68 3. SIGNALS AND W IRING Term inal box insid e (HA-LFS8 01, 12K1, 11K1M, 15K1M , 15K2, 2 2K2) Motor power supply terminal block (U V W) M8 screw Earth terminal M6 screw Encoder connector MS3102A2.
3 - 69 3. SIGNALS AND W IRING Signal Name Abbreviat ion Descripti on Powe r supply U V W Connect to th e motor output terminals (U, V, W) of th e servo amplifier.
3 - 70 3. SIGNALS AND W IRING 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 following. (1) W iring (a) A correct power supply is connect ed to the po wer inpu t ter minal s (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 not oper ate the s witches wit h wet hands . You may get an e lectric sh ock. CAUTION Befor e starting operatio n, check the p arameter s. Som e m achines m ay perf orm unexpec ted oper atio n. Tak e saf ety measur es, e.
4 - 3 4. OPERATION (4) Servo-on Switch t he servo-on in t he followi ng procedure. 1) Switch on m ain circuit/c ontrol circuit power supply. 2) Switch on the servo-on (SON) When pla ced in the servo-on status, the servo amplifi er is ready to operate and the servo motor is locked .
4 - 4 4. OPERATION 4.2.3 Speed control m ode (1) Power on 1) Switch off the servo-on (SON). 2) When main circuit power/contro l circuit power is switched on, the displa y 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 followi ng procedure. 1) Switch on m ain circuit/c ontrol circuit power supply. 2) Switch on the servo-on (SON). When placed in the servo-on stat us, the servo amplifier is ready to operate.
5 - 1 5. PARAMETERS 5. PARAME TERS CAUTION Ne ver adjust or chan ge the p aram eter val ues extr emel y as it wil l mak e operatio n instab le. 5.1 Param eter list 5.1.1 Par ameter writ e inhibit POINT After se tting the paramete r No. 19 value , switch p ower o ff, then on 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 swit ch it on again to make that parameter se tting valid. The symbols in the control mode column of the table indicate the followi ng modes.
5 - 3 5. PARAMETERS No. Symbol Nam e Control mode Initial value Unit Cust omer setti ng 20 *OP2 Function s election 2 P S 0000 21 * OP3 Function selection 3 (Command pulse selection) P 0000 22 *OP4 Fu.
5 - 4 5. PARAMETERS No. Symbol Nam e 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 *O.
5 - 5 5. PARAMETERS (2) Details li st Class No. S y mbol Name and function Initial value Unit Setting range Control mode Control m ode, regen erative opti on selecti on Used to select t he cont rol mode and re generative option . Select the control mode.
5 - 6 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode Basic para meters 1* O P 1 Function s election 1 Used to select t he input signal filter, pin CN1B-19 function and absolute position de tection system.
5 - 7 5. PARAMETERS Class No. S y mbol Name and function Initial value Unit Setting range Control mode 2 ATU Auto tuning Used to s election the response level , etc. for execution of a uto tuning. Ref er to ch apter 7. Response l evel settin g If the machine hunts or ge nerates large gear sound, decrease the set value.
5 - 8 5. PARAMETERS Class No. S y mbol Name and function Initial value Unit Setting range Control mode 5 INP In-po sition range Used to set the in-position (INP) output rang e in the command pulse increm ents prior to electr onic g ear ca lcula tion.
5 - 9 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode Internal speed command 2 Used to s et speed 2 of int ernal speed com mands. S 9S C 2 Internal speed limit 2 Used to s et sp eed 2 of int erna l speed limi ts.
5 - 10 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode 14 TQC Torque c omma nd ti me cons tant Used to set t he constant of a l ow-pass filter in re sponse to the torqu e comman d.
5 - 11 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode Basic para meters 17 MOD Analog monitor output Us ed to se lec tion the si gnal p rovi ded to the a nalo g moni tor (M O1) analog monitor (M O2) output.
5 - 12 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode 18 * DMD St atus dis play selec tio n Used to select t he status display sh own at power-on.
5 - 13 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode Parameter write inhibit Used to sel ect t he refe renc e and w rite ranges of t he pa ramet ers. Operati on can b e perf ormed for th e para meters marked .
5 - 14 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode 21 *OP3 Function s election 3 (Command p ulse selecti on) Used to s elect t he inp ut f orm of the p uls e trai n inp ut si gnal. (Refer to section 3.
5 - 15 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode 23 FFC Feed f orw ar d gain Set the feed forward gain. When the setting is 100%, t he droop pulses during operatio n at constant sp eed are n early zero.
5 - 16 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode Anal og spe ed comma nd off set Used to s et the offs et vol tage of th e ana log sp eed com mand (VC) .
5 - 17 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode 39 VDC Spe ed different ial compensation Used to set the d ifferential compensation. Mad e valid whe n the p rop ortion cont rol ( PC) is swi tched on.
5 - 18 5. PARAMETERS Class No. Symbol Nam e and function Initia l value Unit Setting range Control mode 43 *D I2 Input signal selection 2 (CN1B-5) This para meter is unavaila ble when p arameter No.4 2 is set to assign the contro l change (LOP) to CN1B-pin 5.
5 - 19 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode 45 *DI4 Input signal selection 4 (CN1A-8) Allows any input signal t o be assigned to CN1A-pin 8. The assignable signals and setting me t hod a re th e sam e as i n inp ut signal selection 2 (parameter No.
5 - 20 5. PARAMETERS Cla ss No . Symbol Name and function Initial value Unit Setting range Control mode Expan sion param eters 1 49 * DO1 Output sig nal selection 1 Used to select t he conn ector pins to outp ut the ala rm cod e, warni ng (WNG) and battery warning (BWNG).
5 - 21 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode 50 For manufactur er setting Do not cha nge this value by any means. 0000 51 *OP6 Function s election 6 Used to s elect t he op erati on to b e perf ormed when the reset (RES ) switches on.
5 - 22 5. PARAMETERS Class No. S y m bol Name and function Initial 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 /dec elerati on ti me constant (paramet er No. 7) control system.
5 - 23 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode 60 LPF Low -pass filter adaptive vibration suppression control Used to selection t he low-pass filter adaptive vibration suppression control .
5 - 24 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode 65 * CDP Gain c hanging selection Used to select t he gain changing c ondition. (Refer to section 8 .3) 0 00 Gain changing selection Gains are changed in accordance wit h the settings of parameters No.
5 - 25 5. PARAMETERS Class No. S y m bol Name and function Initial value Unit Setting range Control mode Internal speed command 5 Used to s et speed 5 of int ernal speed com mands. S 73 SC5 Internal speed limit 5 Used to s et sp eed 5 of int erna l speed limi ts.
5 - 26 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 - 27 5. PARAMETERS (b) Conveyor setting exampl e For rotation in incremen ts of 0.01 per pul se Machine sp ecificatio ns Table : 36 0 /rev Reduction ratio: n 4/64 Servo motor resolution: P t 13107 2 [pulses/rev ] Tabl e Timi ng be lt : 4/64 Servo motor 131072 [pu lse/rev] CDV CMX Pt 131072 6 5536 1125 0.
5 - 28 5. PARAMETERS (3) S etting for us e of A1 SD75P The A1SD75 P also has the following electr onic gear parameters. Normally, the servo amplifier side electronic gear must also be set due t o the restriction on the command pu ls e frequency (d ifferenti al 400kpuls e/s, open collector 200kpuls e/s).
5 - 29 5. PARAMETERS To rotate t he servo motor at 30 00r/min in the open collector system (200kpulse/s), set t he e lect ronic gear as f ollows CDV CMX N 0 f 60 pt f : Input pulses [pulse/s] N 0 : Se.
5 - 30 5. PARAMETERS 5.2.2 Anal og monitor The servo s tatus can be output to t wo channels in t erms of volta ge . The servo s tatus c an be mon itored using an ammete r.
5 - 31 5. PARAMETERS (2) Set content The servo amplifier is factory-set to out put the servo motor s peed to analog monitor 1 (MO1) and the torque to analog moni tor (MO2) . The setting can be changed as listed below by changing the parameter No.17 va lue.
5 - 32 5. PARAMETERS (3) Ana log m onitor b lock diagram PWM M Current control Speed control Current comm and Position control Droop pulse Diffe r- ential Command pulse frequency Bus volta ge Speed co.
5 - 33 5. PARAMETERS 5.2.3 Usin g forward/r everse rota tion strok e end to cha nge the stopp ing pattern The st opping pattern is factory-s et to m ak e a sudden stop when the forwa rd/reverse rotation stroke end is made valid. A slow stop can be made by changing the parameter No.
5 - 34 5. PARAMETERS 5.2.5 Pos ition sm oothing By setting the position command acceleration/deceler ation time constant (parameter No.7), you can run the servo motor smoothly in response to a s udden position command.
6 - 1 6. DISPLAY AND O PERATION 6. DISPLAY AND OPERATION 6.1 Displ ay flowchart Use the display (5-di git, 7-segment LED) on the fron t panel of the servo amp lifier fo r statu s displ ay, paramete r setting , etc. Set the par ameters bef ore opera tion, diagno se an alarm, con firm exte rnal sequences, a nd/or confirm the operati on status.
6 - 2 6. DISPLAY AND OPERATION 6.2 Status disp lay The servo s tatus during operation is s hown on the 5 -digit, 7-s egment LED display. Press th e "UP" or "DOW N" button to chang e display da ta as de sired. Wh en the req uired data is selected, the corresponding symbo l appear s.
6 - 3 6. DISPLAY AND OPERATION 6.2.2 St atus displa y l ist The foll owing tabl e lists the s ervo status es that may b e shown. Refer to Appendix 2 for the measurement point. Name Sym bol Unit Descripti on Dis play range Cumulative feedback pulse s C pulse Feedback puls es fr om th e serv o mot or en coder are c ounted and disp layed .
6 - 4 6. DISPLAY AND OPERATION Name Sym bol Unit Descripti on Dis play range Within one-revoluti on posit ion high Cy2 100 pulse The within one-revolution position is displayed in 100 pul se incr ements of the en coder . The va lue retur ns to 0 wh en it exce eds th e maxi mum numb er of pulse s.
6 - 5 6. DISPLAY AND OPERATION 6.3 Diagnos tic mode Name Di splay Descr ipti on 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 s ervo was switc hed on af ter c ompl etion of initialization and the se rvo amplifier is ready to operate.
6 - 6 6. DISPLAY AND OPERATION Name Di splay Descr ipti on Motor s eries Press the "SE T" but ton t o show the motor s eries ID of the servo motor c urrentl y conne cted. For indication details, refer to the optional MELSERVO Servo Motor Instru ction Man ual.
6 - 7 6. DISPLAY AND OPERATION 6.4 Alarm m ode The cur rent al arm, past alarm his tory and p aramete r error are displayed. The lower 2 digits on the display indica te the alarm number tha t has occurred or the parameter number i n error. Display examples are shown below.
6 - 8 6. DISPLAY AND OPERATION (4) Use parameter No. 16 to clear the alarm history. (5) Pressing "SET" on the alarm history displ ay screen for 2s or longer sh ows the foll owing detailed infor mation d isplay screen. No te that th is is provided for maintenance by the manufacturer.
6 - 9 6. DISPLAY AND OPERATION 6.6 Externa l I/O signa l displa y The ON/OFF states of the digi tal I/O si gnals connected to th e servo amplifier can b e confirmed. (1) Operation Call t he displa y screen shown aft er power-on. Using the "MODE" b utton, show the diagnostic screen.
6 - 10 6. DISPLAY AND OPERATION (a) Control modes and I/O signals (Note 2) Sym bols of I/O si gnals in control m odes Connector Pi n 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 SP1 SP1 SP1/CR No .43 to 48 1 4 O O PO PO P O PO PO P 18 O IN P INP/SA SA SA/ /INP No.
6 - 11 6. DISPLAY AND OPERATION (3) De faul t signal indica tions (a) Position control mode Lit: ON Extinguished:OFF Input signals Output signals TL (CN 1 B-9) Torque lim it PC (CN 1 B-8) P roportiona.
6 - 12 6. DISPLAY AND OPERATION 6.7 Output s ignal (DO) forced ou tput POINT When the servo system is used i n a vertical lift applicat ion, turning on the electromagnet ic brake interlock (MBR) after assigning it to pin CN1B-19 will releas e the electromagnetic brake, causi ng a drop.
6 - 13 6. DISPLAY AND OPERATION 6.8 Tes t operation m ode CAUTION The test operatio n mode is desig ned to c onfirm servo operat ion and not to c onfirm ma chine opera tion. In this mode, do not use the ser vo m otor wit h the m achine. Alwa ys use the servo m otor alone.
6 - 14 6. DISPLAY AND OPERATION 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 OPERATION 6.8.3 Pos itioning oper ation POINT The MR Configurator (servo configurat ion software) is required to perform positioni ng operation. Positioni ng operation can be performed once when there is no command from the external comm and device.
6 - 16 6. DISPLAY AND OPERATION 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 re sponse to external input signals. This operation can be used to check the sequence of a host programm able controller 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. Normall y not us ed for other purp oses . Allows adjustment by merely changing the re spon se le vel se tti ng.
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 characteris tic (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-time auto tuning is shown below. Servo motor Comma nd Automa tic setting Control gains PG1, VG1 PG2, VG2,.
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 th e response (The fi rst digit of parameter No.2) of the whole servo system. As the respons e level setting is increase d, the track a bility an d sett ling ti me for a co mmand d ecrea ses, b ut a too high re sponse level w ill gene rate v ibratio n.
7 - 7 7. GENERAL GAIN ADJUSTMENT 7.3 Manual m ode 1 ( simple m anual adj ustment) If you are not satisfied with the adjustment of auto tuning, you can m ake simple manual adjustment with three parameters.
7 - 8 7. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed contro l gain 2 ( parame ter No. 3 7) This paramet er determines the response level of the speed control loop. Increasin g this value enhances response but a t oo high value will make the mechanical system liable to v ib rate.
7 - 9 7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Po sition co ntrol g ain 1 (p arameter No . 6) This paramet er determines the response level of the positi on control loop.
7 - 10 7. GENERAL GAIN ADJUSTMENT (b) Manually adjusted parameters The followi ng parameters are adjustabl e manually. Parameter No. Abbreviati on Nam e 6P G 1 P o s i t i o n c o n t r o l g a i n 1 36 VG1 Speed contr ol gai n 1 (2) Adj ustment proced ure Step Operati on Desc ription 1 Set 15Hz (param eter No.
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 leve l settin g To meet higher response demands, the MELSERVO-J 2-Super series has been changed in response level setting range fro m the MELS ERVO-J2 series.
7 - 12 7. GENERAL GAIN ADJUSTMENT MEMO.
8 - 1 8. SPECIA L AD JUSTMENT FUNCTI ONS 8. SPECIAL A DJUSTMENT FUNCTIONS POINT The functi ons given in this chapter need not be used generally. Use them if you are no t sati sfied with the m achine statu s after making adjustm ent in the me thods in chap ter 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 filter 2 (parameter No.
8 - 3 8. SPECIAL ADJUSTMENT FUNCT IONS POINT If the frequency of machine resonance is unknown, decre ase the notch frequency from higher to lower ones in order.
8 - 4 8. SPECIAL ADJUSTMENT FUNCT IONS (2) Parameters The op eration of adapt ive vi bration sup pressio n contro l selec tion (p arameter No .60). Pa ram ete r No.
8 - 5 8. SPECIAL ADJUSTMENT FUNCT IONS 8.5 Gain c hanging f unction This function can ch ange t he gains. You can change between gains during rotation and gains during stop or can use an external signal to change gains during operat ion. 8.5.1 Ap plications This function is used when.
8 - 6 8. SPECIAL ADJUSTMENT FUNCT IONS 8.5.3 Par ameters When using the gain changing function, always set " 4 " in par ameter No.2 (auto tuni ng) to choose the manual mode of th e gain adjustment modes . The gain changing function cannot be used in the a uto tuning mode.
8 - 7 8. SPECIAL ADJUSTMENT FUNCT IONS (4) Ga in chan ging s electi on (param eter N o. 65) Used to s et the gain changing condition. Choose the changing condition in the first digit. If you set "1" here, you can u se t he gain changing (CDP) external in pu t si gnal fo r ga in c han gin g.
8 - 8 8. SPECIAL ADJUSTMENT FUNCT IONS 8.5.4 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 ation Name Setting Unit 6 PG 1 Positio n control gain 1 10 0 ra d/s 36 VG1 Sp eed con trol gain 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 starting m aintenanc e and/or inspectio n, turn off the po wer and wa it for 15 minutes or m ore unti l the c harge la mp tur ns off. T hen, conf irm that the voltage betwe en P and N is safe with a v oltage t ester a nd other s.
9 - 2 9. INSPECTION MEMO.
10 - 1 10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 Troub le at start- up CAUTION Exc essive adj ustm ent or c hange of param eter se tting m ust not be made as it will mak e operat ion inst able. POINT Using the MR Confi gurator (servo configurat ion software), you can refer to unrotat ed servo motor reasons , etc.
10 - 2 10. TROUBLESHOOTING No. Start -up sequence Fault Invest igation Poss ible cause Reference Rotation ripples (speed fluctuations) are la rge a t 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) Out put puls e co unter Q P CMX CDV (C) Servo-on (SON), s troke end (L SP/LSN) input (A) (b) Cumulative command p uls es Electronic gear ( pa rameters No.
10 - 4 10. TROUBLESHOOTING 10.1.2 Spee d control m ode No. Start -up sequence Fault Inves tigation Possible c ause Referenc e Not i mprov ed if connect ors CN1A, CN1B, CN2 and CN3 are di scon nected . 1. Power supply voltag e fault 2. Servo amplifier is faulty.
10 - 5 10. TROUBLESHOOTING 10.1.3 T orque contr ol mode No. Start -up sequence Fault Inves tigation Possible c ause Referenc e Not i mprov ed if connect ors CN1A, CN1B, CN2 and CN3 are di scon nected . 1. Power supply voltag e 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 wh ich will detect the trouble (A LM) and turn o ff the servo-on (SON) at occurrence of an alarm. 10.2.1 Alar ms and warning list When a fault occurs during operation, the corresponding alarm or warning 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, ens ure s afet y, then reset the alarm , and rest art op eration. Otherwis e, inj ury ma y occur. If an absol ute posit ion erase ( AL.
10 - 8 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Faulty parts in th e servo amplifier Checking m ethod Alar m (AL.15 ) occurs if p ower is switched on after di sconnection of all cables but the con trol circuit pow er supply cables. AL.
10 - 9 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Redu ced vol tage of sup er capa citor in encoder After leavi ng the alarm o ccurring for a few minutes , switch power of f, then on aga in. Always make home position setting again. 2.
10 - 10 10. TROUBLESHOOTING Display Name Definition Ca use Action 1. Short occurred in servo amplifier output pha ses U, V and W. Correct the wiring . AL. 32 Ove rcurren t 2. Transistor (IPM) of the servo amplifier faulty. Checking m ethod Alarm (AL.3 2) occurs if pow er is switched on after U,V and W are disconn ected.
10 - 11 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Serv o ampl ifier fa ult caus ed the parameter setting to be rewritten. Change the servo amplifier. 2. Regenerative option not used with servo amplifier was selected in param eter No.
10 - 12 10. TROUBLESHOOTING Display Name Definition Ca use Action 1. Mac hine struc k somet hing . 1. Rev iew operati on pa ttern. 2. Install limit switch es. 2. Wr ong c onnecti on of serv o m otor. Servo amplifier's output t erminals U, V, W do not match se rvo mo tor' s inpu t term ina ls U, V, W.
10 - 13 10. TROUBLESHOOTING 10.2.3 Rem edies for warnings CAUTION If an absolute pos ition co unter war ning (AL. E3) occ urred, alwa y s m ake hom e posit ion se tting aga in.
10 - 14 10. TROUBLESHOOTING Display Name Definition Cause Action 1. PLC ladd er pr ogram wrong . Contact t he pr ogram . AL.E5 ABS time-ou t warning 2. Reverse rotation start (S T2) Limiting torque ( TLC) i mprop er wiri ng Conn ect prop erly . AL.E6 Se rvo emerge ncy stop warning EMG is of f.
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 E N C () [Unit : mm] 6 ( 0.24) m o unting hole A A pprox.70 (2.76) 135 ( 5.32) TE2 4(0.16) B 1 6 8 ( 6 .
11 - 2 11. OUTLINE DIMENSION DRAW INGS (2) MR-J2S -70A MR-J2S- 100A C N 1 A OPEN MITSUBISHI C N 1 B C N 2 E N C C N 3 A p p r o x . 7 ( 0 . 2 8 ) C N 1 A OPEN L1 L2 L3 UV W MITSUBISHI C N 1 B C N 2 E N C C N 3 [Unit: mm] ([Unit: in]) Approx.70(2.76) 70(2.
11 - 3 11. OUTLINE DIMENSION DRAW INGS (3) MR-J2S -200A MR-J2S-3 50A MITS UBISHI MITS UBISHI App rox.70 (2 .76) 195(7.68) 90(3.54) 78(3.07) 6 1 6 8 ( 6 . 6 1 ) 1 5 6 ( 6 . 1 4 ) 6 6 ( 0.24) mounting hole Terminal layout TE1 [Un it: mm] ([Uni t: in]) TE2 PE te rmina l (0.
11 - 4 11. OUTLINE DIMENSION DRAW INGS (4) MR-J2S-500A [Unit: mm] ([Unit: in] ) C N 2 C N 3 C N 1 A C N 1 B OPEN OPEN C N 2 C N 3 C N 1 A C N 1 B OPEN TE1 TE2 2- 6 ( 0.24) mounting hole 130(5.12) 118(4.65) 7.5 (0.30) (0.24) 6 (0.24) 250(9.84) 235(9.25) 7.
11 - 5 11. OUTLINE DIMENSION DRAW INGS (5) MR-J2S-700A 2- 6 ( 0.24) mounting hole C N 1 B C N 1 A C N 3 C N 2 TE2 OPEN C N 1 B C N 1 A C N 3 C N 2 TE1 7.5 (0.30) (0.39 ) 10 180(7.09) 160(6.23) (0.39 ) 10 Appro x.70 (2.76) 200(7.87) 138(5.43) 62 (2.44) 6 (0.
11 - 6 11. OUTLINE DIMENSION DRAW INGS (6) MR-J2S-11KA 15KA Cooling fan 3.9(0.15) Cooling fan wi nd direction Approx. 75 (2.9 5) 12(0.47) C N 3 C N 1 A C N 1 B CN4 MITS UBISHI TE1 CON2 376(14.8) 400(15.75) 12 12(0.47) 12(0.47) (0.47)12 236(9.29) 260(10.
11 - 7 11. OUTLINE DIMENSION DRAW INGS (7) MR-J2S-22KA 2- 12 ( 0.47) mounting hole 3.9(0.15) [Unit: mm] ([Unit: in]) Approx. 75 (2.9 5) C N 3 C N 1 A C N 1 B CN4 MITSUBISH I TE1 CON2 12(0.47) 326(12.84) 376(14.8) 400(15.75) 12 350(13.78) 12(0.47) 12(0.
11 - 8 11. OUTLINE DIMENSION DRAW INGS 11.2 Connectors (1) Servo amplifie r side <3M > (a) Soldered type Model Connector : 10120-3000PE Shell kit : 10320-52 F0-008 [Un it: mm] ([Unit: in] ) 1 0 . 0 ( 0 . 3 9 ) Logo, etc. are indicated here . 12.
11 - 9 11. OUTLINE DIMENSION DRAW INGS (c) Insulation displacement type Model Connector : 10120-6000EL Shell ki t : 10320- 3210-0 00 33.0(1.30) 42.0 (1.65 ) 29.7 (1.17) 20.9(0.82) 11.5 (0.45) 6.7 Logo, etc. are indicated h ere. 2- 0.5 (0.02) [Un it: mm] ([Unit: in] ) ( 0.
11 - 10 11. OUTLINE DIMENSION DRAW INGS MEMO.
12 - 1 12. CHARACTERISTI CS 12. CHARA C TE RISTICS 12.1 Overl oad protec tion charac teristics An electroni c thermal relay is built i n the servo amplifier to protect the servo motor and servo amplifier from ov erloads.
12 - 2 12. CHARA CTERISTICS 12.2 Power suppl y equi pment capac ity and gen erated loss (1) Am ount of heat g enerat ed b y th e serv o amplif ier Table 12.1 ind icates se rvo amp lifier s' powe r supply c apacitie s and lo sses g enerate d under rated load .
12 - 3 12. CHARA CTERISTICS (Note 2) Servo amplifier-generat ed heat[W] A rea required for heat dissipation Servo amplifier Servo motor (Note 1) Power supply capacity[k VA] At rated torque With servo off [m 2 ] [ft 2 ] HC-SFS502 7.5 195 25 3.9 42.0 HC-RFS353 5.
12 - 4 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 ampli fier should be desig ned to en sure tha t its temp eratu re ri se is w ithin 10 at the ambi ent temperature of 40 .
12 - 5 12. CHARA CTERISTICS 12.3 D y nam ic brak e characteris tics 12.3.1 D ynamic brak e operation (1) C alculat ion of coast ing dis tance Fig. 12.6 shows t he pattern in which the servo motor comes to a st op when the dynamic brake is operated. Us e Equation 1 2.
12 - 6 12. CHARA CTERISTICS Time c onstant [ms] 50 500 01 0 0 0 121 201 301 81 Spee d [r/min] 40 35 30 25 20 15 10 5 0 Time constant [ms] Spe ed [r/mi n] 0 500 1000 1500 2000 352 202 702 102 152 502 5.
12 - 7 12. CHARA CTERISTICS 12.3.2 T he dynamic brake at the load inert ia mom ent 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 v alue, the built- in dyn amic brake m ay bu rn.
12 - 8 12. CHARA CTERISTICS 12.5 Inrus h currents at power-on of m ain circuit and c ontrol c ircuit The foll owing table i ndicates the in rush currents (reference value) that will flow when the maximum permissible vol tage (253VAC) is applied at the power supply capacity of 2500k VA and the wiring length of 1m.
13 - 1 13. OPTIONS AND AU XILIARY EQUIPMENT 13. OPTIONS AND AUX ILIARY EQUIPM ENT W ARNING Befor e connec ting an y option or per iphera l equipm ent, turn off th e pow er an d wait for 15 m inut es or m ore unti l the ch arge lamp tur ns off . Then, c onfirm tha t the volt age bet ween P and N is s afe wit h a vo ltage t ester and ot hers.
13 - 2 13. OPTIONS AND AU XILIARY EQU IPMENT (2) Sel ecti on of the re genera tive op tion (a) Simple sele ction me thod In horizon tal motio n applica tions, se lect the regenerative option as describ ed below.
13 - 3 13. OPTIONS AND AU XILIARY EQU IPMENT b. Losses of s ervo motor and serv o amplif ier in regenerative mode The following tabl e lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.
13 - 4 13. OPTIONS AND AU XILIARY EQU IPMENT (4) C onnectio n of th e regene rative optio n POINT When the M R-RB50 MR-RB5 1 is used, a cool ing fan is requi red to cool it. The cooling fa n should be prepared b y the customer. The regenerat ive opti on will cause a temperature rise of 100 rela tive to th e ambien t temper ature .
13 - 5 13. OPTIONS AND AU XILIARY EQU IPMENT (b) MR-J2S-500A MR-J 2S-700A Always remove the w iring (across P-C) of t he servo amplif ier built- in regenerative resistor and fit the regenerative option across P-C. The G3 a nd G4 terminals act as a thermal sensor .
13 - 6 13. OPTIONS AND AU XILIARY EQU IPMENT For the MR-RB 50 MR-R B51 in stall the cooling fan as shown . 82.5 40 ( 1.58) 82.5 13 3 Cooling fan i nstallation screw hole dimensions 2-M3 screw hole (fo.
13 - 7 13. OPTIONS AND AU XILIARY EQU IPMENT (d) MR-J2S-11KA-PX to MR-J2S-22KA-PX (when using the regenerative option) The MR-J2S-1 1KA-P X to MR-J 2S-22K A-PX serv o amplif iers ar e not supplie d with reg ener ative resist ors. When using any of these servo amplifiers, always use the MR-RB65, 66 or 67 regenerative option.
13 - 8 13. OPTIONS AND AU XILIARY EQU IPMENT (5) Outline drawing (a) MR-RB032 MR-R B12 LA 5 (0.20) LB TE1 6 (0.24) 6 ( 0 . 2 4 ) 1 5 6 ( 6 . 1 4 ) 1 6 8 ( 6 . 6 1 ) 1 4 4 ( 5 . 6 7 ) 1 2 ( 0 . 4 7 ) 6 ( 0 . 2 4 ) 1 2 ( 0 . 4 7 ) 20 (0.79) LD 1.6 (0.06) LC G3 G4 P C [Uni t: mm (in) ] 6 (0.
13 - 9 13. OPTIONS AND AU XILIARY EQU IPMENT (c) MR-RB50 MR- RB51 [Unit: mm (in)] Terminal block G4 G3 C P Terminal sc rew: M4 Tightening torque: 1.2 [N m] (10.6 [Ib in]) Mounting screw Screw : M6 Tightening torque: 5. 4 [N m] (47.79 [Ib in]) Regenerative option Mass [kg ] (Ib) MR-RB50 MR-RB51 5.
13 - 10 13. OPTIONS AND AU XILIARY EQU IPMENT 13.1.2 FR- BU2 brak e unit POINT The brake un it and res istor unit of other than 200V class are not applicable to the servo amplifier. Co mbination of d ifferent vo ltage class units and servo a mplifier cannot be used.
13 - 11 13. OPTIONS AND AU XILIARY EQU IPMENT (2) Brake unit para m et er setting Normally, when using the FR-BU2, changing parameters is not necessary. Whether a parameter can be change d or no t is li sted be low. Para meter No. Name Change possibl e/ impossi ble Remarks 0 Brake mod e switch over Impossible Do not cha nge th e para meter.
13 - 12 13. OPTIONS AND AU XILIARY EQU IPMENT Note 1. For power supply specific ations, refer to section 1.3. 2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected t o t he P and C terminals.
13 - 13 13. OPTIONS AND AU XILIARY EQU IPMENT (c) Precautions for wiring The cabl es between t he servo ampli fier and the b rake unit, and between the resist or unit and the brake unit should be as s hort as possib le. Always twist t he cable longer than 5m (twist five times or more per one meter).
13 - 14 13. OPTIONS AND AU XILIARY EQU IPMENT (e) Crimp ing te rminals fo r P and N termin als of servo a mplifier POINT Always use recommended cri mping terminals or equivalent si nce some crimping termin als cannot be installe d depend ing on the size .
13 - 15 13. OPTIONS AND AU XILIARY EQU IPMENT FR-BU2-30K [Unit: mm] 129.5 5 59 18.5 Rating plate 52 2- 5 hole (Screw size: M4) 5 108 6 6 96 FR-BU2-55K 18.
13 - 16 13. OPTIONS AND AU XILIARY EQU IPMENT (b) FR-BR resistor unit [Unit: mm] 2 C Control circuit terminal Main circuit terminal W1 1 Approx. 35 Approx. 35 C C W 5 (Note) (Note) 204 Hanging bolt For FR-BR-55K, a hanging bolt is placed on two locations (Indicated below).
13 - 17 13. OPTIONS AND AU XILIARY EQU IPMENT 13.1.3 Po wer regener ation conv erter When using the power regeneration converter, set "01 " in parame ter No .0. (1) Selecti on The converters can continuou sly return 75% of th e nom inal regenerati ve power.
13 - 18 13. OPTIONS AND AU XILIARY EQU IPMENT (2) C onnectio n exam ple (Note 5) Power supply NFB MC Servo amplifier L 11 L 21 L 1 L 2 L 3 SK ON MC BC RDY SE Alarm output RDY output A B C Operation re.
13 - 19 13. OPTIONS AND AU XILIARY EQU IPMENT (3) Outs ide d imensio ns of t he po wer rege neratio n conver ters [Unit : mm(in )] AA A C F K EE BA B E D 2- D hole Rating plate Front cove r Display pa.
13 - 20 13. OPTIONS AND AU XILIARY EQU IPMENT 13.1.4 Ext ernal d ynamic brak e POINT Configure up a seq uence which s witches off the cont act of the b rake unit after (or as soon as) it has tu rned off the servo on signa l at a power fai lure or failure.
13 - 21 13. OPTIONS AND AU XILIARY EQU IPMENT (2) C onnectio n exam ple 13 U 14 V W NFB MC L 11 L 21 U V W U V W E M a b RA1 RA1 EMG CN1B 5 SON CN1B L 3 L 2 L 1 RA1 15 EMG 10 SG SD Plate 18 DB 13 COM 3 VDD MC SK MC ON OFF (Note 1) EMG Servo amplifier Servo motor Dynamic brake (Note 3) Power supply Operation-ready P P 1 (Note 2) Note 1.
13 - 22 13. OPTIONS AND AU XILIARY EQU IPMENT (3) O utline dimens ion dr awin g UV W D 100(3.94) D (0.2)5 C E G F 2.3(0.09) Terminal block Scre w : M3.5 Screw : M4 B A 5 (0. 2) E 13 14 E (GND) ab [Un it: mm] ([Unit: in]) Tighte ning to rque : 0.8 [N m](7 [lb in])] Tightening torque : 1.
13 - 23 13. OPTIONS AND AU XILIARY EQU IPMENT 13.1.5 Cabl es and conn ectors (1) Cable make-up The followi ng cables are used for connection with the servo motor and other models.
13 - 24 13. OPTIONS AND AU XILIARY EQU IPMENT No. Product Model Description Applic a tion 1) Standard encoder cable MR-JCCBL M-L Refer to (2) in this section.
13 - 25 13. OPTIONS AND AU XILIARY EQU IPMENT No. Product Model Description Application 9) Control sig nal connecto r set MR-J2CN1 Connec tor: 10120-3000PE Shell kit: 10320-52F 0-008 (3M or eq uivale nt) Qty: 2 each Connector: HIF 3BA-20D-2.
13 - 26 13. OPTIONS AND AU XILIARY 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, not do ing so may caus e unexpec ted opera tion. POINT The encoder cabl e is not oil resistant.
13 - 27 13. OPTIONS AND AU XILIARY EQU IPMENT P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 18 P5 LG MD 6 LG 1 BAT 9 SD 1 2 8 9 P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 MR-JCCBL2M-L.
13 - 28 13. OPTIONS AND AU XILIARY EQU IPMENT (b) MR-JHSCBL M-L MR- JHS CBL M-H MR-ENCBL M-H These encoder cables are used with the HC-SFS HC-RF S HC-UFS2 000r/mi n seri es servo motor s. 1) Model explanation Long flexing life H Symbol Specifications L Standard flexing life Symbol (Note) Cable length [m(ft)] 2 2 (6.
13 - 29 13. OPTIONS AND AU XILIARY EQU IPMENT MR-J HSCBL2M- L MR-J HSCBL5M- L MR-JHSCBL2M -H MR-JHSCBL5M -H MR-E NCBL2M-H MR-E NCBL5M-H MR-JHSCBL10M-L to MR-JHSCBL30M-L MR-JHSCBL10M-H to MR-JHSCBL50M-H MR-ENCBL1 0M-H to MR-ENCBL5 0M-H Servo amplifier side En coder s ide (Note 2) Us e of AWG24 (Less than 1 0m(32.
13 - 30 13. OPTIONS AND AU XILIARY EQU IPMENT (3) Co mmunica tion cable POINT This cab le may not be used wit h some personal comput ers. After fully examining t he signals of t he RS-232C connector, refer to t his section and fabricate the cable.
13 - 31 13. OPTIONS AND AU XILIARY EQU IPMENT 13.1.6 Junc tion term inal block (MR-T B20) POINT When usin g the junction termina l block, you cannot use SG of CN1A-2 0 and CN1B-20 .
13 - 32 13. OPTIONS AND AU XILIARY EQU IPMENT (4) Ju nction t erminal block c able (M R-J2TBL M) Model: MR-J2TB L M Symbol Cable length [m(ft)] 05 0.5 (1.
13 - 33 13. OPTIONS AND AU XILIARY EQU IPMENT 13.1.7 Main tenance junc tion card ( MR-J2CN3T M) POINT Cannot be used with the MR-J2S-11K A to MR-J2S- 22KA. (1) Usage The mai ntenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monit or outputs are used at the same time.
13 - 34 13. OPTIONS AND AU XILIARY EQU IPMENT (4) Bus cable (MR-J2HBUS M) Symbol Cable length [m(ft)] 05 0.5 ( 1.64) 1 1 (3.28) 5 5 (16.4) Model: MR -J2HBUS M 10120-6000EL (connector) 10320-3210-000 (.
13 - 35 13. OPTIONS AND AU XILIARY EQU IPMENT 13.1.9 MR Configurator (Servo c onfigurat ions soft ware) The MR Configurat or (servo configuration s oftware MRZJW3-SETUP 151E) uses the communicat ion function of the s ervo amplifier to perform pa rameter setting cha nges, graph displ ay, test operation, et c.
13 - 36 13. OPTIONS AND AU XILIARY EQU IPMENT (b) Configuration diagram 1) Wh en using RS-23 2C CN3 CN2 Personal computer To RS -232C connector Communication cable Servo amplifier Servo mot or 2) Wh en using RS-42 2 You can make multidrop connection of up to 32 axes.
13 - 37 13. OPTIONS AND AU XILIARY EQU IPMENT 13.1.10 Power regener ation com mon c onverter POINT For details of t he power regenerati on common converter FR-CV, refer t o the FR-CV In stallatio n Guide (I B(NA)0600075). Do not supply power to the main circuit power supp ly terminals (L 1 , L 2 , L 3 ) of the servo a mplifie r.
13 - 38 13. OPTIONS AND AU XILIARY EQU IPMENT (2) Connection diagram RA2 EMG SON C B R/L 11 S/L 21 T/L 31 R2/L 1 S2/L 22 R2/L 12 T2/L 32 S2/L 2 (Note 3) SG P24 SD RDYB RDYA RSO SE A T2/L 3 R/L 11 S/L .
13 - 39 13. OPTIONS AND AU XILIARY EQU IPMENT 2) Grounding For grounding, use the wire of th e size equal to or greater than that indicated in the following table, and make it as sh ort as pos sible. Power regeneration comm on converter G rounding wire size [mm 2 ] FR-CV-7.
13 - 40 13. OPTIONS AND AU XILIARY EQU IPMENT (5) S pecific ations Power regeneration comm on converter FR-CV- Item 7.5K 11K 15K 22K 30K 37K 55K Total of connectable servo amplifier capacities [k W] 3.75 5.5 7.5 11 15 18.5 27.5 Maximu m servo ampli fier capacity [kW] 3.
13 - 41 13. OPTIONS AND AU XILIARY EQU IPMENT 13.1.11 H eat sink outs ide mounting attachm ent (MR-JACN) Use the heat si nk outside mounti ng attachment to mount the heat generati on area of the servo.
13 - 42 13. OPTIONS AND AU XILIARY EQU IPMENT (3) Fitting method Attachment Fit using the assembling screws. Servo amplifier Attachm ent Servo amplifier Punched hole Control box a.
13 - 43 13. OPTIONS AND AU XILIARY EQU IPMENT (b) MR-JACN22K (M R-J2S-22KA) [Unit: mm(in)] 68(2.677) 145(5.709) 400(15.748) 35(1.378) 194(7.638) 84 58 12 3.2(0.126) 326(12.835) 155(6.102) 105 11.5 260 370(14.567) 350(13.78) 510(20.079) 580(22.835) Attac hment Servo amplifier Attac hment 4- 12 Mounting hole Servo amplifier Panel Pan el (2.
13 - 44 13. OPTIONS AND AU XILIARY EQU IPMENT 13.2 Auxil iary equipment Alway s use the device s indic ated in this se ction or equiv alent. To comply with t he EN S tandard or UL/C- UL (CSA) Standard, use the products which conform to the corresponding standard.
13 - 45 13. OPTIONS AND AU XILIARY EQU IPMENT Table 13. 1 Recom mended wires (Note 1) Wires [mm 2 ] Servo a mplifier 1) L 1 L 2 L 3 2) L 11 L 21 3) U V W P 1 P 4) P C N5 ) B 1 B2 6) BU BV BW MR-J2S-10A(1) MR-J2S-20A(1) MR-J2S-40A(1) MR-J2S-60A MR-J2S-70A 1.
13 - 46 13. OPTIONS AND AU XILIARY EQU IPMENT (2) W ires for cables When f abricating a cable , use th e wire mo dels g iven in the follo wing ta ble or e quivalen t.
13 - 47 13. OPTIONS AND AU XILIARY 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 u sing a fuse instea d of the no-fuse breaker, use the one having the specificat ions given in this section.
13 - 48 13. OPTIONS AND AU XILIARY EQU IPMENT 13.2.4 Po wer factor improvin g DC reactor s The input power factor is im proved to be about 95%. Screw size G (Note 1) Terminal cover 2-F L Notch A or less E Rating plate C or less D B or less H F L Mounting foot part FR- BEL P P 1 Servo amplifier (Note 2) 5m or less Note 1.
13 - 49 13. OPTIONS AND AU XILIARY EQU IPMENT 13.2.5 Re lays The followi ng relays should be used with the interfaces. Interface Selection exam ple Relay used for digital input command signals (interface DI-1) To preven t defective co ntacts , use a re lay for small signal (twin contacts).
13 - 50 13. OPTIONS AND AU XILIARY 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 contact.
13 - 51 13. OPTIONS AND AU XILIARY EQU IPMENT Noises produced by servo amplifier Noises transmitted in the ai r Noise radiated directly from servo amplifier Magnetic induction noise Static induction n.
13 - 52 13. OPTIONS AND AU XILIARY EQU IPMENT Noise transm ission route Suppression t e chniques 1) 2) 3) When measuring instruments, receivers, sensor s, etc.
13 - 53 13. OPTIONS AND AU XILIARY 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 amplifier is shown below. Use this product or equivalent.
13 - 54 13. OPTIONS AND AU XILIARY EQU IPMENT Outline drawing Earth plate Clamp section diagram (Note)M4 sc rew 1 1 ( 0 . 4 3 ) 3 ( 0 . 1 2 ) 6 ( 0 . 2 4 ) C A 6 22(0.87) 17.5(0.69) 35(1.38) 3 5 ( 1 . 3 8 ) L or less 10(0. 39) 3 0 ( 1 . 1 8 ) 7 ( 0 . 2 8 ) 2 4 0 0 .
13 - 55 13. OPTIONS AND AU XILIARY EQU IPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiat ed from the power suppl y side and output si de of the servo amplifier and als o in suppressing high-frequency leakage current (zero-phase current) especi ally wi thin 0.
13 - 56 13. OPTIONS AND AU XILIARY EQU IPMENT (f) Varistors for input power supply (Recommended) Varistors are effect ive to prevent exogenous noise and li ghtning surge from entering the servo amplifier. When usin g a v arist or, connect it between each phase of the input power supply of the equipment.
13 - 57 13. OPTIONS AND AU XILIARY EQU IPMENT 13.2.8 Leak age current breaker (1) Selecti on method High-frequency chopper current s controlled by puls e width modulation fl ow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is r un with a commercial power supp ly.
13 - 58 13. OPTIONS AND AU XILIARY EQU IPMENT (2) S electio n exam ple Indicated below is an example of selecting a leakage current breaker under the followi ng conditions. M NV Ig1 Iga Ig2 Igm Servo amplifier MR-J2S -60A 2mm 2 5m 2mm 2 5m Servo m otor HC-MFS73 Use a leakage curren t breaker generally available.
13 - 59 13. OPTIONS AND AU XILIARY EQU IPMENT 13.2.9 EMC f ilter For compliance wi th the EMC directive of t he EN Stan dard, it is recommended to use the following filter.
13 - 60 13. OPTIONS AND AU XILIARY EQU IPMENT (3) Outline drawing (a) EMC filter 23.0(0.90 6) LABEL LINE LOA D 168.0(6 .614) L1' L2' L3' L1 L2 L3 149.5(5 .886) LINE (input sid e) LOAD (out put side) 140.0(5 .512) 156.0(6 .142) 16.0(0.6 3) 42.
13 - 61 13. OPTIONS AND AU XILIARY EQU IPMENT HF3080A-T MA HF3100A-T MA H 2 J 2 G 1 F 2 E 1 D 2 3-L 8-K 3-L M C 1 B 2 A 5 C 1 C 1 Dimension s [mm(in)] Model AB C DEFG H J K L M HF3080A-TMA HF3100A-TMA 405 (15.95) 350 (13.78) 100 (3.94) 220 (8.66) 200 (7.
13 - 62 13. OPTIONS AND AU XILIARY EQU IPMENT (b) Surge protector RAV -781BY Z-2 4.5 0.5 1 3 2 41 1. 0 28.5 1.0 28 1.0 4 .2 0.2 200 30 0 UL-1015AWG16 5.5 1 11 1 [Unit: mm] Black 1) 2) 3) Black B lack RAV -781B XZ-4 1 3 2 UL-1015AWG16 4 .2 0.2 5.5 1 11 1 28.
13 - 63 13. OPTIONS AND AU XILIARY EQU IPMENT 13.2.10 Setting poten tiometer s for analog inputs The followi ng variable resist ors are available for use with anal og inputs.
13 - 64 13. OPTIONS AND AU XILIARY EQU IPMENT MEMO.
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 mplifie r To CN3 (2) Ca ble co nnectio n diagr am 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 to the s ervo S O H S T X E T X S T X E T X Controller side (Master station) Serv o side (Slave stat ion) 10 frames Command Data No.
14 - 7 14. COMMUNICATION FUNCTIONS 14.4 Charact er codes (1) C ontrol co des Code name Hexadecimal (ASCII code) Descripti on Personal computer terminal key operatio n (General) SOH STX ETX EOT 01H 02H 03H 04H start of he ad start of tex t end of t ext end of tran smission ctrl A ctrl B ctrl C ctrl D (2) Codes for data ASCII unit codes are used.
14 - 8 14. COMMUNICATION FUNCTIONS 14.5 Error codes Error codes are u sed in the following cases and an error code of single-cod e length is tr ansmi tted. 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 maste r station has ende d commun icatio n ope ration. 100[m s] after that, the maste r statio n retran smit s the me ssage.
14 - 10 14. COMMUNICATION FUNCTIONS 14.9 Initia lization 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. Hence, at power-on, ordinary communication should be started after.
14 - 11 14. COMMUNICATION FUNCTIONS 14.11 Comm and and dat a No. list POINT If the com mand/data No . is the sam e, its data m ay be diff erent from the interfac e and driv e units and other ser vo amplif iers. 14.11.1 R ead comm ands (1) Sta tus dis pla y (C omm 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. Des cription Frame length [0][2] [0][0] Cur rent alarm number 4 Command Dat a No.
14 - 13 14. COMMUNICATION FUNCTIONS (5) Op eration m ode se lection (Com mand [8][ B]) Command Dat a No. Description Set ting range Frame length [8][B] [0][0] O peration mode changing 0000: Exit from .
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 No . dat a to a s lave 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, the deci mal poin t po sition must be specif ied. If it i s not specifie d, the data canno t be wr itten . When the d ata is handle d as hexad ecimal , sp ecify "0" as the decimal point position.
14 - 16 14. COMMUNICATION FUNCTIONS 14.12.2 Stat us displa 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 station sends back the data value 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 parameter No. The data No. is express ed in hexadecimal equivalent of the data No.
14 - 18 14. COMMUNICATION FUNCTIONS (2) Parameter write POINT If setting value s need to be change d with a high frequency (i.e. one t ime or more per one hour), writ e the sett ing values to t he RAM, not the EEP- ROM.
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 uses of the external input pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. Command 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 Inpu t devices O N/OFF (test op eration) 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. Command Data No. Set data [9][2] [0][0] See below.
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 b e executed in the fol lowing 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 ou tput signal (DO) f orced 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 histor y (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrenc e times of No. 0 (last alarm) to No. 5 ( sixth alarm in th e past) are read . (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 th e alarm No . which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command 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 position in the servo motor end pulse unit. Note that overflow will occur in the positi on of 16384 or more revolu ti ons 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 CAUTION If an absolut e posit ion eras e alarm (AL.2 5) or a n absol ute posi tion cou nter war ning (AL.E 3) has occurr ed, always perform home posit ion setti ng again.
15 - 2 15. ABSOLUTE POSITION D ETECTION SYSTEM 15.2 Specif ications (1) Spec ificat ion list Item D escrip tion System Ele ctronic battery backup system Battery 1 piece of lithium battery ( primary battery, nominal 3.6V) Type: MR-BAT or A6BAT Maxi mum revol utio n range Hom e positi on 32767 rev.
15 - 3 15. ABSOLUTE POSITION D ETECTION SYSTEM 15.3 Batter y installation proc edure W ARNING Befor e instal ling a b atter y, turn of f the m ain circ uit power while k eeping the contr ol circui t power on. W ait for 15 m inutes or m ore until t he char ge lam p turns of f.
15 - 4 15. ABSOLUTE POSITION D ETECTION SYSTEM 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 AB.
15 - 5 15. ABSOLUTE POSITION D ETECTION SYSTEM 15.5 Signal ex planation When the a bsolute posit ion data is transferred, th e signals of connector CN1 cha nge as described in this section. They return to the previous status on complet ion of data transfer.
15 - 6 15. ABSOLUTE POSITION D ETECTION SYSTEM 15.6 Startup pr ocedure (1) Battery in stallation. Refer to se ction 15. 3 install ation of ab solute po sition ba ckup bat tery. (2) Paramete r setting Set "1 "in paramet er No. 1 of the servo amplifier and switch power off, then on.
15 - 7 15. ABSOLUTE POSITION D ETECTION SYSTEM 15.7 Absolut e position data transf er protocol POINT After swit ching on the ABS tr ansfer 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 base circuit.
15 - 8 15. ABSOLUTE POSITION D ETECTION SYSTEM 15.7.2 T ransfer m ethod The sequence in which the bas e circuit is turned ON (servo-on) when it is in the OFF state due to the servo-on (SON) going OFF, an emergency stop (EMG), or alarm (ALM), is explai ned below.
15 - 9 15. ABSOLUTE POSITION D ETECTION SYSTEM 1) The ready (RD) is turned ON when the ABS transfer mode (ABSM) is turned OFF after trans mission of the ABS data.
15 - 10 15. ABSOLUTE POSITION D ETECTION SYSTEM (b) Detail ed description of absolute position data trans fer OFF ON OFF ON OFF ON OFF ON OFF ON 3) 4) 5) 7) (Note) 1) 2) 6) Servo-on (programmable cont.
15 - 11 15. ABSOLUTE POSITION D ETECTION SYSTEM (c) Checksum The checks um is the code which is used by the pr ogrammable controller to check for er rors in the receiv ed ABS d ata. Th e 6-b it chec ksum i s trans mitted fo llowing the 32-bit ABS dat a.
15 - 12 15. ABSOLUTE POSITION D ETECTION SYSTEM (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-o ut warning (AL.E5) is output.
15 - 13 15. ABSOLUTE POSITION D ETECTION SYSTEM 3) ABS transfer mode finish-time time-out check If the AB S tran sfer mod e (AB SM) i s not turned O FF wi thin 5 s after the last re ady to send signa l (19th s ignal for A BS data transmis sion) is turned ON, it is regarded as the transmission error and the ABS time-out warning (AL.
15 - 14 15. ABSOLUTE POSITION D ETECTION SYSTEM 5) Servo-on (SON) OFF, Reset (RES) ON, Emergency stop (EMG) OFF check during the ABS transf er When th e ABS tr ansfer mode is tu rned ON to start trans.
15 - 15 15. ABSOLUTE POSITION D ETECTION SYSTEM (b) Checksum error If the checksum error occurs, the programmable controll er should retry transmission of the ABS data. Using the ladder check program of the programmabl e controller, tu rn OFF the AB S transfer mode (ABSM).
15 - 16 15. ABSOLUTE POSITION D ETECTION SYSTEM (3) At the time of alarm reset If an alarm occurs, turn OFF the servo-on (SON) by detecting the alarm output (ALM). If an al arm has o ccurred, the ABS transf er mode (A BSM) can not be accepted . In the reset state, the AB S tr ansfer mode (A BSM) c an be in put.
15 - 17 15. ABSOLUTE POSITION D ETECTION SYSTEM (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 AB S data is being transferred.
15 - 18 15. ABSOLUTE POSITION D ETECTION SYSTEM (b) If emergency stop is activated during servo-on The ABS trans fer mode (ABSM) is permissible whil e in the emergency stop state. In this cas e, the base circuit and the ready (RD) are turned ON after the emergency stop state is res et.
15 - 19 15. ABSOLUTE POSITION D ETECTION SYSTEM 15.7.3 Hom e positio n setting (1) D og t y pe h ome pos itio n retur n 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 home po sition sett ing (CR) is turn ed fro m off to on.
15 - 20 15. ABSOLUTE POSITION D ETECTION SYSTEM (2) Data set type home position return POINT Never m ake hom e position se tting during c omm and operation or servo m otor rotation. I t may cause h ome pos ition sift. It is pos sible to exec ute data set type hom e positio n return when the ser vo off.
15 - 21 15. ABSOLUTE POSITION D ETECTION SYSTEM 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 parameter No. 1 to make the electromagnetic brake interlock (MBR) usable.
15 - 22 15. ABSOLUTE POSITION D ETECTION SYSTEM 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 ) is de tecte d, clears the droop pulses to 0 at the same time, and stops t he servo motor rap idl y.
15 - 23 15. ABSOLUTE POSITION D ETECTION SYSTEM 15.8 Exam ples of use 15.8.1 M ELSEC-A1S (A 1SD71) (1) Instruction s The absol ute coordinate system (programmable controller coordinat e system) of the.
15 - 24 15. ABSOLUTE POSITION D ETECTION SYSTEM 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 - 25 15. ABSOLUTE POSITION D ETECTION SYSTEM (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 ill ustrated below. A 1SD71 is mounted at I/O slots 0 and 1, a 16-po int inpu t modu le at slo t 2, an d 16-po int outp ut modu le at slo t 3.
15 - 26 15. ABSOLUTE POSITION D ETECTION SYSTEM (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 B .
15 - 27 15. ABSOLUTE POSITION D ETECTION SYSTEM (3) Seq uence program exam ple (a) Conditions This sampl e program is an ABS sequence program example for a single axis (X axis ). To transmit the ABS data usin g the OF F- to-ON change of the servo-on (SON) as the trigger.
15 - 28 15. ABSOLUTE POSITION D ETECTION SYSTEM (c) ABS data transfer program for X axis This seq uence program example assumes the following conditions.
15 - 29 15. ABSOLUTE POSITION D ETECTION SYSTEM 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 Y4.
15 - 30 15. ABSOLUTE POSITION D ETECTION SYSTEM 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 MOV.
15 - 31 15. ABSOLUTE POSITION D ETECTION SYSTEM 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 M.
15 - 32 15. ABSOLUTE POSITION D ETECTION SYSTEM 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 T1 .
15 - 33 15. ABSOLUTE POSITION D ETECTION SYSTEM M2 M10 C2 M11 T2 M9039 END 5 5 M10 PLS M11 SET C2 D7 T2 K1 M11 RST D100 A0 DMOV ABS tr ansfe r retry control ABS transf er retry start pulse Settin g re.
15 - 34 15. ABSOLUTE POSITION D ETECTION SYSTEM (d) X-axis control program This precludes executi on of the X-axis start pr ogra m while M3 (ready to send t he ABS data) is OFF. When M3 (ready to send the ABS data) is turned ON, the X-axis star t command executes the X-axis st art program.
15 - 35 15. ABSOLUTE POSITION D ETECTION SYSTEM (g) Electromagnetic brake output During ABS data tr ansfer (for several seconds af te r the servo-on (SON) 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 choo se the el ectromagnetic brake interlock (MBR).
15 - 36 15. ABSOLUTE POSITION D ETECTION SYSTEM (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 - 37 15. ABSOLUTE POSITION D ETECTION SYSTEM 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 STOP VH VL F.
15 - 38 15. ABSOLUTE POSITION D ETECTION SYSTEM (b) FX 2N -32MT (FX 2N -1PG) 3.3k 3.3k 3.3k CN1B N COM2 Y4 Y5 Y6 Y10 24 S/S DOG STOP VIN FP COM0 RP COM1 CLR L Power su pply FX 2N -3 2MT SG 10 DO1 4 ZS.
15 - 39 15. ABSOLUTE POSITION D ETECTION SYSTEM (2) Seq uence program exam ple (a) Conditions 1) Ope ration pattern ABS dat a transfer is made as s oon as the s ervo-on switch is turned on. Af ter that, posi tioning operation is performed as s hown below.
15 - 40 15. ABSOLUTE POSITION D ETECTION SYSTEM (b) Device list X input contact Y output contact X0 ABS bit 0 / co mpleti on of posi tioni ng Y0 Servo-o n X1 ABS bit 1 / zero sp ee d Y1 ABS transfer m.
15 - 41 15. ABSOLUTE POSITION D ETECTION SYSTEM (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 K0 .
15 - 42 15. ABSOLUTE POSITION D ETECTION SYSTEM X6 M6 M5 SET M5 Y12 X6 Y0 Y12 1 1 2 2 M64 M62 ZRST M1 PLS C1 RST C2 C0 ZRST M99 RST M5 RST Y1 RST Y2 RST M6 RST Servo-on request Servo-on output ABS dat.
15 - 43 15. ABSOLUTE POSITION D ETECTION SYSTEM 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 R.
15 - 44 15. ABSOLUTE POSITION D ETECTION SYSTEM Y1 X2 M3 PLS M3 Y2 X2 C2 C2 C0 M64 3 3 D3 K2M 52 MOV Y2 SET K1M10 H00 03 K1X0 WANDP K2 K38 M20 M10 SFTR D2 D2 K1M10 ADDP K16 C0 K19 Y2 RST Y1 RST D2 D2 .
15 - 45 15. ABSOLUTE POSITION D ETECTION SYSTEM M63 D0 K8M20 DMOVP D0 D24 D0 DADDP K1 D0 K26 K0 DTOP M99 SET 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 Y2 .
15 - 46 15. ABSOLUTE POSITION D ETECTION SYSTEM M8000 M109 X7 X1 2 M99 M120 PLS X10 JOG X11 JOG X7 X14 M120 K1 D100Z K17 K0 DTO M121 K6 Z DCMP M122 INDX 6 Z K0 DM OV X13 M0 X16 5 5 6 6 M110 M111 M112 .
15 - 47 15. ABSOLUTE POSITION D ETECTION SYSTEM M8000 K1 K4M100 K2 5 K0 TO M200 K1 K3M200 K2 8 K0 FROM K1 D106 K26 K0 DFROM M108 RST END 6 6 FX2 1PG Transmission of control sig nals 1PG FX2 Transmissi.
15 - 48 15. ABSOLUTE POSITION D ETECTION SYSTEM (e) Electromagnetic brake output During ABS data tr ansfer (for several seconds af te r the servo-on (SON) is turned on), the servo motor must be at a s top. Set "1 1 " in parameter No. 1 of th e servo amplifier to choose the electromagnetic brak e interlock (MBR).
15 - 49 15. ABSOLUTE POSITION D ETECTION SYSTEM 15.8.3 M ELSEC A1SD 75 (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 NC NC 6 0.
15 - 50 15. ABSOLUTE POSITION D ETECTION SYSTEM Note 1. For the dog type home position return. Need not be connected for the data set type home position return. 2. If the s ervo motor provided with the ze ro point signal is st arted, the A1SD75 will output t he deviation counter c lear (CR).
15 - 51 15. ABSOLUTE POSITION D ETECTION SYSTEM (b) Device list M5 M6 M7 M8 M9 M10 M11 M12 M13 M14 M15 M16 M17 M18 M20 (Note 1) M21 (Note 1) M22 M23 M24 M26 T0 T1 T2 T3 T10 (Note 1) T200 T201 C0 C1 C2.
15 - 52 15. ABSOLUTE POSITION D ETECTION SYSTEM (c) ABS data transfer program for X axis This seq uence program example assumes the following conditions.
15 - 53 15. ABSOLUTE POSITION D ETECTION SYSTEM X26 M13 SET M23 K1 D11 K816 H0000 FR OM D11 H0001 WAND M23 1 1 2 2 D11 K1 M24 PLS M13 M14 M16 X26 M8 RST M13 RST C0 RST C1 RST Y30 M5 PLS M13 M17 PLS M1.
15 - 54 15. ABSOLUTE POSITION D ETECTION SYSTEM M5 D0 K16 MOV 2 2 D1 K3 MOV D2 K0 MOV D5 K0 MOV D9 K0 DMOV A0 K0 DMOV C0 RST C1 RST Initiali zing ABS data transmission counter Initiali zing checksu m .
15 - 55 15. ABSOLUTE POSITION D ETECTION SYSTEM M9 C0 C1 3 3 D5 K1X2 0 MOV D5 H0003 WAND A0 D5 WOR K2 ROR M10 PLS D1 M9 C0 D5 K1X2 0 MOV K2 DROR D2 D2 D5 C0 C1 D5 H0003 WAND A0 D5 WOR D0 M11 PLS K10 R.
15 - 56 15. ABSOLUTE POSITION D ETECTION SYSTEM M11 M10 Y31 X22 M12 Y32 X22 Y32 X2 2 T20 0 4 4 5 5 Y32 RST M12 PLS Y32 SET T200 K1 M9 M6 K1 D9 K0072 H0000 DF ROP D3 D3 K D* P D3 D9 D3 D P M6 M24 M8 SE.
15 - 57 15. ABSOLUTE POSITION D ETECTION SYSTEM Setting ABS transfer retry start fl ag Y39 X26 Y31 T0 Y31 Y32 Y31 X22 T0 T1 T3 5 5 Y31 RST K50 T1 K10 T3 K10 Y39 M7 M15 PLS Detecting ABS communication .
15 - 58 15. ABSOLUTE POSITION D ETECTION SYSTEM (d) X-axis program Do not execute the X-axis program while the ABS ready (M8) is off. M8 When "M8" (ready to sen d ABS data) switches on, the X-axis start program is execut ed by t he X-axis start command.
15 - 59 15. ABSOLUTE POSITION D ETECTION SYSTEM (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 mo de and set th e ho me pos ition w ith th e home posi tion re turn start switch (X27) ON.
15 - 60 15. ABSOLUTE POSITION D ETECTION SYSTEM (g) Electromagnetic brake output During ABS data transfer (for s everal seconds after the servo-on (SON) is tu rned on), the servo motor must be at a s top. Set "1 1 " in pa rame ter No. 1 of th e servo amplifier to choose the electroma gnetic brake interlock (MBR).
15 - 61 15. ABSOLUTE POSITION D ETECTION SYSTEM (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 - 62 15. ABSOLUTE POSITION D ETECTION SYSTEM (4) Dif ferences be tween A1S D71 The sequence programs shown in (2) in this section differ from those for the A1SD71 in t he following portion s. 1) to 20) in the follo wing sentence s indic ate the number s in the progra ms given in ( 2) in th is sect ion.
15 - 63 15. ABSOLUTE POSITION D ETECTION SYSTEM 5) Re storing absolu te pos ition d ata The slo t num ber and buffer add ress o f the A 1SD75 h ome po sition ad dres s reading area are chan ged from [DF ROP H0001 K7912 D9 K1] to [DF ROP H0000 K72 D9 K1 ] 12 ).
15 - 64 15. ABSOLUTE POSITION D ETECTION SYSTEM 15.9 Confir mation of absolute p osition detect ion data You can confirm the absolute po sition data with MR Configurator (servo configuration software). Crick "Diagn ostics " and "Abs olute Enc oder Dat a" to open the absolute positi on da ta display screen.
15 - 65 15. ABSOLUTE POSITION D ETECTION SYSTEM 15.10 Abs olute posit ion data tra nsfer er rors 15.10.1 C orrective act ions (1) Error list The num ber with in pare nthese s in the t able ind icate s the outpu t coil or inpu t contac t nu mber o f the A1SD71.
15 - 66 15. ABSOLUTE POSITION D ETECTION SYSTEM (2) ABS communicati on error (a) The OFF period of the send data ready sign al output from the servo amplifier is checked. If the OFF period is 1s or longer, this is regarded as a transfer fault and the ABS communication error is generated.
15 - 67 15. ABSOLUTE POSITION D ETECTION SYSTEM (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 turn ed ON (ABS re quest time) i s chec ked.
15 - 68 15. ABSOLUTE POSITION D ETECTION SYSTEM MEMO.
App - 1 A PPENDIX 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 A PPENDI X App 2. Stat us display block diag ram Effe ctive load ratio Effe ctive value calculation Instantaneous tor que Peak load ratio Peak hold PWM M Current control Speed control Servo mo.
App - 3 A PPENDI X App 3. Co mbinatio n of serv o ampli fier and serv o motor The se rvo amplif ier so ftware ve rsions co mpatible with th e ser vo mo tors are indi cated in the paren these s. The servo amplifiers whose software versions are not indicated can be used regardless of the versions.
App - 4 A PPENDI X Ap p 4. Change o f connector sets to the RoHS compati ble products Connec tor sets (opti ons) in th e fol lowing ta ble are c han ged to the RoHS c ompat ible prod ucts af ter Se ptember , 2006 s hipment. Pleas e accep t that t he curren t produc ts m ight be m ixed with RoHS com patibl e produc ts bas ed on avail abi lity.
REVISIONS *The manual numb er is given on the bottom left of t he back cover. Print data *Manual num ber Revision Nov.,1999 SH(NA)030006-A First edition Sep.
Print data *Manual num ber Revision Sep.,2000 SH(NA)030006-B Section 10.2.2 : Addition of description 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 Table 12.
Print data *Manual num ber Revision Oct.,2002 SH(NA)030006-D Servo amplifier: Addition of MR-J2S-11KA , MR-J2S-15KA and MR-J2S-22KA Servo motor: Add ition of HA -LFS11K2, HA-LFS15K2, H A-LFS22K2 and H.
Print data *Manual num ber Revision Oct.,2002 SH(NA)030006-D Section 13.1.5 (1): C onfigurati on diagram re examinatio n Note senten ce addition Addition of co nnector sets and monitor cable s Section 13.1.5 (2): POINT sent ence addition Section 13.1.
Print data *Manual num ber Revision Jun., 2003 SH(NA) 030006-E Section 13.2.1 (1): Correct ion of the AWG of the reco mmended wire 60m m 2 to 2/0 Section 13.
Print data *Manual num ber Revision Oct., 2004 SH (NA)030006-G Section 12.3: H C-LFS series o f graph is addit ion Sectio n 13.1.1 (b)b.: Pa rtial table valu e of reexamin ation Section 13.1.1 (4): Addition of PO INT Section 13.1.1 (4) (b): Note sentence addition Section 13.
Print data *Manual num ber Revision Dec., 2005 SH(NA)030006-H Section 13.1.3 (2):Diag ram addition o f P1 termina l, Reexaminat ion of Note Section 13.1.4 (2):Diagram additi on of P1 termina l, Reexaminati on of Note Section 1 3.1.10 (2):Diag ram addition of P1 terminal, R eexaminat ion of Not e Section 1 3.
Print data *Manual num ber Revision Dec., 2007 SH(NA)030006-J Section 1 0.2.2: Additi on of sent ence for AL.20 Correcti on to error in writing of name fo r AL.30 Addition of sentence for AL.32 Addition of Cause f or AL.33 Addition of reference for a larm occurrence time in Definitio n for AL.
SH (NA) 030006-J (0712) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE J2-Super Series J MR-J2S- A Servo Amplifier .
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