Benutzeranleitung / Produktwartung MELSERVO MR-J2S- A des Produzenten Mitsubishi
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General-Purpose AC Servo MODEL MR-J2S- A SERVO AMPLIFIER INSTRUCTION MANUAL General-Purpose Interface J2-Super Series H.
A - 1 Safety Instructions (Alwa ys read t hese instruct ions b efore us ing t he equipm ent.) Do not attem pt to install, ope rate, m aintain or ins pect the serv o amplif ier and ser vo motor unt il .
A - 2 1. To prevent electric shock, note the follow ing : WARNING Befor e wirin g or insp ection, s witc h power off and wait f or more th an 15 m inutes. Then, c onfirm the vol tage is saf e with v oltage t ester. Otherwis e, y ou ma y get an e lectric shock .
A - 3 4. Additional instruct ions The 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 Secur ely att ach the ser vo m otor to th e mac hine. If at tach ins ecure ly, the ser vo m otor ma y come of f during operat ion. The s ervo motor with reductio n gear m ust b e insta lled in t he sp ecified direct ion to pr event oil leak age.
A - 5 (4) Usa ge CAUTION Prov ide an extern al emergenc y stop c ircuit to ensure th at oper ation ca n be sto pped and power sw itched off imm ediately. Any per son who is involv ed in dis assem bly a nd repa ir shou ld be f ully c ompete nt to do t he wor k.
A - 6 (6) Maintenance, inspection and parts replacement CAUTION W ith age, th e electroly tic capacit or of the servo ampli f ier will deterio rate. To prevent a secondary acci dent due to a f ault, it is rec omm ended to re place t he electr olytic capac itor e very 10 years wh en used in ge neral environm ent.
A - 7 COMPLIANCE WITH EC DIRECTIVES 1. WHAT AR E EC DI RE C TIVES ? The EC directives were issu ed to standardize the regulations of t he EU countries and ensure smooth distributi on of safety-guaranteed products.
A - 8 (4) Power supply (a) Operate the servo amplifier 7kW or less to meet the requirements of the overvol tage cat egory II set forth in IEC6 0664-1. For this purpose, a reinforced insula ting transformer conforming to the IEC or EN standard should be used in the power input section.
A - 9 (7) Auxi liary equ ipment and op tions (a) T he no-fuse breaker and magnetic contact or used should be the EN or IEC standard-compliant products of the models described in Section 13.2.2. (b) The size s of the cable s describe d in Section 13.2.
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 <<Abou t t he manual s>> This Instruc tion M anua l and the ME LSER VO Serv o Moto r Ins truction M anual are requ ired if you use the General -Purpose AC servo MR-J2S -A for the first time. Always purchase them and use the MR- J2S-A s afely.
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 3.8.2 Co nnection d iagram....................................................................................................... .................. 3- 50 3.8.3 I/O termina ls .........................................................................
3 6.8.3 Po sition ing opera tion .................................................................................................... ................... 6- 15 6.8.4 Mo tor-le ss opera tion .............................................................
4 11.2 Conne ctors ................................................................................................................ ............................ 11- 8 12. CH ARACT ERISTICS 12- 1 t o 12- 8 12.1 Ove rload pro tection chara cteristic s .
5 14.9 In itializat ion............................................................................................................ ............................ 14-10 14.10 Co mmunicat ion procedure e xample ...........................................
6 Optional Servo Motor Inst ruction Manual CONTENTS The rough table of co ntents of the optional MELSERVO Servo Motor Instruc tion Manual i s in troduced here for your reference. Note that the contents of the Servo Mot o r Instruction Manual are not included in the Servo Ampl ifier Ins truction M anual.
1 - 1 1. FUNCTIONS AND CONFIGURATI ON 1. FUNCTIONS A ND CONFIGURAT ION 1.1 Introduc tion The Mitsubish i MELSERVO-J2-Supe r series general-pu rpose AC servo is based on the ME LSERVO-J2 series and has further higher performance and higher fun ctions. It has position control, speed control and torque control modes.
1 - 2 1. FUNCTIONS A ND CONFIGURAT ION 1.2 Func tion block diagram The function block diagram of this servo is shown below. (1) MR-J2S-350A or le ss Regenerative brake Base amplif ier Voltage detectio.
1 - 3 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-J2S-500A MR- J2S-7 00A Regenerative brake Base am plifie r Vol tage detection Overcurr ent prote c tion Encoder Dynamic brake Current detector CHARGE lamp.
1 - 4 1. FUNCTIONS A ND CONFIGURAT ION (3) MR-J2S-11KA or more CN2 DS CON1 L 1 L 2 L 3 L 11 L 21 NFB MC MR-BAT PC U V W U V W SM B1 B2 N P1 A/D RS-232C RS-422 D/A RS-422/RS-232C I/F CN3 CN4 Powe r sup.
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 20 A 4 0A 6 0A 7 0A 100A 200A 350A 50 0A 700A 11 KA 1 5K A 22KA 1 0A1 20A1 40A.
1 - 6 1. FUNCTIONS A ND CONFIGURAT ION 1.4 Func tion list The followi ng table lists t he functions of t his servo. For details of the functi ons, refer to the reference fiel d. Function Description (Not e) Control m ode Reference Position control m o de This se rvo is used as p osition control servo .
1 - 7 1. FUNCTIONS A ND CONFIGURAT ION Function Description (Not e) Control m ode Reference Ret u rn conver ter Used when th e r e g enerativ e brak e opt ion can not pr ovide enough regen erative p ower. Can be used with the MR-J2S-500A to MR-J2S-22KA.
1 - 8 1. FUNCTIONS A ND CONFIGURAT ION (2) Model MR–J2S–100A or less MR–J2S–200A 350A General-purpose interf a ce Rated output Ra ting pl ate R ating p late MR–J2S– Ser ies A Powe r Su p p.
1 - 9 1. FUNCTIONS A ND CONFIGURAT ION 1.6 Com bination with s ervo motor The follow ing table list s combinatio ns of servo ampl ifier s and se rvo moto rs. The same comb inat ions app ly 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 le ss POINT The servo am plifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Us ed to s e t da ta . Us ed to chan ge the display or data in each mode.
1 - 11 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-J2S-200A MR- J2S-3 50A POINT The servo am plifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Used to set data. Used to change t he display or dat a in each mod e.
1 - 12 1. FUNCTIONS A ND CONFIGURAT ION (3) MR-J2S-500A POINT The servo am plifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. MODE UP DOWN SET MODE UP DOWN SET Name/Application Reference Battery connector ( CON1) Used to c onnect the batter y for absolute po sition data backup.
1 - 13 1. FUNCTIONS A ND CONFIGURAT ION (4) MR-J2S-700A POINT The servo am plifier is shown without the front cover. For removal of the front cover, refer to next page. MODE UP DOWN SET MODE UP DOWN SET Name/Ap plication Reference Battery connector (CON1) Used to connect th e batter y for absolute pos ition dat a bac kup.
1 - 14 1. FUNCTIONS A ND CONFIGURAT ION (5) MR-J2S-11KA or more POINT The servo am plifier is shown without the front cover. For removal of the front cover, refer to section 1. 7. 2. MODE UP DOWN SET MODE UP DOWN SE T Battery hold er Contains the battery for absolute position da ta backup.
1 - 15 1. FUNCTIONS A ND CONFIGURAT ION 1.7.2 Rem oval and rei nstallatio n of the front c over CAUTION T o avoid the r isk of an electric shoc k, do no t open the fron t cover while p ower is on.
1 - 16 1. FUNCTIONS A ND CONFIGURAT ION (3) For MR-J2S-700A Front cover socket (2 p lac es ) A) 1) Removal of the front cover Reinstallation of the front cove r 1) Inser t the t wo front co ver hooks at the botto m into th e soc kets of the servo a mplifier.
1 - 17 1. FUNCTIONS A ND CONFIGURAT ION (4) For MR-J2S-11KA or more Mounting sc rews (2 places) 1) Remove the front cover mounting screws (2 places) and remove t he front cover. Removal of the front cover Mounting screws (2 places) 2) Remove t he front cover mounting scr ews (2 places).
1 - 18 1. FUNCTIONS A ND CONFIGURAT ION 1) Insert the front cover in the directi on of arrow. Reinstallation of the front cover Mounting screws (2 places) 2) Fix it with the mounting screws (2 places). Mounting screws (2 places) 3) Fit the front cove r 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 e lectric s hock , always c onnect t he pr otective eart h (PE) ter minal (term inal m a rk ed ) of t he ser vo amplif ier to the pr otect ive earth ( PE) of the co ntrol box.
1 - 20 1. FUNCTIONS A ND CONFIGURAT ION (b) F or 1-phase 10 0V t o 120V A C 1-phase 100V to 120VAC power supply No - f use br eake r (NFB) or fuse Mag netic contactor (MC) To CN 2 To CN 3 To CN1B Junc.
1 - 21 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-J2S-200A MR-J2S-350A or m ore Power factor improving reactor (FR-BAL) 3-phase 200V to 230VAC power supply No-fuse breaker (NFB) or fuse Magnetic contacto.
1 - 22 1. FUNCTIONS A ND CONFIGURAT ION (3) MR-J2S-500A To CN1 A Options and auxi liary equipment No-fuse breaker Magnetic c o ntactor MR Configurator (Servo c onfiguration software) Regenera tive brake op tion Reference Section 13.2.2 Section 13.2.2 Section 13.
1 - 23 1. FUNCTIONS A ND CONFIGURAT ION (4) MR-J2S-700A W V Options and auxilia ry eq uipment No-fuse breaker Magnetic contactor MR Configurator (Ser vo c onfig urati on s oftwa re) Regenerat i ve bra ke option Reference Section 13.2.2 Section 13.2.2 Section 13.
1 - 24 1. FUNCTIONS A ND CONFIGURAT ION (5) MR-J2S-11KA or more L 11 L 21 L 2 L 1 L 3 MITS UBISH I UV W BV BU C P To CN1A To CN1B Options a nd auxiliary equipment No- fus e br eake r Magneti c contactor MR Confi gurator (Servo co nfiguration s oftware) Regenerative brake option Refe rence Secti on 13.
2 - 1 2. INSTALLATION 2. INSTALLA T ION CAUTION Stack ing in ex cess of the l imited n umber of prod ucts is no t allo wed. Instal l the e quipm ent to inc ombus tibles. Ins tallin g them direct ly or clos e to com bustibles will led to a fire. Instal l the equi pment in a load- bear ing place in accorda nce with this Instruc tion Manual .
2 - 2 2. INSTALLATION 2.2 Instal lation dir ection and clearances CAUTION The equ ipment m ust be insta lled in the s pecif ied direc tion. Ot herwise, a fault m ay occur. Leave s pecifie d clearanc es bet ween th e servo amplif ier and contro l box inside walls or other equi pment.
2 - 3 2. INSTALLATION (2) I nstallat ion of two or m ore ser vo am plifiers Leave a large clearance between t he top of the s ervo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceedi ng the environm ental cond itions.
2 - 4 2. INSTALLATION 2.4 Cable s tress (1) The way of clamping the cable must be fully exa mined so that flexing stress and cabl e's own mass stress are not appli ed to the cable connection.
3 - 1 3. SIGNALS AND WIRI NG 3. SIGNALS AND WIRING 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 starting wiring , switch power off , then wait f or mor e than 15 minut es, and after t he char ge lam p has go ne off, m ak e sure that the vol tage is s afe i n the tes ter or lik e.
3 - 2 3. SIGNALS AND WIRING 3.1 Standar d connect ion exam ple POINT Refer to Section 3.7.1 for the connection of t he power supply system and to Section 3.
3 - 3 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always c onnect the protective earth (PE) terminal (term i nal marked ) of t he servo amplifier to the protecti ve eart h (PE) of the con trol box. 2. Connect the diode in the correct direction.
3 - 4 3. SIGNALS AND WIRING (2) AD75P (A1SD75P ) VDD RA1 RA2 RA3 18 15 5 14 8 9 16 17 1 11 EMG SON RES PC TL LSP LSN SD SG P15R LG 10 12 ALM 19 ZSP 6T L C 14 7 16 17 4 LA LAR LB LBR LG OP P15R SD 1 6 .
3 - 5 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always c onnect the protective earth (PE) terminal (term i nal marked ) of t he servo amplifier to the protecti ve eart h (PE) of the con trol box. 2. Connect the diode in the correct direction.
3 - 6 3. SIGNALS AND WIRING 3.1.2 Speed control m ode RA1 RA2 RA3 18 10 SP1 SG CN1A 15 5 14 8 9 16 17 1 11 EMG SON RES ST1 ST2 LSP LSN SD SG P15R LG 10 2 ALM 19 ZSP 6T L C 15 5 14 7 16 17 4 LZ LZR LA .
3 - 7 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always c onnect the protective earth (PE) terminal (term i nal marked ) of t he servo amplifier to the protecti ve eart h (PE) of the con trol box. 2. Connect the diode in the correct direction.
3 - 8 3. SIGNALS AND WIRING 3.1.3 T orque control m ode RA1 RA2 RA3 18 10 SP1 SG 15 5 14 9 8 10 1 11 EMG SON RES RS1 RS2 SG SD P15R LG 12 ALM 19 ZSP 6V L C 15 5 14 7 16 17 4 LZ LZR LA LAR LB LBR LG OP.
3 - 9 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always c onnect the protective earth (PE) terminal of the (t erminal m arked ) servo ampl i fier t o the protecti ve eart h (PE) of the con trol box. 2. Connect the diode in the correct direction.
3 - 10 3. SIGNALS AND WIRING 3.2 Interna l connect ion diagram of ser vo amplifier The foll owing is the internal connec tion dia gram where the signal assignment has been made in the initial status in each contro l mode.
3 - 11 3. SIGNALS AND WIRING 3.3 I/O sign als 3.3.1 Connec tors and si gnal arrangem ents POINT The pin configura tions of the connectors a re as viewed from the cabl e connector wiring section. Refer to the next page for CN1A and CN1B sig nal assignme nt.
3 - 12 3. SIGNALS AND WIRING (2) 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 WIRING (3) C N1A and CN1B signal assig n men t The signal assi gnment of connector changes with the control mode as indicated below; For the pins wh ich are given parame ter No.s in the related par ameter column, their signals can be changed using those parameters.
3 - 14 3. SIGNALS AND WIRING (4) Sy mbols and signa l na mes Symbol Signal name Symbol Signal name SON Servo-o n VLC Limiting speed LSP Forward r otation st roke end RD R eady LSN Reverse rotat ion st.
3 - 15 3. SIGNALS AND WIRING 3.3.2 Sign al explanat ions For the I/O in terfaces ( symbol s in I/O div ision co lumn in the table ), refe r to Sec tion 3.6. 2. In the control mode field of the tabl e P : Position control mode, S : Speed control mode, T: Torque control mode : Deno tes th at the signal may be u sed in the in itial setting status .
3 - 16 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PST External torque 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 torque limit (TLA) valid.
3 - 17 3. SIGNALS AND WIRING Control mode Signal Symbol Connec- tor pi n No. Functions /Applicat ions I/O divisi on PST Speed sel ect i on 1 SP1 CN1A 8 <Speed co ntrol mod e> Used to sele ct the co mmand speed f or op era ti on. When using SP3, make it usable by making th e setting of paramete r No.
3 - 18 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PST Proport ion control PC CN1 B 8 Connect PC-SG to switch th e speed amplifier from the propo rtional integra l type t o the p roporti onal typ e.
3 - 19 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PST <Position/ speed c o ntrol change mode> Used to sele ct t he c ontrol m ode in the p osition/sp eed cont rol change m ode. (Note) LOP Control m ode 0P o s i t i o n 1 Speed Note.
3 - 20 3. SIGNALS AND WIRING (2) Output signals Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PST Trouble ALM CN1B 18 ALM tu rns off w hen p ower is sw itched off or the prot ective ci rcuit is activated to shut off the base ci rcuit.
3 - 21 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PST To use t his signal, set " 1 " in parame ter No.49. This signal is output when an alarm occurs. When there is no alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
3 - 22 3. SIGNALS AND WIRING Connector pin No. Control mode Signal Sy m bol 7kW or less 11kW or mor e Functions/Applicat ions I/O divisi on PST Encod er Z- p ha se pulse (Open collector ) OP CN1A 14 CN1A 14 Output s the zero -point signal of the enco de r.
3 - 23 3. SIGNALS AND WIRING (4) Power supply Connector pin No. Control mode Signal Sy m bol 7kW or less 11kW or mor e Functions/Appl icat ions I/O divisi on PS T I/F internal power s upply VDD CN1B 3 CN1B 3 Used to outp ut 24V 10% to across VDD-SG. When using this power supply for digital interface, connect it with COM.
3 - 24 3. SIGNALS AND WIRING 3.4 Deta iled desc ription of th e signals 3.4.1 Pos ition control m ode (1) Pul s e tr ai n in pu t (a) Input pulse waveform selection Command pulses may be input in any of three different form s, for which positive or negative logic can be cho sen.
3 - 25 3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collect or system Connect as shown be low: Appro x. 1.2k Appro x. 1.2k SG SD NP PP OPC VDD Servo amplifier The explanat i on assumes t hat the in put waveform has been set t o the negative l ogic and forward and reverse rotati on pu lse trains (paramet er No.
3 - 26 3. SIGNALS AND WIRING 2) Diffe rentia l line dr iver sy stem Connect as shown be low: PP NP Serv o am plif ier PG NG SD The explanat i on assumes t hat the input waveform has been set t o the negative l ogic and forward and reverse rotati on puls e trains (par ameter No.
3 - 27 3. SIGNALS AND WIRING (2) In-position (INP) PF-SG are connected when the number of droop pulses in the deviati on counter falls within the preset in-posit ion range (paramet er No. 5). INP-SG may remain connected when low-speed operation is performed with a large value set as the i n-positi on range.
3 - 28 3. SIGNALS AND WIRING (5) Torque limit CAUTION If the torque lim it is canc eled duri ng ser vo lock , the ser vomotor may su ddenl y 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 WIRING 3.4.2 Speed control m ode (1) Speed setting (a) Speed command and speed The servo mo tor is run at the s peeds set in the parameters or at the speed set in the applied voltage of the analog speed command (V C).
3 - 30 3. SIGNALS AND WIRING (b) Spe ed sele ction 1 (SP1) , spee d select ion 2 (S P2) and speed command value Choose a n y of the speed settings m ade by the internal s peed commands 1 to 3 using speed sel ec tion 1 (SP1) and speed s election 2 (SP2) or the speed s etting made by the anal og speed command (VC).
3 - 31 3. SIGNALS AND WIRING 3.4.3 T orque control m ode (1) Torque control (a) Torque command and torque A relati onship between the a pp lied vo ltage of the analog torque command (TC ) and the torque by the servo motor is shown b el ow. The maximum torque is generated at 8V.
3 - 32 3. SIGNALS AND WIRING (b) Analog torq ue comma nd offs e t Using pa rameter No. 30, t he offset voltage of 999 to 999 mV can be adde d to the TC applied volta g e as shown below. 0 8( 8) Max. torque Generated torque TC applied vol tage [V] Parameter No.
3 - 33 3. SIGNALS AND WIRING (b) Speed selectio n 1(SP1) /speed selectio n 2(SP2)/ speed se lection 3( SP3) and spe ed limit values Choose a ny of th e speed settings m ade by the internal s peed limi.
3 - 34 3. SIGNALS AND WIRING 3.4.4 Pos ition/speed co ntrol chan ge mode Set "00 01" in par ameter No. 0 to swi tch to the po sition /speed contro l change mod e. Thi s functio n is n ot availa ble in the ab solute position de tectio n system.
3 - 35 3. SIGNALS AND WIRING (3) Sp ee d se tting i n sp eed co nt rol mod e (a) Speed command and speed The servo mo tor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed set in the applied vo ltage of t he analog speed com mand (VC).
3 - 36 3. SIGNALS AND WIRING 3.4.5 Speed /torque con trol chang e mode Set "00 03" in par ameter No. 0 to swi tch to the sp eed/tor que con trol chan ge mod e. (1) C ontrol ch ange (LO P) Use control change ( LOP) to switch between the speed cont ro l mode and the torque con trol mode from an exte rnal con tact.
3 - 37 3. SIGNALS AND WIRING (4) Sp ee d li mit in t orq ue con trol mode (a) Speed limit valu e and speed The speed is limited to the limit val ue set in para meter No. 8 (internal speed limit 1) or the valu e set i n the appli ed voltage of th e anal og speed li mit (VLA).
3 - 38 3. SIGNALS AND WIRING 3.4.6 T orque/positi on control ch ange m ode Set " 0005" in param eter N o. 0 to switc h to the tor que/po sition control chang e mode . (1) C ontrol ch ange (LO P) Use control change (LO P) to switch between the torque con trol mode and the position control mode from an externa l contac t.
3 - 39 3. SIGNALS AND WIRING 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 i s not be ing in put, en sure safety , and reset the alarm before r est arting operat ion.
3 - 40 3. SIGNALS AND WIRING 3.6 Interf aces 3.6.1 Comm on line The foll owing diagram shows the power supply and its common l ine. DC24V 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) Analog input ( 10V/max.
3 - 41 3. SIGNALS AND WIRING 3.6.2 Detai led descript ion of the interfac es This s ec ti on g ives the deta ils of the I/O signal interfaces (refer t o I/O Divisi on in the table) indi cated in Section s 3.3.2. Refer to this sec tion and conn ect the interfac es with th e extern al equip ment.
3 - 42 3. SIGNALS AND WIRING (b) Lamp load For use of internal p ower suppl y For use of external po wer suppl y 24V DC VDD COM R Servo amplifi er ALM, e tc .
3 - 43 3. SIGNALS AND WIRING (b) Differential line driver syst em 1) Inte rface SD PG(NG) PP(NP) Max. input pul se frequency 500kpps Servo amplifier Am26LS31 or equivalent About 100 10m (393 .70in) or le ss 2) Condit ions of th e input pulse 0.9 PP PG tc tHL tc tLH tF tLH tHL 0.
3 - 44 3. SIGNALS AND WIRING (b) Differential line driver syst em 1) Inte rface Max. output current: 35mA LA (LB, LZ) LAR (LBR, LZR) LG SD LA (LB, LZ) LAR (LBR, LZR) SD Servo amplifi er Servo amplifi .
3 - 45 3. SIGNALS AND WIRING (7) Sourc e inpu t interfac e When u sing the inp ut inte rface of so urce ty pe, all Dl-1 in put signa ls are of source type . Sour ce outp ut cannot be provided. For use of internal power supply For us e of ex ternal power supply SG COM 24VDC VDD TR R: Approx.
3 - 46 3. SIGNALS AND WIRING 3.7 Input power suppl y circuit CAUTION W hen the s ervo am plifier has bec om e fault y , switc h po wer off on the s ervo amplif ier p ower si de. Con tinuous flow of a larg e curr ent ma y cause a fire. Use the tro uble signa l to sw itch po wer off .
3 - 47 3. SIGNALS AND WIRING (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 Powe r s upp ly 1-phase 100 to 120VAC or 1-phase 230VAC Emergency stop Servo-on (Note) Servo amplifier Trouble Emergency stop Note.
3 - 48 3. SIGNALS AND WIRING 3.7.2 T erminals The posit ions and signal arrangements of the termina l blocks change with the capacity of the servo amplifie r.
3 - 49 3. SIGNALS AND WIRING 3.7.3 Power -on seque nce (1) Po wer-on proce dure 1) Alw ays wire the po wer sup ply as shown in above Section 3.7.1 u sing the magn etic contactor wi th the main circuit power supply (three-phase 200V: L 1 , L 2 , L 3 , si ngle-ph as e 230V, single-phase 100V: L 1 , L 2 ).
3 - 50 3. SIGNALS AND WIRING 3.8 Conn ection of s ervo am plifier and s ervo m otor 3.8.1 Connec tion instr uctions W ARNING Insulate the con nections of th e power s uppl y termina ls to pre vent a n electr ic shock . CAUTION Connec t the wires to the corr ect phas e term inals ( U, V, W ) of the servo amplifi er and ser vo m otor.
3 - 51 3. SIGNALS AND WIRING Servo m otor Connection diagram HC-KFS053 (B) to 73 (B) HC-MFS053 (B) to 73 (B) HC-UFS13 (B) to 73 (B) Servo amplifier (Note 1) Servo motor Electromagnetic brake 24VDC EMG (Note 2) To be shut off when s ervo-off or Trouble (ALM) Encoder ca ble CN2 Motor Encoder U V W B1 B2 U (Red) V (White ) W (Bl ack) (Green) Note 1.
3 - 52 3. SIGNALS AND WIRING 3.8.3 I/O term inals (1) HC-KFS HC-MF S HC-UFS3000r/m in series 24 13 4 Power suppl y co nnector (Molex) Without electromagnet ic brake 5557-04R-21 0 (receptacle ) 5556PBT L (F ema le terminal) With electrom agnetic brake 5557-06R-21 0 (receptacle ) 5556PBT L (F ema le terminal) Encoder cab le 0.
3 - 53 3. SIGNALS AND WIRING (2) HC-SFS HC-RF S HC-UFS2000 r/m in series Ser vo m otor sid e conn e ctors Servo motor For pow er supply For enc oder Electromagneti c brake connector HC-SFS81(B) HC-SFS52(B) to 152(B ) HC-SFS53(B) to 153(B ) CE05-2A22- 23PD-B The c onnect or for power is shared.
3 - 54 3. SIGNALS AND WIRING 3.9 Serv o motor with electrom agnetic brak e CAUTION Configur e th e electrom agnet ic brak e oper ation circ uit so that it is ac tivated not onl y by the ser vo amplif ier signa ls but also b y an extern al emerge ncy stop s ignal.
3 - 55 3. SIGNALS AND WIRING (3) T i m ing charts (a) Servo-on (SON) command (from controller) ON/OFF Tb [ms] after the servo-on (S ON) signal is swit ched off, the servo lock is released and the servo motor coasts. If the elect romagnetic brake is made valid in the servo l oc k status, the brake life may be shorter.
3 - 56 3. SIGNALS AND WIRING (c) Alarm occurrence Servo motor speed ON OFF Base circ uit Electromagnetic brake interlock (MBR) Invalid(ON) Valid(O FF) Trouble (ALM) No(ON) Yes(O FF) Dynamic brake Dyna.
3 - 57 3. SIGNALS AND WIRING 3.10 Gro unding W ARNING Ground th e serv o ampl ifier a nd ser vo motor s ecurel y. To pre vent an electric shock , alwa y s con nect the protec tive ear th (PE) term inal of the ser vo am plifier with the p rotect ive e arth (P E) of th e contr ol box.
3 - 58 3. SIGNALS AND WIRING 3.11 Ser vo amplif ier term inal block (TE2) wirin g method POINT Refer to Tabl e 1 3.1 (2 ) and (4) in Section 13 . 2.1 for t he wire si zes used for wiring.
3 - 59 3. SIGNALS AND WIRING (2) T erminat ion of th e cab les (a) When the wire is inserted directly Insert the wire to the end pressing the button wit h a small flat bl ad e screwdriver or the like.
3 - 60 3. SIGNALS AND WIRING 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: Af ter t he sheat h has been str ipped, t he cab le can be used as it is. Approx. 10mm (0.39inch) Twiste d wir e: U se the cable after str ipping the shea th and tw istin g the core.
3 - 61 3. SIGNALS AND WIRING 3.12 Instr uctions f or the 3M con nector When fabricati ng an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plat e as shown in this section and fi x it to the connector shell.
3 - 62 3. SIGNALS AND WIRING 3.13 Power line circ uit of the MR -J2S-11K A to MR-J2S-22 KA CAUTION W hen the s ervo am plifi er has becom e fault y, switch power off on the am plifier power s ide. Co ntinuo us flow of a lar ge curre nt ma y caus e a fir e.
3 - 63 3. SIGNALS AND WIRING 3.13.2 Se rvo am plifier term inals The posit ions and signal arrangements of the termina l blocks change with the capacity of the servo amplifie r.
3 - 64 3. SIGNALS AND WIRING 3.13.3 Ser vo motor terminals Pin Signal Pin Si gnal AM D K BM D R L CM R M DM R R N S H D EP FB A T R L G GL G S P 5 HT Terminal bo x Encoder connect or MS3102A20-29P Key.
3 - 65 3. SIGNALS AND WIRING Term inal box insid e (HA-LFS 15K2 HA-LFS-22K2) Earth terminal M6 screw Thermal sensor terminal bl ock ( OHS 1, OH S2) M4 screw Cooling fan term inal block (BU, BV, BW) M4.
3 - 66 3. SIGNALS AND WIRING MEMO.
4 - 1 4. OPERATION 4. OPERATION 4.1 W hen switching po wer on f or the first tim e Before starti ng operation, check the followi ng: (1) W iring (a) A correct power supply is connected to the power inpu t termin als ( L 1 , L 2 , L 3 , L 11 , L 21 ) o f 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 starti ng oper ation, c heck th e param eters. Some m achin es ma y perform unexpec ted oper atio n. Take s afet y measures , e.
4 - 3 4. OPERATION (4) Servo-on Switch t he servo-on in the following procedure: 1) Switch on m ain circuit/control circuit power supply. 2) Switch on the servo-on (SON). When placed in the servo-on status, t he servo amplifier is ready to operate a nd 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 circ uit power/control circu it power is switched on, the display shows "r (servo motor spee d)", an d in tw o sec ond l ater, show s data .
4 - 5 4. OPERATION (6) Stop In any of the followin g statuses, the s ervo amplifier interrupts and stops the operati on of the servo motor: Refer to Section 3.
4 - 6 4. OPERATION (4) Servo-on Switch t he servo-on in the following procedure: 1) Switch on m ain circuit/control circuit power supply. 2) Switch on the servo-on (SON).
5 - 1 5. PARAMETERS 5. PARAME TERS CAUTION Ne ver adjust or change the par ameter values ex tremel y a s it will m ake operatio n instab le. 5.1 Param eter list 5.1.1 Par ameter writ e inhibit POINT After se tting the parameter No. 19 value, switch po wer of f, then o n to make tha t setting valid.
5 - 2 5. PARAMETERS 5.1.2 Lists POINT For any para meter whose symbol is preceded b y *, set the paramet e r value and s witch power off once, then switch i t on aga in to make that parameter se tting valid.
5 - 3 5. PARAMETERS No. Symbol Name Cont rol mode Initial value Unit Cust omer setti ng 20 *OP2 Function selection 2 P S 0000 21 *OP 3 Function selection 3 (Command puls e selection) P 0000 22 *OP4 Fu.
5 - 4 5. PARAMETERS No. Symbol Name Cont rol mode Initial value Unit Cust omer setti ng 50 For manufacturer setting 0000 51 *OP6 Function selection 6 P S T 0000 52 For manufacturer setting 0000 53 *OP.
5 - 5 5. PARAMETERS (2) Details li st Class No. S y mbol Name and function Initial value Unit Setting range Control mode Control mod e, regenerati ve brake opti on selection Used to select the control mode and rege nerative bra ke opti on. Select the con t rol mode.
5 - 6 5. PARAMETERS Class No. Symbol Name and function Initia l value Unit Setting range Control mode Basic pa rameters 1* O P 1 Function s e lecti on 1 Used to select t he input si g nal filter, pin CN1B-19 function and absolute position de tection system.
5 - 7 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode 2 ATU Auto tuning Used to s election the respo nse level, etc. for execution of a uto tuning. Re fer to Chap ter 7. Respons e level settin g If the m a chine hunts or generates large gear soun d, decr ease the set value.
5 - 8 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode 5 INP In-positio n ra nge Used to s e t the in-position (INP) output range in the command pul se increm ents pri or to electroni c gear calculat ion.
5 - 9 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode Internal speed command 2 Used to set sp eed 2 of inter nal spe ed co mmands. S 9S C 2 Internal speed limit 2 Used to set sp eed 2 of i nternal speed li mits.
5 - 10 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode 14 TQC Torque comma nd ti me consta nt Us ed to set the const ant of a low p ass f ilter in re spon se to th e tor que comman d.
5 - 11 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode Basic pa rameters 17 MOD Analog monitor output Us ed to se lec tion the si gnal p rovi ded to the a nalo g moni tor (MO1) analog monitor (MO2) output.
5 - 12 5. PARAMETERS Class No. Symbol Nam e 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 shown at p ower-on.
5 - 13 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode Parameter write inhibit Used to select the ref erence an d w rite ran ges of the p arameters . Operati on can be p erformed for the parameters marked .
5 - 14 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode 21 *OP3 Function s e lecti on 3 (Command p ulse selection) Used to sele ct the in put form of the pul se trai n input s ignal. (Ref er to S ection 3.
5 - 15 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode 23 FFC Feed fo rwar d ga in Set the feed forward gain. When the setting is 100%, t he droop pulses during operatio n at constant speed are nearly zero.
5 - 16 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode Anal og speed command offs et Used to set t he offs et volta ge of th e anal og speed comma nd (V C). For exampl e, if CC W rotat ion is p rovided by sw itching on forwa rd rotation start (ST1) with 0V ap plied to VC, set a n e gative value.
5 - 17 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode 39 VDC Spee d differential com pensation Used to set the d ifferential compensation. Mad e valid w hen the p roport ion c ontrol (PC) i s sw itched on.
5 - 18 5. PARAMETERS Class No. S ym bol Name and function Initial value Unit Setting range Control mode 43 *DI2 Input signal sele ction 2 (CN1B-5) This paramete r is unavailable when parameter No.42 is s et to assign the contro l change (LOP) to CN1B-pin 5.
5 - 19 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode 45 * DI4 Input signal selection 4 (C N 1A-8) Allows any input signal t o be assi gned to CN 1A-pin 8 . The assignable signals and setting method are the same as in input signal selection 2 (parameter No.
5 - 20 5. PARAMETERS Cla ss No. Symb ol Name and function Initial value Unit Setting range Control mode Expansio n parameters 1 49 * DO1 Output sig nal selection 1 Used to select the c onnector pins to output t he alarm cod e, warning (WNG) a nd battery wa rning (BWNG) .
5 - 21 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode 50 For manufactur e r setting Do not cha nge this valu e by any m eans. 0000 51 *OP6 Function s e lecti on 6 Used to sele ct th e operati on to b e perfor med when the re set (RE S) switches on.
5 - 22 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode 55 *OPA Function selection A Used to sele ct t he p ositi on co mmand accelera tion/d ecelerat ion t ime constant (paramet er No. 7) control system.
5 - 23 5. PARAMETERS Class No. Symbol Nam e 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 and adap tive vibration supp ression contr ol. (Ref er to C hapter 8 .
5 - 24 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode 65 * CDP Gain c hanging selection Used to select the gain changing condition. (Refer t o Section 8.3.) 0 00 Gain changing selection Gains are changed in a ccordance with the settings of parameters No.
5 - 25 5. PARAMETERS Class No. Symbol Nam e and function Initial value Unit Setting range Control mode Internal speed command 5 Used to set sp eed 5 of inter nal spe ed co mmands. S 73 SC5 Internal speed limit 5 Used to set sp eed 5 of i nternal speed li mits.
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 pulse Machine sp ecificatio ns Table : 36 0 /rev Reduction ratio: n 4/64 Servo motor resolution: P t 13107 2 [pulses/re v] Table Timi ng belt : 4/64 Servo motor 131072 [p ulse/rev] CDV CMX Pt 131072 65536 1125 0.
5 - 28 5. PARAMETERS (3) S etting for us e of A1 SD75P The A1SD75 P also has the following electronic gear parameters. Normally, the servo ampl if ier si de electronic gear must also be set due to the restriction on the command pulse frequency (differential 400kpuls e /s, open coll ector 200kpulse/s).
5 - 29 5. PARAMETERS To rotate the servo motor at 3000r /min in the open co llector system ( 200kpul se/s), set the electro nic gear as fo llows CDV CMX N 0 f 60 pt f : Input pulses [pulse/s ] N 0 : S.
5 - 30 5. PARAMETERS 5.2.2 Anal og monitor The servo s t at u s can b e output to two ch annels i n terms of voltage . 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-s e t to output the servo motor speed to analog monitor 1 (MO1) and the torque to analog moni tor (MO2). Th e setting can be changed as listed belo w by changing the parameter No.17 va lue: Refer to Appendix 2 for the measurement point.
5 - 32 5. PARAMETERS (3) Ana log m onitor b lock diagram PWM M Current control Speed control Current comm and Position control Dr oop pu ls e Differ- ent ial Command pulse frequency Bus voltage Speed .
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 opp ing pattern is factory-s e t to make a sudden stop when the forward/reverse rotation st roke end is made valid. A slow stop can be m ade by changing the p arameter No.
5 - 34 5. PARAMETERS 5.2.5 Pos ition sm oothing By setting the po sition command acceleration/dece leration time constant (parame ter No.7), you can run the servo motor smoothly in response to a s udden position comman d.
6 - 1 6. DISPLAY AND O PERATION 6. DISPLAY AND OPERATION 6.1 Displ ay flowchart Use the display (5-digit, 7-segment LE D) on the front panel of the servo ampli f ier for status dis play, paramete r setting , etc. Set the parame ters befo re operation , diagnose an al arm, confir m exter nal sequences, a nd/or confirm the operation status.
6 - 2 6. DISPLAY AND OPER ATION 6.2 Status disp la y The servo s tatus during operation is shown on t he 5- digit, 7-s egmen t L ED display. Press t he "UP" or "DOWN" button to ch ange display data as desired. When the required d ata is selected, the corresponding symbo l appear s.
6 - 3 6. DISPLAY AND OPER ATION 6.2.2 St atus displa y list The foll owing table lists the servo status e s t h at may be s hown: Refer to Appendix 2 for the measurement point. Name Sym bol Unit Descripti on Di splay range Cumulative feedback pulse s C pulse Feedba ck pulses from t he serv o mot or encod er are c ounted and disp layed.
6 - 4 6. DISPLAY AND OPER ATION Name Sym bol Unit Descripti on Di splay range Within one-revoluti on posit i on h igh Cy2 100 pulse Th e withi n one-revolution position is displayed in 100 pulse incr em en t s of the en cod er. The va lue r eturns t o 0 when it exce eds the maxi mum numb er of pulse s.
6 - 5 6. DISPLAY AND OPER ATION 6.3 Diagnos tic mode Name Di splay Descript ion Not r eady. Indicates that the servo amplifier is be ing initializ e d o r an ala rm has occurred. Sequence Ready. Indi cates tha t th e servo w as switc hed on aft er compl etion of initialization and the se rvo amplifier is ready to oper ate.
6 - 6 6. DISPLAY AND OPER ATION Name Di splay Descript ion Motor s eries Press the "S ET" butto n to show the m otor seri es I D of the s ervo motor c urrently connect ed. For indication d etails, refer to the optional MELSERVO Servo Motor Instru ction Manual.
6 - 7 6. DISPLAY AND OPER ATION 6.4 Alarm mode The current alarm, past al arm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number tha t has occurred or the parameter num ber in error. Display example s are shown below.
6 - 8 6. DISPLAY AND OPER ATION 6.5 Param eter m ode The parameters whose abbr eviations are marked* are made valid by chang ing the setting and then switching power off once and switching it on aga in.
6 - 9 6. DISPLAY AND OPER ATION 6.6 Externa l I/O signa l displa y The ON/OFF stat es of the digital I/O s ign als connected to the servo amplifi er can be confirmed. (1) Operation Call t he display screen s hown after power-on. Using the "MODE" b utton, show the diag nostic screen.
6 - 10 6. DISPLAY AND OPER ATION (a) Control modes and I/O signals (Note 2) Sym bols of I/O si gnals in control m odes Connector Pin No. Signal input/out put (Note 1) I/O P P/S S S/T T T/P Related paramet er 8 I CR CR/SP1 SP 1 SP1 SP1 SP1/CR No.43 to 48 1 4 O O PO PO P O PO PO P 18 O INP INP/SA SA SA/ /INP No.
6 - 11 6. DISPLAY AND OPER ATION (3) De fa ul t si gn al indi ca tio n s (a) Position control mode Lit: ON Extinguished:OFF Input signals Output signals TL (CN 1 B-9) Torque li mit PC (CN 1 B-8) Propo.
6 - 12 6. DISPLAY AND OPER ATION 6.7 Output s ignal (DO) forced ou tput POINT When the servo system is used i n a vertica l lift appli cat ion, turni ng on the electromagnet ic brake interl ock (MBR) after assigni ng it to pin CN1B-19 will releas e the electr omagnetic brak e, causi ng a drop.
6 - 13 6. DISPLAY AND OPER ATION 6.8 Tes t operation m ode CAUTION The test operat io n mode is d esig ned to c onfir m serv o ope rat ion and not t o co nfirm ma chine opera tion. I n this mode, d o not us e the servo motor wit h the mac hine. Alwa ys use the servo m otor alone.
6 - 14 6. DISPLAY AND OPER ATION 6.8.2 Jog o peration Jog operation can be performed when there is no command from the external comm and devi ce. (1) Operation Conne ct EMG-SG to start jo g operatio n and con nect VDD- COM to use the interna l power su pply.
6 - 15 6. DISPLAY AND OPER ATION 6.8.3 Pos itioning oper ation POINT The MR Configurator (s ervo configuration softwa re) i s required to perform positi oning operation. Positioni ng operation can be performed once when th ere is no command from the external command device.
6 - 16 6. DISPLAY AND OPER ATION 6.8.4 Motor -less operati on Without connec tin g t he servo motor, you can provide output signals or monitor the status dis play as if the servo motor is r unning in response to external input signals. This operation can be u sed t o check the sequence of a host programmable controller or the like.
7 - 1 7. GENERAL GAI N ADJUSTMENT 7. GENERAL GAIN ADJUS T MENT POINT For use in t he torque control mode, you need n ot make 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 single servo amplif ier.
7 - 2 7. GENERAL GAIN ADJUSTMENT (2) Adj ustment seque nce and mode us age Usage Used when yo u want t o match the p o sition gain (PG1) be tween 2 or more axes. No rmally n ot u s ed for other purpos es. Allows adjustment by merely chan gin g th e re spon se le ve l se t ting .
7 - 3 7. GENERAL GAIN ADJUSTMENT 7.2 Auto tuning 7.2.1 Auto t uning m ode The servo amplifier has a real-time a u to tuning function which estimat e s the machine characteristi c ( load inerti a momen t ratio) in real time an d au tomati cally se ts the optim um gain s acco rding to th at value .
7 - 4 7. GENERAL GAIN ADJUSTMENT 7.2.2 Auto t uning m ode operation The block dia gram of real-t ime auto tuning is shown bel ow. Servo motor Comma nd Automa tic sett ing Control gains PG1, VG1 PG2,VG.
7 - 5 7. GENERAL GAIN ADJUSTMENT 7.2.3 Adjus tment proc edure b y auto tunin g 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 the response (The first digit of parameter No.2) of the whole servo system. As the re spons e level setting i s increased, th e trackab ility and se ttling time f or a comm and decre ases, but a too h igh respo nse level w i ll g en e r ate v ibr ation.
7 - 7 7. GENERAL GAIN ADJUSTMENT 7.3 Manual m ode 1 ( simple m anual adj ustment) If you a re not satisfied with the adjustment of auto tuning, you c an make 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 p aramet er det erm ines the response level of the speed control loop. Increasing this value enhances res pon se b ut a too high value will make the mechani c al s ystem liable to vib 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 t he response level of the positi on control loop.
7 - 10 7. GENERAL GAIN ADJUSTMENT 7.4 Interpo lation m ode The i n terpolati on mode is u sed t o match the position control gains of the a xes when performing the interpolati on operati o n of servo motors of two or more axes for an X-Y table or the like.
7 - 11 7. GENERAL GAIN ADJUSTMENT 7.5 Dif ferences in au to tuning between M ELSERVO- J2 and MEL SERVO-J 2-Super 7.5 .1 Response level settin g To meet higher response demands, t he MELSERVO-J2-Super series has been changed in response level setting range from the MELS ERVO-J2 series.
7 - 12 7. GENERAL GAIN ADJUSTMENT MEMO.
8 - 1 8. SPECIA L ADJUSTMENT FUNCTI O NS 8. SPECIAL A DJUST MENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use t hem if you are not sat isfied with the mach ine sta tus after m aking adjustm ent in the me thods in Ch apter 7.
8 - 2 8. SPECIAL ADJUSTMENT FUNCT IONS You can use the machine resonance suppression filter 1 (paramet er No. 58) and machine resonance suppression filt er 2 (paramet er No.
8 - 3 8. SPECIAL ADJUSTMENT FUNCT IONS POINT If the frequency of machine resonance i s unknown, decrease the notch frequency from higher t o 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). Paramet er No.
8 - 5 8. SPECIAL ADJUSTMENT FUNCT IONS 8.5 Gain c hanging f unction This function can change the 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 - 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 tuning) to choose the manual mode of the gain adjustment modes . The gain changing function cannot be used in the auto tuning mode.
8 - 7 8. SPECIAL ADJUSTMENT FUNCT IONS (1) Para m eters No. 6 , 3 4 to 38 These paramet ers are the same as in ordina ry manual adjustment. Gai n changing allows the val ues of ratio of load inertia moment to servo motor inertia moment, position control ga in 2, speed control gain 2 and speed in tegral compen sation to be ch anged.
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. Abbreviat i on Name Setting Unit 6 PG 1 Position control gain 1 10 0 ra d/s 36 VG1 Speed con t rol ga i n 1 1000 r ad/s 34 GD2 Rat io of load inerti a mom ent to servo motor inertia moment 40 0.
8 - 10 8. SPECIAL ADJUSTMENT FUNCT IONS MEMO.
9 - 1 9. INSPECTION 9. INSPECTION W ARNING Befor e starti ng maint enanc e and/ or inspec tion, m ake sur e that th e charg e lam p is off more th an 15 m inutes af ter po wer-off . Then, co nfirm that the voltage is saf e in the t ester or t he lik e.
9 - 2 9. INSPECTION MEMO.
10 - 1 10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 Troub le at start- up CAUTION Exc essive a djustm ent or c hange of param eter se tting m ust not be m ade as it will mak e operat ion inst able. POINT Us ing t he MR Configurat or ( servo configuration software), you can refer to unrotated servo motor reasons, etc.
10 - 2 10. TROUBLESHOOTING No. Start -up sequence Fault Investigation P ossible cause Ref erence Rotation ripples (speed fluctuations) are la rge at low speed . Make gain adjustment in the follow ing pr ocedur e: 1. Inc rease t he aut o tun ing respons e level.
10 - 3 10. TROUBLESHOOTING (2) H ow to find the c ause of p ositio n shift Positioning unit (a) Outp ut pulse counte r Q P CMX CDV (C) Servo-on (SON), s troke e nd (L SP/LSN) i nput (A) (b) Cu mulative comma nd p ulse s Electronic gear (parame ters No.
10 - 4 10. TROUBLESHOOTING 10.1.2 Spee d control m ode No. Start -up sequence Fault Investigati on Possible c ause Reference Not i mproved i f conn ectors CN1A, CN1B, CN2 and CN3 are di sconn ected . 1. Power supply voltage fault 2. Servo amplifier is faulty.
10 - 5 10. TROUBLESHOOTING 10.1.3 T orque contr ol mode No. Start -up sequence Fault Investigati on Possible c ause Reference Not i mproved i f conn ectors CN1A, CN1B, CN2 and CN3 are di sconn ected . 1. Power supply voltage fault 2. Servo amplifier is faulty.
10 - 6 10. TROUBLESHOOTING 10.2 W hen alarm or warning has oc curred POINT Configu re up a circuit 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, ensur e safet y, then r eset th e alarm , and rest art op eration. Otherwis e, inj ury ma y occur. If an absolut e posit ion eras e (AL.
10 - 8 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Faulty parts in th e servo amplifier Checking m ethod Alarm (AL.15) occurs i f power is swit c hed on after disconnection of all c ab les but t he contro l circuit power sup pl y cable s.
10 - 9 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Redu ced volt age of super cap acitor in encoder After lea vi ng the a la r m occurring for a f ew minutes , s w i tch p ow e r of f, then on a ga i n . Always make home position setting again.
10 - 10 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Short occurred in servo amplifier output phases U, V an d W. Correct t he wiring . AL. 32 O v ercu rrent Cur rent that f le w is hi g her than th e perm i s sible cur rent of th e servo amplifier.
10 - 11 10. TROUBLESHOOTING Display Name Definition Cau se Action 1. Servo amplifier faulty. Change the servo amplifier. 2. The po wer supply was t ur ne d on and off con tinuous l y by ov erloaded status. The d rive m ethod is revi ewed. AL.45 Main circuit devic e overheat Main ci rcuit d e vice overh eat 3.
10 - 12 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Ac celerati on/decel eration time constant is too s m all. Increase the ac cele ration/d ecelera tion time constant. 2. Torque limit value (parameter No.28) is too small. Increase the torque lim it value.
10 - 13 10. TROUBLESHOOTING 10.2.3 Rem edies for warnings CAUTION If an absol ute pos ition c ounter warning (AL.E3) occurr ed, alwa ys mak e hom e posit ion se tting a gain.
10 - 14 10. TROUBLESHOOTING Display Name De f inition Cause Ac t ion 1. PC lader p rogra m wrong . Con tact the pr ogram. AL.E5 ABS time-ou t warning 2. Reverse rotation start (S T 2) Limiting torque ( TLC) imp rope r wiring 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 -4 0A1 E N C () [Uni t: mm] 6 ( 0.24) m ounting hole A Approx. 70 (2.76) 13 5 (5. 32) TE2 4(0.16) B 168 (6.
11 - 2 11. OUTLINE DIMENSION DRAW INGS (2) MR-J2S -70A MR- J2S-100A C N 1 A OPEN MIT SUBISH I C N 1 B C N 2 E N C C N 3 Approx.7 (0.28) C N 1 A OPEN L1 L2 L3 UV W MIT SUBISH I C N 1 B C N 2 E N C C N 3 [Unit: m m] ([Un it: in] ) Approx.70(2.76) 70(2.76) 190(7.
11 - 3 11. OUTLINE DIMENSION DRAW INGS (3) MR-J2S -200A MR-J2S-350A MITSUB ISHI MITSUBIS HI App rox.70 (2 .76) 195(7.68) 90(3.54) 78(3.07) 6 168(6.61) 156(6.14) 6 6 ( 0. 24) mounting hole Terminal layout TE1 [Un it: m m] ([Unit: i n ]) TE2 PE terminal (0.
11 - 4 11. OUTLINE DIMENSION DRAW INGS (4) MR-J2S-500A [Uni t: m m] ([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 (0.5) (0.24) 6 (0.24) 250(9.84) 235(9.25) 7.
11 - 5 11. OUTLINE DIMENSION DRAW INGS (5) MR-J2S-700A 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 2- 6( 0.2 4) mounting hole 7.5 (0.5) (0.39 ) 10 180(7.09) 160(6.23) (0.39) 10 Approx. 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 3.9(0.15) Fan air orientation Fan Approx. 75 (2.95) 12(0.47) C N 3 C N 1 A C N 1 B CN4 MITSU BISHI TE1 CON2 376(14.8) 400(15.75) 12 12(0.47) 12(0.47) (0.47)12 236(9.29) 260(10.24) CHARGE CN2 TE2 2- 12( 0.
11 - 7 11. OUTLINE DIMENSION DRAW INGS (7) MR-J2S-22KA 3.9(0.15) Fan ai r or ient ati on Fan [Uni t: mm] ([Un it: in ] ) Approx. 75 (2.9 5) C N 3 C N 1 A C N 1 B CN4 MIT SUBI SHI 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 : 10120-3000VE Shell kit : 10320-52F0-008 12 .0(0.47 ) B A 23 .8(0.94 ) 39.0(1.54) 12.7 (0.50) 14.0 (0.55) Logo, etc. are in dicated here.
11 - 9 11. OUTLINE DIMENSION DRAW INGS (c) Insulation displacement type Model Connector : 10120-6000EL Shell kit : 10320-3210-000 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 here. 2- 0.5 (0.02) [Un it: mm] ([Un it: in] ) ( 0.
11 - 10 11. OUTLINE DIMENSION DRAW INGS (3) Co mmun i ca ti on cabl e co nn e cto r <Jap an Aviati on Electro nics Indust r y > C D F A B [Un it: m m] ([Unit: i n ]) Fittin g fixing scr e w G E (max. dia meter of cable used) Type A 1 B 1 C 0.25 D 1 E F Reference G DE-C1-J6-S6 34.
12 - 1 12. CHARACTERISTI CS 12. CHARA CTE RISTICS 12.1 Overl oad protec tion charac teristics An electroni c thermal relay is buil t in the servo ampli fier to protect t he servo motor and servo amplifi er from overloads.
12 - 2 12. CHARA CTERISTICS 12.2 Power suppl y equipment c apacity and generated los s (1) Am ount of heat g enerat ed b y the ser vo am plifier Table 12.1 indicates servo amplifiers' power supply capacities and losses generated under r ated load.
12 - 3 12. CHARA CTERISTICS (Note 2) Servo amplifier-generat ed heat[W] A rea required for heat dissipation Servo amplifie r Servo motor (Not e 1) Power supply capacity[k VA] At rated torque W ith 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 o sed con trol box (hereafter ca lled the control box) which will contain the servo amplifier should be design ed to ensu re that it s temper ature ri se is w ithin 10 at the ambient temperat ure of 40 .
12 - 5 12. CHARA CTERISTICS 12.3 D y n amic br ake charac teristics Fig. 12 . 6 s hows the pattern in which the s ervo motor comes to a st op when the dynamic brake is operat ed . Use Equati on 12.2 t o calculate an approximate coast ing dista nce to a stop.
12 - 6 12. CHARA CTERISTICS Time constant [s] 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0 50 500 0 1000 121 201 301 81 Speed [r/min] Time c onstant [s] Speed [r/min ] 0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0 500 1000 1500 2000 352 202 702 102 152 502 52 c.
12 - 7 12. CHARA CTERISTICS Use the dynamic brake at t he load inertia momen t indicated in the following tab le . If the load inertia mome nt is higher than this value, the bui lt-in dy namic b rake m ay burn. I f there is a po ssibili ty that the load inertia moment may exceed the value, contact Mitsubis hi.
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 indicates the inrush currents (reference v alue) that w ill flow when th e maximum permissible voltage (253VAC) is applied at the power supply capacity of 2 500kVA and the wiring length of 1m.
13 - 1 13. OPTIONS AND AU XILIARY EQUIPMENT 13. OPTIONS AND AUXILIARY EQUIPMENT W ARNING Before co nnectin g any option or auxiliar y equi pment, m ake s ure that t he ch arge la m p is off more t han 15 minu tes afte r pow er-off, then confi rm t he vol tage with a tester or the like.
13 - 2 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) To make selection according to regenera ti ve energy Use the following method when regeneration occurs continuousl y in vertical motion applic ati ons or when it is desired to make an in-depth selection of the regenerat ive brake opti on: a.
13 - 3 13. OPTIONS AND AU X I LIARY EQU IPMENT Subtract the capacitor charging from the result of multiply ing the sum total of regenera tive energies by the inverse effi ciency to calculat e the energy consumed by the regenerati ve brake opti on.
13 - 4 13. OPTIONS AND AU X I LIARY EQU IPMENT (4) C onnectio n of th e regene rative brak e option POINT When using the MR-RB5 0 and MR-RB51, co oling by a fan is required . Pleas e obtain a cooling fan at your di s cretion. The regenerat ive brake option will cause a temperature rise of +100 (+212 ) degrees relative to the ambient temperature.
13 - 5 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-J2S-500A MR-J 2S-700A Always remove the w iring (across P-C) of the servo amplifier built-in regenerative brake resistor and fit th e regene rative bra ke optio n acros s P-C. The G3 and G4 terminals act as a t hermal sensor.
13 - 6 13. OPTIONS AND AU X I LIARY EQU IPMENT For the MR-RB 50 MR-R B51 in stall the cooling fan as shown . 82.5 40 (1.58) 82.5 133 Fan installation screw hole dimensions 2-M3 screw hol e (fo r fan i.
13 - 7 13. OPTIONS AND AU X I LIARY EQU IPMENT (d) MR-J2S-11KA-PX to MR-J2S-22KA-PX (when using the regenerative brake option) The MR-J2S-1 1KA-P X to MR-J 2S-22K A-PX serv o amplif iers ar e not su pplie d with reg ener ative brake re sis t or s .
13 - 8 13. OPTIONS AND AU X I LIARY EQU IPMENT (5) Outline drawing (a) MR-RB032 MR-R B12 LA 5 (0. 2 0) LB TE1 6 (0. 2 3) 6 (0. 2 3) 156 ( 6.14 ) 168 (6.61 ) 144 (5.67 ) 12 ( 0.47) 6 (0. 2 3) 12 ( 0.47) 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 X I LIARY EQU IPMENT (c) MR-RB50 MR- RB51 Tight ening tor que: 5.4 [N m](47. 79 [lb in ]) Ter minal block G4 G3 C P Terminal screw: M4 Tighte ning torqu e: 1.2 [N m](1 0.6 [lb in] ) [Unit: mm (in)] Mounting screw Reg enerativ e brake opt ion MR-RB50 MR-RB51 5.
13 - 10 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.2 Br ake unit POINT The brake un it and res istor unit of other than 200V class are not applicable to the servo amplifier. The bra ke unit and resistor unit of the same capacit y must be combined. The units of different capacities may result in damage.
13 - 11 13. OPTIONS AND AU X I LIARY EQU IPMENT The cabl es between the s ervo amplifi er and brake unit and between the resistor unit and brake unit should be as short a s possib le. The cab les longe r than 5m(16.4 04ft) should be twis ted. If twis ted, the cables must no t be long er th an 10m(32 .
13 - 12 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Resistor unit (FR-BR) [Unit : m m(in)] 33 (1.299) 204 (8.031) 40 (1.575) K (F) (F) BA 1 (0.039) C 5 (0.197) 2- D AA 5 ( 0.197) EE (E) A 5 (0.197) EE (E) (Note) Control circuit terminals Mai n cir cu i t terminals FR-BR-55K Two eye bolts are provided (as shown below).
13 - 13 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) C onnectio n exam ple Power supply 3-phase 200V or 230VA C NFB MC Serv o am plif ier L 11 L 21 L 1 L 2 L 3 SK ON MC BC RDY SE Alarm output RDY outpu.
13 - 14 13. OPTIONS AND AU X I LIARY 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 Fron t c over Display.
13 - 15 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.4 Ext ernal d ynamic brak e (1) Se lectio n of d ynam ic brake The dynami c brake is designed t o bring t he servo motor to a sudden stop when a power failure occurs or the pro tecti ve circuit is a c ti vated, and is built i n the 7kW or less servo a m pli f ier.
13 - 16 13. OPTIONS AND AU X I LIARY EQU IPMENT Servo motor rot ation Coasting Alarm RA1 ON OFF emergency stop (EMG) Absent Inva lid Valid Short Ope n a.
13 - 17 13. OPTIONS AND AU X I LIARY 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 Scr ew : M3 .5 Screw : M4 B A 5 (0.2) E 13 14 E (GND) ab [Un it: mm] ([Un it: in]) Tightening torque : 0. 8 [N m](7 [lb in])] Tightening torque : 1.
13 - 18 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.5 Cabl es and conn ectors (1) Cable make-up The followi ng cables a re used for connection with the servo motor and other models.
13 - 19 13. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic ation 1) Standard enco der cable MR-JCCBL M-L Refer to (2) in this section.
13 - 20 13. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic a tion 9) Control sig nal connecto r set MR-J2CN1 Connec tor: 10120-3000VE Shell kit: 10320-52F 0-008 (3M or equiv alent) Qty: 2 ea ch Connector: HIF 3BA-20D-2.
13 - 21 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) Encode r cable CAUTION If you hav e fabric ated t he encod er cab le, conn ect it correct ly. Other wise, m isoperati on or ex plosion m ay occ ur. POINT The encoder cabl e is not oil resis tant. Refer to Secti on 12.
13 - 22 13. OPTIONS AND AU X I LIARY 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-JC CBL2.
13 - 23 13. OPTIONS AND AU X I LIARY 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-RFS HC- UFS20 00r/mi n serie s servo motor s. 1) Model explanation L H 2 5 10 20 30 2 (6.56) 5 (16.4) 10 (32.
13 - 24 13. OPTIONS AND AU X I LIARY EQU IPMENT MR- JHSCB L2M-L MR- JHSCB L5M-L MR- JHSCB L2M-H MR- JHSCB L5M-H MR-ENCBL2 M-H MR-ENCBL5 M-H MR- JHSCB L10M- L to MR- JHSCB L30M- L MR- JHSCB L10M- H to MR- JHSCB L50M- H MR-ENCBL1 0M-H to MR-ENCBL5 0M-H Servo am plifier side Enco der side (Note2) Use of A WG24 (Less than 1 0m(32.
13 - 25 13. OPTIONS AND AU X I LIARY EQU IPMENT (3) Co mmun i ca ti on cabl e POINT This cab le m ay not b e used with some personal computers. After fully examining t he signals of the RS-232C connect or, refer to thi s section and fabricate the cable.
13 - 26 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.6 Junc tion term inal block (MR-T B20) POINT When usin g the junction t erminal block, you cannot use SG of CN1A-20 and CN1B-20 .
13 - 27 13. OPTIONS AND AU X I LIARY EQU IPMENT (4) Ju nction t erminal block c able (M R-J2TBL M) Model : MR-J 2TBL M Cabl e length [m(ft )] Symbol 05 1 0.
13 - 28 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.7 Main tenance junc tion car d (MR-J2CN3T M) POINT Cannot be used with the MR-J2S-11K A to MR-J2S- 22KA. (1) Usage The mai n tenance junction card (MR-J2CN3TM ) is desi gned for use when a personal computer and analog monit or outputs are used at th e same time.
13 - 29 13. OPTIONS AND AU X I LIARY EQU IPMENT (4) Bus cable (MR-J2HBUS M) 05 1 5 0.5 (1.64) 1 (3.28) 5 (16.4) Symbol Cable length [m(ft)] Model: MR-J2HBUS M 10120-6000EL (connector) 10320-3210-000 (.
13 - 30 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.9 MR Configurator (Servo c onfigurat ions soft ware) The MR Configurat or (servo configurat ion software MRZJW3-SETUP 151E) uses the communicat ion function of the s ervo amplifier to perform paramet er s etting changes, graph displ ay, test operation, etc.
13 - 31 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Configuration diagram 1) Wh en using RS-23 2C CN3 CN2 Personal computer To RS-232C connector Communication cable Servo amplifi er Servo mo t or 2) Wh en using RS-42 2 You can make multidrop connection of up to 32 axes.
13 - 32 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.10 Power regener ation com mon c onverter POINT For details of the power re generation common converter FR-CV, refer to the FR-CV In stallatio n Guide (I B(NA)0600075). Do not supply power to the main circuit power supp ly terminals (L1, L2, L3) of the se rvo amplif ier.
13 - 33 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) Connection diagram RA2 EMG SON C B R/L 11 Three-phase 200 to 230VAC S/L 21 T/L 31 R2/L1 S2/L 22 R2/L 12 T2/L 32 S2/L 2 (Note 3) SG P24 SD RDYB RDYA .
13 - 34 13. OPTIONS AND AU X I LIARY EQU IPMENT 2) Grounding For grounding, use th e wire of the size equal to or greater than that indicat ed in the followi ng table, and make it as sh ort as pos sible. Power regeneration comm on convert er Grounding wire size [mm 2 ] FR-CV-7.
13 - 35 13. OPTIONS AND AU X I LIARY EQU IPMENT (5) S pecific ations Power regeneration comm on convert er 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 se rvo a mp li fi er capa city [kW] 3.
13 - 36 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.11 H eat sink outs ide mounting attachm ent (MR-JACN) Use the heat sink outsi de mounting attachment t o mount the heat gener ation area of the ser.
13 - 37 13. OPTIONS AND AU X I LIARY EQU IPMENT (3) Fitting method Attachm ent Fit using the assembiling screws. Servo amplif ier Attachm ent Servo amp lifi er P unched hol e Control box a.
13 - 38 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-JACN22K (M R-J2S-22KA) 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) Atta chment Servo amplifer Atta chment 4- 12 Mounting hole Servo amplifer Panel Panel (2.
13 - 39 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2 Auxil iar y equipm ent Always u se the de vice s in dicate d in th is se ction o r equi vale nt. To co mply with the EN S tand ard or U L/C- UL (CSA) Standard, use the products which conform to the corresponding standard.
13 - 40 13. OPTIONS AND AU X I LIARY 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 - 41 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) W ires for ca b les When f abricating a cable , use th e wire mo dels g iven in the follo wing ta ble or e quivalen t: Table 13.
13 - 42 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.2 No-f use break ers, fus es, magnetic c ontactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When u sing a fuse instea d of the no-fuse breaker, use the one having the speci ficati ons given in this s ection.
13 - 43 13. OPTIONS AND AU X I LIARY 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 Name plate C or less D B or less H F L Mounting foot part FR-BEL P P 1 Servo amplifier (Note2) Note1.
13 - 44 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.5 Re lays The followi ng relays should be used with the int erfaces: Interface Selection exam pl e Relay used f or digital input command signals (interface DI-1) To preven t defective co ntacts , use a re l ay for sm al l s ign al (twin contacts).
13 - 45 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Redu ction te chnique s for ex ternal noi ses tha t cause the servo amplifier to malfu nction If there a re noise sources (such as a magnet ic con t.
13 - 46 13. OPTIONS AND AU X I LIARY EQU IPMENT Noise transm issi on rout e Suppression techniques 1) 2) 3) When measuring instruments, receiv ers, s ensors, etc.
13 - 47 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the li ke near the servo ampli fi er is shown below. Us e this product or equival ent.
13 - 48 13. OPTIONS AND AU X I LIARY EQU IPMENT Outline drawing Earth plate Clamp section diagram (Note)M4 screw 11(0.43) 3 (0.12) 6 (0.24) C A 6 22(0.87) 17 .5(0.69 ) 35(1.38) 35 (1.38) L or less 10(0.39) 30 ( 1.18 ) 7 (0.28) 24 0 0.2 Note. Screw hole for g rou ndi n g .
13 - 49 13. OPTIONS AND AU X I LIARY EQU IPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiat ed fro m the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phas e current) especi ally wi thin 0.
13 - 50 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.8 Leak age current breaker (1) Selecti on method High-frequency chopper currents controlled b y pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supp ly.
13 - 51 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) S electio n exam ple Indicated below is an example of selecting a l eakage current break er under the followi ng conditions: M NV Ig1 Iga Ig2 Ig m Servo amplifier MR-J2 S-60A 2mm 2 5m 2mm 2 5m Servo motor HC-MFS73 Use a leakage curren t breaker generally available.
13 - 52 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.9 EMC f ilter For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are la rge in leakage current.
13 - 53 13. OPTIONS AND AU X I LIARY EQU IPMENT HF3040A-T M HF3050A-T M HF3060A-T MA H 2 J 2 G 1 F 2 E 1 D 2 3-L 6-K 3-L M C 1 B 2 A 5 C 1 Dimension s [ mm(in ) ] Model AB CD E FG H J K L M HF3040A-TM 260 (10.24) 210 (8.27) 85 (8.35) 155 (6.10) 140 (5.
13 - 54 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.10 Setting poten tiometer s for analog inputs The followi ng varia ble resi stors are avail abl e for use with anal og in puts.
14 - 1 14. COMMUNICATION FUNCTI ONS 14. COMMUNICATION FUNCT IONS This servo amplifi er h as the RS-422 and RS-232 C serial communi cati on functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc. However, the RS-422 and RS-232C communication functions ca n not 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 a mplifier is operat ed. CHARGE MITSUBISHI RS-232C Controller such a s persona l computer Servo a mplifier To CN3 (2) Ca bl e co nn e cti o n di ag ra m Wire as shown below.
14 - 3 14. COMMUNICATION FUNCTIONS 14.2 Comm unication specif ications 14.2.1 Com municatio n overvie w This servo amplifier is designed t o send a reply on receipt of an instruction.
14 - 4 14. COMMUNICATION FUNCTIONS 14.2.2 Par ameter s etting When th e RS-422/ R S-23 2C communication functi on is used to operate the servo, set the communi cation specif ication s o f the servo amplifier in th e correspon ding parame ters.
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) Servo side (Slave station) 10 frames Comma nd Data No.
14 - 7 14. COMMUNICATION FUNCTIONS 14.4 Charact er codes (1) C ontrol co des Code name Hexadecimal (ASCII code) Description Person al com puter ter min al key operatio n (General) SOH STX ETX EOT 01H 02H 03H 04H start of he ad start of tex t end of t e xt 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-code leng th is transmitted. On receipt of data from the mast er station, the slave stat ion 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 E OT when the slave station does not start reply operation (STX is not receive d) 300[ms] af ter the master station has en ded co mmunication opera tion. 10 0[ms] af ter th at, the maste r statio n retran smit s the me ssage.
14 - 10 14. COMMUNICATION FUNCTIONS 14.9 Initia liza tion After the slave station is switched on, it cannot reply to communi cation until the intern al initialization processing terminates.
14 - 11 14. COMMUNICATION FUNCTIONS 14.11 Comm and and dat a No. list POINT If the command/data No. is the same, its data may be different from the interface an d drive un its and othe r servo amplifiers. 14.11.1 R ead comm ands (1) Sta tus dis pla y (Comm and [0][ 1]) Command Data No.
14 - 12 14. COMMUNICATION FUNCTIONS (5) C urrent al arm (C ommand [0 ][2] [3][ 5]) Command Data No. Descripti on Frame length [0][2] [0][0] Current alarm number 4 Command Data No.
14 - 13 14. COMMUNICATION FUNCTIONS (5) Op eration m ode se lection (Com mand [8][ B]) Command Data No. Description Setting range Frame length [8][B] [0][0] Operation mode changing 0000: Exit from t e.
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 N o. or a co mmand data N o . data to a slav e station, the servo amplifier returns a reply or data according to the pur pose.
14 - 15 14. COMMUNICATION FUNCTIONS (2) Wr iting the proces sed data When th e data to be wri tten i s handle d as d ecimal , the d ecimal poin t posi tion mu st be specifie d. If it is not spec ified , the d ata cann o t be w ri tte n. Wh en the dat a is han dle d a s hex adec ima l, sp ecify "0" a s the decimal point position.
14 - 16 14. COMMUNICATION FUNCTIONS 14.12.2 Stat us dis pla y (1) Stat us displa y data read When the master stat ion transmits the data No. (refer to the followi ng tabl e for assi gnment) to the slave stati on, the slave sta tion sends ba ck the data value and data processi ng information.
14 - 17 14. COMMUNICATION FUNCTIONS 14.12.3 Param eter (1) Parameter read Read the parame ter setting . 1) Transm issio n Transmit command [ 0][5] and the data No. corresponding to the par ameter No. The data No. is express ed in hexadecimal equivalent of the data No.
14 - 18 14. COMMUNICATION FUNCTIONS (2) Parameter write POINT The number of writ e times to th e EEP-ROM is limit ed to 100,000. Writ e t he parameter sett ing. Write the val ue within the s ettin g range. Refer to Section 5.1 for the setti ng range. Trans mit com mand [ 8][4], the d ata No .
14 - 19 14. COMMUNICATION FUNCTIONS 14.12.4 Ex ternal I/O pin statuses (D IO diagn osis) (1) Ex ternal input p in status read Read the ON/OFF stat us es of the external i nput pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. Comm and Data No.
14 - 20 14. COMMUNICATION FUNCTIONS 14.12.5 D isable/enabl e of externa l I/O signals (DIO) Inputs can b e disabled independently of t he external I/O si gn al ON/OFF. When inputs are disabled, t he input signals a re recognized as follows. Among the external input signals, EMG, LSP and LSN cannot be disabled.
14 - 21 14. COMMUNICATION FUNCTIONS 14.12.6 Ex ternal inp ut signal O N/OFF (tes t operatio n) Each input signal can be turned on/off for test operation. Turn off the external input signals. Send command [9] [2], data No. [0] [0] and da ta. Comm and Data No.
14 - 22 14. COMMUNICATION FUNCTIONS 14.12.7 T est operation m ode (1) I nstructio ns for test o peratio n mode The test operati on mode mu st be executed in the following procedure. If communication is interrupted for long er than 0. 5s duri ng tes t operatio n, the servo am plifier cause s the mo tor to be decele rated to a stop a nd servo-locked.
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 Dat a 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 history (1) Alarm No. read Read the alarm No. which occurred in the p ast. The alarm numbers and occurrence times of No. 0 (la st alarm) to No. 5 (sixth alarm in the past) are re ad. (a) Transmission Send command [3][3] and data No.
14 - 26 14. COMMUNICATION FUNCTIONS 14.12.10 Cur rent alarm (1) Current alarm read Read the alarm No. which is occurring current ly. (a) Transmission Send command [0][2] and data No. [0][0]. Comm and Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm curren tly occurring.
14 - 27 14. COMMUNICATION FUNCTIONS 14.12.11 O ther comm ands (1) S ervo m otor end puls e unit abs olut e posit ion Read the absol ute positi on i n the servo motor end pulse unit. Note that overflow will occur in the positi on of 16384 or more revolutions from the home position.
14 - 28 14. COMMUNICATION FUNCTIONS MEMO.
15 - 1 15. ABSOLUTE POS ITION DETECTION SYSTEM 15. ABSOLU TE POSITION DETECTI ON SYSTEM CAUTION If an absol ute pos ition er ase a larm (AL .25) or an abso luto p osition counter marni ng (AL.E 3) has occurr ed, always perform home posit ion setti ng again.
15 - 2 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.2 Specif ic ati ons (1) Spec ificat ion list Item Descripti on System Electronic batt ery backup syst em Battery 1 pi ece of lithium ba tte ry ( primary ba tte ry, nominal 3.6V) Type: MR-BAT or A6BAT Maxim um revoluti o n range Home position 32767 rev.
15 - 3 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.3 Batter y inst al lat ion proc ed ure W A RNING Before s tarting batter y insta llation procedur e, m ake sur e that the c harge lamp is off more t h an 15 mi nu te s aft e r pow e r -o ff. Then , con fi r m th at th e v ol ta ge is sa fe in th e tester or the like.
15 - 4 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.4 Standar d connec tion diagram CR SG RA2 CN1B-3 CN1B-13 COM CN1B-16 LSP CN1B-17 LSN CN1B-7 TL CN1B-14 RES CN1B-10 SG CN1B-5 SON CN1B-15 EMG CN1B-8 .
15 - 5 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.5 Signal ex pla nat ion When the absolute posit ion d a ta i s t r ans ferred, the signals of connector CN1 change as described in t his section. They return to the previous status on complet i on of data transfer.
15 - 6 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.6 Startup pr ocedur e (1) Battery in stalla tion. Refer to Sectio n 15.3 install ation of absolu te po sition b ackup battery . (2) Paramete r setting Set "1 "in parameter No. 1 o f the servo amplifier and swit ch power off, then on.
15 - 7 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7 Absolut e pos ition data tr ans f er protoco l POINT After swit ching on the ABS trans fer mode (ABSM), t urn on the servo-on signal (SON). When the ABS transfer mode i s off, tu rni ng on the servo-on signal (SON) does not switch on the base circui t .
15 - 8 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.2 T ransfer m ethod The sequence in which the bas e circuit is t urned ON (servo-on) when it is in the OFF state due to the servo-on (SON) going OFF, an emergency stop (EMG), or alarm (ALM), is explai ned below.
15 - 9 15. ABSOLUTE POSITION D ETEC TION SY STEM 1) The ready (RD) is turned ON when the ABS transfer mode (ABSM) is turned OFF after trans missi on of the ABS data.
15 - 10 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) Detail ed description of abs ol ute position data trans fer OFF ON OFF ON OFF ON OFF ON OFF ON 3) 4) 5) 7) (Note) 1) 2) 6) Servo-on (programmable controller) Servo-on (SON) ABS transfer mode (ABSM ) ABS request (ABSR) Send data ready (TLC) Transmission (ABS) data Note.
15 - 11 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) Checksum The check sum is the code which is used by the programmable controller to check for errors in the received ABS data. The 6-bi t check sum is transm itted fol l owing the 32-b it ABS data .
15 - 12 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Transmission erro r (a) Time-out warning(AL.E5) In the ABS transfer mode, the time-out processing shown b elow is executed at the servo. If a time- out error occurs, an A BS time-out warning (AL.E5) is output.
15 - 13 15. ABSOLUTE POSITION D ETEC TION SY STEM 3) ABS transfer mode finish-time time-out check If the ABS tr ansfer m ode (A BSR) is not tu rned O FF wi thin 5 s after the last ready to sen d sign al (19th signal for ABS data transmis si on) is t urned ON, it is regarded as the transmiss ion error and the ABS time-out warning (AL.
15 - 14 15. ABSOLUTE POSITION D ETEC TION SY STEM (3) At the time of alarm reset If an 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 - 15 15. ABSOLUTE POSITION D ETEC TION SY STEM (4) At t he tim e of em ergency stop r eset (a) If the power is switched ON in the emergency stop state The emergency stop state can be reset while th e ABS data is being transferred.
15 - 16 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) If emergency stop is activated during servo-on The ABS trans fer mode (ABSM) is permissibl e whil e in th e emergency stop state. In this cas e, th e base circuit and the ready (RD) are turned ON after the emergency stop state is reset.
15 - 17 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.3 Hom e positio n setting (1) D og t y pe hom e posit ion re turn Preset a home position return creep speed at which the machine will not be given impact. On detection of a zer o pul se, the home po sition sett ing (CR) is turn ed fro m off to on.
15 - 18 15. ABSOLUTE POSITION D ETEC TION SY STEM (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 s et type hom e positio n return when the ser vo off.
15 - 19 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.4 Use of servo m otor with elec tromagnetic brake The timing charts at power on/off and servo-on (SON) on/off are given below. Prese t " 1 " in parameter No. 1 to make the electromagnetic brake interlock (MBR) usable.
15 - 20 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.5 How to process the ab solute position data at detect ion of str oke end The servo amplifier stops the acceptance of the command pulse when stroke end (LSP LSN) is de tected , clears the droop pulses to 0 at the same time, and stops t he servo motor rapidly.
15 - 21 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.8 Exam ples of use 15.8.1 M ELSEC-A1S (A 1SD71) (1) Instruction s The absol ute coordinat e system (programmable control ler coordinat e system) of.
15 - 22 15. ABSOLUTE POSITION D ETEC TION SY STEM If the addres s of the mach ine hom e posi tion i s chang ed to an y coo rdinate value other than "0", the programm able co ntroller coordin ate sy stem wi ll be as illustr ated be low.
15 - 23 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) Slot arrangement The sequence programs presented in this section show I/O numbers (X, Y) assuming the arrangement of module s on the main ba s e unit is as illustrated bel ow.
15 - 24 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Connec tion diagram PULSE - R PULSE - F PGO DOG RDY 16B 16A 15B 15A 9B 9A 5B 6B 0 1 2 3 4 5 7 COM 8 9 A B C D E F COM NC NC 6 0 1 2 3 4 5 7 6 8 9 .
15 - 25 15. ABSOLUTE POSITION D ETEC TION SY STEM (3) Seq uence program exam ple (a) Conditions This sampl e program is an ABS s equence program example for a single axis (X axis). To transmit the ABS data usin g the OFF-to-ON change of the servo-on (SON) as the trigger.
15 - 26 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) ABS data transfer program for X axis This seq uence program example assumes the followi ng conditions: Parame ters o f the A1 SD71-S 2 posit ionin.
15 - 27 15. ABSOLUTE POSITION D ETEC TION SY STEM M8 M12 PLS M12 X34 M9 Y43 X35 Y43 X33 M0 D0 K16 MOV M0 Y41 C1 1 1 2 2 C2 RST M9 M3 RST M8 RST Y48 D1 K3 MOV D2 K0 MOV D5 K0 MOV D9 K0 DMOV A0 K0 DMOV .
15 - 28 15. ABSOLUTE POSITION D ETEC TION SY STEM C0 C1 Y41 D3 A0 DMOVP K1 D8 K7872 H0001 FROMP M13 PLS M13 M4 C0 C1 2 2 3 3 A0 K0 MOVP D8 H0004 WAND A1 H8000 WAND D4 NEG D4 K1 D3 NEG D4 K1 D5 K1X30 M.
15 - 29 15. ABSOLUTE POSITION D ETEC TION SY STEM M4 C0 D5 K1X30 MOV K2 DROR D2 D2 D5 C0 C1 C2 M6 M5 Y41 X32 M7 Y42 X32 Y42 X32 T200 3 3 4 4 D5 H0003 WAND A0 D5 WOR D0 M6 PLS K10 RORP A0 H003F WAND M1.
15 - 30 15. ABSOLUTE POSITION D ETEC TION SY STEM M1 K1 D9 K7912 H0001 DFROP M1 Y4B D3 D3 D*P Y4B SET K1 D3 K41 H0001 DTOP Y49 X36 Y41 T0 Y41 Y42 Y41 X32 T0 T1 T3 4 4 D3 D9 D3 D P M3 SET Y41 RST K50 T.
15 - 31 15. ABSOLUTE POSITION D ETEC TION SY STEM M2 M10 C2 M11 T2 M9039 END 5 5 M10 PLS M11 SET C2 D7 T2 K1 M11 RST D100 A0 DMOV ABS tran sf e r ret ry contr o l ABS transf er retry st art pul s e Se.
15 - 32 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) X-axis control program This precludes executi on of the X-axis st art program while M3 (ready to send the ABS data) is OFF. When M3 (ready t o send the ABS data) is turned ON, th e X-axis start command executes the X -axis start pr o gram.
15 - 33 15. ABSOLUTE POSITION D ETEC TION SY STEM (g) Electromagnetic brake output During ABS data tran sfer (for several seconds after t he servo-on (SON) is turned on), the servo motor must be at a s top. Set "1 1 " i n parameter No. 1 of the servo amplifier to choose the electromagnetic brak e interlock (MBR).
15 - 34 15. ABSOLUTE POSITION D ETEC TION SY STEM (4) Seq uence program - 2-ax is con trol The following program is a reference example for creation of an ABS sequence program for the second axis ( Y axis) u sing a single A 1SD71 mod ule. Cre ate a p rogram fo r the th ird axi s in a sim ilar man ner.
15 - 35 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.8.2 MEL SEC FX (2N) -32MT (FX (2N) -1PG) (1) Connection diagram (a) FX-32MT (FX-1PG) 3.3k 3.3 k 3.
15 - 36 15. ABSOLUTE POSITION D ETEC TION SY STEM (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 supply FX 2N -32M T SG 10 DO1 4 Z.
15 - 37 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Seq uence program exam ple (a) Conditions 1) Ope ration pattern ABS data transf er is made as soon as the servo-on pushbutton is turned on.
15 - 38 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) Device list X input contact Y output contact X0 ABS bit 0 / comp letion of positi oning Y0 Servo-on X1 ABS bit 1 / zero speed Y1 ABS transfer mode.
15 - 39 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) ABS data transfer program for X-a xis M8002 D24 K0 DMOV K1 K0 K3 K0 TO K1 K100000 K4 K0 DTO K1 K10000 K7 K0 DTO K1 K50000 K9 K0 DTO K1 K1000 K11 K.
15 - 40 15. ABSOLUTE POSITION D ETEC TION SY STEM X6 M6 M5 SET M5 Y12 X6 Y0 Y12 1 1 2 2 M64 M62 ZRST M1 PL S C1 RST C2 C0 ZRS T M99 RST M5 RST Y1 RST Y2 RST M6 RST Servo-on request Servo-on output ABS.
15 - 41 15. ABSOLUTE POSITION D ETEC TION SY STEM X4 M0 Y3 Y3 C1 RST M64 M0 ZRST X5 X3 M1 2 2 3 3 D3 D0 ZRST C2 RST C0 RST M0 Y10 Y1 RST Y2 RST M99 RST M5 RST M6 RST Y1 SET M64 M10 ZRST D2 D0 ZRST C2 .
15 - 42 15. ABSOLUTE POSITION D ETEC TION SY STEM Y1 X2 M3 PLS M3 Y2 X2 C2 C2 C0 M64 3 3 4 4 D3 K2M52 MOV Y2 SET K1M10 H0003 K1X0 W ANDP K2 K38 M2 0 M10 SFTR D2 D2 K1M10 AD DP K16 C0 K19 Y2 RST Y1 RST.
15 - 43 15. ABSOLUTE POSITION D ETEC TION SY STEM M63 D0 K8M20 DM OVP 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 .
15 - 44 15. ABSOLUTE POSITION D ETEC TION SY STEM M8000 M109 X7 X12 M9 9 M120 PLS X10 JOG X11 JOG X7 X14 M120 K1 D100Z K17 K0 DTO M121 K6 Z DCMP M122 INDX 6 Z K0 DMOV X12 M0 X16 5 5 6 6 M110 M111 M112.
15 - 45 15. ABSOLUTE POSITION D ETEC TION SY STEM M8000 K1 K4M 100 K25 K0 TO M200 K1 K3M200 K28 K0 FROM K1 D106 K26 K0 DFROM M108 RS T END 6 6 FX2 1PG Transmission of control signals 1PG FX2 Transmiss.
15 - 46 15. ABSOLUTE POSITION D ETEC TION SY STEM (e) Electromagnetic brake output During ABS data tran sfer (for several seconds after t he servo-on (SON) is turned on), the servo motor must be at a s top. Set "1 1 " in para meter No. 1 of the servo amplifier to choose the electr omagnetic br ake i nterlock (MBR).
15 - 47 15. ABSOLUTE POSITION D ETEC TION SY STEM 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.
15 - 48 15. ABSOLUTE POSITION D ETEC TION SY STEM 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 - 49 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Seq uence program exam ple (a) Conditions 1) When the servo-on signal a nd power supply GND are shorted, t he ABS data is t ransmit ted at power-on of the servo amplifier or on the leading edge of the RUN signal a fter a PC reset operati on (PC-RESET).
15 - 50 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) ABS data transfer program for X axis This seq uence program example assumes the followi ng conditions: Parame ters o f the A1 SD75-P 1 posit ionin.
15 - 51 15. ABSOLUTE POSITION D ETEC TION SY STEM X26 M13 SET M23 K1 D11 K8 16 H0000 FROM D11 H0001 WAND M23 1 1 2 2 D11 K1 M24 PLS M13 M14 M1 6 X26 M8 RST M13 RST C0 RST C1 RST Y30 M5 PL S M13 M17 PL.
15 - 52 15. ABSOLUTE POSITION D ETEC TION SY STEM M5 D0 K16 MOV M5 Y31 C1 2 2 3 3 D1 K3 MOV D2 K0 MOV D5 K0 MOV D9 K0 DMOV A0 K0 DMOV C0 RST C1 RST Y31 8) C0 C1 Y31 D3 A0 DMOVP K1 D8 K5 H0000 FROMP M1.
15 - 53 15. ABSOLUTE POSITION D ETEC TION SY STEM M9 C0 C1 3 3 4 4 D5 K1X20 MOV D5 H0 003 WAND A0 D5 WOR K2 ROR M10 PLS D1 M9 C0 D5 K1X20 MOV K2 DROR D2 D2 D5 C0 C1 C2 D5 H0 003 WAND A0 D5 WOR D0 M11 .
15 - 54 15. ABSOLUTE POSITION D ETEC TION SY STEM M11 M10 Y31 X22 M12 Y32 X22 Y32 X22 T200 4 4 5 5 Y32 RST M12 PLS Y32 SE T T200 K1 M9 M6 K1 D9 K0072 H0000 DFROP D3 D3 K D*P D3 D9 D3 D P M6 M24 M8 SET.
15 - 55 15. ABSOLUTE POSITION D ETEC TION SY STEM Y39 X26 Y31 T0 Y31 Y32 Y31 X22 T0 T1 T3 5 5 Y31 RST K50 T1 K10 T3 K10 Y39 M7 M15 C2 M16 T2 M9039 END M15 PLS M16 SET C2 D7 T2 K1 M16 RST D110 A0 DMOV .
15 - 56 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) X-axis program Do not execute the X-axis program while the ABS ready (M8) is off. M8 When "M8" (ready to send ABS dat a) switches on, the X-axis start program is execut ed by the X-axis start command.
15 - 57 15. ABSOLUTE POSITION D ETEC TION SY STEM (f) Data set type home position ret urn After jogging the machine to the position where the home position (e. g. 500) is to be set, choose the home positio n retu rn mod e and set the home posit ion wi th the h ome po sitio n retu rn star t (PBO N).
15 - 58 15. ABSOLUTE POSITION D ETEC TION SY STEM (g) Electromagnetic brake output During ABS data tran sfer (for several seconds after t he 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 amplifier to choose the electromagnetic bra ke interlock (MBR).
15 - 59 15. ABSOLUTE POSITION D ETEC TION SY STEM (3) Seq uence program - 2-ax is con trol The following program is a reference example for creation of an ABS sequence program for the second axis ( Y axis) u sing a single A 1SD75 mod ule. Cre ate a p rogram fo r the th ird axi s in a sim ilar man ner.
15 - 60 15. ABSOLUTE POSITION D ETEC TION SY STEM (4) Dif ferences be tween A1S D75 and A 1SD71 The sequence programs shown in (2) of this section differ from those for the A1SD71 in the following portions. 1) to 20) in the foll owing sentences indicat e the numbers in the programs given in (2) of this sect ion.
15 - 61 15. ABSOLUTE POSITION D ETEC TION SY STEM 6) Wri ting a bsolute posi tion d ata to A1SD75 The slo t num ber and bu ffer ad dre ss of the X-a xis c urrent value changing area are change d from [DTOP H000 1 K41 D3 K1] to [DTOP H0000 K1154 D3 K1 ] 14 ).
15 - 62 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.9 Confir mation of absolute p osition detect ion data You can confirm the absolute po sition data with MR Configurator (servo configuration software). Crick "Diagn ostics " and "Abs olute Enc oder Dat a" to open the absolute positi on data display screen.
15 - 63 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.10 Abs olute posit ion data tra nsfer er rors 15.10.1 C orrective act ions (1) Error list The nu mber w ithin p arenth ese s in the table indica tes the outp ut co il or inp ut con tact nu mber of the A1SD71.
15 - 64 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) ABS communicati on error (a) The OFF period of the send data ready signal output from the servo ampl ifier is check ed. If the OFF period is 1s or longer, this is regarded as a t ransfer fault an d the ABS communication error is generated.
15 - 65 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) To detec t the AB S time- out wa rning ( AL.E 5) at the servo ampl ifier, the time require d for the AB S reque st sign al to go OFF after it has be en tur ned ON (ABS re ques t time) is chec ked.
15 - 66 15. ABSOLUTE POSITION D ETEC TION SY STEM MEMO.
App - 1 App endix App 1. Sig nal arrangem ent recording sh eets (1) Positio n control mode 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DO1 LG VDD SG P15R COM 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15.
App - 2 Appendix App 2. Stat us display block diagram Effec tive load ratio Effec tive value calculation Instantaneous torque Peak load ratio Peak hold PWM M Current control Spe ed control Ser vo moto.
App - 3 Appendix App 3. Co mbination o f serv o ampli f ier and serv o motor The servo amplifier software versions compatib le with the servo motors are indicated in the parentheses. The servo amplifiers whose software versions are not indic ated can be u sed regardless of the versions.
App - 4 Appendix MEMO.
REVISIONS *The manual numb er i s given on t he bottom left of the 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 descript ion to AL. 30 Addition of Cause to AL. 33 Chapter 11: C hanged t o only outline dimensional dr awing Section 11.2 (2) : Addition Section 1 2.2 (1): Revi ew of Note for Tabl e 12.
Print data *Manual num ber Revision Oct.,2002 SH (NA)030006-D Servo amplifier: Addition of MR-J2S-11KA, MR-J 2S-15KA and MR-J2S-22KA Servo motor: Add ition of HA-LFS11K2, H A-LFS15K2, HA-LFS22K2 and H.
Print data *Manual num ber Revision Oct.,2002 SH(NA )030006-D Section 13.1.3: Additi on of FR-BU-55K br ake unit Section 13.1.4 : Addition Section 13.1.5 (1): Configuration di agram re examination Note senten ce a ddition Addition of co nnector sets and monitor cable s Section 13.
Print data *Manual num ber Revision Jun., 2003 SH(N A)030006-E Section 13.1.4 (2): P artial connecti o n diag ram change Section 13.1.1 0: Addition Sectio n 13.2.1 (1): Correctio n of the AWG of the re commended wire 6 0mm 2 to 2/0 Section 13.2.10 (2) (3): Corre ctio n of the position meter model name to RRS10M202 Section 14.
Print data *Manual num ber Revision Oct., 2004 SH(NA)030006-G Secti on 5.1.2 (2): Pa rti al parameterNo.20 change Section 5. 2.1 (1) (b): PO INT sentence additi on Section 10.2.2 : CAUTION sectence addition,AL. 12 partial Cause cha nge,AL.52 addition of Note/chang e of Definition , AL.
Print data *Manual num ber Revision Dec., 2005 SH(NA)030006-H Secti on 5.1.2 (2):Additio n of Note for parame te r No.17 Partial r eexaminat ion of sentence for par amet e r No.19 Section 5. 2.2:Change of sentenc e Section 5. 2.2 (2):Addition of Note Section 6.
HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030006-H (0512) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper.
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