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Mitsubishi MELSERVO MR-J2S- A Instruction Manual

Mitsubishi electronics car amplifier user manual.

 
General-Purpose AC Servo
General-Purpose Interface
MODEL
MR-J2S- A
SERVO AMPLIFIER
INSTRUCTION MANUAL
J2-Super
Series
H
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Summary of Contents

  • Page 1

    General-Purpose AC Servo General-Purpose Interface MODEL MR-J2S- A SERVO AMPLIFIER INSTRUCTION MANUAL J2-Super Series...

  • Page 2

    (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly.

  • Page 3

    1. To prevent electric shock, note the following: Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work.

  • Page 4

    4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation Transport the products correctly according to their masses. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder.

  • Page 5

    Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.

  • Page 6

    (4) Usage Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident.

  • Page 7

    (6) Maintenance, inspection and parts replacement With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment.

  • Page 8

    COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking).

  • Page 9

    (4) Power supply (a) Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category II set forth in IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section. Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage category III set forth in IE60664-1, a reinforced insulating transformer is not required in the power input section.

  • Page 10

    (7) Auxiliary equipment and options (a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant products of the models described in Section 13.2.2. (b) The sizes of the cables described in Section 13.2.1 meet the following requirements. To meet the other requirements, follow Table 5 and Appendix C in EN60204-1.

  • Page 11

    CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :MR-J2S-10A to MR-J2S-22KA MR-J2S-10A1 to MR-J2S-40A1 Servo motor :HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS HA-LFS HC-LFS (2) Installation Install a fan of 100CFM (2.8m...

  • Page 12

    <<About the manuals>> This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General-Purpose AC servo MR-J2S-A for the first time. Always purchase them and use the MR- J2S-A safely. Relevant manuals Manual name MELSERVO-J2-Super Series To Use the AC Servo Safely MELSERVO Servo Motor Instruction Manual EMC Installation Guidelines...

  • Page 13

    MEMO A - 12...

  • Page 14: Table Of Contents

    1. FUNCTIONS AND CONFIGURATION 1.1 Introduction... 1- 1 1.2 Function block diagram ... 1- 2 1.3 Servo amplifier standard specifications ... 1- 5 1.4 Function list ... 1- 6 1.5 Model code definition ... 1- 7 1.6 Combination with servo motor... 1- 9 1.7 Structure...

  • Page 15: Table Of Contents

    3.8.2 Connection diagram... 3-50 3.8.3 I/O terminals ... 3-52 3.9 Servo motor with electromagnetic brake ... 3-54 3.10 Grounding ... 3-57 3.11 Servo amplifier terminal block (TE2) wiring method ... 3-58 3.11.1 For the servo amplifier produced later than Jan. 2006 ... 3-58 3.11.2 For the servo amplifier produced earlier than Dec.

  • Page 16: Table Of Contents

    6.8.3 Positioning operation... 6-15 6.8.4 Motor-less operation ... 6-16 7. GENERAL GAIN ADJUSTMENT 7.1 Different adjustment methods ... 7- 1 7.1.1 Adjustment on a single servo amplifier... 7- 1 7.1.2 Adjustment using MR Configurator (servo configuration software) ... 7- 2 7.2 Auto tuning ...

  • Page 17: Table Of Contents

    11.2 Connectors... 11- 8 12. CHARACTERISTICS 12.1 Overload protection characteristics ... 12- 1 12.2 Power supply equipment capacity and generated loss ... 12- 2 12.3 Dynamic brake characteristics... 12- 5 12.4 Encoder cable flexing life ... 12- 7 12.5 Inrush currents at power-on of main circuit and control circuit ... 12- 8 13.

  • Page 18: Table Of Contents

    14.9 Initialization... 14-10 14.10 Communication procedure example ... 14-10 14.11 Command and data No. list... 14-11 14.11.1 Read commands ... 14-11 14.11.2 Write commands ... 14-12 14.12 Detailed explanations of commands... 14-14 14.12.1 Data processing... 14-14 14.12.2 Status display ... 14-16 14.12.3 Parameter...

  • Page 19: Table Of Contents

    Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual. 1.

  • Page 20

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is based on the MELSERVO-J2 series and has further higher performance and higher functions. It has position control, speed control and torque control modes. Further, it can perform operation with the control modes changed, e.g.

  • Page 21

    1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-J2S-350A or less Servo amplifier (Note2) Power supply 3-phase 200 to 230VAC, 1-phase 230VAC or 1-phase 100to120VAC (MR-J2S-200A or more) Regenerative brake Pulse input...

  • Page 22

    1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-500A MR-J2S-700A Servo amplifier Power supply 3-phase 200 to 230VAC Regenerative brake Pulse input Analog (2 channels) Regenerative brake option CHARGE Regene- lamp rative Control circuit power supply Base amplifier Voltage detection Model position Model speed control control Model...

  • Page 23

    1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-11KA or more Servo amplifier Power supply 3-phase 200 to 230VAC, 1-phase 230VAC Regenerative brake Position command input Analog (2 channels) Regenerative brake option CHARGE Regene- lamp rative Control power supply Voltage Base Overcurrent detection amplifier protection Virtual...

  • Page 24

    1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications Servo Amplifier MR-J2S- Item Voltage/frequency Permissible voltage fluctuation Permissible frequency fluctuation Power supply capacity Inrush current Control system Dynamic brake Protective functions Max. input pulse frequency Command pulse multiplying factor In-position range setting Error excessive Torque limit Speed control range...

  • Page 25

    1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Position control mode This servo is used as position control servo. Speed control mode This servo is used as speed control servo.

  • Page 26

    1. FUNCTIONS AND CONFIGURATION Function Used when the regenerative brake option cannot provide Return converter enough regenerative power. Can be used with the MR-J2S-500A to MR-J2S-22KA. Alarm history clear Alarm history is cleared. If the input power supply voltage had reduced to cause an Restart after instantaneous alarm but has returned to normal, the servo motor can be power failure...

  • Page 27

    1. FUNCTIONS AND CONFIGURATION (2) Model MR–J2S– Series With no regenerative resistor Symbol Indicates a servo amplifier of 11 to 22kw that does not use a regenerative resistor as standard accessory. Power Supply Symbol 3-phase 200 to 230VAC None (Note1) 1-phase 230VAC (Note2) 1-phase 100V to 120VAC Note 1.

  • Page 28

    1. FUNCTIONS AND CONFIGURATION 1.6 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes and the models with reduction gears. Servo amplifier HC-KFS MR-J2S-10A(1) 053 13 MR-J2S-20A(1) MR-J2S-40A(1)

  • Page 29

    1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) MR-J2S-100A or less POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Fixed part(2places) (For MR-J2S-70A 100A 3 places) Name/Application Battery holder Contains the battery for absolute position data backup.

  • Page 30

    1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200A MR-J2S-350A POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Cooling fan Fixed part (4 places) Name/Application Battery holder Contains the battery for absolute position data backup. Battery connector (CON1) Used to connect the battery for absolute position data backup.

  • Page 31

    1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500A POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. MODE DOWN Fixed part (4 places) Cooling fan Name/Application Battery connector (CON1) Used to connect the battery for absolute position data backup.

  • Page 32

    1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700A POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to next page. MODE DOWN Cooling fan Fixed part (4 places) Name/Application Battery connector (CON1) Used to connect the battery for absolute position data backup.

  • Page 33

    1. FUNCTIONS AND CONFIGURATION (5) MR-J2S-11KA or more POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1. 7. 2. MODE DOWN Cooling fan Battery holder Contains the battery for absolute position data backup. Display The 5-digit, seven-segment LED shows the servo status and alarm number.

  • Page 34

    1. FUNCTIONS AND CONFIGURATION 1.7.2 Removal and reinstallation of the front cover To avoid the risk of an electric shock, do not open the front cover while power is CAUTION (1) For MR-J2S-350A or less Removal of the front cover Front cover 1) Hold down the removing knob.

  • Page 35

    1. FUNCTIONS AND CONFIGURATION (3) For MR-J2S-700A Removal of the front cover 1) Push the removing knob A) or B), and put you finger into the front hole of the front cover. 2) Pull the front cover toward you. Reinstallation of the front cover Front cover hook (2 places)

  • Page 36

    1. FUNCTIONS AND CONFIGURATION (4) For MR-J2S-11KA or more Removal of the front cover Mounting screws (2 places) Mounting screws (2 places) 2) Remove the front cover mounting screws (2 places). 1) Remove the front cover mounting screws (2 places) and remove the front cover.

  • Page 37

    1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Mounting screws (2 places) 2) Fix it with the mounting screws (2 places). 1) Insert the front cover in the direction of arrow. Mounting screws (2 places) 3) Fit the front cover and fix it with the mounting screws (2 places). 1 - 18...

  • Page 38

    1. FUNCTIONS AND CONFIGURATION 1.8 Servo system with auxiliary equipment To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked box. (1) MR-J2S-100A or less (a) For 3-phase 200V to 230VAC or 1-phase 230VAC (Note2) 3-phase 200V Options and auxiliary equipment to 230VAC power...

  • Page 39

    1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC 1-phase 100V to 120VAC Options and auxiliary equipment power supply No-fuse breaker Magnetic contactor MR Configurator (Servo configuration software) No-fuse breaker (NFB) or fuse Magnetic contactor (MC) Power To CN2 factor improving reactor...

  • Page 40

    1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200A MR-J2S-350A or more Options and auxiliary equipment 3-phase 200V No-fuse breaker to 230VAC power supply Magnetic contactor MR Configurator (Servo configuration software) No-fuse breaker (NFB) or fuse Magnetic contactor (MC) Power factor To CN2 improving reactor (FR-BAL)

  • Page 41

    1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500A 3-phase 200V Options and auxiliary equipment to 230VAC No-fuse breaker power supply Magnetic contactor MR Configurator (Servo configuration software) No-fuse breaker (NFB) or fuse Magnetic contactor (MC) Power factor improving reactor (FA-BAL) (Note) Regenerative brake option Note.

  • Page 42

    1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700A Options and auxiliary equipment No-fuse breaker Magnetic contactor 3-phase 200V MR Configurator to 230VAC power supply (Servo configuration software) No-fuse breaker (NFB) or fuse Magnetic contactor (MC) Power factor improving reactor (FA-BAL) (Note) Regenerative brake Note.

  • Page 43

    1. FUNCTIONS AND CONFIGURATION (5) MR-J2S-11KA or more Options and auxiliary equipment No-fuse breaker Magnetic contactor 3-phase 200V to 230VAC MR Configurator power supply (Servo configuration software) No-fuse breaker (NFB) or fuse Magnetic contactor (MC) (Note2) Power factor improving reactor (FA-BAL) Note1.

  • Page 44

    2. INSTALLATION 2. INSTALLATION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual.

  • Page 45

    2. INSTALLATION 2.2 Installation direction and clearances The equipment must be installed in the specified direction. Otherwise, a fault may occur. CAUTION Leave specified clearances between the servo amplifier and control box inside walls or other equipment. (1) Installation of one servo amplifier Control box 40mm (1.6 in.)

  • Page 46

    2. INSTALLATION (2) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.

  • Page 47

    2. INSTALLATION 2.4 Cable stress (1) The way of clamping the cable must be fully examined so that flexing stress and cable's own mass stress are not applied to the cable connection. (2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables.

  • Page 48

    3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, switch power off, then wait for more than 15 minutes, and after the charge lamp has gone off, make sure that the voltage is safe in the tester or like.

  • Page 49

    3. SIGNALS AND WIRING 3.1 Standard connection example POINT Refer to Section 3.7.1 for the connection of the power supply system and to Section 3.8 for connection with the servo motor. 3.1.1 Position control mode (1) FX-10GM Positioning module FX-10GM SVRDY COM2 COM2...

  • Page 50

    3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.

  • Page 51

    3. SIGNALS AND WIRING (2) AD75P (A1SD75P Positioning module AD75P (A1SD75P Ready INPS PGO(24V) PGO(5V) PGO COM CLEAR CLEAR COM PULSE F PULSE F PULSE R PULSE R PULSE F PULSE COM PULSE R PULSE COM STOP START (Note 3, 6) Emergency stop Servo-on Reset Proportion control...

  • Page 52

    3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.

  • Page 53

    3. SIGNALS AND WIRING 3.1.2 Speed control mode Speed selection 1 (Note 3, 6) Emergency stop Servo-on Reset Speed selection 2 Forward rotation start Reverse rotation start (Note 6) Forward rotation stroke end Reverse rotation stroke end Upper limit setting Analog speed command 10V/rated speed (Note 13)

  • Page 54

    3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.

  • Page 55

    3. SIGNALS AND WIRING 3.1.3 Torque control mode Speed selection 1 (Note 3) Emergency stop Servo-on Reset Speed selection 2 Forward rotation start Reverse rotation start Upper limit setting Analog torque command 8V/max. torque (Note 11) Upper limit setting Analog speed limit 0 to 10V/rated speed (Note 9) Personal...

  • Page 56

    3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the (terminal marked the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.

  • Page 57

    3. SIGNALS AND WIRING 3.2 Internal connection diagram of servo amplifier The following is the internal connection diagram where the signal assignment has been made in the initial status in each control mode. Servo amplifier CN1B (Note1) CN1A COM COM COM 10,20 (Note1) CN1B...

  • Page 58

    3. SIGNALS AND WIRING 3.3 I/O signals 3.3.1 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. Refer to the next page for CN1A and CN1B signal assignment. (1) MR-J2S-700A or less CN1A MITSUBISHI MELSERVO-J2...

  • Page 59

    3. SIGNALS AND WIRING (2) MR-J2S-11KA or more CN1A Same as the one of the MR-J2S-700A or less. CN1B Same as the one of the MR-J2S-700A or less. MITSUBISHI CHARGE The connector frames are connected with the PE (earth) terminal inside the servo amplifier. 3 - 12 CON2 For maker adjustment.

  • Page 60

    3. SIGNALS AND WIRING (3) CN1A and CN1B signal assignment The signal assignment of connector changes with the control mode as indicated below; For the pins which are given parameter No.s in the related parameter column, their signals can be changed using those parameters.

  • Page 61

    3. SIGNALS AND WIRING (4) Symbols and signal names Symbol Signal name Servo-on Forward rotation stroke end Reverse rotation stroke end Clear Speed selection 1 Speed selection 2 Proportion control Forward rotation start Reverse rotation start Torque limit selection Reset Emergency stop Control change Analog speed command...

  • Page 62

    3. SIGNALS AND WIRING 3.3.2 Signal explanations For the I/O interfaces (symbols in I/O division column in the table), refer to Section 3.6.2. In the control mode field of the table P : Position control mode, S: Speed control mode, T: Torque control mode : Denotes that the signal may be used in the initial setting status.

  • Page 63

    3. SIGNALS AND WIRING Connec- Signal Symbol tor pin External torque CN1B limit selection Internal torque limit selection Forward rotation CN1B start Reverse rotation CN1B start Forward rotation CN1B selection Reverse rotation CN1B selection Functions/Applications Turn TL off to make Internal torque limit 1 (parameter No. 28) valid, or turn it on to make Analog torque limit (TLA) valid.

  • Page 64

    3. SIGNALS AND WIRING Connec- Signal Symbol tor pin Speed selection 1 CN1A Speed selection 2 CN1B Speed selection 3 Functions/Applications <Speed control mode> Used to select the command speed for operation. When using SP3, make it usable by making the setting of parameter No.

  • Page 65

    3. SIGNALS AND WIRING Connec- Signal Symbol tor pin Proportion CN1B control Emergency stop CN1B Clear CN1A Electronic gear selection 1 Electronic gear selection 2 Gain changing Functions/Applications Connect PC-SG to switch the speed amplifier from the proportional integral type to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift.

  • Page 66

    3. SIGNALS AND WIRING Connec- Signal Symbol tor pin Control change CN1B Analog torque CN1B limit Analog torque command Analog speed CN1B command Analog speed limit Forward rotation CN1A pulse train Reverse rotation CN1A pulse train CN1A CN1A Functions/Applications <Position/speed control change mode> Used to select the control mode in the position/speed control change mode.

  • Page 67

    3. SIGNALS AND WIRING (2) Output signals Connec- Signal Symbol tor pin Trouble CN1B Dynamic brake interlock Ready CN1A In position CN1A Speed reached Limiting speed CN1B Limiting torque Zero speed CN1B Electromagnetic CN1B brake interlock Warning Battery warning BWNG Functions/Applications ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit.

  • Page 68

    3. SIGNALS AND WIRING Connec- Signal Symbol tor pin Alarm code ACD 0 CN1A ACD 1 CN1A ACD 2 CN1B Functions/Applications To use this signal, set " 1 " in parameter No.49. This signal is output when an alarm occurs. When there is no alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.

  • Page 69

    3. SIGNALS AND WIRING Connector pin No. Signal Symbol 7kW or less Encoder Z-phase CN1A pulse (Open collector) Encoder A-phase CN1A pulse (Differential line CN1A driver) Encoder B-phase CN1A pulse (Differential line CN1A driver) Encoder Z-phase CN1A pulse (Differential line CN1A driver) Analog monitor 1...

  • Page 70

    3. SIGNALS AND WIRING (4) Power supply Connector pin No. Signal Symbol 7kW or less I/F internal CN1B power supply Digital I/F power CN1A supply input CN1B Open collector CN1A power input Digital I/F CN1A common CN1B 15VDC power P15R CN1A supply CN1B...

  • Page 71

    3. SIGNALS AND WIRING 3.4 Detailed description of the signals 3.4.1 Position control mode (1) Pulse train input (a) Input pulse waveform selection Command pulses may be input in any of three different forms, for which positive or negative logic can be chosen.

  • Page 72

    3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collector system Connect as shown below: The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the table in (a), (1) of this section are voltage waveforms of PP and NP based on SG.

  • Page 73

    3. SIGNALS AND WIRING 2) Differential line driver system Connect as shown below: The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows.

  • Page 74

    3. SIGNALS AND WIRING (2) In-position (INP) PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset in-position range (parameter No. 5). INP-SG may remain connected when low-speed operation is performed with a large value set as the in-position range. Servo-on (SON) Alarm Droop pulses...

  • Page 75

    3. SIGNALS AND WIRING (5) Torque limit If the torque limit is canceled during servo lock, the servomotor may suddenly CAUTION rotate according to position deviation in respect to the command position. (a) Torque limit and torque By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation.

  • Page 76

    3. SIGNALS AND WIRING 3.4.2 Speed control mode (1) Speed setting (a) Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command (VC). A relationship between the analog speed command (VC) applied voltage and the servo motor speed is shown below: The maximum speed is achieved at 10V.

  • Page 77

    3. SIGNALS AND WIRING (b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC). (Note) External input signals Note.

  • Page 78

    3. SIGNALS AND WIRING 3.4.3 Torque control mode (1) Torque control (a) Torque command and torque A relationship between the applied voltage of the analog torque command (TC) and the torque by the servo motor is shown below. The maximum torque is generated at 8V. Note that the torque at 8V input can be changed with parameter No.

  • Page 79

    3. SIGNALS AND WIRING (b) Analog torque command offset Using parameter No. 30, the offset voltage of voltage as shown below. Max. torque (2) Torque limit By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation.

  • Page 80

    3. SIGNALS AND WIRING (b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection 1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the speed limit command (VLA), as indicated below.

  • Page 81

    3. SIGNALS AND WIRING 3.4.4 Position/speed control change mode Set "0001" in parameter No. 0 to switch to the position/speed control change mode. This function is not available in the absolute position detection system. (1) Control change (LOP) Use control change (LOP) to switch between the position control mode and the speed control mode from an external contact.

  • Page 82

    3. SIGNALS AND WIRING (3) Speed setting in speed control mode (a) Speed command and speed The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed set in the applied voltage of the analog speed command (VC). A relationship between analog speed command (VC) applied voltage and servo motor speed and the rotation directions determined by the forward rotation start (ST1) and reverse rotation start (ST2) are as in (a), (1) in section 3.4.2.

  • Page 83

    3. SIGNALS AND WIRING 3.4.5 Speed/torque control change mode Set "0003" in parameter No. 0 to switch to the speed/torque control change mode. (1) Control change (LOP) Use control change (LOP) to switch between the speed control mode and the torque control mode from an external contact.

  • Page 84

    3. SIGNALS AND WIRING (4) Speed limit in torque control mode (a) Speed limit value and speed The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is as in (a), (3) in section 3.4.3.

  • Page 85

    3. SIGNALS AND WIRING 3.4.6 Torque/position control change mode Set "0005" in parameter No. 0 to switch to the torque/position control change mode. (1) Control change (LOP) Use control change (LOP) to switch between the torque control mode and the position control mode from an external contact.

  • Page 86

    3. SIGNALS AND WIRING 3.5 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting CAUTION operation. As soon as an alarm occurs, turn off Servo-on (SON) and power off the main circuit.

  • Page 87

    3. SIGNALS AND WIRING 3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line. DI-1 (Note) Analog input ( 10V/max. current) Servo motor Note. For the open collection pulse train input. Make the following connection for the different line driver DC24V CN1A CN1B...

  • Page 88

    3. SIGNALS AND WIRING 3.6.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.3.2. Refer to this section and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.

  • Page 89

    3. SIGNALS AND WIRING (b) Lamp load For use of internal power supply Servo amplifier 24VDC ALM, etc. (3) Pulse train input interface DI-2 Provide a pulse train signal in the open collector or differential line driver system. (a) Open collector system 1) Interface For use of internal power supply Servo amplifier...

  • Page 90

    3. SIGNALS AND WIRING (b) Differential line driver system 1) Interface Am26LS31 or equivalent 2) Conditions of the input pulse PP PG NP NG (4) Encoder pulse output DO-2 (a) Open collector system Interface Max. output current : 35mA Servo amplifier Servo amplifier Max.

  • Page 91

    3. SIGNALS AND WIRING (b) Differential line driver system 1) Interface Max. output current: 35mA Servo amplifier (LB, LZ) (LBR, LZR) 2) Output pulse Servo motor CCW rotation 400 s or more (5) Analog input Input impedance 10 to 12k Upper limit setting 2k (6) Analog output Output voltage 10V...

  • Page 92

    3. SIGNALS AND WIRING (7) Source input interface When using the input interface of source type, all Dl-1 input signals are of source type. Source output cannot be provided. For use of internal power supply Servo amplifier (Note) For a transistor SON, Approx.

  • Page 93

    3. SIGNALS AND WIRING 3.7 Input power supply circuit When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. CAUTION Use the trouble signal to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

  • Page 94

    3. SIGNALS AND WIRING (2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply Power supply 1-phase 100 to 120VAC or 1-phase 230VAC Emergency stop Note. Not provided for 1-phase 100 to 120VAC. Emergency stop (Note) Servo-on 3 - 47 Servo amplifier Trouble...

  • Page 95

    3. SIGNALS AND WIRING 3.7.2 Terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to Section 11.1. Connection Target Symbol (Application) Main circuit power supply U, V, W Servo motor output Control circuit power supply P, C, D Regenerative brake option...

  • Page 96

    3. SIGNALS AND WIRING 3.7.3 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with the main circuit power supply (three-phase 200V: L ). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.

  • Page 97

    3. SIGNALS AND WIRING 3.8 Connection of servo amplifier and servo motor 3.8.1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric WARNING shock. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.

  • Page 98

    3. SIGNALS AND WIRING Servo motor HC-KFS053 (B) to 73 (B) HC-MFS053 (B) to 73 (B) HC-UFS13 (B) to 73 (B) Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the HC-SFS121 (B) to 301 (B) HC-SFS202 (B) 702 (B) HC-SFS203 (B) 353 (B) HC-UFS202 (B) to 502 (B)

  • Page 99

    3. SIGNALS AND WIRING 3.8.3 I/O terminals (1) HC-KFS HC-MFS HC-UFS3000r/min series Encoder cable 0.3m (0.98ft.) With connector 1-172169-9 (Tyco Electronics) Power supply connector 5557-04R-210 View b Power supply lead 4-AWG19 0.3m (0.98ft.) Power supply connector (Molex) Without electromagnetic brake 5557-04R-210 (receptacle) 5556PBTL (Female terminal) With electromagnetic brake...

  • Page 100

    3. SIGNALS AND WIRING (2) HC-SFS HC-RFS HC-UFS2000 r/min series Encoder connector Brake connector Power supply connector Power supply connector signal arrangement CE05-2A22-23PD-B Signal (Earth) View c (Note) B1 (Note) B2 Note. For the motor with electromagnetic brake, supply electromagnetic brake power (24VDC).

  • Page 101

    3. SIGNALS AND WIRING 3.9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal. CAUTION The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking.

  • Page 102

    3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on (SON) command (from controller) ON/OFF Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.

  • Page 103

    3. SIGNALS AND WIRING (c) Alarm occurrence Servo motor speed Base circuit Invalid(ON) Electromagnetic brake interlock (MBR) Valid(OFF) No(ON) Trouble (ALM) Yes(OFF) (d) Both main and control circuit power supplies off Servo motor speed Base circuit Invalid(ON) Electromagnetic brake interlock(MBR) Valid(OFF) No(ON) Trouble (ALM)

  • Page 104

    3. SIGNALS AND WIRING 3.10 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box. The servo amplifier switches the power transistor on-off to supply power to the servo motor.

  • Page 105

    3. SIGNALS AND WIRING 3.11 Servo amplifier terminal block (TE2) wiring method POINT Refer to Table 13.1 (2) and (4) in Section 13.2.1 for the wire sizes used for wiring. 3.11.1 For the servo amplifier produced later than Jan. 2006 (1) Termination of the cables (a) Solid wire After the sheath has been stripped, the cable can be used as it is.

  • Page 106

    3. SIGNALS AND WIRING (2) Termination of the cables (a) When the wire is inserted directly Insert the wire to the end pressing the button with a small flat blade screwdriver or the like. Small flat blade screwdriver or the like (b) When the wires are put together using a bar terminal Insert a bar terminal with the odd-shaped side of the pressured terminal on the button side.

  • Page 107

    3. SIGNALS AND WIRING 3.11.2 For the servo amplifier produced earlier than Dec. 2005 (1) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole.

  • Page 108

    3. SIGNALS AND WIRING 3.12 Instructions for the 3M connector When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core...

  • Page 109

    3. SIGNALS AND WIRING 3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA When the servo amplifier has become faulty, switch power off on the amplifier power side. Continuous flow of a large current may cause a fire. CAUTION Use the trouble (ALM) to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

  • Page 110

    3. SIGNALS AND WIRING 3.13.2 Servo amplifier terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to Section 11.1. Connection Target Symbol (Application) Main circuit power supply U, V, W Servo motor output Control circuit power supply Supply L P, C...

  • Page 111

    3. SIGNALS AND WIRING 3.13.3 Servo motor terminals Terminal box Encoder connector MS3102A20-29P Terminal box inside (HA-LFS11K2) Motor power supply terminal block (U V W) M6 screw Earth terminal M6 screw Encoder connector signal arrangement MS3102A20-29P Thermal sensor terminal block (OHS1 OHS2) M4 screw Cooling fan terminal block (BU BV) M4screw...

  • Page 112

    3. SIGNALS AND WIRING Terminal box inside (HA-LFS15K2 HA-LFS-22K2) Cooling fan terminal block (BU, BV, BW) M4 screw Moter power supply terminal block (U, V, W) M8 screw Signal Name Abbreviation Power supply U V W (Note) Cooling fan BU BV BW Motor thermal relay OHS1 OHS2 OHS1-OHS2 are opened when heat is generated to an abnormal temperature.

  • Page 113

    3. SIGNALS AND WIRING MEMO 3 - 66...

  • Page 114

    4. OPERATION 4. OPERATION 4.1 When switching power on for the first time Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (L amplifier. (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.

  • Page 115

    4. OPERATION 4.2 Startup Do not operate the switches with wet hands. You may get an electric shock. WARNING Before starting operation, check the parameters. Some machines may perform unexpected operation. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative brake resistor, servo motor, etc.since they may be hot while power is on or for some time CAUTION...

  • Page 116

    4. OPERATION (4) Servo-on Switch the servo-on in the following procedure: 1) Switch on main circuit/control circuit power supply. 2) Switch on the servo-on (SON). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.

  • Page 117

    4. OPERATION 4.2.3 Speed control mode (1) Power on 1) Switch off the servo-on (SON). 2) When main circuit power/control circuit power is switched on, the display shows "r (servo motor speed)", and in two second later, shows data. (2) Test operation Using jog operation in the test operation mode, operate at the lowest speed to confirm that the servo motor operates.

  • Page 118

    4. OPERATION (6) Stop In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake. Note that simultaneous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation start (ST1) or reverse rotation start (ST2) has the same stop pattern as described below.

  • Page 119

    4. OPERATION (4) Servo-on Switch the servo-on in the following procedure: 1) Switch on main circuit/control circuit power supply. 2) Switch on the servo-on (SON). When placed in the servo-on status, the servo amplifier is ready to operate. (5) Start Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed.

  • Page 120

    5. PARAMETERS 5. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. 5.1 Parameter list 5.1.1 Parameter write inhibit POINT After setting the parameter No. 19 value, switch power off, then on to make that setting valid.

  • Page 121

    5. PARAMETERS 5.1.2 Lists POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. The symbols in the control mode column of the table indicate the following modes: P : Position control mode S : Speed control mode...

  • Page 122

    5. PARAMETERS No. Symbol *OP2 Function selection 2 *OP3 Function selection 3 (Command pulse selection) *OP4 Function selection 4 Feed forward gain Zero speed Analog speed command maximum speed Analog speed limit maximum speed Analog torque command maximum output *ENR Encoder output pulses Internal torque limit 1 Analog speed command offset...

  • Page 123

    5. PARAMETERS No. Symbol For manufacturer setting *OP6 Function selection 6 For manufacturer setting *OP8 Function selection 8 *OP9 Function selection 9 *OPA Function selection A Serial communication time-out selection For manufacturer setting Machine resonance suppression filter 1 Machine resonance suppression filter 2 Low-pass filter, adaptive vibration suppression control GD2B Ratio of load inertia moment to Servo motor inertia moment 2...

  • Page 124

    5. PARAMETERS (2) Details list Class No. Symbol Control mode, regenerative brake option selection *STY Used to select the control mode and regenerative brake option. POINT Wrong setting may cause the regenerative brake option to burn. If the regenerative brake option selected is not for use with the servo amplifier, parameter error (AL.37) occurs.

  • Page 125

    5. PARAMETERS Class No. Symbol *OP1 Function selection 1 Used to select the input signal filter, pin CN1B-19 function and absolute position detection system. Selection of absolute position detection system (Refer to Chapter 15) 0: Used in incremental system 1: Used in absolute position detection system Name and function Input signal filter If external input signal causes chattering...

  • Page 126

    5. PARAMETERS Class No. Symbol Auto tuning Used to selection the response level, etc. for execution of auto tuning. Refer to Chapter 7. Electronic gear numerator Used to set the electronic gear numerator value. For the setting, refer to Section 5.2.1. Setting "0"...

  • Page 127

    5. PARAMETERS Class No. Symbol In-position range Used to set the in-position (INP) output range in the command pulse increments prior to electronic gear calculation. For example, when you want to set 100 m when the ballscrew is directly coupled, the lead is 10mm, the feedback pulse count is 131072 pulses/rev, and the electronic gear numerator (CMX)/electronic gear denominator (CDV) is 16384/125 (setting in units of 10 m per pulse), set "10"...

  • Page 128

    5. PARAMETERS Class No. Symbol Internal speed command 2 Used to set speed 2 of internal speed commands. Internal speed limit 2 Used to set speed 2 of internal speed limits. Internal speed command 3 Used to set speed 3 of internal speed commands. Internal speed limit 3 Used to set speed 3 of internal speed limits.

  • Page 129

    5. PARAMETERS Class No. Symbol Torque command time constant Used to set the constant of a low pass filter in response to the torque command. Torque TQC: Torque command time constant *SNO Station number setting Used to specify the station number for serial communication. Always set one station to one axis of servo amplifier.

  • Page 130

    5. PARAMETERS Class No. Symbol Analog monitor output Used to selection the signal provided to the analog monitor (MO1) analog monitor (MO2) output. (Refer to Section 5.2.2) Setting Note. 8V is outputted at the maximum torque. Name and function Analog monitor (MO2) Analog monitor (MO1) Servo motor speed ( 8V/max.

  • Page 131

    5. PARAMETERS Class No. Symbol Status display selection Used to select the status display shown at power-on. Name and function Selection of status display at power-on 0: Cumulative feedback pulses 1: Servo motor speed 2: Droop pulses 3: Cumulative command pulses 4: Command pulse frequency 5: Analog speed command voltage (Note 1)

  • Page 132

    5. PARAMETERS Class No. Symbol *BLK Parameter write inhibit Used to select the reference and write ranges of the parameters. Operation can be performed for the parameters marked value 0000 Reference (Initial value) Reference 000A Reference 000B Reference 000C Reference 000E Reference 100B...

  • Page 133

    5. PARAMETERS Class No. Symbol *OP3 Function selection 3 (Command pulse selection) Used to select the input form of the pulse train input signal. (Refer to Section 3.4.1.) *OP4 Function selection 4 Used to select stop processing at forward rotation stroke end (LSP) reverse rotation stroke end (LSN) off and choose VC/VLA voltage averaging.

  • Page 134

    5. PARAMETERS Class No. Symbol Feed forward gain Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1s or more as the acceleration/deceleration time constant up to the rated speed.

  • Page 135

    5. PARAMETERS Class No. Symbol Analog speed command offset Used to set the offset voltage of the analog speed command (VC). For example, if CCW rotation is provided by switching on forward rotation start (ST1) with 0V applied to VC, set a negative value. When automatic VC offset is used, the automatically offset value is set to this parameter.

  • Page 136

    5. PARAMETERS Class No. Symbol Speed differential compensation Used to set the differential compensation. Made valid when the proportion control (PC) is switched on. For manufacturer setting Do not change this value by any means. *DIA Input signal automatic ON selection Used to set automatic Servo-on (SON) reveres rotation stroke end (LSN) .

  • Page 137

    5. PARAMETERS Class No. Symbol *DI2 Input signal selection 2 (CN1B-5) This parameter is unavailable when parameter No.42 is set to assign the control change (LOP) to CN1B-pin 5. Allows any input signal to be assigned to CN1B-pin 5. Note that the setting digit and assigned signal differ according to the control mode.

  • Page 138

    5. PARAMETERS Class No. Symbol Input signal selection 4 (CN1A-8) *DI4 Allows any input signal to be assigned to CN1A-pin 8. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43). Torque control mode This parameter is unavailable when parameter No.

  • Page 139

    5. PARAMETERS Class No. Symbol *DO1 Output signal selection 1 Used to select the connector pins to output the alarm code, warning (WNG) and battery warning (BWNG). (Note) Alarm code CN1B pin 19 Note. 0: off Setting of warning (WNG) output Select the connector pin to output warning.

  • Page 140

    5. PARAMETERS Class No. Symbol For manufacturer setting Do not change this value by any means. *OP6 Function selection 6 Used to select the operation to be performed when the reset (RES) switches on. This parameter is invalid (base circuit is shut off) in the absolute position detection system.

  • Page 141

    5. PARAMETERS Class No. Symbol *OPA Function selection A Used to select the position command acceleration/deceleration time constant (parameter No. 7) control system. Serial communication time-out selection Used to set the communication protocol time-out period in [s]. When you set "0", time-out check is not made. For manufacturer setting Do not change this value by any means.

  • Page 142

    5. PARAMETERS Class No. Symbol Low-pass filter/adaptive vibration suppression control Used to selection the low-pass filter and adaptive vibration suppression control. (Refer to Chapter 8.) GD2B Ratio of load inertia moment to servo motor inertia moment 2 Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid.

  • Page 143

    5. PARAMETERS Class No. Symbol *CDP Gain changing selection Used to select the gain changing condition. (Refer to Section 8.3.) Gain changing condition Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No.

  • Page 144

    5. PARAMETERS Class No. Symbol Internal speed command 5 Used to set speed 5 of internal speed commands. Internal speed limit 5 Used to set speed 5 of internal speed limits. Internal speed command 6 Used to set speed 6 of internal speed commands. Internal speed limit 6 Used to set speed 6 of internal speed limits.

  • Page 145

    5. PARAMETERS 5.2 Detailed description 5.2.1 Electronic gear CAUTION Wrong setting can lead to unexpected fast rotation, causing injury. POINT The guideline of the electronic gear setting range is If the set value is outside this range, noise may be generated during acceleration/ deceleration or operation may not be performed at the preset speed and/or acceleration/deceleration time constants.

  • Page 146

    5. PARAMETERS (b) Conveyor setting example For rotation in increments of 0.01 per pulse Machine specifications Table : 360 /rev Reduction ratio: n 4/64 Servo motor resolution: Pt 0.01 Since CMX is not within the setting range in this status, it must be reduced to the lowest term. When CMX has been reduced to a value within the setting range, round off the value to the nearest unit.

  • Page 147

    5. PARAMETERS (3) Setting for use of A1SD75P The A1SD75P also has the following electronic gear parameters. Normally, the servo amplifier side electronic gear must also be set due to the restriction on the command pulse frequency (differential 400kpulse/s, open collector 200kpulse/s). AP: Number of pulses per motor revolution AL: Moving distance per motor revolution AM: Unit scale factor...

  • Page 148

    5. PARAMETERS To rotate the servo motor at 3000r/min in the open collector system (200kpulse/s), set the electronic gear as follows Input pulses [pulse/s] Servo motor speed [r/min] Pt : Servo motor resolution [pulse/rev] 3000 131072 3000 131072 The following table indicates the electronic gear setting example (ballscrew lead A1SD75P is used in this way.

  • Page 149

    5. PARAMETERS 5.2.2 Analog monitor The servo status can be output to two channels in terms of voltage. The servo status can be monitored using an ammeter. (1) Setting Change the following digits of parameter No.17: Parameter No. 17 Parameters No.31 and 32 can be used to set the offset voltages to the analog output voltages. The setting range is between 999 and 999mV.

  • Page 150

    5. PARAMETERS (2) Set content The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 (MO1) and the torque to analog monitor (MO2). The setting can be changed as listed below by changing the parameter No.17 value: Refer to Appendix 2 for the measurement point.

  • Page 151

    5. PARAMETERS (3) Analog monitor block diagram 5 - 32...

  • Page 152

    5. PARAMETERS 5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern The stopping pattern is factory-set to make a sudden stop when the forward/reverse rotation stroke end is made valid. A slow stop can be made by changing the parameter No. 22 value. Parameter No.22 Setting Sudden stop Position control mode...

  • Page 153

    5. PARAMETERS 5.2.5 Position smoothing By setting the position command acceleration/deceleration time constant (parameter No.7), you can run the servo motor smoothly in response to a sudden position command. The following diagrams show the operation patterns of the servo motor in response to a position command when you have set the position command acceleration/deceleration time constant.

  • Page 154

    6. DISPLAY AND OPERATION 6. DISPLAY AND OPERATION 6.1 Display flowchart Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status.

  • Page 155

    6. DISPLAY AND OPERATION 6.2 Status display The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears.

  • Page 156

    6. DISPLAY AND OPERATION 6.2.2 Status display list The following table lists the servo statuses that may be shown: Refer to Appendix 2 for the measurement point. Name Symbol Cumulative feedback pulses Servo motor speed Droop pulses Cumulative command pulses Command pulse frequency Analog speed...

  • Page 157

    6. DISPLAY AND OPERATION Name Symbol Within one-revolution position high ABS counter Load inertia moment ratio Bus voltage 6.2.3 Changing the status display screen The status display item of the servo amplifier display shown at power-on can be changed by changing the parameter No.

  • Page 158

    6. DISPLAY AND OPERATION 6.3 Diagnostic mode Name Sequence Refer to section 6.6. External I/O signal display Output signal (DO) forced output Jog feed Positioning operation Test operation mode Motorless operation Machine analyzer operation Software version low Software version high Automatic VC offset Display Not ready.

  • Page 159

    6. DISPLAY AND OPERATION Name Motor series Motor type Encoder Display Press the "SET" button to show the motor series ID of the servo motor currently connected. For indication details, refer to the optional MELSERVO Servo Motor Instruction Manual. Press the "SET" button to show the motor type ID of the servo motor currently connected.

  • Page 160

    6. DISPLAY AND OPERATION 6.4 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below.

  • Page 161

    6. DISPLAY AND OPERATION 6.5 Parameter mode The parameters whose abbreviations are marked* are made valid by changing the setting and then switching power off once and switching it on again. Refer to Section 5.1.2. (1) Operation example The following example shows the operation procedure performed after power-on to change the control mode (parameter No.

  • Page 162

    6. DISPLAY AND OPERATION 6.6 External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. (2) Display definition CN1B Input signals...

  • Page 163

    6. DISPLAY AND OPERATION (a) Control modes and I/O signals Signal Connector Pin No. input/output (Note 1) I/O CN1A (Note 3) 4 CN1B Note 1. I: Input signal, O: Output signal 2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode 3.

  • Page 164

    6. DISPLAY AND OPERATION (3) Default signal indications (a) Position control mode EMG(CN 1 B-15) Emergency stop Input signals Output signals (b) Speed control mode EMG(CN 1 B-15) Emergency stop Input signals Output signals (c) Torque control mode Input signals Output signals TL (CN 1 B-9) Torque limit PC (CN 1 B-8) Proportional control...

  • Page 165

    6. DISPLAY AND OPERATION 6.7 Output signal (DO) forced output POINT When the servo system is used in a vertical lift application, turning on the electromagnetic brake interlock (MBR) after assigning it to pin CN1B-19 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.

  • Page 166

    6. DISPLAY AND OPERATION 6.8 Test operation mode The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. CAUTION Always use the servo motor alone. If any operational fault has occurred, stop operation using the emergency stop (EMG) signal.

  • Page 167

    6. DISPLAY AND OPERATION 6.8.2 Jog operation Jog operation can be performed when there is no command from the external command device. (1) Operation Connect EMG-SG to start jog operation and connect VDD-COM to use the internal power supply. Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the MR Configurator (servo configuration software), you can change the operation conditions.

  • Page 168

    6. DISPLAY AND OPERATION 6.8.3 Positioning operation POINT The MR Configurator (servo configuration software) is required to perform positioning operation. Positioning operation can be performed once when there is no command from the external command device. (1) Operation Connect EMG-SG to start positioning operation and connect VDD-COM to use the internal power supply.

  • Page 169

    6. DISPLAY AND OPERATION 6.8.4 Motor-less operation Without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals. This operation can be used to check the sequence of a host programmable controller or the like.

  • Page 170

    7. GENERAL GAIN ADJUSTMENT 7. GENERAL GAIN ADJUSTMENT POINT For use in the torque control mode, you need not make gain adjustment. 7.1 Different adjustment methods 7.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1.

  • Page 171

    7. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Interpolation made for 2 or more axes? Auto tuning mode 1 Operation Auto tuning mode 2 Operation Manual mode 1 Operation Manual mode 2 7.1.2 Adjustment using MR Configurator (servo configuration software) This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR Configurator (servo configuration software) which operates on a personal computer.

  • Page 172

    7. GENERAL GAIN ADJUSTMENT 7.2 Auto tuning 7.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.

  • Page 173

    7. GENERAL GAIN ADJUSTMENT 7.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Control gains Command PG2,VG2,VIC Parameter No. 2 First digit Gain adjustment Response level mode selection setting When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor.

  • Page 174

    7. GENERAL GAIN ADJUSTMENT 7.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.

  • Page 175

    7. GENERAL GAIN ADJUSTMENT 7.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No.2) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration.

  • Page 176

    7. GENERAL GAIN ADJUSTMENT 7.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 7.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.

  • Page 177

    7. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed control gain 2 (parameter No. 37) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression: Speed loop response frequency(Hz)

  • Page 178

    7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (parameter No. 6) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling.

  • Page 179

    7. GENERAL GAIN ADJUSTMENT 7.4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 2 and speed control gain 2 which determine command trackability are set manually and the other parameter for gain adjustment are set automatically.

  • Page 180

    7. GENERAL GAIN ADJUSTMENT 7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super 7.5.1 Response level setting To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level setting range from the MELSERVO-J2 series. The following table lists comparison of the response level setting.

  • Page 181

    7. GENERAL GAIN ADJUSTMENT MEMO 7 - 12...

  • Page 182

    8. SPECIAL ADJUSTMENT FUNCTIONS 8. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 7. If a mechanical system has a natural resonance point, increasing the servo system response level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.

  • Page 183

    8. SPECIAL ADJUSTMENT FUNCTIONS You can use the machine resonance suppression filter 1 (parameter No. 58) and machine resonance suppression filter 2 (parameter No. 59) to suppress the vibration of two resonance frequencies. Note that if adaptive vibration suppression control is made valid, the machine resonance suppression filter 1 (parameter No.

  • Page 184

    8. SPECIAL ADJUSTMENT FUNCTIONS POINT If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.

  • Page 185

    8. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (parameter No.60). Parameter No. 60 POINT Adaptive vibration suppression control is factory-set to be invalid (parameter No. 60: 0000). Setting the adaptive vibration suppression control sensitivity can change the sensitivity of detecting machine resonance.

  • Page 186

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.5 Gain changing function 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 operation. 8.5.1 Applications This function is used when: (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.

  • Page 187

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.5.3 Parameters When using the gain changing function, always set " the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode. Parameter Abbrevi ation Position control gain 1 Speed control gain 1 Ratio of load inertia moment to servo motor inertia moment...

  • Page 188

    8. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. 6, 34 to 38 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and speed integral compensation to be changed.

  • Page 189

    8. SPECIAL ADJUSTMENT FUNCTIONS 8.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. (b) Changing operation Gain changing (CDP) Before-changing gain Change of each gain Position control gain 1 Speed control gain 1...

  • Page 190

    8. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. (b) Changing operation Droop pulses [pulses] Before-changing gain Change of each gain Position control gain 1 Speed control gain 1 Ratio of load inertia moment to servo motor inertia moment Position control gain 2 Speed control gain 2...

  • Page 191

    8. SPECIAL ADJUSTMENT FUNCTIONS MEMO 8 - 10...

  • Page 192

    9. INSPECTION 9. INSPECTION Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 15 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. WARNING Any person who is involved in inspection should be fully competent to do the work.

  • Page 193

    9. INSPECTION MEMO 9 - 2...

  • Page 194

    10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 Trouble at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable. POINT Using the MR Configurator (servo configuration software), you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up.

  • Page 195

    10. TROUBLESHOOTING Start-up sequence Gain adjustment Rotation ripples (speed fluctuations) are large at low speed. Large load inertia moment causes the servo motor shaft to oscillate side to side. Cyclic operation Position shift occurs Confirm the cumulative Fault Investigation Make gain adjustment in the following procedure: 1.

  • Page 196

    10. TROUBLESHOOTING (2) How to find the cause of position shift Positioning unit (a) Output pulse counter (C) Servo-on (SON), stroke end (LSP/LSN) input When a position shift occurs, check (a) output pulse counter, (b) cumulative command pulse display, (c) cumulative feedback pulse display, and (d) machine stop position in the above diagram.

  • Page 197

    10. TROUBLESHOOTING 10.1.2 Speed control mode Start-up sequence Power on LED is not lit. LED flickers. Alarm occurs. Switch on servo-on Alarm occurs. (SON). Servo motor shaft is not servo-locked (is free). Switch on forward Servo motor does rotation start (ST1) not rotate.

  • Page 198

    10. TROUBLESHOOTING 10.1.3 Torque control mode Start-up sequence Power on LED is not lit. LED flickers. Alarm occurs. Switch on servo-on Alarm occurs. (SON). Servo motor shaft is free. Switch on forward Servo motor does rotation start (RS1) not rotate. or reverse rotation start (RS2).

  • Page 199

    10. TROUBLESHOOTING 10.2 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) and turn off the servo-on (SON) at occurrence of an alarm. 10.2.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 10.2.2 or 10.2.3 and take the appropriate action.

  • Page 200

    10. TROUBLESHOOTING 10.2.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase (AL.25) occurred, always make home position setting CAUTION again.

  • Page 201

    10. TROUBLESHOOTING Display Name Definition AL.15 Memory error 2 EEP-ROM fault AL.16 Encoder error 1 Communication error occurred between encoder and servo amplifier. 3. Encoder cable faulty AL.17 Board error 2 CPU/parts fault The output terminals U, V, W of the servo amplifier and the input terminals U, V, W of...

  • Page 202

    10. TROUBLESHOOTING Display Name Definition AL.25 Absolute Absolute position position erase data in error Power was switched on for the first time in the absolute position detection system. AL.30 Regenerative Permissible alarm regenerative power of the built-in regenerative brake resistor or regenerative brake option is exceeded.

  • Page 203

    10. TROUBLESHOOTING Display Name Definition AL.32 Overcurrent Current that flew is higher than the permissible current of the servo amplifier. Current higher than the permissible current flew in the regenerative brake transistor. (MR-J2S-500A only) AL.33 Overvoltage Converter bus voltage exceeded 400VDC.

  • Page 204

    10. TROUBLESHOOTING Display Name Definition AL.45 Main circuit Main circuit device device overheat overheat AL.46 Servo motor Servo motor overheat temperature rise actuated the thermal sensor. AL.50 Overload 1 Load exceeded overload protection characteristic of servo amplifier. AL.51 Overload 2 Machine collision or the like caused max.

  • Page 205

    10. TROUBLESHOOTING Display Name Definition AL.52 Error excessive The difference between the model (Note) position and the actual servomotor position exceeds 2.5 rotations. (Refer to the function block diagram in Section 1.2.) AL.8A Serial RS-232C or RS-422 communication communication time-out error stopped for longer than the time set in parameter No.56.

  • Page 206

    10. TROUBLESHOOTING 10.2.3 Remedies for warnings If an absolute position counter warning (AL.E3) occurred, always make home CAUTION position setting again. Otherwise, misoperation may occur. POINT When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and servo motor may become faulty.

  • Page 207

    10. TROUBLESHOOTING Display Name Definition AL.E5 ABS time-out warning AL.E6 Servo emergency EMG is off. stop warning AL.E9 Main circuit off Servo-on (SON) was warning switched on with main circuit power off. AL.EA ABS Servo-on (SON) turned on servo-on warning more than 1s after servo amplifier had entered absolute position data...

  • Page 208

    11. OUTLINE DIMENSION DRAWINGS 11. OUTLINE DIMENSION DRAWINGS 11.1 Servo amplifiers (1) MR-J2S-10A to MR-J2S-60A MR-J2S-10A1 to MR-J2S-40A1 6 ( 0.24) mounting hole MITSUBISHI OPEN (Note) (0.24) Servo amplifier MR-J2S-10A(1) 50 (1.97) MR-J2S-20A(1) MR-J2S-40A(1) 70 (2.76) MR-J2S-60A Note. This data applies to the 3-phase 200 to 230VAC and 1-phase 230VAC power supply models. For 3-phase 200 to 230VAC and 1-phase 230VAC Terminal screw: M4 Tightening torque: 1.2 [N m] (10.6 [lb in])

  • Page 209

    11. OUTLINE DIMENSION DRAWINGS (2) MR-J2S-70A MR-J2S-100A 6 ( 0.24) 70(2.76) mounting hole (0.87) MITSUBISHI OPEN 6(0.24) 6(0.24) (0.87) (1.65) Mass Servo amplifier [kg]([lb]) MR-J2S-70A (3.75) MR-J2S-100A Terminal signal layout Terminal screw: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) Front PE terminals Terminal screw: M4...

  • Page 210

    11. OUTLINE DIMENSION DRAWINGS (3) MR-J2S-200A MR-J2S-350A 6 ( 0.24) 90(3.54) mounting hole 78(3.07) (0.24) MITSUBISHI Mass Servo amplifier [kg]([lb]) MR-J2S-200A MR-J2S-350A (4.41) Terminal screw: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) Terminal screw: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) Approx.70 (2.76) 195(7.68)

  • Page 211

    11. OUTLINE DIMENSION DRAWINGS (4) MR-J2S-500A 2- 6( 0.24) mounting hole (0.24) 130(5.12) 118(4.65) OPEN N.P. 6(0.24) Mass Servo amplifier [kg]([lb]) MR-J2S-500A 4.9(10.8) Terminal screw : M4 Tightening torque : 1.2 [N m](10.6[lb in]) Terminal screw : M3.5 Tightening torque : 0.8 [N m](7[lb in]) Approx.

  • Page 212

    11. OUTLINE DIMENSION DRAWINGS (5) MR-J2S-700A 2- 6( 0.24) mounting hole 180(7.09) (0.39) 160(6.23) OPEN 6 (0.24) Mass Servo amplifier [kg]([lb]) MR-J2S-700A 7.2(15.9) Terminal screw : M4 Tightening torque : 1.2 [N m](10.6[lb in]) Terminal screw : M3.5 Tightening torque : 0.8 [N m](7[lb in]) 200(7.87) Approx.70 138(5.43)

  • Page 213

    11. OUTLINE DIMENSION DRAWINGS (6) MR-J2S-11KA 15KA 2- 12( 0.47) mounting hole 12(0.47) (0.47)12 Mass Servo amplifier [kg]([lb]) MR-J2S-11KA 15(33.1) MR-J2S-15KA 16(35.3) Terminal screw : M6 Tightening torque : 3.0[N m] (26[lb in)] Terminal screw : M4 Tightening torque : 1.2[N m] (10.6[lb in]) Approx.

  • Page 214

    11. OUTLINE DIMENSION DRAWINGS (7) MR-J2S-22KA 2- 12( 0.47) mounting hole 12(0.47) (0.47)12 Mass Servo amplifier [kg]([lb]) MR-J2S-22KA 20(44.1) Terminal screw : M8 Tightening torque : 6.0[N m] (52[lb in)] Terminal screw : M4 Tightening torque : 1.2[N m] (10.6[lb in)] MITSUBISHI CON2 CHARGE...

  • Page 215

    11. OUTLINE DIMENSION DRAWINGS 11.2 Connectors (1) Servo amplifier side <3M> (a) Soldered type Model Connector : 10120-3000VE Shell kit : 10320-52F0-008 Connector 10120-3000VE 10320-52F0-008 (b) Threaded type Model Connector : 10120-3000VE Shell kit : 10320-52A0-008 Note. This is not available as option and should be user-prepared.

  • Page 216

    11. OUTLINE DIMENSION DRAWINGS (c) Insulation displacement type Model Connector : 10120-6000EL Shell kit : 10320-3210-000 ( 0.26) 2- 0.5 20.9(0.82) Logo, etc. are indicated here. (0.02) 29.7 (1.17) (2) Bus cable connector <Honda Tsushin Industry> PCR-LS20LA1 13.0 (0.51) (0.04)1 12.2 23.0(0.91) HONDA 27.4(1.08)

  • Page 217

    11. OUTLINE DIMENSION DRAWINGS (3) Communication cable connector <Japan Aviation Electronics Industry > Fitting fixing screw G E (max. diameter of Type DE-C1-J6-S6 34.5(1.36) [Unit: mm] ([Unit: in]) cable used) 0.25 19(0.75) 24.99(0.98) 33(1.30) 11 - 10 Reference 6(0.24) 18(0.71) #4-40...

  • Page 218

    12. CHARACTERISTICS 12. CHARACTERISTICS 12.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 12.1.

  • Page 219

    12. CHARACTERISTICS 12.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 12.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 12.1 in consideration for the worst operating conditions.

  • Page 220

    12. CHARACTERISTICS Servo amplifier Servo motor HC-SFS502 HC-RFS353 HC-RFS503 MR-J2S-500A HC-UFS352 HC-UFS502 HC-LFS302 HA-LFS502 HC-SFS702 MR-J2S-700A HA-LFS702 HA-LFS11K2 HA-LFS801 MR-J2S-11KA HA-LFS12K1 HA-LFS11K1M HA-LFS15K2 MR-J2S-15KA HA-LFS15K1 HA-LFS15K1M HA-LFS22K2 HA-LFS20K1 MR-J2S-22KA HA-LFS25K1 HA-LFS22K1M Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value assumes that the power factor improving reactor is not used.

  • Page 221

    12. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 limit.) The necessary enclosure heat dissipation area can be calculated by Equation 12.1: ...

  • Page 222

    12. CHARACTERISTICS 12.3 Dynamic brake characteristics Fig. 12.6 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 12.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds.

  • Page 223

    12. CHARACTERISTICS 0.04 0.035 0.03 0.025 0.02 0.015 0.01 0.005 Speed [r/min] c. HC-SFS1000r/min series 0.12 0.08 0.06 0.04 0.02 500 1000 1500 2000 2500 3000 Speed [r/min] e. HC-SFS3000r/min series 0.09 0.08 0.07 0.06 0.05 0.04 0.03 0.02 0.01 1000 Speed [r/min] g.

  • Page 224

    12. CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. Servo amplifier MR-J2S-10A to MR-J2S-200A MR-J2S-10A1 to MR-J2S-40A1...

  • Page 225

    12. CHARACTERISTICS 12.5 Inrush currents at power-on of main circuit and control circuit The following table indicates the inrush currents (reference value) that will flow when the maximum permissible voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of Servo Amplifier MR-J2S-10A 20A 30A (Attenuated to approx.

  • Page 226

    13. OPTIONS AND AUXILIARY EQUIPMENT 13. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment, make sure that the charge WARNING lamp is off more than 15 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. Use the specified auxiliary equipment and options.

  • Page 227

    13. OPTIONS AND AUXILIARY EQUIPMENT (b) To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative brake option: a.

  • Page 228

    13. OPTIONS AND AUXILIARY EQUIPMENT Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative brake option. Calculate the power consumption of the regenerative brake option on the basis of single-cycle operation period tf [s] to select the necessary regenerative brake option.

  • Page 229

    13. OPTIONS AND AUXILIARY EQUIPMENT (4) Connection of the regenerative brake option POINT When using the MR-RB50 and MR-RB51, cooling by a fan is required. Please obtain a cooling fan at your discretion. The regenerative brake option will cause a temperature rise of +100 ambient temperature.

  • Page 230

    13. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J2S-500A MR-J2S-700A Always remove the wiring (across P-C) of the servo amplifier built-in regenerative brake resistor and fit the regenerative brake option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 are opened when the regenerative brake option overheats abnormally.

  • Page 231

    13. OPTIONS AND AUXILIARY EQUIPMENT For the MR-RB50 MR-RB51 install the cooling fan as shown. Bottom Horizontal installation Vertical installation (c) MR-J2S-11KA to MR-J2S-22KA (when using the supplied regenerative brake resistor) When using the regenerative brake resistors supplied to the servo amplifier, the specified number of resistors (4 or 5 resistors) must be connected in series.

  • Page 232

    13. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-J2S-11KA-PX to MR-J2S-22KA-PX (when using the regenerative brake option) The MR-J2S-11KA-PX to MR-J2S-22KA-PX servo amplifiers are not supplied with regenerative brake resistors. When using any of these servo amplifiers, always use the MR-RB65, 66 or 67 regenerative brake option.

  • Page 233

    13. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawing (a) MR-RB032 MR-RB12 6 (0.24) mounting hole MR-RB 6 (0.23) (b) MR-RB30 MR-RB31 MR-RB32 90 (3.54) 10 (0.39) (0.67) 100 (3.94) 5 (0.20) (0.79) 318 (12.52) 335 (13.19) 13 - 8 [Unit: mm (in)] Terminal block Terminal screw: M3 Tightening torque:...

  • Page 234

    13. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB50 MR-RB51 Fan mounting screw (2-M3 screw) 82.5 On opposite side (3.25) (1.93) 14 slot (0.09) 17 (0.67) 200 (7.87) 223 (8.78) (d) MR-RB65 MR-RB66 MR-RB67 2- 10 ( 0.39) monutinghde G4G3 CP 10 (0.39) 15 (0.59) 230 (9.06) 260 (10.24)

  • Page 235

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.2 Brake unit POINT The brake unit and resistor unit of other than 200V class are not applicable to the servo amplifier. The brake unit and resistor unit of the same capacity must be combined. The units of different capacities may result in damage.

  • Page 236

    13. OPTIONS AND AUXILIARY EQUIPMENT The cables between the servo amplifier and brake unit and between the resistor unit and brake unit should be as short as possible. The cables longer than 5m(16.404ft) should be twisted. If twisted, the cables must not be longer than 10m(32.808ft). The cable size should be equal to or larger than the recommended size.

  • Page 237

    13. OPTIONS AND AUXILIARY EQUIPMENT (b) Resistor unit (FR-BR) 2- D Control circuit terminals Main circuit terminals AA 5 (0.197) A 5 (0.197) Note. Ventilation ports are provided in both side faces and top face. The bottom face is open. Resistor Unit Model...

  • Page 238

    13. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example (Note3)Power factor improving reactor Power supply 3-phase 200V or 230VAC Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC will not operate.

  • Page 239

    13. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters Rating plate Front cover Power regeneration converter FR-RC-15K (10.630) (7.874) FR-RC-30K (13.386) (10.630) FR-RC-55K (18.898) (16.142) (4) Mounting hole machining dimensions When the power regeneration converter is fitted to a totally enclosed type box, mount the heat generating area of the converter outside the box to provide heat generation measures.

  • Page 240

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.4 External dynamic brake (1) Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated, and is built in the 7kW or less servo amplifier. Since it is not built in the 11kW or more servo amplifier, purchase it separately if required.

  • Page 241

    13. OPTIONS AND AUXILIARY EQUIPMENT Servo motor rotation Present Alarm Absent Base Invalid Dynamic brake Valid Short emergency stop (EMG) Open a. Timing chart at alarm occurrence Coasting Dynamic brake b. Timing chart at emergency stop (EMG) validity 13 - 16 Coasting Dynamic brake...

  • Page 242

    13. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline dimension drawing (0.2) (0.2)5 100(3.94) Terminal block 13 14 (GND) Screw : M3.5 Tightening torque : 0.8 [N m](7 [lb in])] Dynamic brake DBU-11K (7.87) DBU -15K, 22K (9.84) POINT Configure up a sequence which switches off the contact of the brake unit after (or as soon as) it has turned off the servo on signal at a power failure or failure.

  • Page 243

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.5 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. Those indicated by broken lines in the figure are not options. Operation panel Controller HA-LFS 3) 4) 5) 7) 8)

  • Page 244

    13. OPTIONS AND AUXILIARY EQUIPMENT Product Model Standard encoder MR-JCCBL M-L cable Refer to (2) in this section. Long flexing life MR-JCCBL M-H encoder cable Refer to (2) in this section. Standard encoder MR-JHSCBL M-L cable Refer to (2) in this section.

  • Page 245

    13. OPTIONS AND AUXILIARY EQUIPMENT Product Model Control signal MR-J2CN1 connector set Junction MR-J2TBL M terminal block Refer to cable Section13.1.6. Junction MR-TB20 terminal block Bus cable MR-J2HBUS M Refer to section13.1.7. Maintenance MR-J2CN3TM junction card Communication MR-CPCATCBL3M cable Refer to (3) in this section.

  • Page 246

    13. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable If you have fabricated the encoder cable, connect it correctly. CAUTION Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to Section 12.4 for the flexing life of the encoder cable. When the encoder cable is used, the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2.4 .

  • Page 247

    13. OPTIONS AND AUXILIARY EQUIPMENT MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL5M-H Drive unit side Encoder side (Note) Plate Note. Always make connection for use in an absolute position detection system. This wiring is not needed for use in an incremental system. When fabricating an encoder cable, use the recommended wires given in Section 13.2.1 and the MR-J2CNM connector set for encoder cable fabrication, and fabricate an encoder cable as shown in the following wiring diagram.

  • Page 248

    13. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JHSCBL M-L MR-JHSCBL These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors. 1) Model explanation Model: MR-JHSCBL M- Symbol Note. MR-JHSCBL M-L has no 40(131.2) and 50m(164.0ft) sizes. Model: MR-ENCBL M-H Symbol 2) Connection diagram For the pin assignment on the servo amplifier side, refer to Section 3.3.1.

  • Page 249

    13. OPTIONS AND AUXILIARY EQUIPMENT MR-JHSCBL2M-L MR-JHSCBL5M-L MR-JHSCBL2M-H MR-JHSCBL5M-H MR-ENCBL2M-H MR-ENCBL5M-H Servo amplifier side Encoder side (Note1) Plate (Note2) Use of AWG24 (Less than 10m(32.8ft)) Note 1. This wiring is required for use in the absolute position detection system. This wiring is not needed for use in the incremental system.

  • Page 250

    13. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable. (a) Model definition Model : MR-CPCATCBL3M (b) Connection diagram MR-CPCATCBL3M Personal computer side...

  • Page 251

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.6 Junction terminal block (MR-TB20) POINT When using the junction terminal block, you cannot use SG of CN1A-20 and CN1B-20. Use SG of CN1A-10 and CN1B-10. (1) How to use the junction terminal block Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MR- J2TBL M) as a set.

  • Page 252

    13. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable (MR-J2TBL M) Model : MR-J2TBL Symbol Junction terminal block side connector (Hirose Electric) HIF3BA-20D-2.54R (connector) (Note) Symbol Position control mode Speed control mode Torque control mode For CN1A For CN1B For CN1A For CN1B P15R P15R P15R...

  • Page 253

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.7 Maintenance junction card (MR-J2CN3TM) POINT Cannot be used with the MR-J2S-11KA to MR-J2S-22KA. (1) Usage The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor outputs are used at the same time. Servo amplifier Bus cable MR-J2HBUS M...

  • Page 254

    13. OPTIONS AND AUXILIARY EQUIPMENT (4) Bus cable (MR-J2HBUS 13.1.8 Battery (MR-BAT, A6BAT) POINT The revision (Edition 44) of the Dangerous Goods Rule of the International Air Transport Association (IATA) went into effect on January 1, 2003 and was enforced immediately. In this rule, "provisions of the lithium and lithium ion batteries"...

  • Page 255

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.9 MR Configurator (Servo configurations software) The MR Configurator (servo configuration software MRZJW3-SETUP151E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications Item Communication signal...

  • Page 256

    13. OPTIONS AND AUXILIARY EQUIPMENT (b) Configuration diagram 1) When using RS-232C Personal computer To RS-232C connector 2) When using RS-422 You can make multidrop connection of up to 32 axes. Personal computer To RS-232C connector Note. For cable connection, refer to section 14.1.1. Servo amplifier Communication cable RS-232C/RS-422...

  • Page 257

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.10 Power regeneration common converter POINT For details of the power regeneration common converter FR-CV, refer to the FR-CV Installation Guide (IB(NA)0600075). Do not supply power to the main circuit power supply terminals (L1, L2, L3) of the servo amplifier.

  • Page 258

    13. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection diagram Three-phase 200 to 230VAC (Note 2) (Note 1) (Note 1) RA2 RA3 RA4 EMG OFF Note 1. Configure a sequence that will shut off main circuit power in the following cases: Alarm occurred in the FR-CV or the servo amplifier. Emergency stop is activated.

  • Page 259

    13. OPTIONS AND AUXILIARY EQUIPMENT 2) Grounding For grounding, use the wire of the size equal to or greater than that indicated in the following table, and make it as short as possible. Power regeneration common converter FR-CV-7.5K TO FR-CV-15K FR-CV-22K •...

  • Page 260

    13. OPTIONS AND AUXILIARY EQUIPMENT (5) Specifications Power regeneration common converter Item Total of connectable servo amplifier capacities Maximum servo amplifier capacity Total of connectable servo motor rated currents Output Regenerative braking torque Rated input AC voltage/frequency Permissible AC voltage fluctuation Power supply Permissible frequency fluctuation Power supply capacity(Note2) [kVA]...

  • Page 261

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.11 Heat sink outside mounting attachment (MR-JACN) Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed.

  • Page 262

    13. OPTIONS AND AUXILIARY EQUIPMENT (3) Fitting method Attachment Fit using the assembiling Servo screws. amplifier Attachment a. Assembling the heat sink outside mounting attachment (4) Outline dimension drawing (a) MR-JACN15K (MR-J2S-11KA, MR-J2S-15KA) Servo amplifier 236 (9.291) 280 (11.024) 260 (10.236) Servo amplifier 20 (0.787)

  • Page 263

    13. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JACN22K (MR-J2S-22KA) Servo amplifer 326(12.835) 370(14.567) 350(13.78) 68(2.677) Panel Attachment Servo amplifer Attachment Panel 4- 12 Mounting hole 3.2(0.126) 155(6.102) (4.134) (0.453) (10.236) 13 - 38 11.5...

  • Page 264

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C- UL (CSA) Standard, use the products which conform to the corresponding standard. 13.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring.

  • Page 265

    13. OPTIONS AND AUXILIARY EQUIPMENT Servo amplifier 1) L MR-J2S-10A(1) MR-J2S-20A(1) MR-J2S-40A(1) 2 (AWG14) : a MR-J2S-60A MR-J2S-70A MR-J2S-100A MR-J2S-200A 3.5 (AWG12) : b MR-J2S-350A 5.5 (AWG10) : b MR-J2S-500A MR-J2S-700A 8 (AWG8) : c MR-J2S-11KA 14 (AWG6) :d MR-J2S-15KA 22 (AWG4) :e MR-J2S-22KA 50 (AWG1/0) :g...

  • Page 266

    13. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Type Model (6.56 to 32.8) MR-JCCBL M-L (65.6 98.4) (6.56 16.4) MR-JCCBL M-H (32.8 to 164) (6.56 16.4) Encoder cable MR-JHSCBL M-L...

  • Page 267

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.2 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. Servo amplifier No-fuse breaker MR-J2S-10A(1)

  • Page 268

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.4 Power factor improving DC reactors The input power factor is improved to be about 95%. Name plate FR-BEL Note1. Fit the supplied terminal cover after wiring. 2. When using the DC reactor, remove the short-circuit bar across P-P1. Power factor Servo amplifier improving DC...

  • Page 269

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.5 Relays The following relays should be used with the interfaces: Interface Relay used for digital input command signals (interface DI-1) Relay used for digital output signals (interface DO-1) 13.2.6 Surge absorbers A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent. Insulate the wiring as shown in the diagram.

  • Page 270

    13. OPTIONS AND AUXILIARY EQUIPMENT (b) Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required.

  • Page 271

    13. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.

  • Page 272

    13. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. Surge suppressor Surge suppressor Rated voltage...

  • Page 273

    13. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing Earth plate 2- 5(0.20) hole installation hole (Note)M4 screw (0.24) Note. Screw hole for grounding. Connect it to the earth plate of the control box. Type AERSBAN-DSET (3.94) (3.39) AERSBAN-ESET (2.76) (2.20) 17.5(0.69) 22(0.87) 35(1.38) Accessory fittings...

  • Page 274

    13. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.

  • Page 275

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.8 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by 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 supply.

  • Page 276

    13. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: Servo amplifier MR-J2S-60A Use a leakage current breaker generally available. Find the terms of Equation (13.2) from the diagram: Ig1 20 0.1 [mA] 1000...

  • Page 277

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.9 EMC filter For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Servo amplifier MR-J2S-10A to MR-J2S-100A MR-J2S-10A1 to MR-J2S-40A1...

  • Page 278

    13. OPTIONS AND AUXILIARY EQUIPMENT HF3040A-TM HF3050A-TM HF3060A-TMA Model HF3040A-TM (10.24) (8.27) HF3050A-TM (11.42) (9.45) HF3060A-TMA (11.42) (9.45) HF3080A-TMA HF3100A-TMA Model HF3080A-TMA (15.95) (13.78) HF3100A-TMA Dimensions [mm(in)] (8.35) (6.10) (5.51) (4.92) (1.73) (3.94) (7.48) (6.89) (6.29) (1.73) (3.94) (7.48) (6.89) (6.29) (1.73) Dimensions [mm(in)]...

  • Page 279

    13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.10 Setting potentiometers for analog inputs The following variable resistors are available for use with analog inputs. (1) Single-revolution type WA2WYA2SEBK2K (Japan Resistor make) Resistance Rated power Resistance tolerance Connection diagram (2) Multi-revolution type Position meter: RRS10M202 (Japan Resistor make) Analog dial: 23M (Japan Resistor make) Resistance Rated power Resistance...

  • Page 280

    14. COMMUNICATION FUNCTIONS 14. COMMUNICATION FUNCTIONS This servo amplifier has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc. However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS- 422 and RS-232C with parameter No.16.

  • Page 281

    14. COMMUNICATION FUNCTIONS 14.1.2 RS-232C configuration (1) Outline A single axis of servo amplifier is operated. (2) Cable connection diagram Wire as shown below. The communication cable for connection with the personal computer (MR- CPCATCBL3M) is available. (Refer to Section 13.1.4.) Personal computer connector D-SUB9 (socket) Note 1.

  • Page 282

    14. COMMUNICATION FUNCTIONS 14.2 Communication specifications 14.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station.

  • Page 283

    14. COMMUNICATION FUNCTIONS 14.2.2 Parameter setting When the RS-422/RS-232C communication function is used to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again.

  • Page 284

    14. COMMUNICATION FUNCTIONS 14.3 Protocol POINT Whether station number setting will be made or not must be selected if the RS-232C communication function is used. Note that choosing "no station numbers" in parameter No. 53 will make the communication protocol free of station numbers as in the MR-J2-A servo amplifiers. Since up to 32 axes may be connected to the bus, add a station number to the command, data No., etc.

  • Page 285

    14. COMMUNICATION FUNCTIONS (2) Transmission of data request from the controller to the servo 10 frames Controller side (Master station) Station number Servo side (Slave station) (3) Recovery of communication status by time-out EOT causes the servo to return to the receive neutral status.

  • Page 286

    14. COMMUNICATION FUNCTIONS 14.4 Character codes (1) Control codes Hexadecimal Code name (ASCII code) (2) Codes for data ASCII unit codes are used. (3) Station numbers You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to specify the stations.

  • Page 287

    14. COMMUNICATION FUNCTIONS 14.5 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station.

  • Page 288

    14. COMMUNICATION FUNCTIONS 14.7 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times.

  • Page 289: Initialization, Communication Procedure Example

    14. COMMUNICATION FUNCTIONS 14.9 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after: (1) 1s or more time has elapsed after the slave station is switched on; and (2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems.

  • Page 290: Command And Data No. List, Read Commands

    14. COMMUNICATION FUNCTIONS 14.11 Command and data No. list POINT If the command/data No. is the same, its data may be different from the interface and drive units and other servo amplifiers. 14.11.1 Read commands (1) Status display (Command [0][1]) Command Data No.

  • Page 291: Write Commands

    14. COMMUNICATION FUNCTIONS (5) Current alarm (Command [0][2] [3][5]) Command Data No. [0][2] [0][0] Current alarm number Command Data No. [3][5] [8][0] Status display data value and processing information at alarm [3][5] [8][1] occurrence [3][5] [8][2] [3][5] [8][3] [3][5] [8][4] [3][5] [8][5] [3][5]...

  • Page 292

    14. COMMUNICATION FUNCTIONS (5) Operation mode selection (Command [8][B]) Command Data No. [8][B] [0][0] Operation mode changing 0000: Exit from test operation mode 0001: Jog operation 0002: Positioning operation 0003: Motor-less operation 0004: Output signal (DO) forced output (6) External input signal disable (Command [9][0]) Command Data No.

  • Page 293: Detailed Explanations Of Commands, Data Processing

    14. COMMUNICATION FUNCTIONS 14.12 Detailed explanations of commands 14.12.1 Data processing When the master station transmits a command station, the servo amplifier returns a reply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc.

  • Page 294

    14. COMMUNICATION FUNCTIONS (2) Writing the processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position.

  • Page 295: Status Display

    14. COMMUNICATION FUNCTIONS 14.12.2 Status display (1) Status display data read When the master station transmits the data No. (refer to the following table for assignment) to the slave station, the slave station sends back the data value and data processing information. 1) Transmission Transmit command [0][1] and the data No.

  • Page 296: Parameter

    14. COMMUNICATION FUNCTIONS 14.12.3 Parameter (1) Parameter read Read the parameter setting. 1) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No. The data No. is expressed in hexadecimal equivalent of the data No. value corresponds to the parameter number.

  • Page 297

    14. COMMUNICATION FUNCTIONS (2) Parameter write POINT The number of write times to the EEP-ROM is limited to 100,000. Write the parameter setting. Write the value within the setting range. Refer to Section 5.1 for the setting range. Transmit command [8][4], the data No., and the set data. The data No.

  • Page 298: External I/o Pin Statuses (dio Diagnosis)

    14. COMMUNICATION FUNCTIONS 14.12.4 External I/O pin statuses (DIO diagnosis) (1) External input pin status read Read the ON/OFF statuses of the external input pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. Command Data No. [1][2] [4][0] (b) Reply The ON/OFF statuses of the input pins are sent back.

  • Page 299: Disable/enable Of External I/o Signals (dio)

    14. COMMUNICATION FUNCTIONS 14.12.5 Disable/enable of external I/O signals (DIO) Inputs can be disabled independently of the external I/O signal ON/OFF. When inputs are disabled, the input signals are recognized as follows. Among the external input signals, EMG, LSP and LSN cannot be disabled.

  • Page 300: External Input Signal On/off (test Operation)

    14. COMMUNICATION FUNCTIONS 14.12.6 External input signal ON/OFF (test operation) 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 data. Command Data No. [9][2] [0][0] Command of each bit is transmitted to the slave station as hexadecimal data.

  • Page 301: Test Operation Mode

    14. COMMUNICATION FUNCTIONS 14.12.7 Test operation mode (1) Instructions for test operation mode The test operation mode must be executed in the following procedure. If communication is interrupted for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a stop and servo-locked.

  • Page 302

    14. COMMUNICATION FUNCTIONS (2) Jog operation Transmit the following communication commands: (a) Setting of jog operation data Item Speed Acceleration/decelerati on time constant (b) Start Turn on the input devices SON LSP LSN by using command [9][2] Item Forward rotation start Reverse rotation start Stop (3) Positioning operation...

  • Page 303: Output Signal Pin On/off Output Signal (do) Forced Output

    14. COMMUNICATION FUNCTIONS 14.12.8 Output signal pin ON/OFF output signal (DO) forced output In the test operation mode, the output signal pins can be turned on/off independently of the servo status. Using command [9][0], disable the output signals in advance. (1) Choosing DO forced output in test operation mode Transmit command [8][B] Selection of test operation mode...

  • Page 304: Alarm History

    14. COMMUNICATION FUNCTIONS 14.12.9 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last alarm) to No. 5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data No.

  • Page 305: Current Alarm

    14. COMMUNICATION FUNCTIONS 14.12.10 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. Alarm No.

  • Page 306: Other Commands

    14. COMMUNICATION FUNCTIONS 14.12.11 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. Note that overflow will occur in the position of 16384 or more revolutions from the home position. (a) Transmission Send command [0][2] and data No.

  • Page 307

    14. COMMUNICATION FUNCTIONS MEMO 14 - 28...

  • Page 308: Features, Restrictions

    15. ABSOLUTE POSITION DETECTION SYSTEM 15. ABSOLUTE POSITION DETECTION SYSTEM If an absolute position erase alarm (AL.25) or an absoluto position counter marning CAUTION (AL.E3) has occurred, always perform home position setting again. Not doing so can cause runaway. POINT When configuring an absolute position detection system using the QD75P/D PLC, refer to the Type QD75P/QD75D Positioning Module User's Manual QD75P1/QD75P2/QD75P4, QD75D1/QD75D2/QD75D4 (SH (NA) 080058).

  • Page 309: Specifications

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.2 Specifications (1) Specification list Item System Battery Maximum revolution range (Note 1) Maximum speed at power failure (Note 2) Battery backup time (Note 3) Data holding time during battery replacement Battery storage period Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. 2.

  • Page 310: Battery Installation Procedure

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.3 Battery installation procedure Before starting battery installation procedure, make sure that the charge lamp is off WARNING more than 15 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. POINT The internal circuits of the servo amplifier may be damaged by static electricity.

  • Page 311: Standard Connection Diagram

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.4 Standard connection diagram (Note 2) Stroke end in forward rotation Stroke end in reverse rotation External torque control Output Electromagnetic brake output Reset Input I/O module Near-zero point signal Stop signal Power supply (24V) Ready Zero-point signal...

  • Page 312: Signal Explanation

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.5 Signal explanation When the absolute position data is transferred, the signals of connector CN1 change as described in this section. They return to the previous status on completion of data transfer. The other signals are as described in Section 3.3.2.

  • Page 313: Startup Procedure

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.6 Startup procedure (1) Battery installation. Refer to Section 15.3 installation of absolute position backup battery. (2) Parameter setting Set "1 "in parameter No. 1 of the servo amplifier and switch power off, then on. (3) Resetting of absolute position erase (AL.25) After connecting the encoder cable, the absolute position erase (AL.25) occurs at first power-on.

  • Page 314: Absolute Position Data Transfer Protocol, Data Transfer Procedure

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.7 Absolute position data transfer protocol POINT After switching on the ABS transfer mode (ABSM), turn on the servo-on signal (SON). When the ABS transfer mode is off, turning on the servo-on signal (SON) does not switch on the base circuit. 15.7.1 Data transfer procedure Each time the servo-on (SON) is turned ON (when the power is switched ON for example), the programmable controller reads the position data (present position) of the servo amplifier.

  • Page 315: Transfer Method

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.7.2 Transfer method The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the servo-on (SON) going OFF, an emergency stop (EMG), or alarm (ALM), is explained below. In the absolute position detection system, every time the servo-on (SON) is turned on, the ABS transfer mode (ABSM) should always be turned on to read the current position in the servo amplifier to the controller.

  • Page 316

    15. ABSOLUTE POSITION DETECTION SYSTEM 1) The ready (RD) is turned ON when the ABS transfer mode (ABSM) is turned OFF after transmission of the ABS data. While the ready (RD) is ON, the ABS transfer mode (ABSM) input is not accepted. 2) Even if the servo-on (SON) is turned ON before the ABS transfer mode (ABSM) is turned ON, the base circuit is not turned ON until the ABS transfer mode (ABSM) is turned ON.

  • Page 317

    15. ABSOLUTE POSITION DETECTION SYSTEM (b) Detailed description of absolute position data transfer Servo-on (programmable controller) Servo-on (SON) ABS transfer mode (ABSM) ABS request (ABSR) Send data ready (TLC) Transmission (ABS) data Note. If the servo-on (SON) is not turned ON within 1 second after the ABS transfer mode (ABSM) is turned ON, an SON time-out warning (AL.EA) occurs.

  • Page 318

    15. ABSOLUTE POSITION DETECTION SYSTEM (c) Checksum The check sum is the code which is used by the programmable controller to check for errors in the received ABS data. The 6-bit check sum is transmitted following the 32-bit ABS data. At the programmable controller, calculate the sum of the received ABS data using the ladder program and compare it with the check sum code sent from the servo.

  • Page 319

    15. ABSOLUTE POSITION DETECTION SYSTEM (2) Transmission error (a) Time-out warning(AL.E5) In the ABS transfer mode, the time-out processing shown below is executed at the servo. If a time- out error occurs, an ABS time-out warning (AL.E5) is output. The ABS time-out warning (AL.E5) is cleared when the ABS transfer mode (ABSM) changes from OFF to ON.

  • Page 320

    15. ABSOLUTE POSITION DETECTION SYSTEM 3) ABS transfer mode finish-time time-out check If the ABS transfer mode (ABSR) is not turned OFF within 5s after the last ready to send signal (19th signal for ABS data transmission) is turned ON, it is regarded as the transmission error and the ABS time-out warning (AL.E5) is output.

  • Page 321

    15. ABSOLUTE POSITION DETECTION SYSTEM (3) At the time of alarm reset If an alarm occurs, turn OFF the servo-on (SON) by detecting the alarm output (ALM). If an alarm has occurred, the ABS transfer mode (ABSM) cannot be accepted. In the reset state, the ABS transfer mode (ABSM) can be input.

  • Page 322

    15. ABSOLUTE POSITION DETECTION SYSTEM (4) At the time of emergency stop reset (a) If the power is switched ON in the emergency stop state The emergency stop state can be reset while the ABS data is being transferred. If the emergency stop state is reset while the ABS data is transmitted, the base circuit is turned ON 80[ms] after resetting.

  • Page 323

    15. ABSOLUTE POSITION DETECTION SYSTEM (b) If emergency stop is activated during servo-on The ABS transfer mode (ABSM) is permissible while in the emergency stop state. In this case, the base circuit and the ready (RD) are turned ON after the emergency stop state is reset. Servo-on (SON) Emergency stop...

  • Page 324: Home Position Setting

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.7.3 Home position setting (1) Dog type home position return Preset a home position return creep speed at which the machine will not be given impact. On detection of a zero pulse, the home position setting (CR) is turned from off to on. At the same time, the servo amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the non- volatile memory as the home position ABS data.

  • Page 325

    15. ABSOLUTE POSITION DETECTION SYSTEM (2) Data set type home position return POINT Never make home position setting during command operation or servo motor rotation. It may cause home position sift. It is possible to execute data set type home position return when the servo off.

  • Page 326: Use Of Servo Motor With Electromagnetic Brake

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.7.4 Use of servo motor with electromagnetic brake The timing charts at power on/off and servo-on (SON) on/off are given below. Preset " 1 " in parameter No. 1 to make the electromagnetic brake interlock (MBR) usable. When the ABS transfer mode is ON, the electromagnetic brake interlock (MBR) is used as the ABS data bit 1.

  • Page 327: How To Process The Absolute Position Data At Detection Of Stroke End

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.7.5 How to process the absolute position data at detection of stroke end The servo amplifier stops the acceptance of the command pulse when stroke end (LSP LSN) is detected, clears the droop pulses to 0 at the same time, and stops the servo motor rapidly. At this time, the programmable controller keeps outputting the command pulse.

  • Page 328: Examples Of Use, Melsec-a1s (a1sd71)

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.8 Examples of use 15.8.1 MELSEC-A1S (A1SD71) (1) Instructions The absolute coordinate system (programmable controller coordinate system) of the A1SD71 (AD71) only covers the range in which the address increases (positive coordinate values) on moving away from the machine home position (the position reached in the home position return operation).

  • Page 329

    15. ABSOLUTE POSITION DETECTION SYSTEM If the address of the machine home position is changed to any coordinate value other than "0", the programmable controller coordinate system will be as illustrated below. The power should be turned ON/OFF in the range in which the address increases on moving away from the home position.

  • Page 330

    15. ABSOLUTE POSITION DETECTION SYSTEM (d) Slot arrangement The sequence programs presented in this section show I/O numbers (X, Y) assuming the arrangement of modules on the main base unit is as illustrated below. A1SD71 is mounted at I/O slots 0 and 1, a 16-point input module at slot 2, and 16-point output module at slot 3. If the actual arrangement of the modules differs from this arrangement, change the X and Y numbers accordingly.

  • Page 331

    15. ABSOLUTE POSITION DETECTION SYSTEM (2) Connection diagram General purpose programmable controller A1S62P Power INPUT supply AC100/200 A1SCPU A1SX40 Alarm reset Emergency stop Servo-on Home position return Operation mode I Operation mode II Position start Position stop A1SY40 COM1 COM2 A1SD71-S2 STOP Power supply...

  • Page 332

    15. ABSOLUTE POSITION DETECTION SYSTEM (3) Sequence program example (a) Conditions This sample program is an ABS sequence program example for a single axis (X axis). To transmit the ABS data using the OFF-to-ON change of the servo-on (SON) as the trigger. 1) When the servo-on (SON) and the GND of the power supply are shorted, the ABS data is transmitted when the power to the servo amplifier power is turned ON, or at the leading edge of the RUN signal after a PC reset operation (PC-RESET).

  • Page 333

    15. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X axis This sequence program example assumes the following conditions: Parameters of the A1SD71-S2 positioning module 1) Unit setting 2) Travel per pulse : 1 To select the unit other than the pulse, conversion into the unit of the feed command value per pulse is required.

  • Page 334

    15. ABSOLUTE POSITION DETECTION SYSTEM Servo-on request Retry flag reset request Error reset Error flag Alarm reset Emergency stop PB Servo alarm ABS data transfer start ABS data transfer start Checksum transfer counter mode (Continued from preceding page) Setting retry flag Resetting retry counter Alarm reset output Error flag output...

  • Page 335

    15. ABSOLUTE POSITION DETECTION SYSTEM Counter Check sum counter transfer mode Rotation direction judgment D8 K4 PLS processing command Read ABS data enabled counter (Continued from preceding page) DMOVP MOVP FROMP H0001 K7872 WAND H0004 WAND H8000 K1X30 WAND H0003 (To be continued) 15 - 28 Saving ABS 32-bit data...

  • Page 336

    15. ABSOLUTE POSITION DETECTION SYSTEM Read ABS data enabled counter Check counter D2 A0 D2 A0 Retry counter ABS 2 bits read completion Check sum 2 bits read completion ABS transfer Send data mode ready ABS 2 bits request Send data ready request T200 10ms delay timer...

  • Page 337

    15. ABSOLUTE POSITION DETECTION SYSTEM Check sum OK (Note) Check ABS coordinate error sum OK ABS commu- Servo-on PB nication error ABS transfer mode ABS transfer ABS request mode ABS transfer Send data ready mode ABS transfer NG ABS request NG Send data ready NG Note.

  • Page 338

    15. ABSOLUTE POSITION DETECTION SYSTEM Check sum NG Retry start Retry pulse counter Retry flag set Retry wait timer M9039 PC RUN POINT When absolute position data is received at power ON, for example, if a negative coordinate position which cannot be handled by the A1SD71 is detected, the ABS coordinate error (Y4B ON) is generated.

  • Page 339

    15. ABSOLUTE POSITION DETECTION SYSTEM (d) X-axis control program This precludes execution of the X-axis start program while M3 (ready to send the ABS data) is OFF. Positioning X-axis start command M3 mode Ready to send the ABS date (e) Dog type home position return For an example of a program for the dog type home position return operation, refer to the home position return program presented in the User's Manual for A1SD71.

  • Page 340

    15. ABSOLUTE POSITION DETECTION SYSTEM (g) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo motor must be at a stop. Set "1 1 "in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock (MBR).

  • Page 341

    15. ABSOLUTE POSITION DETECTION SYSTEM (4) Sequence program - 2-axis control The following program is a reference example for creation of an ABS sequence program for the second axis (Y axis) using a single A1SD71 module. Create a program for the third axis in a similar manner. (a) Y-axis program Refer to the X-axis ABS sequence program and create the Y-axis program.

  • Page 342

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.8.2 MELSEC FX -32MT (FX (2N) (1) Connection diagram (a) FX-32MT (FX-1PG) FX-32MT Power supply PC-RUN 3.3k Alarm reset Emergency stop Servo-on JOG( ) JOG( ) Position start Position stop Home position return start 1PG error reset COM1 COM2 COM3...

  • Page 343

    15. ABSOLUTE POSITION DETECTION SYSTEM (b) FX -32MT (FX -1PG) -32MT 3.3k Alarm reset Emergency stop Servo-on JOG( ) JOG( ) Position start Position stop Home position return start 1PG error reset COM1 COM2 COM3 -1PG 3.3k STOP 3.3k COM0 3.3k COM1 Note 1.

  • Page 344

    15. ABSOLUTE POSITION DETECTION SYSTEM (2) Sequence program example (a) Conditions 1) Operation pattern ABS data transfer is made as soon as the servo-on pushbutton is turned on. After that, positioning operation is performed as shown below: 300000 address After the completion of ABS data transmission, JOG operation is possible using the JOG or pushbutton switch.

  • Page 345

    15. ABSOLUTE POSITION DETECTION SYSTEM (b) Device list X input contact ABS bit 0 / completion of positioning ABS bit 1 / zero speed Send ABS data ready/ torque limit control Servo alarm Alarm reset PB Servo emergency stop Servo-on PB Servo ready JOG ( ) PB JOG ( ) PB...

  • Page 346

    15. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X-axis M8002 Initial pulse Setting home position address DMOV to 0 Setting 1PG pulse command unit 1PG max. speed: 100 kpps K100000 1PG Jog speed: 10 kpps K10000 1PG home position return K50000 speed: 50 kpps 1PG creep speed: 1 kpps...

  • Page 347

    15. ABSOLUTE POSITION DETECTION SYSTEM Servo-on Retry Servo-on Error ABS check request flag communication error error transmission start Servo-on PB (Continued from preceding page) Retry ZRST ZRST (To be continued) 15 - 40 Servo-on request Servo-on output ABS data transmission start Clearing retry counter Resetting ready to send ABS data...

  • Page 348

    15. ABSOLUTE POSITION DETECTION SYSTEM Alarm Error flag reset PB Alarm reset Emergency stop PB Servo alarm ABS data transmission start (Continued from preceding page) Alarm reset output Clearing retry counter Clearing ABS data receiving ZRST area Clearing ABS receive data ZRST buffer Resetting ABS data reception...

  • Page 349

    15. ABSOLUTE POSITION DETECTION SYSTEM Send data ready transfer mode ABS data read Send data request ready T204 ABS data waiting timer All data reception counter Retry counter Retry counter (Continued from preceding page) Resetting ABS data ABS request ON ABS data waiting timer 10ms T204 Masking ABS data 2 bits...

  • Page 350

    15. ABSOLUTE POSITION DETECTION SYSTEM Check match Servo-on communi- cation error ABS transfer mode ABS transfer ABS request mode ABS transfer Send data ready mode T201 ABS transmission NG T202 ABS request NG T203 Send data ready NG Retry command T200 Retry Retry...

  • Page 351

    15. ABSOLUTE POSITION DETECTION SYSTEM M8000 Normally Servo Position ABS data ready start PB ready (Note) Servo ready Home position return PB M120 Position start command pulse M122 INDX 6 Position stop PB Error flag 1PG error reset Note. Program example for the dog type home position return. For the data set type home position return, refer to the program example in (2), (d) in this section.

  • Page 352

    15. ABSOLUTE POSITION DETECTION SYSTEM M8000 Normally M200 (d) Data set type home position return After jogging the machine to the position where the home position (e.g.500) is to be set, choose the home position return mode set the home position with the home position return start (PBON). After switching power on, rotate the servo motor more than 1 revolution before starting home position return.

  • Page 353

    15. ABSOLUTE POSITION DETECTION SYSTEM (e) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo motor must be at a stop. Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock (MBR).

  • Page 354

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.8.3 MELSEC A1SD75 (1) Connection diagram A1S62P 600mA Power INPUT supply AC100/200 A1SCPU A1SX40 A1SY40 COM1 COM2 A1SD75-P STOP START 16 COMMON COMMON INPS COMMON CLEAR COMMON PULSE- PULSE- PLS COM PLS COM ABS data bit 0/Positioning completion ABS data bit 1/zero speed Readying to send data/Torque limiting Trouble...

  • Page 355

    15. ABSOLUTE POSITION DETECTION SYSTEM Note 1. For the dog type home position return. Need not be connected for the data set type home position return. 2. If the servo motor provided with the zero point signal is started, the A1SD75 will output the deviation counter clear (CR). Therefore, do not connect the clear (CR) of the MR-J2-A to the A1SD75 but connect it to the output module of the programmable controller.

  • Page 356

    15. ABSOLUTE POSITION DETECTION SYSTEM (2) Sequence program example (a) Conditions 1) When the servo-on signal and power supply GND are shorted, the ABS data is transmitted at power-on of the servo amplifier or on the leading edge of the RUN signal after a PC reset operation (PC-RESET).

  • Page 357

    15. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X axis This sequence program example assumes the following conditions: Parameters of the A1SD75-P1 positioning module 1) Unit setting 2) Travel per pulse :1 To select the unit other than the pulse, conversion into the unit of the feed value per pulse is required.

  • Page 358

    15. ABSOLUTE POSITION DETECTION SYSTEM Servo-on D11 K1 Processing instruction RDY signal ON judgment Servo-on Servo-on Error Retry flag request flag Servo-on request Retry flag reset request Error reset Error flag Alarm reset Emergency stop PB Servo alarm (Continued from preceding page) Servo-on request Reading A1SD75 1-axis RDY FROM...

  • Page 359

    15. ABSOLUTE POSITION DETECTION SYSTEM ABS data transfer start ABS data transfer start ABS transfer Checksum counter mode Counter ABS transfer counter mode Rotation direction judgment processing command (Continued from preceding page) DMOV DMOV DMOVP MOVP FROMP H0000 WAND H0001 WAND H8000 (To be continued)

  • Page 360

    15. ABSOLUTE POSITION DETECTION SYSTEM Read ABS data enabled counter Read ABS data enabled counter Checksum counter Retry counter (Continued from preceding page) Reading 4 bits K1X20 Masking 2 bits WAND H0003 Adding 2 bits Right rotation of A0 2 bits Counting the number of checksum data Completion of reading...

  • Page 361

    15. ABSOLUTE POSITION DETECTION SYSTEM ABS 2 bits completion Checksum 2 bits completion ABS transfer Ready to send mode ABS data ABS 2 bits request ABS request Ready to send ABS data T200 10ms delay timer Checksum (Note1) Checksum Change flag Positioning Start com-...

  • Page 362

    15. ABSOLUTE POSITION DETECTION SYSTEM ABS communi- Servo-on PB cation error ABS transfer mode ABS transfer ABS request mode ABS transfer Ready to send mode ABS data ABS transfer NG ABS request NG Readying to send ABS data NG Sum check NG Retry start Retry counter...

  • Page 363

    15. ABSOLUTE POSITION DETECTION SYSTEM (d) X-axis program Do not execute the X-axis program while the ABS ready (M8) is off. (Note) Positioning X-axis start mode command Ready to send ABS data (e) Dog type home position return Refer to the home position return program in the A1SD75 User’s Manual. Note that this program requires a program which outputs the clear (CR) (Y35) after completion of home position return.

  • Page 364

    15. ABSOLUTE POSITION DETECTION SYSTEM (f) Data set type home position return After jogging the machine to the position where the home position (e.g. 500) is to be set, choose the home position return mode and set the home position with the home position return start (PBON). After switching power on, rotate the servo motor more than 1 revolution before starting home position return.

  • Page 365

    15. ABSOLUTE POSITION DETECTION SYSTEM (g) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo motor must be at a stop. Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock (MBR).

  • Page 366

    15. ABSOLUTE POSITION DETECTION SYSTEM (3) Sequence program - 2-axis control The following program is a reference example for creation of an ABS sequence program for the second axis (Y axis) using a single A1SD75 module. Create a program for the third axis in a similar manner. (a) Y-axis program Refer to the X-axis ABS sequence program and create the Y-axis program.

  • Page 367

    15. ABSOLUTE POSITION DETECTION SYSTEM (4) Differences between A1SD75 and A1SD71 The sequence programs shown in (2) of this section differ from those for the A1SD71 in the following portions. 1) to 20) in the following sentences indicate the numbers in the programs given in (2) of this section.

  • Page 368

    15. ABSOLUTE POSITION DETECTION SYSTEM 6) Writing absolute position data to A1SD75 The slot number and buffer address of the X-axis current value changing area are changed from [DTOP H0001 K41 D3 K1] to [DTOP H0000 K1154 D3 K1] 14). When the current value is changed in the A1SD75, the current feed value is changed at the start of positioning data No.9003.

  • Page 369: Confirmation Of Absolute Position Detection Data

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.9 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator (servo configuration software). Crick "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen. (1) Cricking "Diagnostics" in the menu opens the sub-menu as shown below: (2) By cricking "Absolute Encoder Data"...

  • Page 370: Absolute Position Data Transfer Errors, Corrective Actions

    15. ABSOLUTE POSITION DETECTION SYSTEM 15.10 Absolute position data transfer errors 15.10.1 Corrective actions (1) Error list The number within parentheses in the table indicates the output coil or input contact number of the A1SD71. Output coil Name AD71 1PG Y11 1.

  • Page 371

    15. ABSOLUTE POSITION DETECTION SYSTEM (2) ABS communication error (a) The OFF period of the send data ready signal output from the servo amplifier is checked. If the OFF period is 1s or longer, this is regarded as a transfer fault and the ABS communication error is generated.

  • Page 372: Error Resetting Conditions

    15. ABSOLUTE POSITION DETECTION SYSTEM (c) To detect the ABS time-out warning (AL.E5) at the servo amplifier, the time required for the ABS request signal to go OFF after it has been turned ON (ABS request time) is checked. If the ABS request remains ON for longer than 1s, it is regarded that an fault relating to the ABS request signal or the send data ready (TLC) has occurred, and the ABS communication error is generated.

  • Page 373

    15. ABSOLUTE POSITION DETECTION SYSTEM MEMO 15 - 66...

  • Page 374

    Appendix App 1. Signal arrangement recording sheets (1) Position control mode CN1A P15R (2) Speed control mode CN1A P15R (3) Torque control mode CN1A P15R CN1B P15R CN1B P15R CN1B P15R App - 1...

  • Page 375

    Appendix App 2. Status display block diagram App - 2...

  • Page 376

    Appendix App 3. Combination of servo amplifier and servo motor The servo amplifier software versions compatible with the servo motors are indicated in the parentheses. The servo amplifiers whose software versions are not indicated can be used regardless of the versions. Servo amplifier Servo motor (Software version)

  • Page 377

    Appendix MEMO App - 4...

  • Page 378

    REVISIONS Print data *Manual number SH(NA)030006-A First edition Nov.,1999 Sep.,2000 SH(NA)030006-B Addition of single-phase 100VAC specifications *The manual number is given on the bottom left of the back cover. Compatible Servo Configuration software model name change Compliance with EC Directives 1: Review of sentence Section 1.2: Review of function block diagram Section 1.3: Moving of servo amplifier standard specifications Review of torque limit description in position control mode...

  • Page 379

    Print data *Manual number Sep.,2000 SH(NA)030006-B Section 10.2.2: Addition of description to AL.30 Feb.,2001 SH(NA)030006-C Addition of MR-J2S-500A, 700A servo amplifiers Addition of Cause to AL.33 Chapter 11: Changed to only outline dimensional drawing Section 11.2 (2): Addition Section 12.2 (1): Review of Note for Table 12.1 Section 12.3: Correction of dynamic brake time constant graph Chapter 13: Deletion of MR-CPC98CBL3M communication cable Section 13.1.1 (4)(c): Review of outline drawing...

  • Page 380

    Print data *Manual number Oct.,2002 SH(NA)030006-D Servo amplifier: Addition of MR-J2S-11KA, MR-J2S-15KA and MR-J2S-22KA Servo motor: Addition of HA-LFS11K2, HA-LFS15K2, HA-LFS22K2 and HC-LFS SAFETY INSTRUCTIONS: Addition of About processing of waste Addition of FOR MAXIMUM SAFETY Addition of EEP-ROM life Compliance with EC Directives 2: Addition of Note to (3) Conformance with UL/C-UL Standard: Addition of (6) Attachment of servo motor Section 1.4: Change made to the contents of the test operation mode...

  • Page 381

    Print data *Manual number Oct.,2002 SH(NA)030006-D Jun., 2003 SH(NA)030006-E Section 13.1.3: Addition of FR-BU-55K brake unit Section 13.1.4: Addition Section 13.1.5 (1): Configuration diagram reexamination Note sentence addition Addition of connector sets and monitor cables Section 13.1.5 (2): POINT sentence addition Section 13.1.9 (2)(a): Reexamination Section 13.2.1 (1): Reexamination Section 13.2.3: Reexamination...

  • Page 382

    Print data *Manual number Jun., 2003 SH(NA)030006-E Oct., 2003 SH(NA)030006-F Oct., 2004 SH(NA)030006-G Section 13.1.4 (2): Partial connection diagram change Section 13.1.10: Addition Section 13.2.1 (1): Correction of the AWG of the recommended wire 60mm Section 13.2.10 (2) (3): Correction of the position meter model name to RRS10M202 Section 14.12.7 (2) (b): Addition of ST1 to the Forward rotation start data Addition of ST1 to the Reverse rotation start data...

  • Page 383

    Print data *Manual number Oct., 2004 SH(NA)030006-G Dec.,2005 SH(NA)030006-H Section 5.1.2 (2): Partial parameterNo.20 change Section 5.2.1 (1) (b): POINT sentence addition Section 10.2.2: CAUTION sectence addition,AL.12 partial Cause change,AL.52 addition of Note/change of Definition, AL.17 partial addition Section 12.1: Change of Note Section 12.3: HC-LFS series of graph is addition Section 13.1.1 (b)b.: Partial table value of reexamination Section 13.1.1 (4): Addition of POINT...

  • Page 384

    Print data *Manual number Revision Dec., 2005 SH(NA)030006-H Section 5.1.2 (2):Addition of Note for parameter No.17 Partial reexamination of sentence for parameter No.19 Section 5.2.2:Change of sentence Section 5.2.2 (2):Addition of Note Section 6.6 (2) (a):Change of Note3 Section 10.2.1:AL. 45, 46 addition of Note Section 10.2.2:AL.

  • Page 385

    MODEL MR-J2S-A GIJUTU SIRYOU MODEL 1CW501 CODE SH (NA) 030006-H (0512) MEE HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310 Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.

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  • muhammad jamaluddin Sep 15, 2013 03:35:
    can i get how to set mode for servo??
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