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Mitsubishi melservo-j2 series Instruction Manual

Built-in positioning function servo amplifier
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See also: Installation Manual
General-Purpose AC Servo
J2 Series
Built-In Positioning Function
MR-J2-C
Servo Amplifier
Instruction Manual
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  • Page 1 General-Purpose AC Servo J2 Series Built-In Positioning Function MR-J2-C Servo Amplifier Instruction Manual...

  • Page 2: Safety Instructions

    Safety Instructions (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: WARNING • Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. •...
  • 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 CAUTION • Transport the products correctly according to their weights. • Stacking in excess of the specified number of products is not allowed. •...
  • Page 5 • Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. • When the equipment has been stored for an extended period of time, consult Mitsubishi. (2) Wiring CAUTION •...
  • Page 6 (4) Usage CAUTION • 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. •...
  • Page 7 (6) Maintenance, inspection and parts replacement CAUTION • With age, the electrolytic capacitor 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. Please consult our sales representative.
  • 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 to meet the requirements of the overvoltage category II set forth in IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN Standard should be used in the power input section. (b) When supplying interface power from external, use a 24VDC power supply which has been insulation-reinforced in I/O.
  • Page 10 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the following models of servo amplifiers and servo motors: Servo amplifier series: MR-J2-10C to MR-J2-350C Servo motor series : HC-KF HC-MF HC-SF HC-RF HC-UF (2) Installation Install a fan of 100CFM air flow 10.16 cm (4 in) above the servo amplifier or provide cooling of at least equivalent capability.
  • Page 11 MEMO A - 10...

  • Page 12: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -16 1.1 Introduction............................. 1 - 1 1.1.1 Function block diagram........................1 - 2 1.1.2 System configuration........................1 - 3 1.1.3 I/O devices ............................1 - 8 1.2 Function List............................1 - 9 1.3 Model Name Make-Up ..........................
  • Page 13 4. OPERATION 4 - 1 to 4 -36 4.1 When Switching Power On for the First Time ..................4 - 1 4.1.1 Pre-operation checks ........................4 - 1 4.1.2 Startup .............................. 4 - 2 4.2 Automatic Operation Mode ........................4 - 5 4.2.1 What is automatic operation mode? ....................
  • Page 14 6.3 Station Setting ............................6 - 3 6.4 Parameters .............................. 6 - 4 6.5 Point Table .............................. 6 - 6 6.6 Device Setting ............................6 - 8 6.7 Test Operation ............................6 -10 6.7.1 Jog operation ........................... 6 -10 6.7.2 Positioning operation........................6 -12 6.7.3 Motor-less operation ........................
  • Page 15 9. ADJUSTMENT 9 - 1 to 9 -10 9.1 What Is Gain Adjustment? ........................9 - 1 9.1.1 Difference between servo amplifier and other drives ..............9 - 1 9.1.2 Basics of the servo system ......................9 - 2 9.2 Gain adjustment ............................. 9 - 3 9.2.1 Parameters required for gain adjustment..................
  • Page 16 14.1.3 Junction terminal block (MR-TB20) ..................14 -15 14.1.4 Maintenance junction card (MR-J2CN3TM) ................14 -16 14.1.5 External digital display (MR-DP60) ..................14 -17 14.1.6 Manual pulse generator (MR-HDP01) ..................14 -19 14.1.7 Battery (MR-BAT, A6BAT)......................14 -20 14.2 Auxiliary Equipment......................... 14 -21 14.2.1 Recommended wires ........................

  • Page 17: Introduction

    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.INTRODUCTION 2.
  • Page 18 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The MR-J2-C AC servo amplifier with built-in positioning functions is the MR-J2-A general-purpose AC servo amplifier which incorporate single-axis positioning functions. These functions perform positioning operation by merely setting the position data (target positions), motor speeds, acceleration and deceleration time constants, etc.

  • Page 19: Function Block Diagram

    1. FUNCTIONS AND CONFIGURATION 1.1.1 Function block diagram The function block diagram of the MELSERVO-J2-C is shown below. Regenerative brake option Servo amplifier Servo motor (Note 2) (Note 1) Power supply Regener- 3-phase 200 ative Current brake to 230VAC or detector transistor single-phase...

  • Page 20: System Configuration

    1. FUNCTIONS AND CONFIGURATION 1.1.2 System configuration This section describes operations using the MELSERVO-J2-C. You can arrange any configurations from a single-axis to max. 32-axis systems. Further, the connector pins in the interface section allow you to assign the optimum signals to respective systems. (Refer to Sections 1.1.3 and 3.3.3.) The Set-up Software (refer to Chapter 6) and personal computer are required to change or assign devices.
  • Page 21 1. FUNCTIONS AND CONFIGURATION (2) Operation using external input signals and communication (a) Description Communication can be used to change the point table data, choose the point table, change parameter values, and confirm monitor data, for example. Enter the start signal through the external I/O.
  • Page 22 1. FUNCTIONS AND CONFIGURATION 2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422. Use parameter No. 16 to change the communication system. Personal External I/O computer Set-up signals Software Servo amplifier (axis 1) CN1A CN1B RS–232C RS–422 Power supply...
  • Page 23 1. FUNCTIONS AND CONFIGURATION (3) Operation using communication (a) Description Analog input, emergency stop signal and other signals are controlled by external I/O signals and the other devices controlled through communication. Also, you can set each point table, choose the point table, and change or set parameter values, for example.
  • Page 24 1. FUNCTIONS AND CONFIGURATION 2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422. Use parameter No. 16 to change the communication system. Personal External I/O computer Set-up signals Software Servo amplifier (axis 1) CN1A CN1B RS–232C RS–422 Power supply...

  • Page 25: I/O Devices

    1. FUNCTIONS AND CONFIGURATION 1.1.3 I/O devices The MELSERVO-J2-C allows devices to be allocated to the pins of connector CN1A/CN1B as desired. The following devices can be allocated. For device details, refer to Section 3.3.3. (1) Input devices Device Symbol Description Factory-Allocated Pin Proximity dog...

  • Page 26: Function List

    1. FUNCTIONS AND CONFIGURATION 1.2 Function List The following table lists the functions of the MELSERVO-J2-C. For details of the functions, refer to the corresponding chapters and sections. Function Description Refer To Select the required ones from among 15 preset point tables (moving distance, speed, acceleration time constant, deceleration time constant, auxiliary function) and perform operation in Positioning by automatic operation...

  • Page 27: Model Name Make-Up

    Applicable power supply 3PH+1PH200-230V 60Hz 5.5A 1PH230V 50/60Hz OUTPUT : 170V 0-360Hz 3.6A Rated output current SERIAL :TC3XXAAAAG52 Serial number PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN (2) Model MR–J2 – MR–J2–100C or less MR–J2–200C 350C Series Name plate Name plate...

  • Page 28: Parts Identification

    1. FUNCTIONS AND CONFIGURATION 1.5 Parts Identification (1) MR-J2-100C or less Name/Application Refer To Battery holder Section4.5 Contains the battery for absolute position data backup. Battery connector (CON1) Used to connect the battery for absolute position data Section4.5 backup. Display The four-digit, seven-segment LED shows the servo Chapter7 status and alarm number.
  • Page 29 1. FUNCTIONS AND CONFIGURATION (2) MR-J2-200C or more POINT • This diagram shows the unit from which the front cover has been removed. Refer to the next page for removal of the front cover. Name/Application Refer To Battery holder Section4.5 Contains the battery for absolute position data backup.
  • Page 30 1. FUNCTIONS AND CONFIGURATION Removal of the front cover Reinstallation of the front cover Front cover hook (2 places) Front cover Front cover socket (2 places) 1) Hold down the removing knob. 1) Insert the front cover hooks into the front cover sockets of the servo amplifier.

  • Page 31: Servo System With Auxiliary Equipment

    External digital display Section 14.1.5 Regenerative brake option Section 14.1.1 No-fuse breaker (NFB) or fuse Servo amplifier MR-J2- C Command device MITSUBISHI Junction terminal block To CN1A Magnetic Manual pulse generator contactor (MC) To CN1B External digital display To CN3...
  • Page 32 Set-up software Chapter 6 External digital display Section 14.1.5 Regenerative brake option Section 14.1.1 No-fuse breaker (NFB) or fuse Servo amplifier Command device MITSUBISHI Junction terminal block To CN1A Magnetic Manual pulse contactor generator (MC) To CN1B External digital display...
  • Page 33 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 16...

  • Page 34: Installation

    • Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment. • Do not install or operate a faulty servo amplifier. • When the product has been stored for an extended period of time, consult Mitsubishi. 2.1 Environmental conditions Environment Conditions 0 to 55 [°C] (non-freezing)

  • Page 35: Installation Direction And Clearances

    2. INTRODUCTION 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 Control box 40mm...

  • Page 36: Keep Out Foreign Materials

    2. INTRODUCTION (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 37: Cable Stress

    2. INTRODUCTION 2.4 Cable stress (1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection. (2) In any application where the servo motor moves, the cables should be free from excessive stress. For use in any application where the servo motor itself will move, run the cables so that their flexing portions fall within the flexing life range of the encoder cable.

  • Page 38: Signals And Wiring

    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, make sure that the voltage is safe in the tester more than 10 minutes after power-off.

  • Page 39: Standard Connection Example

    3. SIGNALS AND WIRING 3.1 Standard connection example Servo amplifier (Note 8) MR-J2-C Servo motor U(Red) 3-phase 200VAC V(White) W(Black) single-phase 230VAC (Note 10) (Green) Electromagnetic (Note 1) brake Regenerative brake option (Note 3) Emergency stop When connecting the external regenerative (Note 4) To be shut off when servo on signal brake option, always disconnect...
  • Page 40 3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier to 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 and other protective circuits.

  • Page 41: Common Line

    3. SIGNALS AND WIRING 3.2 Common line The following diagram shows the power supply and its common line. CN1A 24VDC CN1B CN1A CN1B ALM,etc DO-1 SON,etc. DI-1 Digital input MR-HDP01 PP(NP) A(B) <Isolated> 15VDC 10% 30mA P15R Analog input ( 10V/max. current) etc.

  • Page 42: I/O Signals

    • The connector pin layout is as viewed from the connector wiring section of the cable. • For assignment of the CN1A and CN1B signals, refer to the next page. CN1A CN1B P15R P15R MITSUBISHI MELSERVO-J2 The connector frames are connected with the PE(earth) terminal inside the servo amplifier. 3 - 5...

  • Page 43: Signal Explanations

    3. SIGNALS AND WIRING 3.3.2 Signal explanations 1) CN1A Signal Name Symbol Pin No. Description I/O Division Digital I/F power supply Used to input 24VDC±10% for input interface. input Driver power input terminal for digital interface. COM of each connector is connected in the servo amplifier. When using an external power supply, connect a power supply of 24VDC, 200mA or more to this terminal.
  • Page 44 3. SIGNALS AND WIRING 2) CN1B Signal Name Symbol Pin No. Description I/O Division I/F Internal power Used to output 24V 10% to across VDD-COM. supply When using this power supply for digital interface, connect it with COM. Permissible current: 80mA Digital I/F power supply Used to input 24VDC 10% for input interface.
  • Page 45 3. SIGNALS AND WIRING Signal Name Symbol Pin No. Description I/O Division Automatic/manual Short MDO-SG to choose the automatic operation mode, or open DI-1 selection them to choose the manual operation mode. Point table No. selection The following table lists the point table numbers which may be DI-1 chosen by the combinations of DI0 and DI1: Selected Point Table No.

  • Page 46: Additional Function Devices

    3. SIGNALS AND WIRING 3.3.3 Additional function devices By using the Set-up Software, you can assign the signals given in this section to the pins of connectors CN1A and CN1B, in addition to the signals in Section 3.3.2. (1) Pins which accept different signals Pin Type Connector Pin No.
  • Page 47 3. SIGNALS AND WIRING Device Name Symbol Description I/O Division Alarm reset Short RES-SG to deactivate the alarm. DI-1 If RES-SG are shorted in no alarm status, the base circuit is not shut off. Set in parameter No. 22 to shut off the base circuit. Some alarms cannot be deactivated by the reset signal.
  • Page 48 3. SIGNALS AND WIRING Device Name Symbol Description I/O Division Temporary stop/Restart Short STP-SG during automatic operation to make a temporary stop. DI-1 Short STP-SG again to make a restart. Shorting the forward/reverse rotation start signal during a temporary stop is ignored.

  • Page 49: Detailed Description Of The Signals

    3. SIGNALS AND WIRING 3.4 Detailed Description of the Signals 3.4.1 Start and stop signals (1) Make up a sequence so that the start signal is switched on after the main circuit has been established. The start signal is invalid if it is switched on before the main circuit is established. Normally, it is interlocked with the ready signal (RD).

  • Page 50: Override

    3. SIGNALS AND WIRING 3.4.3 Override POINT • When using the override, make the override selection (OVR) device available. The override (VC) may be used to change the servo motor speed. The following table lists the signals and parameter related to the override: Item Name Remarks...

  • Page 51: Torque Limit

    3. SIGNALS AND WIRING 3.4.4 Torque limit POINT • To use the torque limit, make the external torque limit selection (TL) device and internal torque limit selection (TL2) device available. The following table lists the signals and parameters related to the torque limit: Item Name Remarks...
  • Page 52 3. SIGNALS AND WIRING (3) External torque limit selection (TL), internal torque limit selection (TL2) To use the external torque limit selection (TL) and internal torque limit selection (TL2), make them available using the Set-up Software (refer to Chapter 6). These input signals may be used to choose the torque limit values made valid.
  • Page 53 3. SIGNALS AND WIRING (4) External torque limit offset (parameter No.26) Using parameter No.26, the offset voltage can be set relative to the input voltage of the external torque limit (TLA). The setting is between 999 to 999mV. (5) Selection of rotation direction for torque limit execution (parameter No.20) Using parameter No.20, the rotation direction for torque limit execution can be selected.

  • Page 54: Alarm Occurrence Timing Chart

    3. SIGNALS AND WIRING 3.5 Alarm Occurrence Timing Chart • When an alarm has occurred, remove its cause, make sure that the operation signal CAUTION is not being input, ensure safety, and reset the alarm before restarting operation. When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop.

  • Page 55: Interfaces

    3. SIGNALS AND WIRING 3.6 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 and 3.3.3. 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 56 3. SIGNALS AND WIRING For use of internal power supply For use of external power supply Servo amplifier Servo amplifier Do not connect 24VDC VDD-COM. ALM, etc. 27VDC or ALM, etc. less (3) Analog input Input inpedance 10 to 12k Servo amplifier 15VDC P15R...
  • Page 57 3. SIGNALS AND WIRING (5) Source input interface When using the input interface of source type, all DI-1 input signals are of source type. Source output cannot be provided. For use of internal power supply For use of external power supply Servo amplifier Servo amplifier 24VDC...

  • Page 58: Power Supply System Circuit

    3. SIGNALS AND WIRING 3.7 Power Supply System 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 59: Terminals

    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 12.2.1. Symbol Signal Description Main circuit power input terminals Supply L and L with the following power. For a single-phase 230VAC power supply, connect the power supply to L1 and L2 and keep L3 open: Servo amplifier...

  • Page 60: Power-On Sequence

    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 , single-phase 230V: L ). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.

  • Page 61: Connection Of Servo Amplifier And Servo Motor

    3. SIGNALS AND WIRING 3.8 Connection of Servo Amplifier and Servo Motor 3.8.1 Connection instructions WARNING • Insulate the connections of the power supply terminals to prevent an electric shock. • Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.
  • Page 62 3. SIGNALS AND WIRING Servo Motor Connection Diagram Servo amplifier Servo motor U (Red) V (White) Motor W (Black) (Green) (Note 1) (Note3) 24VDC (Note2) HC-MF053 (B) (-UE) to Electro- 73 (B) (-UE) magnetic brake HA-FF053 (B) to 63 (B) To be shut off when servo on signal switches off or by HC-UF13 (B) to 73 (B)

  • Page 63: I/O Terminals

    3. SIGNALS AND WIRING 3.8.3 I/O terminals (1) HC-MF(-UE) series Encoder connector signal arrangement Power supply lead 4-AWG19 0.3m(11.81inch) With end-insulated round crimping terminal 1.25-4 : U phase White : V phase Black : W phase Encoder cable 0.3m Green : Earth (11.81inch) Brake cable With connector 172169-9...
  • Page 64 3. SIGNALS AND WIRING (4) HA-FF C-UE series Encoder connector Power supply connector Brake connector Connector Servo Motor For power supply For encoder For brake HA-FF053C(B)-UE CE05-2A14S-2PD-B MS3102A20-29 MS3102E10SL-4P HA-FF63C(B)-UE Power supply connector Encoder connector Brake connector signal signal arrangement signal arrangement arrangement CE05-2A14S-2PD-B...
  • Page 65 3. SIGNALS AND WIRING (5) HC-SF • HC-RF • HC-UF2000 r/min series Servo Motor Side Connectors Motor plate (Opposite side) Servo Motor Electromagnetic For power supply For encoder Brake Connector HC-SF81(B) The connector CE05-2A22- HC-SF52(B) to 152(B) for power is 23PD-B HC-SF53(B) to 153(B) shared.

  • Page 66: Servo Motor With Electromagnetic Brake

    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. Contacts must be open when Circuit must be servo is off or when an opend during...
  • Page 67 3. SIGNALS AND WIRING (3) Timing charts (a) Servo on signal command (from controller) ON/OFF Tb (ms) after servo on (SON) is switched off, 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. For use in vertical lift and similar applications, therefore, set Tb to the time which is about equal to the electromagnetic brake operation delay time and during which the load will not drop.
  • Page 68 3. SIGNALS AND WIRING (c) Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed Electromagnetic brake (10ms) Base circuit Invalid(ON) Electromagnetic brake Electromagnetic operation delay time brake interlock (MBR) Valid(OFF) No(ON) Trouble (ALM) Yes(OFF) (d) Both main and control circuit power supplies off Dynamic brake Dynamic brake (10ms)

  • Page 69: Grounding

    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 70: Servo Amplifier Terminal Block (Te2) Wiring Method

    3. SIGNALS AND WIRING 3.11 Servo Amplifier Terminal Block (TE2) Wiring Method 1) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. (Cable size: 0.2 to 2.5mm Approx. 10mm (0.39inch) Twisted wire: Use the cable after stripping the sheath and twisting the core.

  • Page 71: Instructions For The 3M Connector

    3. SIGNALS AND WIRING 2) Connection Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that the cable does not come off. (Tightening torque: 0.5 to 0.6N•m) Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose.

  • Page 72: Operation

    4. OPERATION 4. OPERATION 4.1 When Switching Power On for the First Time 4.1.1 Pre-operation checks Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (L ) of the servo 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 73: Startup

    4. OPERATION 4.1.2 Startup WARNING • Do not operate the switches with wet hands. You may get an electric shock. • Before starting operation, check the parameters. Some machines may perform unexpected operation. CAUTION • During power-on or soon after power-off, do not touch the servo amplifier heat sink, regenerative brake resistor, servo motor, etc.
  • Page 74 4. OPERATION (2) Startup procedure (a) Power on 1) Switch off the servo on (SON) signal. 2) When main circuit power/control circuit power is switched on, "r" (motor speed) appears on the servo amplifier display. (b) Test operation Using jog operation in the "test operation mode" of the Servo Configuration Software, make sure that the servo motor operates.
  • Page 75 4. OPERATION (f) Zeroing Perform zeroing as required. Refer to Section 4.4 for zeroing types. A parameter setting example for dog type zeroing is given here. Parameter Name Setting Description Dog type zeroing is selected. Zeroing is started in address incremented No.8 Zeroing type direction.

  • Page 76: Automatic Operation Mode

    4. OPERATION 4.2 Automatic Operation Mode 4.2.1 What is automatic operation mode? (1) Command system After selection of preset point tables using the input signals or communication, operation is started by the forward rotation start (ST1) or reverse rotation start (ST2) signal. Automatic operation has the absolute value command system and incremental value command system.
  • Page 77 4. OPERATION (2) Point table (a) Point table setting Up to 15 point tables may be set. To use point table No.s 4 to 15, however, the point table No. selection 3 signal (DI2) and/or point table No. selection 4 signal (DI3) should be made valid in "I/O Devices"...
  • Page 78 4. OPERATION (Note 2) Input Signals Selected Point Table No. (Note 1) (Note 1) Across DI1-SG Across DI0-SG Across DI3-SG Across DI2-SG Note: 1. Make signals valid in "I/O Devices" on the Servo Configuration Software. 2."1": short "0": open (3) Parameter setting Set the following parameters to perform automatic operation: (a) Command mode selection (parameter No.0) Select the absolute value command system or incremental value command system.
  • Page 79 4. OPERATION 2) Incremental value command system Servo Motor Rotation Direction Parameter No.1 Setting Forward Rotation Start (ST1) ON Reverse Rotation Start (ST2) ON CCW rotation (address incremented) CW rotation (address decremented) CW rotation (address incremented) CCW rotation (address decremented) ST1:ON ST2:ON ST2:ON...

  • Page 80: Absolute Value Command System

    4. OPERATION 4.2.2 Absolute value command system (1) Setting (a) Signal, parameters Set the input signal and parameters as follows according to the purpose of use: Item Setting Method Description Automatic operation mode selection Automatic/manual selection signal (MDO) Short MDO-SG (ON). Absolute value command system Parameter No.0 Setting:...

  • Page 81: Incremental Value Command System

    4. OPERATION 4.2.3 Incremental value command system (1) Setting (a) Signal, parameters Set the input signal and parameters as follows according to the purpose of use: Item Setting Method Description Automatic operation mode selection Automatic/manual selection signal (MDO) Short MDO-SG (ON) Incremental value command system Parameter No.0 Setting:...

  • Page 82: Automatic Operation Timing Chart

    4. OPERATION 4.2.4 Automatic operation timing chart The following is the timing chart. Servo on (SON) Ready (RD) Trouble (ALM) Automatic/manual selection (MDO) In position (INP) Rough match (CPO) Point table No. No.1 No.2 Forward Point table No. 1 rotation Motor speed 0r/min Reverse...

  • Page 83: Automatic Continuous Operation

    4. OPERATION 4.2.5 Automatic continuous operation (1) What is automatic continuous operation? By merely choosing one point table and making a start (ST1 or ST2), operation can be performed in accordance with the point tables having consecutive numbers. Automatic operation is available in two types: varied speed operation and automatic continuous positioning operation.
  • Page 84 4. OPERATION (a) Absolute value command system 1) Positioning in the same direction Deceleration time constant (d) Acceleration time constant (c) Speed Servo motor Speed (bn) speed Speed(bn 2) (bn 1) Position data Position data Position data (an) (an 1) (an 2) Point table No.n...
  • Page 85 4. OPERATION (b) Incremental value command system Deceleration time constant (d) Acceleration time constant (c) Speed Servo motor Speed (bn) speed (bn 1) Speed(bn 2) Position Position data data Position data(an) (an 1) (an 2) Point table No.n Start signal (ST1 or ST2) Rough match (CPO)
  • Page 86 4. OPERATION Point table No. n 2 Point table No. n Point table No. n+1 Servo motor speed Dwell Dwell time time (an) (an 1) Point table No.n selection Start signal (ST1 or ST2) Rough match (CPO) In position (INP) Point Table No.
  • Page 87 4. OPERATION (4) Temporary stop/restart When STP-SG are connected during automatic operation, the motor is decelerated to a temporary stop at the deceleration time constant in the point table being executed. When STP-SG are connected again, the remaining distance is executed. If the forward/reverse rotation start signal is ignored if it is switched on during a temporary stop.

  • Page 88: Manual Operation Mode

    4. OPERATION 4.3 Manual Operation Mode For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position. 4.3.1 Jog operation (1) Setting Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No.
  • Page 89 4. OPERATION (4) Timing chart Servo on (SON) 80ms Ready (RD) Trouble (ALM) Automatic/manual mode selection (MDO) In position (INP) Rough match (CPO) Forward rotation Motor speed 0r/min Reverse rotation Forward rotation start (ST1) Forward rotation jog Reverse rotation start (ST2) Reverse rotation jog 4 - 18...

  • Page 90: Manual Pulse Generator Operation

    4. OPERATION 4.3.2 Manual pulse generator operation (1) Setting Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No. selection 1 to 4 signals (DI0 to DI3) are invalid: Item Setting Method Description...
  • Page 91 4. OPERATION (b) Using the input signals for setting Set the pulse generator multiplication 1 (TP0) and pulse generator multiplication 2 (TP1) to the input signals in "Device setting" on the Servo Configuration Software (refer to Chapter 6). Multiplication Ratio of Servo Motor Pulse Generator Multiplication 2 Pulse Generator Multiplication 1 Rotation to Manual Pulse Generator...

  • Page 92: Manual Zeroing Mode

    4. OPERATION 4.4 Manual Zeroing Mode 4.4.1 Outline of zeroing Zeroing is performed to match the command coordinates with the machine coordinates. In the incremental system, zeroing is required every time input power is switched on. In the absolute position detection system, once zeroing is done at the time of installation, the current position is retained if power is switched off.
  • Page 93 4. OPERATION (2) Zeroing parameter When performing zeroing, set parameter No.8 as follows: Zeroing method························································1) 0: Dog type zeroing (dog rear end detection) 1: Count type zeroing (dog front end detection) 2: Data setting type zeroing 3: Stopper type zeroing 4: Zero ignorance (SON position as zero) Zeroing direction ······················································2) 0: Address increment direction...

  • Page 94: Dog Type Zeroing

    4. OPERATION 4.4.2 Dog type zeroing A zeroing method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the zero shift distance starting from the Z-phase signal is defined as a home position.
  • Page 95 4. OPERATION (3) Timing chart In position (INP) Rough match (CPO) Zeroing completion (ZP) Zero shift distance Zeroing speed Point table No. 1 Point table No. 1 Parameter No. 11 Parameter No. 9 Deceleration time constant Acceleration time Creep speed constant Home position Parameter No.

  • Page 96: Count Type Zeroing

    4. OPERATION 4.4.3 Count type zeroing In count type zeroing, a motion is made over the distance set in parameter No.43 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Z-phase signal is given after that is defined as a home position.

  • Page 97: Data Setting Type Zeroing

    4. OPERATION 4.4.4 Data setting type zeroing In data setting type zeroing, a motion is made to any position by jog operation, manual pulse generator operation or the like to make a home position return, and the position reached is defined as a home position.

  • Page 98: Stopper Type Zeroing

    4. OPERATION 4.4.5 Stopper type zeroing In stopper type zeroing, a machine part is pressed against a stopper or the like by jog operation, manual pulse generator operation or the like to make a home position return and that position is defined as a home position.

  • Page 99: Zero Ignorance (Servo-On Position Defined As Zero)

    4. OPERATION 4.4.6 Zero ignorance (servo-on position defined as zero) The position where servo is switched on is defined as a home position as soon as servo is switched on. (1) Signals, parameter Set the input signals and parameter as follows: Item Device/Parameter Used Description...

  • Page 100: Automatic Zeroing Return Function

    4. OPERATION 4.4.7 Automatic zeroing return function If the current position is at or beyond the proximity dog in dog or count type zeroing, you need not make a start after making a return by jog operation or the like. When the current position is at the proximity dog, an automatic return is made before zeroing.

  • Page 101: Absolute Position Detection System

    4. OPERATION 4.5 Absolute position detection system The MR-J2-C servo amplifier contains a single-axis controller. Also, all servo motor encoders are compatible with an absolute position system. Hence, an absolute position detection system can be configured up by merely loading an absolute position data back-up battery and setting parameter values. (1) Restrictions An absolute position detection system cannot be built under the following conditions: 1) Stroke-less coordinate system, e.g.
  • Page 102 4. OPERATION (4) Outline of absolute position detection data communication For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions. The absolute position detection system always detects the absolute position of the machine and keeps it battery-backed, independently of whether the general-purpose programming controller power is on or off.

  • Page 103: Serial Communication Operation

    4. OPERATION (6) Parameter setting Set parameter No.2 as indicated below to make the absolute position detection system valid: Parameter No.2 Selection of absolute position detection system 0: Incremental system 1: Absolute position detection system 4.6 Serial Communication Operation The RS-422 or RS-232C communication function may be used to operate the servo amplifier from a command device (controller) such as a personal computer.

  • Page 104: Positioning Operation

    Always set one station number to one servo amplifier. Normal communication cannot be made if one station number is set to two or more servo amplifiers. When using one command to operate several servo amplifiers, use the group designation function described in Section 4.6.4. MITSUBISHI MITSUBISHI MITSUBISHI...

  • Page 105: Group Designation

    When using several servo amplifiers, command-driven parameter settings, etc. can be made on a group basis. You can set up to six groups, a to f. Set the group to each station using the communication command. (1) Group setting example Group a Group b MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI To CN3...
  • Page 106 4. OPERATION (2) Timing chart In the following timing chart, operation is performed group-by-group in accordance with the values set in point table No.1. Transmission data Station 0 Servo motor speed Station 1 Servo motor speed Station 2 Servo motor Group a speed Station 3...
  • Page 107 4. OPERATION MEMO 4 - 36...

  • Page 108: Parameters

    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 • Set "000E" when using the Servo Configuration Software to make device setting.

  • Page 109: Lists

    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. For details of the parameters, refer to the corresponding items. (1) Item list Customer Class...
  • Page 110 5. PARAMETERS Customer Class Symbol Name and Function Initial Value Unit Setting Function selection 2 0000 For manufacturer setting 0002 Function selection 4 0000 Serial communications time-out selection Feed forward gain Override offset Torque limit offset For manufacturer setting Internal torque limit 1 Internal torque limit 2 Backlash compensation pulse...
  • Page 111 5. PARAMETERS (2) Detail list Initial Setting Class No. Symbol Name and Function Unit Refer To Value Range STY Command system, regenerative brake option selection 0000 0000h Used to select the command system and regenerative brake option. 0610h Selection of command mode Section 0: Absolute value command 1: Incremental value command...
  • Page 112 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Refer To Value Range Auto tuning 0102 0000h Chapter Used to set the response level, etc. for execution of auto tuning. 0215h Auto tuning response setting Set Value Response Level Decrease the set value Low response if the machine hunts...
  • Page 113 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Refer To Value Range Position loop gain 1 rad/s 4 to 1000 Chapter Used to set the gain of position loop 1. Increase the gain to improve tracking performance in response to the position command.
  • Page 114 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Refer To Value Range BPS Communication baudrate 0000 0000h Section Used to select the RS-422/RS-232C communication baudrate and 8.2.2 choose various conditions for communication. 1112h RS-422/RS-232C baudrate selection 0: 9600[bps] 1: 19200[bps] 2: 4800[bps] Protocol checksum selection...
  • Page 115 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Refer To Value Range DMD Status display selection, alarm history clear 0000 0000h Used to select the status display shown at power-on and choose alarm history clear. 10E6h Status display on servo amplifier Section display at power-on 0: Motor speed (initial value)
  • Page 116 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Refer To Value Range OP2 Function selection 2 0000 0000h Used to select slight vibration suppression control. 0102h Section Rotation Direction in Which Torque Limit Is Made Valid 3.4.4 Setting CCW direction CW direction...
  • Page 117 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Refer To Value Range Serial communication time-out selection 0 to 60 Used to choose the time-out period of communication protocol. Setting Description No time-out check Time-out check period setting 1 to 60 Check period setting (S)
  • Page 118 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Refer To Value Range Electromagnetic brake sequence output 0 to 1000 Section Used to set the delay time (Tb) between when the electromagnetic brake interlock signal (MBR) switches off and when the base circuit is shut off.
  • Page 119 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Refer To Value Range Stopper type zeroing stopper time 5 to 1000 Section In stopper type zeroing, used to set the time from when the machine 4.4.5 part is pressed against the stopper and the torque limit set in parameter No.45 (ZTT) is reached to when the home position is set.

  • Page 120: Detailed Explanation

    5. PARAMETERS 5.2 Detailed Explanation CAUTION • False setting will result in unexpected fast rotation, causing injury. POINT • The guideline for setting the electronic gear is If you set any value outside this range, noise may be produced during acceleration/deceleration or operation not performed at the preset speed or acceleration/deceleration time constant.

  • Page 121: Changing The Status Display Screen

    5. PARAMETERS 5.2.2 Changing the status display screen The status display item of the servo amplifier display and the display item of the external digital display (MR-DP60) shown at power-on can be changed by changing the parameter No.18 settings. In the initial condition, the servo amplifier display shows the motor speed and the MR-DP60 shows the current position.

  • Page 122: Analog Output

    5. PARAMETERS 5.2.4 Analog output The servo status can be output to two channels in terms of voltage. Use this function when using an ammeter to monitor the servo status or synchronizing the torque/speed with the other servo. The servo amplifier is factory-set to output the motor speed to ch1 and the generated torque to ch2. The setting can be changed as listed below by changing the parameter No.17 value: Setting Output Item...

  • Page 123: Changing The Stop Pattern Using A Limit Switch

    5. PARAMETERS Change the following digits of parameter No.17: Parameter No. 17 Analog monitor ch1 output selection (Signal output to across MO1-LG) Analog monitor ch2 output selection (Signal output to across MO2-LG) 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 124: Rough Match Output

    5. PARAMETERS 5.2.7 Rough match output Rough match (CPO) is output when the command remaining distance reaches the value set in parameter No. 12. The set remaining distance is 0 to 65535 [ 10 Command remaining distance ( 10 set in parameter No. 12 Actual servo motor speed Servo motor Command pulse...
  • Page 125 5. PARAMETERS MEMO 5 - 18...

  • Page 126: Servo Configuration Software

    6. SERVO CONFIGURATION SOFTWARE 6. SERVO CONFIGURATION SOFTWARE POINT • Some functions of the Servo Configuration software may be unavailable for some versions. For details, please contact us. The Servo Configuration software uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc.
  • Page 127 6. SERVO CONFIGURATION SOFTWARE (2) Configuration diagram (a) For use of RS-232C Servo amplifier Personal computer Communication cable Servo motor To RS-232C connector (b) For use of RS-422 Up to 32 axes may be multidropped. Servo amplifier Personal computer RS-232C/RS-422 (Note 1) converter Communication cable...

  • Page 128: Station Setting

    6. SERVO CONFIGURATION SOFTWARE 6.3 Station Setting Choose System on the menu bar and choose Station Selection on the menu. When the above choices are made, the following window appears: (1) Station number setting Choose the station number in the combo box and press the Station Settings button to set the station number.

  • Page 129: Parameters

    6. SERVO CONFIGURATION SOFTWARE 6.4 Parameters Choose Parameters on the menu bar and choose Parameter List on the menu. When the above choices are made, the following window appears: (1) Parameter value write ( 1) ) Choose the parameter whose setting was changed and press the Write button to write the new parameter setting to the servo amplifier.
  • Page 130 6. SERVO CONFIGURATION SOFTWARE (3) Parameter value batch-read ( 3) ) Press the Read All button to read and display all parameter values from the servo amplifier. (4) Parameter value batch-write ( 4) ) Press the Write All button to write all parameter values to the servo amplifier. (5) Parameter change list display ( 5) ) Press the Change List button to show the numbers, names, initial values and current values of the parameters whose initial value and current value are different.

  • Page 131: Point Table

    6. SERVO CONFIGURATION SOFTWARE 6.5 Point Table Choose Position-Data on the menu bar and choose Point Tables on the menu. When the above choices are made, the following window appears: (1) Point table data write ( 1) ) Choose the point table data changed and press the Write button to write the new point table data to the servo amplifier.
  • Page 132 6. SERVO CONFIGURATION SOFTWARE (3) Point table data batch-read ( 3) ) Press the Read All button to read and display all point table data from the servo amplifier. (4) Point table data batch-write ( 4) ) Press the Write All button to write all point table data to the servo amplifier. (5) Point table data insertion ( 5) ) Press the Insert Row button to insert one block of data into the position before the point table No.

  • Page 133: Device Setting

    6. SERVO CONFIGURATION SOFTWARE 6.6 Device Setting When using the device setting, preset "000E" in parameter No.19. Choose Parameters on the menu bar and choose I/O Devices on the menu. When the above choices are made, the following window appears: (1) Function assignment batch-read ( 1) ) Press the Read All button to read and display from the servo amplifier the pins which have been assigned functions.
  • Page 134 6. SERVO CONFIGURATION SOFTWARE (3) Function assignment verify ( 3) ) Press the Verify button to verify the function assignment being displayed and the function assignment in the servo amplifier. (4) Function assignment default value indication ( 4) ) Press the Set to default button to show the initial values of function assignment. (5) Function assignment changing (a) Function assignment changing Drag the pin number whose function assignment is to be changed and drop it in the new function...

  • Page 135: Test Operation

    6. SERVO CONFIGURATION SOFTWARE 6.7 Test Operation • 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. •...
  • Page 136 6. SERVO CONFIGURATION SOFTWARE (1) Servo motor speed setting ( 1) ) Enter a new value into the "Motor speed" input field and press the return key. (2) Acceleration/deceleration time constant setting ( 2) ) Enter a new value into the "Accel/decel time" input field and press the return key. (3) Servo motor start ( 3), 4) ) Hold down the Forward button to rotate the servo motor in the forward rotation direction.

  • Page 137: Positioning Operation

    6. SERVO CONFIGURATION SOFTWARE 6.7.2 Positioning operation POINT • In the positioning operation mode, do not rewrite data from the point table list screen or the servo amplifier's front panel. Otherwise, the set values are made invalid. Press the Forward or Reverse button to start and rotate the servo motor by the preset moving distance and then stop.
  • Page 138 6. SERVO CONFIGURATION SOFTWARE (1) Servo motor speed setting ( 1) ) Enter a new value into the "Motor speed" input field and press the return key. (2) Acceleration/deceleration time constant setting ( 2) ) Enter a new value into the "Accel/decel time" input field and press the return key. (3) Moving distance setting ( 3) ) Enter a new value into the "Move distance"...

  • Page 139: Motor-Less Operation

    6. SERVO CONFIGURATION SOFTWARE 6.7.3 Motor-less operation Without a servo motor being connected, the output signals are provided and the servo amplifier display shows the status as if a servo motor is actually running in response to the external I/O signals. The sequence of the host programmable controller (PC) can be checked without connection of a servo motor.

  • Page 140: Do Forced Output

    6. SERVO CONFIGURATION SOFTWARE 6.7.4 DO forced output Each servo amplifier output signal is forcibly switched on/off independently of the output condition of the output signal. Choose Test on the menu bar and choose Forced Output on the menu. When the above choices are made, the following window appears: (1) Signal ON/OFF setting ( 1), 2) ) Choose the signal name or pin number and press the ON or OFF button to write the corresponding signal status to the servo amplifier.

  • Page 141: Single-Step Feed

    6. SERVO CONFIGURATION SOFTWARE 6.7.5 Single-step feed Operation is performed in accordance with the preset point table No. Choose Test on the menu bar and choose Single-step Feed on the menu. When the above choices are made, the following window appears: (1) Point table No.

  • Page 142: Alarm History

    6. SERVO CONFIGURATION SOFTWARE 6.8 Alarm History Choose Alarms on the menu bar and choose History on the menu. When the above choices are made, the following window appears: (1) Alarm history display The most recent six alarms are displayed. The smaller numbers indicate newer alarms. (2) Alarm history clear Press the Clear button to clear the alarm history stored in the servo amplifier.
  • Page 143 6. SERVO CONFIGURATION SOFTWARE MEMO 6 - 18...

  • Page 144: Display And Operation

    7. DISPLAY AND OPERATION 7. DISPLAY AND OPERATION 7.1 Display Flowchart Use the display (4-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 145: Status Display

    7. DISPLAY AND OPERATION 7.2 Status Display The servo status during operation is shown on the 4-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 146 7. DISPLAY AND OPERATION The following table lists the servo statuses that may be shown: Display Range Status Display Symbol Unit Description Servo amplifier MR-DP60 display The current position from the machine home position of 0 Cannot be 999999 to Current position is displayed.

  • Page 147: Diagnostic Mode

    7. DISPLAY AND OPERATION 7.3 Diagnostic Mode Name Display Description Not ready. Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. Software version Low Indicates the version of the software.

  • Page 148: Point Table Mode

    7. DISPLAY AND OPERATION 7.5 Point Table Mode You can set the target position, motor speed, acceleration time, deceleration time, dwell time and auxiliary function. (1) Point table mode setting screen sequence Press "SET" in the point table mode. The following screen appears. Press "UP"...
  • Page 149 7. DISPLAY AND OPERATION (2) Operation method (a) Setting of 4 or less-digit value The following example provides the after-power-on operation procedure to set "1" in the auxiliary function of point table No.1: Press MODE three times. ··········The point table No. appears. Press UP or DOWN to choose point table No.
  • Page 150 7. DISPLAY AND OPERATION (b) Setting of 5 or more-digit value The following example gives the after-power-on operation procedure to change the target value of point table No.1 to "123456": Press MODE three times. Press UP or DOWN to choose point table No. 1. Press SET once.

  • Page 151: Parameter Mode

    7. DISPLAY AND OPERATION 7.6 Parameter Mode Change the parameter settings when: • The regenerative brake option is used; • The number of pulse per servo motor revolution is changed • The machine mounted with the servo motor hunts or operational performance is further improved. The parameter whose abbreviation is marked is made valid by switching power off, then on after changing its setting.
  • Page 152 7. DISPLAY AND OPERATION 2) 5-digit parameter The following example shows the operation procedure performed to change the electronic gear denominator (parameter No.5) into "12345": Call the display screen shown after power-on. Press once. Select parameter No.5 with MODE DOWN Press once.
  • Page 153 7. DISPLAY AND OPERATION MEMO 7 - 10...

  • Page 154: Communication Functions

    8.1.1 RS-422 configuration (1) Outline Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus. Servo amplifier Servo amplifier Servo amplifier MITSUBISHI MITSUBISHI MITSUBISHI Controller such as personal computer CHARGE CHARGE...

  • Page 155: Rs-232C Configuration

    8. COMMUNICATION FUNCTIONS 8.1.2 RS-232C configuration (1) Outline A single axis of servo amplifier is operated. Servo amplifier MR-J2- MITSUBISHI CHARGE To CN3 RS-232C Controller such as personal computer (2) Cable connection diagram Wire as shown below. The communication cable for connection with the personal computer (MR- CPCATCBL3M •...

  • Page 156: Communication Specifications

    8. COMMUNICATION FUNCTIONS 8.2 Communication Specifications The MELSERVO-J2 series 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 (e.g.

  • Page 157: Protocol

    8. COMMUNICATION FUNCTIONS (3) RS-422/RS-232C serial interface selection Select the RS-422 or RS-232C communication standard. RS-422 and RS-232C cannot be used together. Parameter No. 16 − − − RS-422/RS-232C communication standard selection 0: RS-422 used 1: RS-232C used (4) Communication delay time Set the time from when the servo amplifier (slave station) receives communication data to when it sends back data.
  • Page 158 8. COMMUNICATION FUNCTIONS (2) Transmission of data request from the controller to the servo 10 frames Data Check Station number Controller side group Station number Check Servo side Data group 6 frames (data) (3) Recovery of communication status by time-out EOT causes the servo to return to the receive neutral status.

  • Page 159: Character Codes

    8. COMMUNICATION FUNCTIONS 8.4 Character Codes (1) Control codes Hexadecimal Personal Computer Terminal Key Operation Code Name Description (ASCII code) (General) start of head ctrl start of text ctrl end of text ctrl end of transmission ctrl (2) Codes for data JIS8 unit codes are used.

  • Page 160: Error Codes

    8. COMMUNICATION FUNCTIONS 8.5 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 161: Time-Out Operation

    8. COMMUNICATION FUNCTIONS 8.7 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 162: Initialization

    8. COMMUNICATION FUNCTIONS 8.9 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 163: Command And Data No. List

    8. COMMUNICATION FUNCTIONS 8.11 Command and Data No. List 8.11.1 Read commands (1) Status display (Command [0][1]) Command Data No. Description Display Item Frame Length [0][1] [8][0] Status display data value and Current position processing information [0][1] [8][1] Command position [0][1] [8][2] Command remaining distance...
  • Page 164 8. COMMUNICATION FUNCTIONS (4) Alarm history (Command [3][3]) Command Data No. Description Alarm Occurrence Sequence Frame Length [3][3] [1][0] Alarm number in alarm history Most recent alarm [3][3] [1][1] First alarm in past [3][3] [1][2] Second alarm in past [3][3] [1][3] Third alarm in past [3][3]...
  • Page 165 8. COMMUNICATION FUNCTIONS (6) Point table/position data (Command [4][0]) Command Data No. Description Point table No. Frame Length [4][0] [0][1] Position data read Point table No.1 [4][0] [0][2] Point table No.2 [4][0] [0][3] Point table No.3 [4][0] [0][4] Point table No.4 [4][0] [0][5] Point table No.5...
  • Page 166 8. COMMUNICATION FUNCTIONS (8) Point table/acceleration time constant (Command [5][4]) Command Data No. Description Point table No. Frame Length [5][4] [0][1] Acceleration time constant read Point table No.1 [5][4] [0][2] Point table No.2 [5][4] [0][3] Point table No.3 [5][4] [0][4] Point table No.4 [5][4] [0][5]...
  • Page 167 8. COMMUNICATION FUNCTIONS (10) Point table/dwell time (Command [6][0]) Command Data No. Description Point table No. Frame Length [6][0] [0][1] Dwell time read Point table No.1 [6][0] [0][2] Point table No.2 [6][0] [0][3] Point table No.3 [6][0] [0][4] Point table No.4 [6][0] [0][5] Point table No.5...

  • Page 168: Write Commands

    8. COMMUNICATION FUNCTIONS 8.11.2 Write commands (1) Status display (Command [8][1]) Command Data No. Description Setting Range Frame Length [8][1] [0][0] Status display data clear 1EA5 (2) Parameter (Command [8][4]) Command Data No. Description Setting Range Frame Length Each parameter write Depends on the [0][0] to [8][4]...
  • Page 169 8. COMMUNICATION FUNCTIONS (6) Point table/position data (Command [C][0]) Command Data No. Description Point table No. Setting Range Frame Length [C][0] [0][1] Position data write Point table No.1 [C][0] [0][2] Point table No.2 [C][0] [0][3] Point table No.3 [C][0] [0][4] Point table No.4 [C][0] [0][5]...
  • Page 170 8. COMMUNICATION FUNCTIONS (8) Point table/acceleration time constant (Command [C][7]) Command Data No. Description Point table No. Setting Range Frame Length [C][7] [0][1] Acceleration time constant write Point table No.1 [C][7] [0][2] Point table No.2 [C][7] [0][3] Point table No.3 [C][7] [0][4] Point table No.4...
  • Page 171 8. COMMUNICATION FUNCTIONS (10) Point table/dwell time (Command [C][A]) Command Data No. Description Point table No. Setting Range Frame Length [C][A] [0][1] Dwell time write Point table No.1 [C][A] [0][2] Point table No.2 [C][A] [0][3] Point table No.3 [C][A] [0][4] Point table No.4 [C][A] [0][5]...

  • Page 172: Detailed Explanations Of Commands

    8. COMMUNICATION FUNCTIONS 8.12 Detailed Explanations of Commands 8.12.1 Data processing When the command + data number or the command + data number + data are sent from the master station to a slave station, a reply or data is returned from the servo amplifier according to the purpose. In these send data and receive data, numerical values are represented in decimal, hexadecimal, etc.
  • Page 173 8. COMMUNICATION FUNCTIONS (2) Writing processed data When written data is handled as a decimal number, the decimal point position must be specified. If it is not specified, data cannot be written. When data is handled as a hexadecimal number, specify "0" for the decimal point position.

  • Page 174: Status Display

    8. COMMUNICATION FUNCTIONS 8.12.2 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. (a) Transmission Transmit command [0][1] and the data No.

  • Page 175: Parameter

    8. COMMUNICATION FUNCTIONS 8.12.3 Parameter (1) Parameter read Read the parameter setting. 1) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No. Command Data No. Data No. Definition [0][0] to [0][5] Corresponds to the parameter No. [3][5] 2) Reply The slave station sends back the data and processing information of the requested parameter No.
  • Page 176 8. COMMUNICATION FUNCTIONS (2) Parameter write 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 number is represented in hexadecimal. The decimal value converted from the data number value corresponds to the parameter number.

  • Page 177: External I/O Signal Statuses

    8. COMMUNICATION FUNCTIONS 8.12.4 External I/O signal statuses (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and data No. [0][0]. Command Data No. [1][2] [0][0] (b) Reply The slave station sends back the statuses of the input pins. 1:ON 0:OFF Command of each bit is transmitted to the master...
  • Page 178 8. COMMUNICATION FUNCTIONS (3) Read of the statuses of input devices switched on through communication Read the ON/OFF statuses of the input devices switched on through communication. (a) Transmission Transmit command [1][2] and data No. [6][0]. Command Data No. [1][2] [6][0] (b) Reply The slave station sends back the statuses of the input pins.

  • Page 179: Device On/Off

    8. COMMUNICATION FUNCTIONS (5) Read of the statuses of output devices Read the ON/OFF statuses of the output devices. (a) Transmission Transmit command [1][2] and data No. [8][0]. Command Data No. [1][2] [8][0] (b) Reply The slave station sends back the statuses of the output devices. 1:ON 0:OFF Command of each bit is transmitted to the master...

  • Page 180: Alarm History

    8. COMMUNICATION FUNCTIONS 8.12.6 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 181: Current Alarm

    8. COMMUNICATION FUNCTIONS (3) Alarm history clear Erase the alarm history. Send command [8][2] and data No. [2][0]. Command Data No. Data [8][2] [2][0] [1][E][A][5] 8.12.7 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No.
  • Page 182 8. COMMUNICATION FUNCTIONS Data 32 bits long (represented in hexadecimal) (Data conversion into display type is required) Display type 0: Conversion into decimal required 1: Used unchanged in hexadecimal Decimal point position 0: No decimal point 1: Lower first digit (usually not used) 2: Lower second digit 3: Lower third digit 4: Lower fourth digit...

  • Page 183: Point Table

    8. COMMUNICATION FUNCTIONS 8.12.8 Point table (1) Position data read Read the position data of the point table. (a) Transmission Transmit command [4][0] and any of data No. [0][1] to [0][F] corresponding to the point table to be read. Refer to Section 8.11.1. (b) Reply The slave station sends back the position data of the requested point table.
  • Page 184 8. COMMUNICATION FUNCTIONS (3) Acceleration time constant read Read the acceleration time constant of the point table. (a) Transmission Transmit command [5][4] and any of data No. [0][1] to [0][F] corresponding to the point table to be read. Refer to Section 8.11.1. (b) Reply The slave station sends back the acceleration time constant of the requested point table.
  • Page 185 8. COMMUNICATION FUNCTIONS (5) Dwell time read Read the dwell time of the point table. (a) Transmission Transmit command [6][0] and any of data No. [0][1] to [0][F] corresponding to the point table to be read. Refer to Section 8.11.1. (b) Reply The slave station sends back the dwell time of the requested point table.
  • Page 186 8. COMMUNICATION FUNCTIONS (7) Position data write Write the position data of the point table. Transmit command [C][0], any of data No. [0][1] to [0][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2. Command Data No.
  • Page 187 8. COMMUNICATION FUNCTIONS (9) Acceleration time constant write Write the acceleration time constant of the point table. Transmit command [C][7], any of data No. [0][1] to [0][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2. Command Data No.
  • Page 188 8. COMMUNICATION FUNCTIONS (11) Dwell time write Write the dwell time of the point table. Transmit command [C][A], any of data No. [0][1] to [0][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2. Command Data No.

  • Page 189: Servo Amplifier Group Designation

    8. COMMUNICATION FUNCTIONS 8.12.9 Servo amplifier group designation With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group through RS-485 communication. (1) Group setting write Write the group designation value to the slave station. Transmission Transmit command [9][F], data No.

  • Page 190: Other Commands

    8. COMMUNICATION FUNCTIONS 8.12.10 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. (a) Transmission Send command [0][2] and data No. [9][0]. Command Data No. [0][2] [9][0] (b) Reply The slave station sends back the requested servo motor end pulses.
  • Page 191 8. COMMUNICATION FUNCTIONS MEMO 8 - 38...

  • Page 192: Adjustment

    9. ADJUSTMENT 9. ADJUSTMENT 9.1 What Is Gain Adjustment? 9.1.1 Difference between servo amplifier and other drives Besides the servo amplifier, there are other motor drives such as an inverter and stepping driver. Among these drives, the servo amplifier requires gain adjustment. The inverter and stepping driver are in an open loop (actual motor speed and position are not detected on the driver side).

  • Page 193: Basics Of The Servo System

    9. ADJUSTMENT 9.1.2 Basics of the servo system Position command Servo motor generation section Speed Operation Current Power pattern Deviation Position Speed control control Motor counter control control section section section section Time Current loop Speed loop Encoder Position loop A general servo system configuration is shown above.

  • Page 194: Gain Adjustment

    9. ADJUSTMENT 9.2 Gain adjustment 9.2.1 Parameters required for gain adjustment Parameter No. Symbol Name No.3 Auto tuning No.7 Position loop gain 1 No.22 Function selection 4 (machine resonance filter) No.34 Ratio of load inertia moment to motor inertia moment No.35 Position loop gain 2 No.36...

  • Page 195: What Is Auto Tuning

    9. ADJUSTMENT 9.2.3 What is auto tuning? The angular speed ( ) and torque (T) are estimated in accordance with the equation of motion (9.1) used for motor acceleration/deceleration. In actuality, the acceleration/deceleration characteristics of the model and those of the actual motor are compared to estimate the inertia moment of the load in real time. T ..........(9.1) : Inertia moment : Angular speed...

  • Page 196: Gain Adjustment By Auto Tuning

    9. ADJUSTMENT 9.3 Gain Adjustment by Auto Tuning 9.3.1 Adjustment method In the factory setting of the servo amplifier, auto tuning is valid and the response setting is "2". The initial settings provide sufficient tuning for general machines. Higher-level tuning can be provided by adjusting the response setting (parameter No.3) according to machine rigidity.

  • Page 197: Manual Gain Adjustment

    9. ADJUSTMENT 9.4 Manual Gain Adjustment On some machines, gain adjustment may not be made by auto tuning or excellent gain setting may not be made if gain adjustment is performed by auto tuning. In this case, adjust the gains manually. Use any of the methods given in this section to adjust the gains.

  • Page 198: When The Machine Vibrates Due To Machine Resonance Frequency

    9. ADJUSTMENT 9.4.2 When the machine vibrates due to machine resonance frequency (1) Machine condition The servo motor shaft is oscillating at high frequency (100Hz or more). The servo motor shaft motion cannot be confirmed visually. However, if the machine generates large noise and vibrates, make Adjustment 1.

  • Page 199: Load Inertia Moment Is 20 Or More Times

    9. ADJUSTMENT 9.4.3 Load inertia moment is 20 or more times (1) Machine condition The machine inertia moment is 20 times or more and the servo motor oscillates at low frequency (5Hz or more). At this time, servo motor shaft vibration can be confirmed visually. This adjustment method is valid for the following machines: (a) Machine in which a timing belt is driven without reduction gear Pulley...

  • Page 200: When Shortening The Settling Time

    9. ADJUSTMENT 9.4.4 When shortening the settling time (1) Machine condition The settling time will be increased by the gains provided by auto tuning. (2) Adjustment procedure 1) Choose the response setting of slow response. Set 0101 in parameter No.3. 2) Alternate a start and a stop several times, execute auto tuning, and check whether the machine does not vibrate.

  • Page 201: When The Same Gain Is Used For Two Or More Axes

    9. ADJUSTMENT 9.4.5 When the same gain is used for two or more axes (1) Machine condition To perform interpolation operation with two or more axes of servo amplifiers, the position loop gains of the axes are set to the same value. (2) Adjustment procedure 1) To adjust the gains of each axis, adjust the gains of all axes in the adjustment procedures in Sections 9.4.1 to 9.4.5.

  • Page 202: Inspection

    10. INSPECTION 10. INSPECTION • Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 10 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 •...
  • Page 203 10. INSPECTION MEMO 10 - 2...

  • Page 204: Troubleshooting

    11. TROUBLESHOOTING 11. TROUBLESHOOTING 11.1 Trouble at Start-Up • Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable. The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. Start-Up Sequence Fault Investigation...

  • Page 205: When Alarm Or Warning Has Occurred

    11. TROUBLESHOOTING 11.2 When Alarm or Warning Has Occurred 11.2.1 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 11.2.2 or 11.2.3 and take the appropriate action. Alarm Deactivation Display Name...

  • Page 206: Remedies For Alarms

    11. TROUBLESHOOTING 11.2.2 Remedies for alarms • When any alarm has occurred, eliminate its cause, ensure safety, then reset the CAUTION alarm, and restart operation. Otherwise, injury may occur. POINT • When any of the following alarms has occurred, always remove its cause and allow about 30 minutes for cooling before resuming operation.
  • Page 207 11. TROUBLESHOOTING Display Name Definition Cause Action A.17 Board error 2 CPU/parts fault Faulty parts in the servo amplifier Change the servo amplifier. Checking method Alarm (A.17 or A.18) occurs if power is switched on after all A.18 Board error 3 Printed board fault connectors have been disconnected.
  • Page 208 11. TROUBLESHOOTING Display Name Definition Cause Action A.31 Overspeed Speed has exceeded 1. Input command pulse frequency Set command pulses correctly. the instantaneous exceeded the permissible instantaneous permissible speed. speed frequency. 2. Small acceleration/deceleration time Increase constant caused overshoot to be large. acceleration/deceleration time constant.
  • Page 209 11. TROUBLESHOOTING Display Name Definition Cause Action A.37 Parameter error Parameter or point 1. Servo amplifier fault caused the Change the servo amplifier. table setting is parameter setting to be rewritten. abnormal. 2. Regenerative brake option not used Set parameter No.0 correctly. with servo amplifier was selected in parameter No.0.
  • Page 210 11. TROUBLESHOOTING Display Name Definition Cause Action A.51 Overload 2 Machine collision or 1. Machine struck something. 1. Review operation pattern. the like caused max. 2. Install limit switches. output current to 2. Wrong connection of servo motor. Connect correctly. flow successively for Servo amplifier's output terminals U, several seconds.
  • Page 211 11. TROUBLESHOOTING Display Name Definition Cause Action Error excessive Droop pulse value of 7. Encoder faulty Change the servo motor. the deviation counter 8. Wrong connection of servo motor. Connect correctly. exceeded 80k pulses. Servo amplifier's output terminals U, V, W do not match servo motor's input terminals U, V, W.

  • Page 212: Remedies For Warnings

    11. TROUBLESHOOTING 11.2.3 Remedies for Warnings If any warning other than A.E6 and A.E9 occurs, operation can be continued but an alarm may occur or proper operation not performed. If A.E6 or A.E9 occurs, the servo off status is established. Eliminate the cause of the warning according to this section.
  • Page 213 11. TROUBLESHOOTING MEMO 11 - 10...

  • Page 214: Specifications

    12. SPECIFICATIONS 12. SPECIFICATIONS 12.1 Servo Amplifier Standard Specifications Servo Amplifier MR-J2- 100C 200C 350C Item Three-phase 200 to 230VAC, 50/60Hz or single- Three-phase 200 to 230VAC, Voltage/frequency phase 230VAC, 50/60Hz (Note) 50/60Hz Three-phase 200 to 230VAC: 170 to 253VAC Permissible voltage fluctuation Three-phase 170 to 253VAC Single-phase 230VAC: 207 to 253VAC...
  • Page 215 12. SPECIFICATIONS Servo Amplifier MR-J2- 100C 200C 350C Item Absolute position detection, backlash function Other functions Overtravel prevention using external limit switch Software stroke limit, override using external analog signal Structure Open (IP00) 0 to 55 [°C] (non-freezing) Ambient temperature 32 to 131 [°F] (non-freezing) Ambient humidity 90%RH or less (non-condensing)

  • Page 216: Outline Dimension Drawings

    12.2 Outline Dimension Drawings 12.2.1 Servo amplifiers (1) MR-J2-10C to MR-J2-60C [Unit: mm] ([Unit: in]) 70 (2.76) 135 (5.32) φ 6 (φ 0.24) mounting hole Terminal layout (Terminal cover open) MITSUBISHI MITSUBISHI OPEN OPEN Name plate PE terminal (0.24) 4(0.16) Variable Dimensions Weight...
  • Page 217 12. SPECIFICATIONS (2) MR-J2-70C • MR-J2-100C [Unit: mm] φ 6 (φ 0.24) 70(2.76) ([Unit: in]) mounting hole 70(2.76) 190(7.48) Terminal layout (0.87) (Terminal cover open) MITSUBISHI MITSUBISHI OPEN OPEN Name plate PE terminal 6(0.24) 6(0.24) (0.87) (1.65) 6(0.24) Weight Servo Amplifier Model...
  • Page 218 12. SPECIFICATIONS (3) MR-J2-200C • MR-J2-350C [Unit: mm] ([Unit: in]) φ 6 (φ 0.24) 70(2.76) 195(7.68) 90(3.54) mounting hole 78(3.07) (0.24) Terminal layout MITSUBISHI MITSUBISHI 12-M4 screw 3-M4 screw PE terminal Weight Servo Amplifier Model [kg]([lb]) MR-J2-200C MR-J2-350C (4.41) PE terminals Terminal screw: M4×0.7...

  • Page 219: Connectors

    12. SPECIFICATIONS 12.2.2 Connectors (1) Servo amplifier side <Sumitomo 3M make> (a) Soldered type Model [Unit: mm] Connector : 10120-3000VE ([Unit: in]) Shell kit : 10320-52F0-008 12.0(0.47) 14.0 22.0 (0.87) (0.55) Logo, etc. are indicated here. 33.3 (1.31) 12.7(0.50) (b) Threaded type Model [Unit: mm] Connector...
  • Page 220 12. SPECIFICATIONS (2) Communication cable connector <Japan Aviation Electronics Industry make> [Unit: mm] ([Unit: in]) Fitting fixing screw G E (max. diameter of cable used) Type 0.25 Reference DE-C1-J6-S6 34.5(1.36) 19(0.75) 24.99(0.98) 33(1.30) 6(0.24) 18(0.71) #4-40 DE-C2-J9 46(1.81) 21(0.83) 47.04(1.85) 55(2.17) 10(0.39) 20(0.79)
  • Page 221 12. SPECIFICATIONS MEMO 12 - 8...

  • Page 222: Characteristics

    13. CHARACTERISTICS 13. CHARACTERISTICS 13.1 Overload Protection Characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. The operation characteristics of the electronic thermal relay are shown below. Overload 1 alarm (A.
  • Page 223 13. CHARACTERISTICS (2) MR-J2-200C and MR-J2-350C HC-SF series 1000 HC-RF series HC-UF series During rotation During stop Load ratio [%] Fig 13.3 Electronic Thermal Relay Protection Characteristics 3 13 - 2...

  • Page 224: Power Supply Equipment Capacity And Generated Loss

    13. CHARACTERISTICS 13.2 Power Supply Equipment Capacity and Generated Loss (1) Amount of heat generated by the servo amplifier Table 13.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 13.1 in consideration for the worst operating conditions.
  • Page 225 13. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter referred to as the control box) which will contain the servo amplifier should be designed to ensure a temperature rise of 10°C max. at the ambient temperature of 40°C.

  • Page 226: Dynamic Brake Characteristics

    13. CHARACTERISTICS 13.3 Dynamic Brake Characteristics When an alarm, emergency stop or power failure occurs, the dynamic brake is operated to bring the servo motor to a sudden stop. Fig. 13.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated.
  • Page 227 13. CHARACTERISTICS 0.02 0.04 0.018 0.035 0.016 0.03 0.014 0.025 0.012 0.01 0.02 0.008 0.015 0.006 0.01 0.004 0.005 0.002 500 1000 1500 2000 2500 3000 1000 Speed [r/min] Speed [r/min] b. HC-SF1000r/min Series a. HC-MF Series 0.045 0.12 0.04 0.035 0.03 0.08...

  • Page 228: Encoder Cable Flexing Life

    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...
  • Page 229 13. CHARACTERISTICS MEMO 13 - 8...

  • Page 230: Options And Auxiliary Equipment

    14. OPTIONS AND AUXILIARY EQUIPMENT 14. OPTIONS AND AUXILIARY EQUIPMENT ! Before connecting any option or auxiliary equipment, make sure that the charge lamp is off more than 10 minutes after power-off, then confirm the voltage with a WARNING tester or the like. Otherwise, you may get an electric shock. •...
  • Page 231 14. OPTIONS AND AUXILIARY EQUIPMENT 2) 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 232 14. 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. ER•[J] •Es – Ec 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 PR [W] ER/tf ....................(14.1)
  • Page 233 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Outline drawing 1) MR-RB032•MR-RB12 [Unit: mm (in)] φ6 (0.24) mounting hole MR-RB# 5 (0.20) 1.6 (0.06) 6 (0.23) (0.79) Regenerative Regenerative Resistance Variable Dimensions Weight Brake Option Power[W] [kg] [lb] MR-RB032 (1.18) (0.59) (4.69) (3.9) MR-RB12 (1.57)

  • Page 234: Cables And Connectors

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.2 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. Servo amplifier Operation CN1A CN1B panel Personal computer 14) 15) CN2 CN3 Controller HC-MF HC-MF-UE HA-FF 1) 2)
  • Page 235 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Standard MR-JCCBL M-L Servo amplifier side connector Encoder side connector Standard encoder cable Refer to (2) in this (3M or equivalent) (AMP or equivalent) flexing life section. Connector: 10120-3000VE Housing : 1-172161-9 Connector IP20 Shell kit: 10320-52F0-008 : 170359-1...
  • Page 236 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Control signal MR-J2CN1 Servo amplifier side connector connector set (3M or equivalent) Connector: 10120-3000VE Shell kit: 10320-52F0-008 Qty: 2 each Junction MR-J2TBL Junction terminal block side Servo amplifier side connector For junction terminal block Refer to (3) in this connector (Hirose Electric)
  • Page 237 14. 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. Generally use the encoder cable available as our options. If the required length is not found in the options, fabricate the cable on the customer side.

  • Page 238: Installation Environment

    14. OPTIONS AND AUXILIARY EQUIPMENT MR-JCCBL2M-L MR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL30M-L MR-JCCBL50M-H MR-JCCBL5M-H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side Plate Plate Plate When fabricating an encoder cable, use the recommended wires given in Section 14.2.1 and the MR-J2CNM connector set for encoder cable fabrication, and fabricate an encoder cable as shown in the following wiring diagram.
  • Page 239 14. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-JHSCBL M-L • MR-JHSCBL M-H • MR-ENCBL 1) Model explanation Model: MR-JHSCBL Symbol Specifications Standard flexing life Long flexing life Symbol (Note)Cable Length [m(inch)] 2(78.74) 5(196.85) 10(393.70) 20(787.40) 30(1181.10) 40(1574.80) 50(1968.50) Note: 40,50m(1574.80,1968.50inch) is not available for MR-JHSCBL M-L.
  • Page 240 14. OPTIONS AND AUXILIARY EQUIPMENT MR-JHSCBL2M-L MR-JHSCBL10M-L MR-JHSCBL10M-H MR-JHSCBL5M-L MR-JHSCBL20M-H MR-JHSCBL2M-H MR-JHSCBL30M-H MR-JHSCBL30M-H MR-JHSCBL5M-H MR-ENCBL10M-H MR-ENCBL2M-H MR-ENCBL20M-H MR-ENCBL5M-H MR-ENCBL30M-H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side Plate (Note) Use of AWG24 (Less than 10m(393.70inch)) Plate Plate Note: AWG28 can be used for 5m...
  • Page 241 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Junction terminal block cable (MR-J2TBL05M) Model: MR-J2TBL Symbol Cable Length [m(inch)] 0.5(19.68) 1(39.37) Junction terminal block side connector (Hirose Electric) Servo amplifier side (CN1A CN1B) connector (3M) HIF3BA-20D-2.54R (connector) 1020-6000EL (connector) 10320-3210-000 (shell kit) Terminal Junction Terminal Block Labels...
  • Page 242 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Bus cable (MR-J2HBUS M) Model: MR-J2HBUS Symbol Cable length [m(inch)] 0.5(19.68) 1(39.37) 5(196.85) MR-J2HBUS05M MR-J2HBUS1M MR-J2HBUS5M 10120-6000EL (connector) 10120-6000EL (connector) 10320-3210-000 (shell kit) 10320-3210-000 (shell kit) RD∗ TD∗ EMG∗ Plate Plate 14 - 13...
  • Page 243 14. OPTIONS AND AUXILIARY EQUIPMENT (5) 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. Select the communication cable according to the shape of the RS-232C connector of the personal computer used.

  • Page 244: Junction Terminal Block (Mr-Tb20)

    1) For CN1A 2) For CN1B (3) Outline drawing [Unit: mm] 126(4.96) ([Unit: in.]) 117(4.61) MITSUBISHI MR-TB20 2- 4.5(0.18) Terminal screw: M3.5 Applicable cable: Max. 2mm (Crimping terminal width: 7.2mm (0.283 in) max.) 14 - 15...

  • Page 245: Maintenance Junction Card (Mr-J2Cn3Tm)

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.4 Maintenance junction card (MR-J2CN3TM) (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. Communication cable Servo amplifier Maintenance junction card (MR-J2CN3TM) Bus cable MR-J2HBUS#M CN3B...

  • Page 246: External Digital Display (Mr-Dp60)

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.5 External digital display (MR-DP60) When using the MR-DP60, set " 0 2" in parameter No. 16. (1) Specifications Item Specifications Display Red seven-segment LED, signed, six digits Power supply Permissible voltage fluctuation Single phase, 85 to 253VAC, 50/60Hz Current consumption Within 200mA Communication...
  • Page 247 Front mounting Inside mounting Square hole Square hole 2-φ5 (0.20) 2-φ5 (0.20) 141(5.55) 95(3.74) 150(5.91) 150(5.91) (5) Outline dimension drawing [Unit: mm (in)] MITSUBISHI MR-DP60 150(5.91) 2-φ4.5 (0.18) mounting hole (0.30) (0.30) 165(6.50) 2-φ6.5 (0.26), depth 1 (0.04) 14 - 18...

  • Page 248: Manual Pulse Generator (Mr-Hdp01)

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.6 Manual pulse generator (MR-HDP01) (1) Specifications Item Specifications Voltage 4.5 to 13.2VDC Power supply Current consumption 60mA max. Interface Output current max. 20mA for open collector output Pulse signal form 2 A-phase and B-phase signals with 90°phase difference Pulse resolution 100p / rev Max.

  • Page 249: Battery (Mr-Bat, A6Bat)

    14. OPTIONS AND AUXILIARY EQUIPMENT (4) Mounting [Unit: mm(in)] Panel cutting 3-φ4.8(0.189) equally divided (5) Outline dimension drawing [Unit: mm(in)] 3.6(0.142) 3-M4 stud L10 Packing t2.0 P.C.D.72 equally divided 5V to 12V 0V M3×6 may only be used. 8.89 7.6(0.299) 27.0 (0.35) (0.63)(0.787) (1.063)

  • Page 250: Auxiliary Equipment

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2 Auxiliary Equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C- UL Standard, use the products which conform to the corresponding standard. 14.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring.
  • Page 251 14. OPTIONS AND AUXILIARY EQUIPMENT Note: For the crimping terminals and applicable tools, see the following table: Table 14.2 Recommended Crimping Terminals Servo Amplifier Side Crimping Terminals (AMP) Symbol Crimping terminal Applicable tool 32959 47387 32968 59239 (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 14.3 Wires for Standard Encoder Cables Core Insulation...

  • Page 252: No-Fuse Breakers, Fuses, Magnetic Contactors

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.2 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. Fuse Servo Amplifier No-Fuse Breaker...

  • Page 253: Surge Absorbers

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.5 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. Maximum Rating Maximum Static Capacity Varistor Voltage Permissible circuit Surge Energy Rated...
  • Page 254 14. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
  • Page 255 14. OPTIONS AND AUXILIARY EQUIPMENT Noise Transmission Route Suppression Techniques 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 256 14. 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. Relay Surge suppressor Surge suppressor Surge suppressor This distance should be short...
  • Page 257 14. OPTIONS AND AUXILIARY EQUIPMENT •Outline drawing [Unit: mm] ([Unit: in.]) Earth plate Clamp section diagram 2-φ5(0.20) hole 17.5(0.69) installation hole L or less 10(0.39) 22(0.87) (Note)M4 screw 35(1.38) (0.24) Note: Screw hole for grounding. Connect it to the earth plate of the control box. Type Accessory Fittings Clamp Fitting...
  • Page 258 14. 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 259: Leakage Current Breaker

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.7 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 260 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: 5m(196.85inch) 5m(196.85inch) Servo amplifier HA-FF63 MR-J2-60C Use a leakage current breaker generally available. Find the terms of Equation (14.2) from the diagram: Ig1 20 0.1 [mA] 1000...

  • Page 261: Emc Filter

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.8 EMC filter For compliance with the EMC Directive of the EN Standard, it is recommended to use the following filter: (1) Combination with the servo amplifier Recommended Filter Servo Amplifier Weight [kg] (Note) Type Leakage current [mA] MR-J2-10C to MR-J2-100C SF1252...

  • Page 262: Setting Potentiometers For Analog Inputs

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.9 Setting potentiometers for analog inputs The following variable resistors are available for use with analog inputs for override and analog torque limit. (1) Single-revolution type WA2WYA2SEBK2K Ω (Japan Resistor make) Resistance Dielectric Strength Insulation Mechanical Rated Power Resistance Rotary Torque...
  • Page 263 14. OPTIONS AND AUXILIARY EQUIPMENT MEMO 14 - 34...
  • Page 264 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Jul.,1998 SH(NA)3179-A First edition Dec.,1998 SH(NA)3179-B Correction of missing pages in Chapters 9 and 13 Mar.,2000 SH(NA)3179-C (1) and (8) added to Instructions for Conformance in CONFORMANCE WITH EUROPEAN COMMUNITY DIRECTIVES (1) and (5) added to UL/C-UL STANDARD (3) changed to short circuit rating...

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