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Mitsubishi Electric MR-J2-03B5 Instruction Manual

General-purpose ac servo, sscnet compatible, melservo-j2/jr series, servo amplifier
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General-Purpose AC Servo
SSCNET Compatible
MODEL
MR-J2-03B5
SERVO AMPLIFIER
INSTRUCTION MANUAL
J2-Jr
Series
B

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Summary of Contents for Mitsubishi Electric MR-J2-03B5

  • Page 1 General-Purpose AC Servo J2-Jr Series SSCNET Compatible MODEL MR-J2-03B5 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. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work.
  • Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder.
  • Page 5 CAUTION Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.
  • Page 6 (4) Usage CAUTION Provide a forced stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.
  • 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. (7) General instruction To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards.
  • 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 (3) Power supply Use a 24VDC power supply which has been insulation-reinforced in I/O. (4) Grounding To prevent an electric shock, always connect the protective earth terminal (E) to the servo amplifier and always connect it to the earth (E) of the control box. (5) Auxiliary equipment and options (a) The circuit protector used should be the EN or IEC standard-compliant products of the models described in Section 11.2.2.
  • Page 10 <<About the manuals>> This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General-Purpose AC servo MR-J2-03B5 for the first time. Always purchase them and use the MR- J2-03B5 safely. Also read the manual of the servo system controller.
  • Page 11 MEMO A - 10...

  • Page 12: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 6 1.1 Introduction.............................. 1- 1 1.2 Servo amplifier standard specifications ....................1- 2 1.3 Function list ............................. 1- 2 1.4 Model code definition ..........................1- 3 1.5 Combination with servo motor....................... 1- 3 1.6 Parts identification..........................
  • Page 13 5. PARAMETERS 5- 1 to 5- 8 5.1 Parameter write inhibit .......................... 5- 1 5.2 Lists................................5- 1 6. ADJUSTMENT 6- 1 to 6-10 6.1 What is gain adjustment? ........................6- 1 6.1.1 Difference between servo amplifier and other drives ..............6- 1 6.1.2 Basics of the servo system .......................
  • Page 14 11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-20 11.1 Options..............................11- 1 11.1.1 Cables and connectors........................11- 1 11.1.2 Servo configurations software ....................11-12 11.2 Auxiliary equipment .......................... 11-13 11.2.1 Recommended wires ........................11-13 11.2.2 Circuit protector........................... 11-15 11.2.3 Relays............................11-15 11.2.4 Noise reduction techniques......................
  • Page 15 MEMO...

  • Page 16: Functions And Configuration

    As the standard models comply with the EN Standard UL/C-UL Standard, they can be used satisfactorily in various countries. The MR-J2-03B5 servo amplifier can be easily installed to a control box with a DIN rail. The power supply/electromagnetic brake and encoder of the servo motor can be wired easily with a single cable.

  • Page 17: Servo Amplifier Standard Specifications

    1. FUNCTIONS AND CONFIGURATION 1.2 Servo amplifier standard specifications Servo amplifier MR-J2-03B5 Item Voltage 21.6 to 30VDC (instantaneous permissible voltage 34V) Circuit HC-AQ0135D Continuous 0.8A, max. 2.4A power Power supply supply HC-AQ0235D Continuous 1.6A, max. 4.8A capacity HC-AQ0335D Continuous 2.4A, max. 7.2A...

  • Page 18: Model Code Definition

    POWER : INPUT DC24V Applicable power supply OUTPUT: Rated output current SERIAL : AAAAG52 Serial number PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN (2) Model MR-J2 - 03 Series name Rating plate 24VDC power supply specification SSCNET Compatible Rated output 30[W] 1.5 Combination with servo motor...

  • Page 19: Parts Identification

    1. FUNCTIONS AND CONFIGURATION 1.6 Parts identification Name/Application Reference Display The two-digit, seven-segment LED shows the servo Section 4.3 status and alarm number. Axis select switch (CS1) Used to set the axis number of the servo amplifier. Section 3.9 Bus cable connector (CN1A) Used to connect the servo system controller or Section 3.2 preceding axis servo amplifier.

  • Page 20: Servo System With Auxiliary Equipment

    1. FUNCTIONS AND CONFIGURATION 1.7 Servo system with auxiliary equipment To prevent an electric shock, fit the supplied earth terminal (E) to the servo WARNING amplifier (refer to (2), Section 3.7) and always connect it to the earth (E) of the control box.
  • Page 21 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 6...

  • Page 22: Installation

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

  • Page 23: Installation Direction And Clearances

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

  • Page 24: Keep Out Foreign Materials

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

  • Page 25: Cable Stress

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

  • Page 26: Using The Din Rail For Installation

    2. INSTALLATION 2.5 Using the DIN rail for installation (1) Fitting into the DIN rail Put the upper catch on the DIN rail and push the unit until it clicks. Wall Wall Upper catch DIN rail DIN rail (2) Removal from DIN rail 1) Pull down the hook.
  • Page 27 2. INSTALLATION MEMO 2 - 6...

  • Page 28: 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. Otherwise, you may get an electric shock. Ground the servo amplifier and the servo motor securely.

  • Page 29: Connection Example Of Control Signal System

    Do not apply the test lead bars or like of a tester directly to the pins of the connectors supplied with the servo motor. Doing so will deform the pins, causing poor contact. Servo amplifier 24VDC power MR-J2-03B5 Circuit supply protector CNP1...
  • Page 30 7. Up to eight axes (n 1 to 8) may be connected. The MR-J2S- B MR-J2-03B5 servo amplifier may be connected on the same bus. 8. Always insert the termination connector (MR-A-TM) into CN1B of the servo amplifier located at the termination.

  • Page 31: I/O Signals

    3. SIGNALS AND WIRING 3.2 I/O signals 3.2.1 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. CN1A CN1B MITSUBISHI EMG* EMG* MELSERVO CNP1 CNP2 CNP1 CNP2 P24M CNP3 The connector frames are P24G connected with the E (earth)

  • Page 32: Signal Explanations

    3. SIGNALS AND WIRING 3.2.2 Signal explanations For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.4.2. (1) Connector applications Connector Name Function/Application Used for connection with the controller or preceding-axis CN1A Connector for bus cable from preceding axis. servo amplifier.

  • Page 33: Alarm Occurrence Timing Chart

    3. SIGNALS AND WIRING 3.3 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation CAUTION signal 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 34: Interfaces

    3. SIGNALS AND WIRING 3.4 Interfaces 3.4.1 Common line The following diagram shows the power supply and its common line. To conform to the EMC directive, refer to the EMC Installation Guide lines (IB(NA)67310). Servo amplifier CNP1 24VDC P24G P24L <Isolated>...

  • Page 35: Detailed Description Of The Interfaces

    3. SIGNALS AND WIRING 3.4.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.2.2. Refer to this section and connect the interfaces with the external equipment. Digital input interface DI-1 Give a signal with a relay or open collector transistor.

  • Page 36: Input Power Supply Circuit

    3. SIGNALS AND WIRING 3.5 Input power supply circuit When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. CAUTION Switch power off at detection of an alarm. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

  • Page 37: Explanation Of Signals

    3. SIGNALS AND WIRING 3.5.2 Explanation of signals Abbreviation Signal Name Description P24M Main circuit power input Power supply for main circuit. Main circuit power supply and control circuit power supply ground. Connected P24G Power ground to SG and LG inside the unit. Control circuit power supply and digital I/O power supply.
  • Page 38 3. SIGNALS AND WIRING (3) Forced stop Install an forced stop circuit externally to ensure that operation can be stopped and CAUTION power shut off immediately. If the controller does not have an emergency stop function, make up a circuit which shuts off main circuit power as soon as EM1-P24G are opened at a forced stop.

  • Page 39: Servo Motor With Electromagnetic Brake

    3. SIGNALS AND WIRING 3.6 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 forced stop (EM1). Circuit must be opened during forced stop (EM1).
  • Page 40 3. SIGNALS AND WIRING (3) Operation timings (a) Servo-on command (from controller) ON/OFF Tb [ms](parameter No.21) after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.
  • Page 41 3. SIGNALS AND WIRING (c) Alarm occurrence POINT When the overcurrent alarm (32) occurs, the dynamic brake is not operated. Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed Electromagnetic brake (10ms) Base circuit Invalid (ON) Electromagnetic brake Electromagnetic operation delay time brake (CNP2-9) Valid (OFF) No (ON)

  • Page 42: Grounding

    3. SIGNALS AND WIRING 3.7 Grounding Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the earth terminal (E) of the servo WARNING amplifier to earth (E) of the control box (refer to (2) of this section for the fitting method of the earth terminal).
  • Page 43 3. SIGNALS AND WIRING (2) Fitting of earth (E) terminal (AERSBAN-JR) As shown below, fit the earth (E) terminal to the bottom or top of the servo amplifier. Positioning boss Earth (E) terminal AERSBAN-JR M4 screw 3 - 16...

  • Page 44: Instructions For The 3M Connector

    3. SIGNALS AND WIRING 3.8 Instructions for the 3M connector When fabricating a cable with the 3M connector, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core...

  • Page 45: Control Axis Selection

    3. SIGNALS AND WIRING 3.9 Control axis selection Use the axis select switch (CS1) to set the control axis number for the servo. The control axis number set to CS1 should be the same as the one set to the servo system controller. If the same numbers are set to different control axes in a single communication system, the system will not operate properly.

  • Page 46: Operation And Display

    4. OPERATION AND DISPLAY 4. OPERATION AND DISPLAY 4.1 When switching power on for the first time Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (P24M, P24G, P24L) of the servo amplifier.

  • Page 47: Start Up

    4. OPERATION AND DISPLAY 4.2 Start up Do not operate the switches with wet hands. You may get an electric shock. Do not operate the controller with the front cover removed. High-voltage terminals WARNING and charging area exposed and you may get an electric shock. During power-on or operation, do not open the front cover.
  • Page 48 4. OPERATION AND DISPLAY (5) Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. When the servo motor is equipped with an electromagnetic brake, refer to Section 3.6. Operation/command Stopping condition Servo off command...

  • Page 49: Servo Amplifier Display

    4. OPERATION AND DISPLAY 4.3 Servo amplifier display On the servo amplifier display (2-digit, 7-segment display), check the status of communication with the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm.
  • Page 50 4. OPERATION AND DISPLAY (2) Indication list Indication Status Description The servo amplifier was switched on when power to the servo system Initializing controller is off. Power to the servo system controller was switched off during power-on of the servo amplifier. The axis No.

  • Page 51: Test Operation Mode

    4. OPERATION AND DISPLAY 4.4 Test operation mode The test operation mode is designed for servo operation confirmation and not for machine operation confirmation. Do not use this mode with the machine. Always CAUTION use the servo motor alone. If an operation fault occurred, use the forced stop (EM1) to make a stop. By using a personal computer and the servo configuration software (MRZJW3-SETUP81E), you can execute jog operation, positioning operation, motor-less operation and DO forced output without connecting the motion controller.
  • Page 52 4. OPERATION AND DISPLAY (c) Program operation Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not.
  • Page 53 4. OPERATION AND DISPLAY (2) Configuration Configuration should be as in Section 3.1. Always install a forced stop switch to enable a stop at occurrence of an alarm. (3) Operation procedure (a) Jog operation, positioning operation, program operation. 1) Switch power off. 2) Set CS1 to “F”.

  • Page 54: Parameter Write Inhibit

    5. PARAMETERS 5. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. POINT When the servo amplifier is connected with the servo system controller, the parameters are set to the values of the servo system controller. Switching power off, then on makes the values set on the servo configuration software invalid and the servo system controller values valid.
  • Page 55 5. PARAMETERS (1) Item list (Note1) Classifi- Customer Symbol Name Initial Unit cation setting Value 0000 For manufacturer setting 0000 0080 For manufacturer setting by servo system controller 0000 Automatically set from the servo system controller *POL Rotation direction selection Auto tuning 0001 Servo response...
  • Page 56 5. PARAMETERS (2) Details list Classifi- Initial Setting Symbol Name and Function Unit cation Value Range For manufacturer setting 0000 Don't change this value by any means. 0000 0080 0000 For automatic setting by servo system controller Automatically set from the servo system controller *POL Rotation direction selection Used to select the rotation direction of the servo motor.
  • Page 57 5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range Servo response 0004 0001h Used to select response of auto tuning. 000Ch Response selection Optimum response can be selected according to the rigidity of the machine. As machine rigidity is higher, faster response can be set to improve tracking performance in response to a command and to reduce settling time.
  • Page 58 5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range Speed loop gain 1 rad/s Normally this parameter setting need not be changed. Higher setting increases the response level but is liable to generate vibration and/or 5000 noise.
  • Page 59 5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range In-position range pulse Used to set the droop pulse range in which the in-position signal (INP) will be output to the controller. 10000 Electromagnetic brake sequence output Used to set a time delay between electromagnetic brake operation and base drive circuit shut-off.
  • Page 60 5. PARAMETERS Classifi- Initial Setting Symbol Name and Function Unit cation Value Range For manufacturer setting Don't change this value by any means. 0001 Zero speed r/min Used to set the output range of the zero speed signal (ZSP). 10000 Error excessive alarm level k pulse Used to set the output range of the error excessive alarm.
  • Page 61 5. PARAMETERS MEMO 5 - 8...

  • Page 62: What Is Gain Adjustment?

    6. ADJUSTMENT 6. ADJUSTMENT 6.1 What is gain adjustment? 6.1.1 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 63: Basics Of The Servo System

    6. ADJUSTMENT 6.1.2 Basics of the servo system Servo motor Command pulse train Current Power Deviation Position Speed control control Motor counter control control section section section section Current loop Speed loop Encoder Position loop A general servo system configuration is shown above. The servo control system consists of three loops: current loop, speed loop and position loop.

  • Page 64: Gain Adjustment

    6. ADJUSTMENT 6.2 Gain adjustment 6.2.1 Parameters required for gain adjustment Parameter No. Symbol Name Auto tuning Servo response Ratio of load inertia moment to servo motor inertia moment (load inertia moment) Position loop gain 1 Speed loop gain 1 Position loop gain 2 Speed loop gain 2 Speed integral compensation...

  • Page 65: What Is Auto Tuning?

    6. ADJUSTMENT 6.2.3 What is auto tuning? The load inertia moment is estimated from the angular speed ( ) and torque (T) in accordance with the equation of motion (6.1) 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.

  • Page 66: Gain Adjustment By Auto Tuning

    6. ADJUSTMENT 6.3 Gain adjustment by auto tuning 6.3.1 Adjustment method In the factory setting of the servo amplifier, auto tuning selection is valid (parameter No. 8: 0001) and the response selection is "4" (parameter No. 9: 0004). The initial settings provide sufficient tuning for general machines. Higher-level tuning can be provided by adjusting the response selection (parameter No.

  • Page 67: Manual Gain Adjustment

    6. ADJUSTMENT 6.4 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 68: When The Machine Vibrates Due To Machine Resonance Frequency

    6. ADJUSTMENT 6.4.2 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 69: Load Inertia Moment Is 20 Or More Times

    6. ADJUSTMENT 6.4.3 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 70: When Shortening The Settling Time

    6. ADJUSTMENT 6.4.4 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) Select the response setting of slow response. Set parameter No. 8 to "0001" and parameter No. 9 to "0003" or less. 2) Alternate a start and a stop several times, execute auto tuning, and check whether the machine does not vibrate.

  • Page 71: When The Same Gain Is Used For Two Or More Axes

    6. ADJUSTMENT 6.4.5 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 6.4.1 to 6.4.4.
  • Page 72 7. INSPECTION 7. INSPECTION Before starting maintenance/inspection, switch power off, and after more than 10 minutes have elapsed, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. WARNING Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock.
  • Page 73 7. INSPECTION MEMO 7 - 2...

  • Page 74: Alarms And Warning List

    8. TROUBLESHOOTING 8. TROUBLESHOOTING 8.1 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 8.2 or 8.3 and take the appropriate action. After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column.

  • Page 75: Remedies For Alarms

    8. TROUBLESHOOTING 8.2 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 15 minutes for cooling before resuming operation.

  • Page 76: Troubleshooting

    8. TROUBLESHOOTING Display Name Definition Cause Action Memory error 2 EEP-ROM fault 1. Faulty parts in the servo amplifier Change the servo amplifier. Checking method Alarm (15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
  • Page 77 8. TROUBLESHOOTING Display Name Definition Cause Action Overcurrent Current that flew is 1. Short occurred in servo amplifier Correct the wiring. higher than the output phases U, V and W. permissible current 2. Transistor of the servo amplifier Change the servo amplifier. of the servo faulty.
  • Page 78 8. TROUBLESHOOTING Display Name Definition Cause Action Overload 1 Load exceeded 1. Servo amplifier is used in excess 1. Reduce load. overload protection of its continuous output current. 2. Review operation pattern. characteristic of 3. Use servo motor that provides larger servo amplifier.
  • Page 79 8. TROUBLESHOOTING Display Name Definition Cause Action Error excessive Droop pulse value of 1. Acceleration/deceleration time Increase the acceleration/deceleration the deviation constant is too small. time constant. counter exceeded 2. Torque limit value is too small. Increase the torque limit value. the parameter 3.

  • Page 80: Remedies For Warnings

    8. TROUBLESHOOTING 8.3 Remedies for warnings If E6, E7 or E9 occurs, the servo off status is established. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Eliminate the cause of the warning according to this section.
  • Page 81 8. TROUBLESHOOTING MEMO 8 - 8...

  • Page 82: Servo Amplifiers

    (0.197) 13 (0.512) 12 (0.472) (0.197) (0.906) (0.551)(0.709) Servo Amplifier Weight Model [kg] ([lb]) MR-J2-03B5 0.2 (0.44) (Note) CNP1 CNP2 CNP3 P24M P24G P24L Note: One connector (5557-08R) and 10 terminals (5556) for CNP1 wiring are included in the package.

  • Page 83: Connectors

    9. OUTLINE DIMENSION DRAWINGS 9.2 Connectors (1) Servo amplifier side <3M> (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 84: Outline Dimension Drawings

    9. OUTLINE DIMENSION DRAWINGS (2) Connectors for CNP1/CNP2/CNP3 <molex> Connector [Unit: mm] 0.6 (0.024) ([Unit: in]) R0.3 Circuit number 3 (0.118) Layout diagrams classified by the number of poles (0.047) 5.4 (0.213) 11.6 5.4 (0.213) (0.457) 4 poles 8 poles 12 poles (0.059) Variable Dimensions...
  • Page 85 9. OUTLINE DIMENSION DRAWINGS (3) Bus cable connector (a) Honda Tsushin Industry PCR type PCR-LS20LA1 PCR-LS20LA1W [Unit: mm] (Unit: in) 10.4 13.0 (0.512) (0.409) 14.2 (0.559) 12.2 23.0 (0.906) (0.48) (0.039) (0.039) 27.4 (1.079) 27.4 (1.079) (0.039) (0.039) 12.2 32.0 (0.906) 32.0 (0.906) (0.075) (0.48)
  • Page 86 9. OUTLINE DIMENSION DRAWINGS (b) Honda Tsushin Industry HDR type Model HDR Number of Pins Connector Connector case (Note) Crimping terminal HDR-E14MG1 HDR-E14LPA5 Wire straightening tool : FHAT-0029 HDR-E26MG1 HDR-E26LPA5 Insulation displacement tool : FHPT-0004C Note: Not available from us and to be supplied by the customer. Model Connector : HDR-E14MG1 Model Connector...
  • Page 87 9. OUTLINE DIMENSION DRAWINGS MEMO 9 - 6...

  • Page 88: Overload Protection Characteristics

    10. CHARACTERISTICS 10. CHARACTERISTICS 10.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 10.1, Overload 2 alarm (51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc.

  • Page 89: Dynamic Brake Characteristics

    10. CHARACTERISTICS 10.2 Dynamic brake characteristics Fig. 10.2 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 10.1 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds.

  • Page 90: Motor Cable Flexing Life

    If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. Servo amplifier Load inertia moment ratio [times] MR-J2-03B5 10.3 Motor cable flexing life The flexing life of the MR-JRCBL M-H cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.
  • Page 91 10. CHARACTERISTICS MEMO 10 - 4...

  • Page 92: Options

    Note. The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected. Refer to the following table and choose the bus cable. MR-J2S- MR-J2-03B5 QD75M 2) Bus cable :MR-J2HBUS 4) Connector set:MR-J2CN1...
  • Page 93 11. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Bus cable MR-J2HBUS M-A Connector: PCR-S20F Connector: 1020-6000EL Refer to (4) in this Case: PCR-LS20LA1 Shell kit: 10320-3210-000 section. (Honda Tsushin) (3M or equivalent) Bus cable MR-J2HBUS M Connector: 10120-6000EL Connector: 10120-6000EL Refer to (4) in this Shell kit: 10320-3210-000 Shell kit: 10320-3210-000...
  • Page 94 11. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 10) Communication Refer to (3) in this Connector: 5557-04R-210 Connector: DE-25PF-N cable section. Terminal: 5556 Case: DB-C2-J9 connection with PC-98 (molex) (Japan Aviation Electronics) personal computer 11) Communication Refer to (3) in this Connector: 5557-04R-210 Connector: DE-9SF-N cable...
  • Page 95 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Motor cable If you have fabricated the encoder cable, connect it correctly. Otherwise, misoperation or explosion may occur. CAUTION Use the MR-JRBRCBL M-H when using the servo motor provided with electromagnetic brake. POINT The encoder cable is not oil resistant. Refer to Section 10.3 for the flexing life of the encoder cable.
  • Page 96 11. OPTIONS AND AUXILIARY EQUIPMENT 3) Connection diagram When fabricating the cable, use the recommended wire (J14B1180) given in Section 11.2.1 and follow the connection diagram shown below. A cable of up to 30m(98.4ft) may be fabricated for this connection. Servo amplifier side Servo motor side Connector: 5557-12R-210...
  • Page 97 11. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JRBRCBL Use this cable when using the servo motor provided with electromagnetic brake. 1) Model explanation Model: MR-JRBRCBL M-H Long flexing life Symbol Cable Length [m]([ft]) 2(6.5) 5(16.4) 10(32.8) 20(65.6) 30(98.4) 2) Outline drawing [Unit: mm] ([Unit: inch]) 200 (7.87)
  • Page 98 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable. Select the communication cable according to the shape of the RS-232C connector of the personal computer used.
  • Page 99 11. OPTIONS AND AUXILIARY EQUIPMENT (4) Bus cable When fabricating the bus cable, do not make incorrect connection. Doing so can CAUTION cause misoperation or explosion. When fabricating this cable, use the recommended cable given in Section 11.2.1 and fabricate it in accordance with the connection diagram shown in this section.
  • Page 100 11. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J2HBUS M 1) Model definition Model:MR-J2HBUS Symbol Cable Length [m(ft)] 0.5 (1.64) 1 (3.28) 5 (16.4) 2) Connection diagram MR-J2HBUS 10120-6000EL(Connector) 10120-6000EL(Connector) 10320-3210-000(Shell kit) 10320-3210-000(Shell kit) EMG* Plate Plate 11 - 9...
  • Page 101 11. OPTIONS AND AUXILIARY EQUIPMENT (c) Q172J2BCBL M 1) Model definition Model:Q172J2BCBL Symbol Cable Length [m(ft)] 0.5 (1.64) 1 (3.28) 5 (16.4) 2) Connection diagram Q172J2BCBL HDR-E14MG1(Connector) 10120-6000EL(Connector) HDR-E14-LPA5(Connector case) 10320-3210-000(Shell kit) TD1* EMG* EMG* Shell Plate (d) Q173J2B CBL M 1) Model definition Model:Q173J2B Symbol...
  • Page 102 11. OPTIONS AND AUXILIARY EQUIPMENT 2) Connection diagram Q173J2B When HDR-E26MG1(Connector) 10120-6000EL(Connector) HDR-E26-LPA5(Connector case) 10320-3210-000(Connector case) SSCNET1 Line TD1* RD1* = No EMG12 EMG* EMG12* Plate SSCNET2 Line TD2* RD2* EMG* Plate SSCNET3 Line TD3* RD3* EMG34 EMG34* EMG* Plate SSCNET4 Line TD4* RD4*...

  • Page 103: Servo Configurations Software

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.2 Servo configurations software The servo configuration software (MRZJW3-SETUP81E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications Item Description Communication signal Conforms to RS-232C.

  • Page 104: Auxiliary Equipment

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.2 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. 11.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring.
  • Page 105 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 11.1 Wires for option cables Characteristics of one core Core Number (Note 3) Length Conductor Insulation coating Type Model...

  • Page 106: Circuit Protector

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.2.2 Circuit protector Servo amplifier Circuit protector MR-J2-03B5 (Note) CP-30BA 1P 1-M5A Note: Use the operation characteristic of "mid-speed type". 11.2.3 Relays The following relays should be used with the interfaces: Interface Selection example Relay used for open and close of digital input command...
  • Page 107 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required.
  • Page 108 11. 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 109 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Cable clamp fitting (AERSBAN -SET) Generally, the earth of the shielded cable may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an earth plate as shown below.

  • Page 110: Snubber Unit

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.2.5 Snubber unit This section provides the recommended snubber circuit unit which is installed to the forced stop contact for servo motor with electromagnetic brake. Refer to Section 3.6 (1) for the connection method. Spark quencher for control equipment Model: SQ13150BF (Nisshin Seigyo Kiko) Operating Voltage Electrostatic Capacitance...
  • Page 111 11. OPTIONS AND AUXILIARY EQUIPMENT MEMO 11 - 20...
  • Page 112 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Nov.,2000 SH(NA)030005-A First edition May.,2003 SH(NA)030005-B SAFETY INSTRUCTIONS 3: Partial text addition SAFETY INSTRUCTIONS 4 (1): Partial text addition, Note addition SAFETY INSTRUCTIONS (7): Change Addition of About processing of waste...
  • Page 113 MODEL MODEL CODE HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030005-B (0305) MEE Printed in Japan Specifications subject to change without notice.

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