Page 1 General-Purpose AC Servo J2-Super Series Program Compatible MODEL MR-J2S- CL 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 Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. 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 Wire the equipment correctly and securely.
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. 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 When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.
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 servo amplifiers and servo motors which comply with the standard model. Servo amplifier series :MR-J2S-10CL to MR-J2S-700CL MR-J2S-10CL1 to MR-J2S-40CL1 Servo motor series :HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS HA-LFS HC-LFS...
Page 11 MEMO A - 10...
Page 12: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-24 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 Servo amplifier standard specifications ....................1- 9 1.3 Function list ............................1-11 1.4 Model code definition ..........................
Page 13 3.9 Servo motor with electromagnetic brake ..................... 3-31 3.10 Grounding ............................. 3-34 3.11 Servo amplifier terminal block (TE2) wiring method ............... 3-35 3.12 Instructions for the 3M connector....................... 3-36 4. OPERATION 4- 1 to 4-50 4.1 When switching power on for the first time..................4- 1 4.1.1 Pre-operation checks ........................
Page 14 5.2.6 Alarm history clear.......................... 5-25 5.2.7 Software limit........................... 5-25 6. SERVO CONFIGURATION SOFTWARE 6- 1 to 6-24 6.1 Specifications ............................6- 1 6.2 System configuration..........................6- 1 6.3 Station setting............................6- 3 6.4 Parameters ............................... 6- 4 6.5 Simple Program ............................6- 6 6.5.1 Program data.............................
Page 15 8. GENERAL GAIN ADJUSTMENT 8- 1 to 8-12 8.1 Different adjustment methods ....................... 8- 1 8.1.1 Adjustment on a single servo amplifier..................8- 1 8.1.2 Adjustment using servo configuration software................8- 2 8.2 Auto tuning .............................. 8- 3 8.2.1 Auto tuning mode ..........................8- 3 8.2.2 Auto tuning mode operation ......................
Page 16 13. CHARACTERISTICS 13- 1 to 13- 8 13.1 Overload protection characteristics ....................13- 1 13.2 Power supply equipment capacity and generated loss ..............13- 2 13.3 Dynamic brake characteristics......................13- 4 13.4 Encoder cable flexing life ........................13- 6 13.5 Inrush Currents at Power-On of Main Circuit and Control Circuit ..........13- 7 14.
Page 17 15.11 Command and data No. list......................15-11 15.11.1 Read commands ......................... 15-11 15.11.2 Write commands ........................15-14 15.12 Detailed explanations of commands....................15-16 15.12.1 Data processing.......................... 15-16 15.12.2 Status display ..........................15-18 15.12.3 Parameter........................... 15-19 15.12.4 External I/O signal statuses..................... 15-21 15.12.5 Device ON/OFF..........................
Page 18: 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.
Page 19 MEMO...
Page 20 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The MR-J2S-CL program-compatible AC servo amplifier is based on the MR-J2S-CP AC servo amplifier with built-in positioning functions and incorporates program-driven, single-axis positioning functions. These functions perform positioning operation by creating the position data (target positions), servo motor speeds, acceleration and deceleration time constants, etc.
Page 21: Function Block Diagram
1. FUNCTIONS AND CONFIGURATION 1.1.1 Function block diagram The function block diagram of this servo is shown below. Regenerative brake option (Note3) Servo amplifier Servo motor (Note1) (Note2) Power supply Regenerative Current 3-phase brake detector transistor 200 to CHARGE 230VAC, lamp 1-phase Dynamic...
Page 22: System Configuration
1. FUNCTIONS AND CONFIGURATION 1.1.2 System configuration This section describes operations using this servo. 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 Servo configuration Software (refer to Chapter 6) and personal computer are required to change or assign devices.
Page 23 1. FUNCTIONS AND CONFIGURATION (2) Operation using external input signals and communication (a) Description Communication can be used to Selection of the program, change parameter values, and confirm monitor data, for example. Enter a forward rotation start (ST1) or reverse rotation start (ST2) through the external I/O.
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 Servo configuration signals Software Servo amplifier (axis 1) CN1A CN1B RS–232C RS–422...
Page 25 1. FUNCTIONS AND CONFIGURATION (3) Operation using communication (a) Description Analog input, forced stop (EMG) and other signals are controlled by external I/O signals and the other devices controlled through communication. Also, you can set each program, selection of the program, and change or set parameter values, for example.
Page 26 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 Servo configuration signals Software Servo amplifier (axis 1) CN1A CN1B RS–232C RS–422...
Page 27: I/O Devices
1. FUNCTIONS AND CONFIGURATION 1.1.3 I/O devices This servo amplifier 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 3.3.2. Factory- Factory- Input device Symbol Output device Symbol...
Page 28: Servo Amplifier Standard Specifications
1. FUNCTIONS AND CONFIGURATION 1.2 Servo amplifier standard specifications Servo amplifier MR-J2S- 10CL 20CL 40CL 60CL 70CL 100CL 200CL 350CL 500CL 700CL 10CL1 20CL1 40CL1 Item 3-phase 200 to 230VAC, 50/60Hz 1-phase 100 to Voltage/frequency 3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC, 50/60Hz 120VAC 50/60Hz 3-phase 200 to 230VAC:...
Page 29 1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J2S- 10CL 20CL 40CL 60CL 70CL 100CL 200CL 350CL 500CL 700CL 10CL1 20CL1 40CL1 Item Position where servo-on (SON) is switched on is defined as home position. Home position Home position address may be set. ignorance (Servo-on position as home position)
Page 30: Function List
1. FUNCTIONS AND CONFIGURATION 1.3 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Description Reference Operation is performed in accordance with the contents of any program selected from among pre-created 16 programs. Positioning by program operation Section 4.2 Use the external input signal or communication function to choose...
Page 31: Model Code Definition
600W POWER INPUT 3.2A 3PH 1PH200-230V 50Hz Applicable power supply 3PH 1PH200-230V 60Hz 5.5A 1PH 230V 50/60Hz OUTPUT : 170V 0-360Hz 3.6A Rated output current SERIAL : Serial number AAAAG52 PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN 1 - 12...
Page 32: Combination With Servo Motor
1. FUNCTIONS AND CONFIGURATION (2) Model MR–J2S– MR–J2S–100CL or less MR–J2S–200CL 350CL Series Power Supply Symbol Power supply 3-phase 200 to 230VAC None (Note2) 1-phase 230VAC (Note1) 1-phase 100V to 120VAC Rating plate Rating plate Note:1. Not supplied to the servo amplifier of MR-J2S-60CL or more.
Page 33: Structure
1. FUNCTIONS AND CONFIGURATION 1.6 Structure 1.6.1 Part names (1) MR-J2S-100CL or less Name/Application Reference Battery holder Section4.5 Contains the battery for absolute position data backup. Battery connector (CON1) Section4.5 Used to connect the battery for absolute position data backup. Display Chapter7 The 5-digit, seven-segment LED shows the servo...
Page 34 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200CL MR-J2S-350CL POINT This servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.6.2. Name/Application Reference Battery holder Section4.5 Contains the battery for absolute position data backup. Battery connector (CON1) Section4.5 Used to connect the battery for absolute position data...
Page 35 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500CL POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.6.2. Name/Application Reference Battery connector (CON1) Used to connect the battery for absolute position data Section4.5 backup.
Page 36 1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700CL POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to next page. Name/Application Reference Battery connector (CON1) Used to connect the battery for absolute position data Section4.5 backup.
Page 37: Removal And Reinstallation Of The
1. FUNCTIONS AND CONFIGURATION 1.6.2 Removal and reinstallation of the front cover To avoid the risk of an electric shock, do not open the front cover while power is CAUTION (1) For MR-J2S-200CL or more Removal of the front cover Reinstallation of the front cover Front cover hook (2 places)
Page 38 1. FUNCTIONS AND CONFIGURATION (3) For MR-J2S-700CL Removal of the front cover Reinstallation of the front cover Front cover hook (2 places) Front cover socket (2 places) 1) Push the removing knob A) or B), and put you 1) Insert the two front cover hooks at the bottom into the finger into the front hole of the front cover.
Page 39: Servo System With Auxiliary Equipment
1. FUNCTIONS AND CONFIGURATION 1.7 Servo system with auxiliary equipment To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. (1) MR-J2S-100CL or less (a) For 3-phase 200V to 230VAC or 1-phase 230VAC (Note2) 3-phase 200V...
Page 40 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC 1-phase 100V to 120VAC Options and auxiliary equipment Reference Options and auxiliary equipment Reference power supply No-fuse breaker Section 14.2.2 Cables Section 14.2.1 Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8 Servo configuration software Chapter 6...
Page 41 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200CL MR-J2S-350CL Options and auxiliary equipment Options and auxiliary equipment Reference Reference 3-phase 200V No-fuse breaker Section 14.2.2 Cables Section 14.2.1 to 230VAC power supply Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8 Servo configuration software Chapter 6 External digital display Section 14.1.7...
Page 42 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500CL 3-phase 200V to 230VAC power supply Options and auxiliary equipment Reference Options and auxiliary equipment Reference No-fuse breaker Section 14.2.2 Cables Section 14.2.1 No-fuse Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8 breaker (NFB) or Servo configuration software Chapter 6...
Page 43 1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700CL Options and auxiliary equipment Reference Options and auxiliary equipment Reference No-fuse breaker Section 14.2.2 Cables Section 14.2.1 Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8 3-phase 200V Servo configuration software Chapter 6 External digital display Section 14.1.7 to 230VAC Regenerative brake option...
Page 44: 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...
Page 45: Installation Direction And Clearances
2. INSTALLATION 2.2 Installation direction and clearances Do not hold the front cover to transport the controller. The controller may drop. The equipment must be installed in the specified direction. Otherwise, a fault may CAUTION occur. Leave specified clearances between the servo amplifier and control box inside walls or other equipment.
Page 46: 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 47: 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 encoder cable or the power supply and brake wiring cables.
Page 48: 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, switch power off, then wait for more than 10 minutes, and after the charge lamp has gone off, make sure that the voltage is safe in the tester or like.
Page 49: Standard Connection Example
3. SIGNALS AND WIRING 3.1 Standard connection example Servo amplifier (Note 3, 7) (Note 3, 7) CN1A CN1A Proximity dog (Note 2, 4) Home position Servo-on return completion 10m (32.79ft.) or less (Note 3, 7) (Note 3, 7) CN1B CN1B Forward rotation stroke end (Note 5) Reverse rotation stroke end...
Page 50 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 51: Internal Connection Diagram Of Servo Amplifier
3. SIGNALS AND WIRING 3.2 Internal connection diagram of servo amplifier This section gives the internal connection diagram where the signal assignment is in the initial status. Servo amplifier CN1B 24VDC CN1A CN1A Approx. 4.7k Approx. 4.7k 10, 20 CN1B OUT1 CN1B Approx.
Page 52: I/O Signals
3. SIGNALS AND WIRING 3.3 I/O signals 3.3.1 Connectors and signal arrangements POINT The connector pin-outs shown above are viewed from the cable connector wiring section side. (1) Signal arrangement CN1A CN1B P15R OUT1 P15R Servo amplifier The connector frames are connected with the PE (earth) terminal inside the servo amplifier.
Page 53: Signal (Devices) Explanations
3. SIGNALS AND WIRING 3.3.2 Signal (devices) explanations (1) I/O devices POINT The devices not indicated in the Connector Pin No. field of the I/O devices can be assigned to the connector CN1A/CN1B using the Servo Configuration software. In the factory setting state, Forced stop (EMG) and Automatic/manual selection (MD0) are not assigned to the pins but are preset to turn on automatically.
Page 54 3. SIGNALS AND WIRING Devices Connector Device name Functions/Applications symbol pin No. Forward rotation CN1B-16 To start operation, turn LSP/LSN on. Turn it off to bring the motor to a sudden stroke end stop and make it servo-locked. Set " 1"...
Page 55 3. SIGNALS AND WIRING Devices Connector Device name Functions/Applications symbol pin No. Program No. selection 1 CN1B-5 Select the program number from among those combined by DI0, DI1, DI2 and DI3 to start operation on the leading edge of ST1 in the program operation mode. Input signal (Note) Program No.
Page 56 3. SIGNALS AND WIRING Devices Connector Device name Functions/Applications symbol pin No. Temporary Turn STP on during program operation to make a temporary stop. stop/Restart Turn it on again to make a restart. If any of Program inputs 1 to 3 (PI1 to PI3) is turned on during a temporary stop, it is ignored.
Page 57 3. SIGNALS AND WIRING (c) Output devices Devices Connector Device name Functions/Applications symbol pin No. Trouble CN1B-18 ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit. Without alarm occurring, ALM turns on within 1s after power-on. Ready CN1B-19 RD turns on when the servo is switched on and the servo amplifier is ready to operate.
Page 58 3. SIGNALS AND WIRING (2) Input signal For the input interfaces (symbols in I/O column in the table), refer to Section 3.6.2. Signal Connector Signal Functions/Applications symbol pin No. division Manual pulse CN1A-3 Used to connect the manual pulse generator (MR-HDP01). generator For details, refer to Section 14.1.8.
Page 59 3. SIGNALS AND WIRING (4) Communication POINT Refer to Chapter 15 for the communication function. Signal Connector Signal Functions/Applications symbol pin No. RS-422 I/F CN3-9 RS-422 and RS-232C functions cannot be used together. CN3-19 Choose either one in parameter No. 16. CN3-5 CN3-15 RS-422 termination...
Page 60: Detailed Description Of Signals (Devices)
3. SIGNALS AND WIRING 3.4 Detailed description of signals (devices) 3.4.1 Forward rotation start Reverse rotation start Temporary stop/Restart (1) A forward rotation start (ST1) or a reverse rotation start (ST2) should make the sequence which can be used after the main circuit has been established. These signals are invalid if it is switched on before the main circuit is established.
Page 61: Movement Complete
3. SIGNALS AND WIRING 3.4.2 Movement complete POINT If servo-on occurs after a stop made by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic operation, Movement complete (PED), turn on. To make a start again, confirm the program No. being specified, and turn on Forward rotation start (ST1).
Page 62: Override
3. SIGNALS AND WIRING 3.4.3 Override POINT When using the override (VC), 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 63: Torque Limit
3. SIGNALS AND WIRING 3.4.4 Torque limit POINT To use the torque limit, make the external torque limit selection (TL) and internal torque limit selection (TL2) available. The following table lists the signals and parameters related to the torque limit: Item Name Remarks...
Page 64 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 Servo Configuration Software (refer to Chapter 6). These input signals may be used to choose the torque limit values made valid.
Page 65: 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 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 66: Interfaces
3. SIGNALS AND WIRING 3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line. CN1A CN1A CN1B CN1B 24VDC ALM,etc DO-1 SON,etc. Dl-1 Manual pulse generator MR-HDP01 PP(NP) A(B) <Isolated> 15VDC 10% 30mA P15R LA,etc Differential line driver LAR,etc...
Page 67: Detailed Description Of The Interfaces
3. SIGNALS AND WIRING 3.6.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.3.2. Refer to this section and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.
Page 68 3. SIGNALS AND WIRING (b) Lamp load For use of internal power supply For use of external power supply Servo amplifier Servo amplifier 24VDC Do not connect VDD-COM. 24VDC 24VDC ALM, etc. ALM, etc. (3) Encoder pulse output DO-2 (a) Open collector system Interface Max.
Page 69 3. SIGNALS AND WIRING (4) Analog input Input impedance 10 to 12k Servo amplifier 15VDC P15R Upper limit setting 2k VC‚ etc Approx. (5) Analog output Output voltage 10V Max.1mA Max. output current Resolution : 10bits Servo amplifier (MO2) Reading in one or both directions 1mA meter (6) Source input interface...
Page 70: Input Power Supply Circuit
3. SIGNALS AND WIRING 3.7 Input power supply circuit When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. CAUTION Use the trouble signal to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
Page 71 3. SIGNALS AND WIRING (2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply Forced stop Power supply Servo amplifier 1-phase 100 to 120VAC or 1-phase 230VAC (Note) Forced stop Servo-on Trouble Note : Not provided for 1-phase 100 to 120VAC. 3 - 24...
Page 72: 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 12.1. Connection Target Symbol Description (Application) Supply L and L with the following power: For 1-phase 230VAC, connect the power supply to L and leave L open.
Page 73: 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 74: 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 Insulate the connections of the power supply terminals to prevent an electric WARNING shock. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.
Page 75 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) to 73 (B) Electro- HA-FF053 (B) to 63 (B) magnetic brake HC-UF13 (B) to 73 (B) To be shut off when servo- on (SON) switches off or by trouble (ALM)
Page 76: I/O Terminals
3. SIGNALS AND WIRING 3.8.3 I/O terminals (1) HC-KFS HC-MFS HC-UFS3000r/min series Encoder connector signal arrangement Power supply lead 4-AWG19 0.3m (0.98ft.) Power supply connector (molex) Without electromagnetic brake 5557-04R-210 (receptacle) Encoder cable 0.3m (0.98ft.) 5556PBTL (Female terminal) With connector 1-172169-9 With electromagnetic brake (AMP) 5557-06R-210 (receptacle)
Page 77 3. SIGNALS AND WIRING (2) HC-SFS HC-RFS HC-UFS2000 r/min series Servo motor side connectors Servo motor Electromagnetic For power supply For encoder brake connector HC-SFS81(B) The connector CE05-2A22- HC-SFS52(B) to 152(B) for power is 23PD-B HC-SFS53(B) to 153(B) shared. HC-SFS121(B) to 301(B) CE05-2A24- HC-SFS202(B) to 502 (B) 10PD-B...
Page 78: 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 forced stop (EMG). Contacts must be open when servo-on (SON) is off or when a Circuit must be trouble (ALM) is present and when an...
Page 79 3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on (SON) 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 delay time (Tb) to the time which is about equal to the electromagnetic brake operation delay time and during which the load will not drop.
Page 80 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 81: 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 82: 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 83: Instructions For The 3M Connector
3. SIGNALS AND WIRING Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. The following table indicates the recommended products of the torque screwdriver for tightening torque management and the flat-blade bit for torque screwdriver. When managing torque with a Phillips bit, please consult us.
Page 84: 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.
Page 85: 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 86 4. OPERATION (2) Startup procedure (a) Power on 1) Switch off the servo-on (SON). 2) When main circuit power/control circuit power is switched on, "PoS" (Current position) appears on the servo amplifier display. In the absolute position detection system, first power-on results in the absolute position lost (AL.25) alarm and the servo system cannot be switched on.
Page 87 4. OPERATION (f) Home position return Perform home position return as required. Refer to Section 4.4 for home position return types. A parameter setting example for dog type home position return is given here. Parameter Name Setting Description Dog type home position return is selected. No.8 Home position return type Home position return is started in address...
Page 88: Program Operation Mode
4. OPERATION 4.2 Program operation mode 4.2.1 What is program operation mode? Make selection with the input signals or by communication from among the programs that have been created in advance using the Servo Configuration software, and perform operation with Forward rotation start (ST1).
Page 89: Programming Language
4. OPERATION 4.2.2 Programming language The maximum number of program steps is 120. Though up to 16 programs can be created, the total number of program steps is up to 120. The set program can be selected using Program No. selection 1 (DI0) to Program No. selection 4 (ID3). (1) Command list Setting Indirect...
Page 90 4. OPERATION Setting Indirect Command Name Setting Unit Description range Addressing Incremental The set value is regarded as an incremental value for MOVIA -999999 continuous movement. MOVIA move (Set value) to 999999 Always use this command with the "MOVI" command command.
Page 91 4. OPERATION Setting Indirect Command Name Setting Unit Description range Addressing Executes the next step when the pulse counter value COUNT External COUNT -999999 becomes greater than the count value set to the pulse pulse counter (Set value) to 999999 "COUNT"...
Page 92 4. OPERATION (2) Details of programming languages (a) Details of the command (SPN STA STB STC STD) "SPN" "STA" "STB" "STC" and "STD" commands will be validated, when the "MOV" and "MOVA" commands are executing. The setting numbers will be validated, expect resetting the numbers. 1) Program example 1 When operation is to be performed in two patterns that have the same servo motor speed, acceleration time constant and deceleration time constant but different move commands.
Page 93 4. OPERATION 2) Program example 2 When operation is to be performed in two patterns that have different servo motor speeds, acceleration time constants, deceleration time constants and move commands. Program Description Speed (Motor speed) 1000 [r/min] SPN (1000) Acceleration time constant 200 [ms] STA (200) Deceleration time constant...
Page 94 4. OPERATION (b) Continuous move command (MOVA MOVIA) POINT "MOV" cannot be used with "MOVIA", and "MOVI" cannot be used with "MOVA". The "MOVA" command is a continuous move command for the "MOV" command. After execution of the movement by the "MOV" command, the movement of the "MOVA" command can be executed continuously without a stop.
Page 95 4. OPERATION 2) Program example 2 (Wrong usage) In continuous operation, the acceleration or deceleration time constant cannot be changed at each speed change. Hence, the "STA", "STB" or "STD" command is ignored if it is inserted for a speed change. Program Description SPN (500)
Page 96 4. OPERATION 2) Program example 2 Using parameter No. 74 to 76, Program output 1 (OUT1) to Program out 3 (OUT3) can be turned off automatically. Parameter No. Name Setting Description OUT1 output time setting OUT1 is turned off in 200ms. OUT2 output time setting OUT2 is turned off in 100ms.
Page 97 4. OPERATION 3) Program example 3 When the "TRIP" and "TRIPI" commands are used to set the position addresses where the "OUTON" and "OUTOF" commands will be executed. Program Description SPN (1000) Speed (Motor speed) 1000 [r/min] STA (200) Acceleration time constant 200 [ms] STB (300) Deceleration time constant...
Page 98 4. OPERATION 4) Program example 4 POINT "MOV" cannot be used with "TRIPI". Note that the "TRIP" and "TRIPI" commands do not execute the next step unless the axis passes the preset address or travels the preset moving distance. Program Description SPN (500) Speed (Motor speed)
Page 99 4. OPERATION (d) Dwell (TIM) To the "TIM (setting value)" command, set the time from when the command remaining distance is "0" until the next step is executed. For reference, the following examples show the operations performed when this command is used with the other commands.
Page 100 4. OPERATION 3) Program example 3 Program Description SPN (1000) Speed (Motor speed) 1000 [r/min] STC (20) Acceleration/deceleration time constant 20 [ms] MOVI (1000) Incremental move command 1000 [ 10 OUTON (1) Program output 1 (OUT 1) is turned ON. TIM (20) Dwell command time 200 [ms]...
Page 101 4. OPERATION 5) Program example 5 Program Description SPN (1000) Speed (Motor speed) 1000 [r/min] STC (20) Acceleration/deceleration time constant 20 [ms] MOVI (1000) Incremental move command 1000 [ 10 TIM (20) Dwell command time 200 [ms] SYNC (1) Step is suspended until Program input (PI1) turns ON. MOVI (500) Incremental move command 500 [ 10...
Page 102 4. OPERATION (e) Interrupt positioning command (ITP) POINT When Interrupt positioning (ITP) is used for positioning, a stop position differs depending on the servo motor speed provided when the "ITP" command is enabled. When the "ITP" command is used in a program, the axis stops at the position by the set value farther from the position where any of Program input 1 to 3 (PI1 to PI3) turned ON.
Page 103 4. OPERATION 2) Program example 2 If the moving distance of the "ITP" command is less than the moving distance necessary for deceleration, the actual deceleration time constant becomes less than the set value of the "STB" command. Program Description SPN (500) Speed (Motor speed) 500 [r/min]...
Page 104 4. OPERATION (g) Step repeat command (FOR NEXT) POINT "FOR ... NEXT" cannot be placed within "FOR ... NEXT". The steps located between the "FOR (set value)" command and "NEXT" command is repeated by the preset number of times. Program Description SPN (1000) Speed (Motor speed)
Page 105 4. OPERATION (h) Program count command (TIMES) By setting the number of times to the "TIMES (setting value)" command placed at the beginning of a program, the program can be executed repeatedly. When the program is to be executed once, the "TIMES (setting value)"...
Page 106 4. OPERATION (i) Position latch (LPOS) POINT When Current position latch input (LPS) is used to store the current position, the value differs depending on the servo motor speed provided when LPS has turned ON. The current position where Current position latch input (LPS) is turned ON is stored. The stored position data can be read by the communication function.
Page 107 4. OPERATION (j) Indirect addressing using general-purpose registers (R1-R4, D1-D4) The set values of the "SPN", "STA", "STB", "STC", "STD", "MOV", "MOVI", "MOVA", "MOVIA", "TIM" and "TIMES" commands can be addressed indirectly. The values stored in the general-purpose registers (R1-R4, D1-D4) are used as the set values of the commands.
Page 108: Basic Setting Of Signals And Parameters
4. OPERATION 4.2.3 Basic setting of signals and parameters Create programs in advance using the Servo Configuration software. (Refer to Section 4.2.2 and Section 6.5) (1) Parameter (a) Command mode selection (parameter No.0) Make sure that the absolute value command system has been selected as shown below. Parameter No.
Page 109: Program Operation Timing Chart
4. OPERATION 4.2.4 Program operation timing chart (1) Operation conditions The timing chart shown below assumes that the following program is executed in the absolute value command system where a home position return is completed. Program No.1 Description SPN (1000) Speed (Motor speed) 1000 [r/min] STC (100)
Page 110: 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 program No.
Page 111 4. OPERATION (4) Timing chart Servo-on (SON) 80ms Ready (RD) Trouble (ALM) Automatic/manual selection (MD0) Movement complete (PED) Forward rotation 0r/min Servo motor speed Reverse rotation Forward rotation start Forward rotation jog (ST1) Reverse rotation start Reverse rotation jog (ST2) 4 - 28...
Page 112: 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 program No. selection 1 to 4 (DI0 to DI3) are invalid: Item Setting method Description Manual operation mode selection Automatic/manual selection (MD0)
Page 113 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 114: Manual Home Position Return Mode
4. OPERATION 4.4 Manual home position return mode 4.4.1 Outline of home position return Home position return is performed to match the command coordinates with the machine coordinates. In the incremental system, home position return is required every time input power is switched on. In the absolute position detection system, once home position return is done at the time of installation, the current position is retained if power is switched off.
Page 115 4. OPERATION (2) Home position return parameter When performing home position return, set parameter No.8 as follows: Parameter No. 8 Home position return method························································1) 0: Dog type 1: Count type 2: Data setting type 3: Stopper type 4: Home position ignorance (Servo-on position as home position) 5: Dog type rear end reference 6: Count type front end reference 7: Dog cradle type...
Page 116: Dog Type Home Position Return
4. OPERATION 4.4.2 Dog type home position return A home position return 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 home position shift distance starting from the Z-phase signal is defined as a home position.
Page 117 4. OPERATION (3) Timing chart The following shows the timing chart that starts after selection of the program including the "ZRT" command. Movement complete (PED) Home position return completion (ZP) Home position shift Parameter No. 41 Home position return Parameter No. 41 distance Parameter No.
Page 118: Count Type Home Position Return
4. OPERATION 4.4.3 Count type home position return In count type home position return, 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 119: Data Setting Type Home Position Return
4. OPERATION 4.4.4 Data setting type home position return Data setting type home position return is used when it is desired to determine any position as a home position. JOG operation, manual pulse generator operation or like can be used for movement. (1) Signals, parameters Set the input signals and parameters as follows: Item...
Page 120: Stopper Type Home Position Return
4. OPERATION 4.4.5 Stopper type home position return In stopper type home position return, 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 121: Home Position Ignorance (Servo-On Position Defined As Home Position)
4. OPERATION 4.4.6 Home position ignorance (servo-on position defined as home position) POINT When a home position-ignored home position return is executed, the program including the "ZRT" command need not be selected. The position where servo is switched on is defined as a home position. (1) Signals, parameter Set the input signals and parameter as follows: Item...
Page 122: Dog Type Rear End Reference Home Position Return
4. OPERATION 4.4.7 Dog type rear end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the rear end of a proximity dog. Hence, if a home position return is made at the creep speed of 100r/min, an error of 200 pulses will occur in the home position.
Page 123: Count Type Front End Reference Home Position Return
4. OPERATION 4.4.8 Count type front end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the front end of a proximity dog. Hence, if a home position return is made at the creep speed of 100r/min, an error of 200 pulses will occur in the home position.
Page 124: Dog Cradle Type Home Position Return
4. OPERATION 4.4.9 Dog cradle type home position return The position where the first Z-phase signal is issued after detection of the proximity dog front end can be defined as a home position. (1) Signals, parameters Set the input signals and parameters as indicated below. Item Device/Parameter used Description...
Page 125: Home Position Return Automatic Return Function
4. OPERATION 4.4.10 Home position return automatic return function If the current position is at or beyond the proximity dog in dog or count type home position return, 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 home position return.
Page 126: Absolute Position Detection System
4. OPERATION 4.5 Absolute position detection system This 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 127 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.
Page 128 4. OPERATION 1) Open the operation window. (When the model used is the MR-J2S-200CL MR-J2S-350CL or more, also remove the front cover.) 2) Install the battery in the battery holder. 3) Install the battery connector into CON1 until it clicks. Battery connector Battery connector Operation window...
Page 129: Serial Communication 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 4.6.3. MITSUBISHI MITSUBISHI MITSUBISHI...
Page 130: 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 131 4. OPERATION (2) Timing chart In the following timing chart, operation is performed group-by-group in accordance with the values set in program No.1. Transmission data Station 0 Servo motor speed Station 1 Servo motor speed Station 2 Servo motor Group a speed Station 3 Servo motor...
Page 132: Incremental Value Command System
4. OPERATION 4.7 Incremental value command system To use this servo amplifier in the incremental value command system, the setting of parameter No. 0 must be changed. As the position data, set the moving distance of (target address - current address). Fixed-pitch feed of infinite length is enabled in the incremental value command system.
Page 133 4. OPERATION (3) Program example Program Description Speed (Motor speed) 1000 [r/min] SPN (1000) Acceleration time constant 200 [ms] STA (200) Deceleration time constant 300 [ms] STB (300) Incremental move command 1000 [ 10 m] d) MOV (1000) Dwell command time 100 [ms] TIM (10) Speed (Motor speed)
Page 134: 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. After setting the parameter No.19 value, switch power off, then on to make that setting valid.
Page 135: List
5. PARAMETERS 5.1.2 List POINT The parameters marked * before their symbols are made valid by switching power off once and then switching it on again after parameter setting. Refer to the corresponding reference items for details of the parameters. (1) Item list Customer Class No.
Page 136 5. PARAMETERS Customer Class No. Symbol Name and Function Initial value Unit setting *OP2 Function selection 2 0000 For manufacturer setting 0002 *OP4 Function selection 4 0000 Serial communications time-out selection Feed forward gain Override offset Torque limit offset *ENR Encoder output pulses 4000 pulse/rev...
Page 137 5. PARAMETERS Customer Class No. Symbol Name and Function Initial value Unit setting For manufacturer setting 0000 *OP6 Function selection 6 0000 For manufacturer setting 0000 *OP8 Function selection 8 0000 *OP9 Function selection 9 0000 *OPA Function selection A 0000 For manufacturer setting 0000...
Page 138 5. PARAMETERS (2) Detail list Initial Setting Class No. Symbol Name and Function Unit value range Command system, regenerative brake option selection *STY 0000 Refer to Used to select the command system and regenerative brake option. Name function Program edit column.
Page 139 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Feeding function selection *FTY 0000 Refer to Used to set the feed length multiplication factor and manual pulse generator Name multiplication factor. function column. ST1 coordinate system selection (Refer to Section 4.2.2 to 4.2.4) 0: Address is incremented in CCW direction 1: Address is incremented in CW direction...
Page 140 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Function selection 1 *OP1 0002 Refer to Used to select the input filter and absolute position detection system. Name function column. Input filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it.
Page 141 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Electronic gear numerator 0 to Set the value of electronic gear numerator. Setting "0" automatically sets the 65535 resolution of the servo motor connected. (Refer to Section 5.2.1) Electronic gear denominator 1 to Set the value of electronic gear denominator.
Page 142 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *BPS Serial communication function selection, alarm history clear 0000 Refer to Used to select the serial communication baudrate, select various Name communication conditions, and clear the alarm history. function column.
Page 143 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *DMD Status display selection 0000 Refer to Used to select the status display shown at power-on. (Refer to Section 7.2) Name function column. Status display on servo amplifier display at power-on 00: Current position (initial value) 01: Command position...
Page 144 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *BLK Parameter block 0000 Refer to Used to select the reference and write ranges of the parameters. Name Operation can be performed for the parameters marked function Expansion parameters 2 Basic Expansion...
Page 145 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Feed forward gain 0 to 100 Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot.
Page 146 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Electromagnetic brake sequence output 0 to 1000 Used to set the delay time (Tb) between when the electromagnetic brake interlock (MBR) switches off and when the base circuit is shut off. (Refer to Section 3.9) Ratio of load inertia moment to servo motor inertia moment: 0 to 1000...
Page 147 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *LMP Software limit 999999 Used to set the address increment side software stroke limit. The software limit is made invalid if this value is the same as in "software limit ".
Page 148 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range For manufacturer setting 0000 Don’t change this value by any means. *OP6 Function selection 6 0000 Refer to Used to select how to process the base circuit when reset (RES) is valid. Name function column.
Page 149 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Function selection A 0000 Refer to Used to select the alarm code. Name function column. Rotation direction in which torque limit is made valid Setting CCW direction CW direction Setting of alarm code output Connector pins...
Page 150 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range For manufacturer setting 0000 Don’t change this value by any means. Machine resonance suppression filter 1 0000 Refer to Used to selection the machine resonance suppression filter. Name (Refer to Section 9.1.) function...
Page 151 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Low-pass filter/adaptive vibration suppression control 0000 Refer to Used to selection the low-pass filter and adaptive vibration suppression Name control. (Refer to Chapter 9) function column. Low-pass filter selection 0: Valid (Automatic adjustment) 1: Invalid VG2 setting 10...
Page 152 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *CDP Gain changing selection 0000 Refer to Used to select the gain changing condition. (Refer to Section 9.3) Name function column. Gain changing selection Gains are changed in accordance with the settings of parameters No.
Page 153 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range For manufacturer setting 0001 The settings are automatically changed. 0209 060A 1918 030B 0504 0102 0000 0005 120E 0102 For manufacturer setting Don’t change this value by any means. 5 - 20...
Page 154: Detailed Explanation
5. PARAMETERS 5.2 Detailed explanation 5.2.1 Electronic gear CAUTION False setting will result in unexpected fast rotation, causing injury. POINT The guideline for setting the electronic gear is 1000 . 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 155: Changing The Status Display Screen
5. PARAMETERS Reduce CMX and CDV to the setting range or less, and round off the first decimal place. Hence, set 32768 to CMX and 41888 to CDV. 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 (status display selection) settings.
Page 156: S-Pattern Acceleration/Deceleration
5. PARAMETERS 5.2.3 S-pattern acceleration/deceleration In servo operation, linear acceleration/deceleration is usually made. By setting the S-pattern acceleration/deceleration time constant (parameter No.14), a smooth start/stop can be made. When the S- pattern time constant is set, smooth positioning is executed as shown below. When the S-pattern acceleration/deceleration time constant is set, the time from a start to the output of Movement complete (PED) increases by the S-pattern acceleration/deceleration time constant.
Page 157 5. PARAMETERS (2) Contents of a setting The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 and the torque to analog monitor 2. The setting can be changed as listed below by changing the parameter No.17 (analog monitor output) value: Setting Output item...
Page 158: Changing The Stop Pattern Using A Limit Switch
5. PARAMETERS 5.2.5 Changing the stop pattern using a limit switch The servo amplifier is factory-set to make a sudden stop when the limit switch or software limit is made valid. When a sudden stop is not required, e.g. when there is an allowance from the limit switch installation position to the permissible moving range of the machine, a slow stop may be selected by changing the parameter No.22 setting.
Page 159 5. PARAMETERS MEMO 5 - 26...
Page 160: Servo Configuration Software
6. SERVO CONFIGURATION SOFTWARE 6. SERVO CONFIGURATION SOFTWARE The Servo Configuration software (MR2JW3-SETUP151E Ver.E1 or more) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. 6.1 Specifications Item Description Communication signal...
Page 161 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 162: Station Setting
6. SERVO CONFIGURATION SOFTWARE 6.3 Station setting Click “System” on the menu bar and click “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 click the “Station Settings” button to set the station number.
Page 163: Parameters
6. SERVO CONFIGURATION SOFTWARE 6.4 Parameters Click “Parameters” on the menu bar and click “Parameter List” on the menu. When the above choices are made, the following window appears: (1) Parameter value write ( a) ) Click the parameter whose setting was changed and press the “Write” button to write the new parameter setting to the servo amplifier.
Page 164 6. SERVO CONFIGURATION SOFTWARE (3) Parameter value batch-read ( c) ) Click the “Read All” button to read and display all parameter values from the servo amplifier. (4) Parameter value batch-write ( d) ) Click the “Write All” button to write all parameter values to the servo amplifier. (5) Parameter change list display ( e) ) Click the “Change List”...
Page 165: Simple Program
6. SERVO CONFIGURATION SOFTWARE 6.5 Simple Program 6.5.1 Program data The following screen is designed to set the program of the MR-J2S-CL. (1) How to open the setting screen Click "Program-Data" on the menu bar and click "Program-Data" in the menu. (2) Explanation of Program Data window (a) Reading the program (a)) Click the "Read All"...
Page 166 6. SERVO CONFIGURATION SOFTWARE (e) Editing the program (e)) Used to edit the program selected in d). Click the "Write All" button to open the Program Edit window. Refer to (3) in this section for the edit screen. (f) Reading and saving the program file A program can be saved/read as a file.
Page 167 6. SERVO CONFIGURATION SOFTWARE (c) Pasting the text (c)) Click the "Paste" button to paste the text stored in the clipboard to the specified position of the program edit area. (d) Deleting the text (d)) Select the text of the program edit area and click the "Cut" button to delete the selected text. (e) Closing the Program Data window (e)) Click the "OK"...
Page 168: Indirect Addressing
6. SERVO CONFIGURATION SOFTWARE 6.5.2 Indirect addressing The following screen is designed to set the general-purpose registers (R1 to R4, D1 to D4) of the MR-J2S- (1) How to open the setting screen Click "Program-Data" on the menu bar and click "Indirect-Addressing" in the menu. (2) Explanation of Indirect Addressing window (a) Setting the general-purpose registers D1 to D4 (a)) Set the values of the general-purpose registers D1 to D4.
Page 169 6. SERVO CONFIGURATION SOFTWARE (c) Read from the general-purpose registers (c)) Click the "Read All" button to read the values of the general-purpose registers (R1 to R4, D1 to D4) stored in the servo amplifier. (d) Write to the general-purpose registers (d)) Click the "Write All"...
Page 170: Device Assignment Method
6. SERVO CONFIGURATION SOFTWARE 6.6 Device assignment method POINT When using the device setting, preset “000E” in parameter No. 19. (1) How to open the setting screen Click “Parameters” on the menu bar and click “Device setting” in the menu. Making selection displays the following window.
Page 171 6. SERVO CONFIGURATION SOFTWARE (2) Screen explanation (a) DIDO device setting window screen This is the device assignment screen of the servo amplifier displays the pin assignment status of the servo amplifier. 1) Read of function assignment ( a) ) Click the “Read”...
Page 172 6. SERVO CONFIGURATION SOFTWARE (b) DIDO function display window screen This screen is used to select the slot numbers and functions assigned to the pins. Choose the slot numbers in * and *. The functions displayed below * and * are assignable. Move the pointer to the place of the function to be assigned.
Page 173 6. SERVO CONFIGURATION SOFTWARE (C) Function device assignment checking auto ON setting display Click the “ / ” button in the DIDO function display window displays the following window. The assigned functions are indicated by The functions assigned by auto ON are grayed. When you want to set auto ON to the function that is enabled for auto ON, click the corresponding cell.
Page 174: 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. If any operational fault has occurred, stop operation using the forced stop (EMG).
Page 175 6. SERVO CONFIGURATION SOFTWARE (1) Servo motor speed setting ( a) ) Enter a new value into the “Motor speed” input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the “Accel/decel time” input field and press the enter key. (3) Servo motor start ( c), d) ) Hold down the “Forward”...
Page 176: 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. Click the “Forward” or “Reverse” button to start and rotate the servo motor by the preset moving distance and then stop.
Page 177 6. SERVO CONFIGURATION SOFTWARE (1) Servo motor speed setting ( a) ) Enter a new value into the “Motor speed” input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the “Accel/decel time” input field and press the enter key. (3) Moving distance setting ( c) ) Enter a new value into the “Move distance”...
Page 178: Motor-Less Operation
6. SERVO CONFIGURATION SOFTWARE 6.7.3 Motor-less operation POINT When this operation is used in an absolute position detection system, the home position cannot be restored properly unless the encoder is connected properly. 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.
Page 179: Output Signal (Do) Forced Output
6. SERVO CONFIGURATION SOFTWARE 6.7.4 Output signal (DO) forced output Each servo amplifier output signal is forcibly switched on/off independently of the output condition of the output signal. Click “Test” on the menu bar and click “Forced Output” on the menu. When the above choices are made, the following window appears: Since this window shows the precautions for use of the MR-J2S-B, click the "OK"...
Page 180: Program Test Operation
6. SERVO CONFIGURATION SOFTWARE 6.7.5 Program test operation The program of the MR-J2S-CL can be test-operated. (1) How to open the setting screen Click "Test" on the menu bar and click "Program-Test" in the menu. Clicking it displays the next window. Then, click the "OK"...
Page 181 6. SERVO CONFIGURATION SOFTWARE (1) Displaying the program (a)) Click the "Display" button to display the contents of the currently selected program No. To close the window, click the "Close" button. (2) Closing the Program Test window (b)) Click the "OK" button to close the Program Test window. 6 - 22...
Page 182: Alarm History
6. SERVO CONFIGURATION SOFTWARE 6.8 Alarm history Click “Alarms” on the menu bar and click “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 (a)) Click the “Clear”...
Page 183 6. SERVO CONFIGURATION SOFTWARE MEMO 6 - 24...
Page 184: Display And Operation
7. DISPLAY AND OPERATION 7. DISPLAY AND OPERATION 7.1 Display flowchart Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status.
Page 185: Status Display
7. DISPLAY AND OPERATION 7.2 Status display The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears.
Page 186: Display Examples
7. DISPLAY AND OPERATION 7.2.2 Display examples The following table lists display examples: Displayed data Item Status Servo amplifier display MR-DP60 Forward rotation at 2500r/min Servo motor speed Reverse rotation at 3000r/min Reverse rotation is indicated by " ". Load inertia 15.5 times moment 11252pulse...
Page 187: Status Display List
7. DISPLAY AND OPERATION 7.2.3 Status display list The following table lists the servo statuses that may be shown: Display range Status display Symbol Unit Description Servo amplifier MR-DP60 display Current The current position from the machine home position of 0 is 99999 to 999999 to position...
Page 188: Diagnosis Mode
7. DISPLAY AND OPERATION 7.3 Diagnosis mode 7.3.1 Display transition After choosing the diagnosis mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below. To Teaching Sequence Software version Low External I/O signal display Software version High Output signal (DO) For manufacturer setting...
Page 189: Diagnosis Mode List
7. DISPLAY AND OPERATION 7.3.2 Diagnosis mode list 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. Indicates the ON-OFF states of the external I/O signals.
Page 190 7. DISPLAY AND OPERATION Name Display Description Press the "SET" button to show the motor series ID of the servo motor currently connected. Motor series For indication details, refer to the optional MELSERVO Servo Motor Instruction Manual. Press the "SET" button to show the motor type ID of the servo motor currently connected.
Page 191: Alarm Mode
7. DISPLAY AND OPERATION 7.4 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below.
Page 192: Alarm Mode List
7. DISPLAY AND OPERATION 7.4.2 Alarm mode list Name Display Description Indicates no occurrence of an alarm. Current alarm Indicates the occurrence of overvoltage (AL.33). Flickers at occurrence of the alarm. Indicates that the last alarm is overload 1 (AL.50). Indicates that the second alarm in the past is overvoltage (AL.33).
Page 193 7. DISPLAY AND OPERATION Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation section. At this time, the decimal point in the fourth digit remains flickering. (3) For any alarm, remove its cause and clear it in any of the following methods (for clearable alarms, refer to Section 11.2.1): (a) Switch power OFF, then ON.
Page 194: Parameter Mode
7. DISPLAY AND OPERATION 7.5 Parameter mode POINT To use the expansion parameters, change the parameter No. 19 (parameter block) value. (Refer to Section 5.1.1) 7.5.1 Parameter mode transition After choosing the corresponding parameter mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.
Page 195: Operation Example
7. DISPLAY AND OPERATION 7.5.2 Operation example (1) Parameter of 5 or less digits The following example shows the operation procedure performed after power-on to change the home position setting method (Parameter No.8) into the data setting type. Press the "MODE" button to switch to the basic parameter screen.
Page 196 7. DISPLAY AND OPERATION (2) Signed 5-digit parameter The following example gives the operation procedure to change the home position return position data (parameter No. 42) to "-12345". (Note) Press MODE three times. Press UP or DOWN to choose parameter No. 42. Press SET once.
Page 197: External I/O Signal Display
7. DISPLAY AND OPERATION 7.6 External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. Press UP once.
Page 198: Output Signal (Do) Forced Output
7. DISPLAY AND OPERATION 7.7 Output signal (DO) forced output POINT When the servo system is used in a vertical lift application, turning on the electromagnetic brake interlock (MBR) after assigning it to pin CN1B-19 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.
Page 199: Test Operation Mode
7. DISPLAY AND OPERATION 7.8 Test operation mode The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. CAUTION Always use the servo motor alone. If any operational fault has occurred, stop operation using the forced stop (EMG) .
Page 200: Jog Operation
7. DISPLAY AND OPERATION 7.8.2 Jog operation Jog operation can be performed when there is no command from the external command device. (1) Operation Connect EMG-SG, LSP-SG and LSN-SG to start jog operation and connect VDD-COM to use the internal power supply. Hold down the "UP"...
Page 201: Positioning Operation
7. DISPLAY AND OPERATION 7.8.3 Positioning operation POINT The servo configuration software is required to perform positioning operation. Positioning operation can be performed once when there is no command from the external command device. (1) Operation Connect EMG-SG, LSP-SG and LSN-SG to start positioning operation and connect VDD-COM to use the internal power supply.
Page 202: Motor-Less Operation
7. DISPLAY AND OPERATION 7.8.4 Motor-less operation Without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals. This operation can be used to check the sequence of a host programmable controller or the like.
Page 203 7. DISPLAY AND OPERATION MEMO 7 - 20...
Page 204: General Gain Adjustment
8. GENERAL GAIN ADJUSTMENT 8. GENERAL GAIN ADJUSTMENT 8.1 Different adjustment methods 8.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1 and manual mode 2 in this order.
Page 205: Adjustment Using Servo Configuration Software
8. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Used when you want to Interpolation made for 2 or more match the position gain axes? (PG1) between 2 or more Interpolation mode axes. Normally not used for other purposes.
Page 206 8. GENERAL GAIN ADJUSTMENT 8.2 Auto tuning 8.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.
Page 207: Auto Tuning Mode Operation
8. GENERAL GAIN ADJUSTMENT 8.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia Automatic setting moment Encoder Control gains Command Current Servo PG1,VG1 control motor PG2,VG2,VIC Current feedback Real-time auto Position/speed Set 0 or 1 to turn on. tuning section feedback Load inertia...
Page 208: Adjustment Procedure By Auto Tuning
8. GENERAL GAIN ADJUSTMENT 8.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.
Page 209: Response Level Setting In Auto Tuning Mode
8. GENERAL GAIN ADJUSTMENT 8.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No.3) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration.
Page 210: Manual Mode 1 (Simple Manual Adjustment)
8. GENERAL GAIN ADJUSTMENT 8.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 8.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.
Page 211 8. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed control gain 2 (parameter No. 37) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression: Speed control gain 2 setting Speed loop response...
Page 212 8. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (parameter No. 7) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling.
Page 213: Interpolation Mode
8. GENERAL GAIN ADJUSTMENT 8.4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 2 and speed control gain 2 which determine command trackability are set manually and the other parameter for gain adjustment are set automatically.
Page 214: Differences In Auto Tuning Between Melservo-J2 And Melservo-J2-Super
8. GENERAL GAIN ADJUSTMENT 8.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super 8.5.1 Response level setting To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level setting range from the MELSERVO-J2 series. The following table lists comparison of the response level setting.
Page 215 8. GENERAL GAIN ADJUSTMENT MEMO 8 - 12...
Page 216: Special Adjustment Functions
9. SPECIAL ADJUSTMENT FUNCTIONS 9. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 8. If a mechanical system has a natural resonance point, increasing the servo system response may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
Page 217 9. SPECIAL ADJUSTMENT FUNCTIONS You can use the machine resonance suppression filter 1 (parameter No. 61) and machine resonance suppression filter 2 (parameter No. 62) to suppress the vibration of two resonance frequencies. Note that if adaptive vibration suppression control is made valid, the machine resonance suppression filter 1 (parameter No.
Page 218: Adaptive Vibration Suppression Control
9. SPECIAL ADJUSTMENT FUNCTIONS POINT If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.
Page 219: Low-Pass Filter
9. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (parameter No.60). Parameter No. 63 Adaptive vibration suppression control selection Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 (parameter No. 61) invalid. 0: Invalid 1: Valid Machine resonance frequency is always detected to...
Page 220: Gain Changing Function
9. SPECIAL ADJUSTMENT FUNCTIONS 9.5 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation. 9.5.1 Applications This function is used when: (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.
Page 221: Parameters
9. SPECIAL ADJUSTMENT FUNCTIONS 9.5.3 Parameters When using the gain changing function, always set " " in parameter No.3 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.
Page 222 9. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. 7, 34 to 38 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and speed integral compensation to be changed.
Page 223: Gain Changing Operation
9. SPECIAL ADJUSTMENT FUNCTIONS 9.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. Abbreviation Name Setting Unit Position control gain 1 rad/s Speed control gain 1 1000 rad/s Ratio of load inertia moment to...
Page 224 9. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Name Setting Unit Position control gain 1 rad/s Speed control gain 1 1000 rad/s Ratio of load inertia moment to 0.1 times servo motor inertia moment Position control gain 2 rad/s Speed control gain 2...
Page 225 9. SPECIAL ADJUSTMENT FUNCTIONS MEMO 9 - 10...
Page 226: 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 Any person who is involved in inspection should be fully competent to do the work.
Page 227 10. INSPECTION MEMO 10 - 2...
Page 228: 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. POINT Using the optional servo configuration software, you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up.
Page 229: When Alarm Or Warning Has Occurred
11. TROUBLESHOOTING 11.2 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (SON) signal at occurrence of an alarm. 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.
Page 230: Remedies For Alarms
11. TROUBLESHOOTING 11.2.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. CAUTION If an absolute position erase alarm (AL.25) occurred, always make home position setting again.
Page 231 11. TROUBLESHOOTING Display Name Definition Cause Action AL.17 Board error CPU/parts fault Faulty parts in the servo amplifier Change the servo amplifier. AL.19 Memory error 3 ROM memory fault Checking method Alarm (A.17 or A.18) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
Page 232 11. TROUBLESHOOTING Display Name Definition Cause Action AL.31 Overspeed Speed has exceeded 1. Input command pulse frequency Set command pulses correctly. the instantaneous exceeded the permissible permissible speed. instantaneous speed frequency. 2. Small acceleration/deceleration Increase acceleration/deceleration time time constant caused overshoot to constant.
Page 233 11. TROUBLESHOOTING Display Name Definition Cause Action AL.37 Parameter Parameter setting is 1. Servo amplifier fault caused the Change the servo amplifier. error wrong. parameter setting to be rewritten. 2. Regenerative brake option not used Set parameter No.0 correctly. with servo amplifier was selected in parameter No.0.
Page 234 11. TROUBLESHOOTING Display Name Definition Cause Action AL.50 Overload 1 Load exceeded 1. Servo amplifier is used in excess of 1. Reduce load. overload protection its continuous output current. 2. Review operation pattern. characteristic of 3. Use servo motor that provides larger servo amplifier.
Page 235 11. TROUBLESHOOTING Display Name Definition Cause Action AL.63 Home position In incremental 1. Positioning operation was 1. Perform home position return. return system: performed without home position 2. Review home position return speed/creep incomplete 1. Positioning return. speed/moving distance after proximity operation was 2.
Page 236: Remedies For Warnings
11. TROUBLESHOOTING 11.2.3 Remedies for warnings If AL.E6 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. Use the optional servo configuration software to refer to the cause of warning.
Page 237 11. TROUBLESHOOTING MEMO 11 - 10...
Page 238: Outline Dimension Drawings
12.1 Servo amplifiers (1) MR-J2S-10CL to MR-J2S-60CL MR-J2S-10CL1 to MR-J2S-40CL1 [Unit: mm] ([Unit: in]) 70 (2.76) 135 (5.32) 6 ( 0.24) mounting hole Terminal layout (Terminal cover open) MITSUBISHI MITSUBISHI OPEN OPEN Name plate (Note) PE terminal (0.24) 4(0.16) Variable dimensions...
Page 239 12. OUTLINE DIMENSION DRAWINGS (2) MR-J2S-70CL MR-J2S-100CL [Unit: mm] 6 ( 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...
Page 240 (3) MR-J2S-200CL MR-J2S-350CL [Unit: mm] ([Unit: in]) 6 ( 0.24) 70(2.76) 195(7.68) 90(3.54) mounting hole 78(3.07) (0.24) Terminal layout MITSUBISHI MITSUBISHI PE terminal Fan air orientation Weight Servo amplifier [kg] ([lb]) MR-J2S-200CL 2.0 (4.41) MR-J2S-350CL PE terminals Terminal screw: M4 Tightening torque: 1.2 [N m] (175.6 [oz in])
Page 241 (4) MR-J2S-500CL 2- 6( 0.24) [Unit: mm] ([Unit: in]) mounting hole (0.24) 130(5.12) (0.24) 200(7.87) 118(4.65) (2.76) (0.19) 5 Terminal layout MITSUBISHI MITSUBISHI OPEN OPEN OPEN N.P. N.P. 6(0.24) Fan air orientation Weight Servo amplifier [kg] ([lb]) MR-J2S-500CL 4.9 (10.8)
Page 242 [Unit: mm] mounting hole ([Unit: in]) 200(7.87) 180(7.09) (0.39) 160(6.23) 138(5.43) (2.76) 6(0.24) (2.44) (0.39) Terminal layout MITSUBISHI MITSUBISHI OPEN OPEN OPEN 6 (0.24) Fan air orientation Weight Servo amplifier [kg] ([lb]) MR-J2S-700CL 7.2 (15.9) PE terminals Terminal screw : M4 Built-in regenerative brake resistor Tightening torque : 1.2 [N m] (169.9 [oz in])
Page 243: Connectors
12. OUTLINE DIMENSION DRAWINGS 12.2 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]...
Page 244 12. OUTLINE DIMENSION DRAWINGS (2) Communication cable connector <JAE> [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 12 - 7...
Page 245 12. OUTLINE DIMENSION DRAWINGS MEMO 12 - 8...
Page 246: 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. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 13.1.
Page 247: 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 12.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 13.1 in consideration for the worst operating conditions.
Page 248 13. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 .
Page 249: Dynamic Brake Characteristics
13. CHARACTERISTICS 13.3 Dynamic brake characteristics Fig. 13.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 13.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds.
Page 250 13. CHARACTERISTICS 0.02 0.018 0.016 0.014 0.012 0.01 0.008 0.006 0.004 0.002 500 1000 1500 2000 2500 3000 500 1000 1500 2000 2500 3000 Speed [r/min] Speed [r/min] a. HC-KFS series b. HC-MFS series 0.04 0.045 0.04 0.035 0.035 0.03 0.03 0.025 0.025...
Page 251: 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 252: Inrush Currents At Power-On Of Main Circuit And Control Circuit
13. CHARACTERISTICS 13.5 Inrush Currents at Power-On of Main Circuit and Control Circuit The following table indicates the inrush currents (measurement data) that will flow when the maximum permissible voltage (253VAC) is applied at the power supply equipment capacity of 2500kVA and the wiring length of 10m.
Page 253 13. CHARACTERISTICS MEMO 13 - 8...
Page 254: 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 WARNING lamp is off more than 10 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. Use the specified auxiliary equipment and options.
Page 255 14. OPTIONS AND AUXILIARY EQUIPMENT (b) To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative brake option: a.
Page 256 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] Calculate the power consumption of the regenerative brake option on the basis of single-cycle operation period tf [s] to select the necessary regenerative brake option.
Page 257 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Connection of the regenerative brake option The regenerative brake option will generate heat of about 100 . Fully examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use flame-resistant cables and keep them clear of the regenerative brake option body.
Page 258 14. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J2S-500CL MR-J2S-700CL Always remove the wiring (across P-C) of the servo amplifier built-in regenerative brake resistor and fit the regenerative brake option across P-C. The G3 and G4 terminals act as a thermal protector. G3-G4 are disconnected when the regenerative brake option overheats abnormally.
Page 259 14. OPTIONS AND AUXILIARY EQUIPMENT For the MR-RB50 MR-RB51 install the cooling fan as shown. [Unit : mm(in)] Fan installation screw hole dimensions 2-M3 screw hole (for fan installation) Terminal block Depth 10 or less (Screw hole already machined) Thermal relay Bottom 82.5 40 (1.58)
Page 260 14. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawing (a) MR-RB032 MR-RB12 [Unit: mm (in)] 6 (0.24) mounting hole MR-RB 5 (0.20) Terminal block Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m](4 to 5 [lb in]) 1.6 (0.06) 6 (0.23) (0.79) Regenerative Regenerative...
Page 261 14. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB50 MR-RB51 [Unit: mm (in)] 7 14 slot Terminal block Terminal block 7(0.28) 2.3(0.09) 116(4.57) Terminal screw: M4 (0.47) 128(5.04) 200(7.87) 17(0.67) Tightening torque: 1.2 [N m](10 [lb in]) Weight Regenerative Regenerative Resistance brake option power [W] [kg] [lb]...
Page 262: Brake Unit
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.2 Brake unit POINT The brake unit and resistor unit of other than 200V class are not applicable to the servo amplifier. The brake unit and resistor unit of the same capacity must be combined. The units of different capacities may result in damage.
Page 263 14. OPTIONS AND AUXILIARY EQUIPMENT The cables between the servo amplifier and brake unit and between the resistor unit and brake unit should be as short as possible. The cables longer than 5m(16.404ft) should be twisted. If twisted, the cables must not be longer than 10m(32.808ft). The cable size should be equal to or larger than the recommended size.
Page 264: Power Return Converter
14. OPTIONS AND AUXILIARY EQUIPMENT (b) Resistor unit (FR-BR) [Unit : mm(in)] 2- D Control circuit (Note) terminals Main circuit terminals FR-BR-55K Two eye bolts are provided (as shown below). AA 5 (0.197) Eye bolt (8.031) A 5 (0.197) Note: Ventilation ports are provided in both side faces and top face. The bottom face is open. Resistor Approx.
Page 265 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier Power factor improving reactor FR-BAL Power supply 3-phase 200V or 230VAC Always remove wiring across P-C. 5m(16.4ft) or less Ready output Alarm output (Note) Phase detection terminals Power return converter FR-RC FR-RC Operation ready...
Page 266 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power return converters [Unit : mm(in)] Mounting foot (removable) 2- D hole Mounting foot movable Rating plate Display panel Front cover window Cooling fan Heat generation area outside mounting dimension Power return Approx.
Page 267: Cables And Connectors
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.4 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. Those indicated by broken lines in the figure are not options. Servo amplifier Operation CN1A CN1B panel Personal...
Page 268 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Standard encoder MR-JCCBL M-L Connector: 10120-3000VE Housing : 1-172161-9 Standard cable Refer to (2) in this Shell kit: 10320-52F0-008 Connector pin : 170359-1 flexing life section. (3M or equivalent) (AMP or equivalent) IP20 Cable clamp : MTI-0002...
Page 269 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Control signal MR-J2CN1 Connector: 10120-3000VE connector set Shell kit: 10320-52F0-008 (3M or equivalent) Qty: 2 each 10) Junction MR-J2TBL M Connector: HIF3BA-20D-2.54R Connector: 10120-6000EL For junction terminal block Refer to (Hirose Electric) Shell kit: 10320-3210-000 terminal cable...
Page 270 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. Refer to Section 14.4 for the flexing life of the encoder cable. When the encoder cable is used, the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2.4 .
Page 271 14. OPTIONS AND AUXILIARY EQUIPMENT MR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL30M-L MR-JCCBL50M-H MR-JCCBL5M-H Encoder side Encoder side Encoder side Servo amplifier side Servo amplifier side Servo amplifier side (Note) (Note) (Note) Plate Plate Plate Note. Always make connection for use in an absolute position detection system. This wiring is not needed for use in an incremental system.
Page 272 14. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors. 1) Model explanation Model: MR-JHSCBL M- Symbol Specifications Standard flexing life Long flexing life Symbol Cable length [m(ft)] 2 (6.56) 5 (16.4) 10 (32.8)
Page 273 14. OPTIONS AND AUXILIARY EQUIPMENT MR-JHSCBL2M-L MR-JHSCBL10M-L MR-JHSCBL10M-H MR-JHSCBL5M-L MR-JHSCBL2M-H MR-JHSCBL30M-L MR-JHSCBL50M-H MR-JHSCBL5M-H MR-ENCBL10M-H MR-ENCBL2M-H MR-ENCBL5M-H MR-ENCBL50M-H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side (Note1) Plate (Note2) Use of AWG24 (Less than 10m(32.8ft)) (Note1) (Note1) Note1: This wiring is required for use in the absolute...
Page 274 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable. (a) Model definition Model : MR-CPCATCBL3M Cable length 3[m](10[ft]) (b) Connection diagram MR-CPCATCBL3M...
Page 275: 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 - 22...
Page 276 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable (MR-J2TBL M) Model : MR-J2TBL Symbol Cable length[m(ft)] 0.5 (1.64) 1 (3.28) Servo amplifier side (CN1A CN1B) connector (3M) Junction terminal block side connector (Hirose Electric) 10120-6000EL (connector) HIF3BA-20D-2.54R (connector) 10320-3210-000 (shell kit) Terminal block label Junction terminal...
Page 277: Maintenance Junction Card (Mr-J2Cn3Tm)
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.6 Maintenance junction card (MR-J2CN3TM) (1) Usage The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor are used at the same time. Communication cable Servo amplifier Maintenance junction card (MR-J2CN3TM) Bus cable MR-J2HBUS M CN3B...
Page 278 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawing [Unit: mm] ([Unit: in]) CN3A CN3B CN3C 2- 5.3(0.21)(mounting hole) 3(0.12) 41.5(1.63) 88(3.47) 100(3.94) Weight: 110g(0.24Ib) (4) Bus cable (MR-J2HBUS Model: MR-J2HBUS M Symbol Cable length [m(ft)] 0.5 (1.64) 1 (3.28) 5 (16.4) MR-J2HBUS05M MR-J2HBUS1M MR-J2HBUS5M...
Page 279: External Digital Display (Mr-Dp60)
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.7 External digital display (MR-DP60) When using the MR-DP60, set " 1 4" 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 280 Square hole Square hole 2- 5 (0.20) 2- 5 (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- 4.5 (0.18) mounting hole (0.30) (0.30) 165(6.50) 2- 6.5 (0.26), depth 1 (0.04) 14 - 27...
Page 281: Manual Pulse Generator (Mr-Hdp01)
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.8 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 100pulse / rev Max.
Page 282: Battery (Mr-Bat, A6Bat)
14. OPTIONS AND AUXILIARY EQUIPMENT (4) Mounting [Unit: mm(in)] Panel cutting 3- 4.8(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...
Page 283: 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 (CSA) 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 284 14. OPTIONS AND AUXILIARY EQUIPMENT Use wires 6) of the following sizes with the brake unit (FR-BU) and power return converter (FR-RC). Model Wires[mm FR-BU-15K 3.5(AWG12) FR-BU-30K 5.5(AWG10) FR-BU-55K 14(AWG6) FR-RC-15K 14(AWG6) Table 14.2 Recommended crimping terminals Servo amplifier side crimping terminals Symbol Crimping terminal Applicable tool...
Page 285: 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 286: Relays
14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.4 Relays The following relays should be used with the interfaces: Interface Selection example Relay used for input signals (interface DI-1) signals To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less...
Page 287 14. 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 288 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 289 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 290 14. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] ([Unit: in.]) Earth plate Clamp section diagram 2- 5(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 291 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 292: Leakage Current Breaker
(about 30cm (11.8 in)) to minimize leakage currents. Rated sensitivity current 10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] ..(14.2) K: Constant considering the harmonic contents Cable Leakage current breaker Type Mitsubishi products Noise NV-SP filter Servo Cable Models provided with...
Page 293 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 Servo motor amplifier HC-MFS73 MR-J2S-60CL Use a leakage current breaker designed for suppressing harmonics/surges. Find the terms of Equation (14.2) from the diagram: Ig1 20 0.1 [mA]...
Page 294: 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: Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter Servo amplifier Weight [kg]([lb])
Page 295 14. OPTIONS AND AUXILIARY EQUIPMENT HF3040-TM HF-3050A-TM Dimensions [mm(in)] Model HF3040A-TM (10.23) (8.27) (3.35) (6.10) (5.51) (4.92) (1.73) (5.51) (2.76) R3.25, length 8 HF3050A-TM (11.42) (9.45) (3.94) (7.48) (6.89) (6.30) (1.73) (5.51) (3.94) 14 - 42...
Page 296: 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. (1) Single-revolution type WA2WYA2SEBK2K (Japan Resistor make) Resistance Dielectric strength Insulation Mechanical Rated power Resistance Rotary torque tolerance (for 1 minute) resistance rotary angle...
Page 297 14. OPTIONS AND AUXILIARY EQUIPMENT MEMO 14 - 44...
Page 298: Communication Functions
15.1.1 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 299: Rs-232C Configuration
15. COMMUNICATION FUNCTIONS 15.1.2 RS-232C configuration (1) Outline A single axis of servo amplifier is operated. Servo amplifier 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) is available.
Page 300: Communication Specifications
15. COMMUNICATION FUNCTIONS 15.2 Communication specifications 15.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station.
Page 301: Parameter Setting
15. COMMUNICATION FUNCTIONS 15.2.2 Parameter setting When the RS-422/RS-232C communication function is used to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again.
Page 302: Protocol
15. COMMUNICATION FUNCTIONS 15.3 Protocol POINT Whether station number setting will be made or not must be selected if the RS-232C communication function is used. Note that choosing "no station numbers" in parameter No. 57 will make the communication protocol free of station numbers. Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No., etc.
Page 303 15. COMMUNICATION FUNCTIONS (3) Recovery of communication status by time-out EOT causes the servo to return to the receive neutral status. Controller side (Master station) Servo side (Slave station) (4) Data frames The data length depends on the command. Data Data or 12 frames or 16 frames 4 frames...
Page 304: Character Codes
15. COMMUNICATION FUNCTIONS 15.4 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 ASCII codes are used.
Page 305: Error Codes
15. COMMUNICATION FUNCTIONS 15.5 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 306: Time-Out Operation
15. COMMUNICATION FUNCTIONS 15.7 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 307: Initialization
15. COMMUNICATION FUNCTIONS 15.9 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 308: Command And Data No. List
15. COMMUNICATION FUNCTIONS 15.11 Command and data No. list POINT If the command/data No. is the same, its data may be different from the interface and drive units and other servo amplifiers. 15.11.1 Read commands (1) Status display (Command [0][1]) Command Data No.
Page 309 15. 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 310 15. COMMUNICATION FUNCTIONS (6) Current position latch data (Command [6][C]) Command Data No. Description Frame length [6][C] [0][1] Current position latch data. (7) General-purpose register (Rx) value (Command [6][D]) Command Data No. Description Frame length [6][D] [0][1] The value of the general-purpose register (R1) [6][D] [0][2] The value of the general-purpose register (R2)
Page 311: Write Commands
15. COMMUNICATION FUNCTIONS 15.11.2 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 [0][0] to [8][4]...
Page 312 15. COMMUNICATION FUNCTIONS (8) External input signal disable (Command [9][0]) Command Data No. Description Setting range Frame length Turns off the input devices, external analog input signals [9][0] [0][0] and pulse train inputs with the exception of EMG, LSP and 1EA5 LSN, independently of the external ON/OFF statuses.
Page 313: Detailed Explanations Of Commands
15. COMMUNICATION FUNCTIONS 15.12 Detailed explanations of commands 15.12.1 Data processing When the master station transmits a command data No. or a command data No. data to a slave station, the servo amplifier returns a reply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc.
Page 314 15. COMMUNICATION FUNCTIONS (2) Writing the processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position.
Page 315: Status Display
15. COMMUNICATION FUNCTIONS 15.12.2 Status display (1) Status display data read When the master station transmits the data No. 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. corresponding to the status display item to be read. Refer to Section 15.11.1.
Page 316: Parameter
15. COMMUNICATION FUNCTIONS 15.12.3 Parameter (1) Parameter read Read the parameter setting. (a) 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. [5][A] (b) Reply The slave station sends back the data and processing information of the requested parameter No.
Page 317 15. COMMUNICATION FUNCTIONS (2) Parameter write POINT The number of parameter write times is restricted to 100,000 times. 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.
Page 318: External I/O Signal Statuses
15. COMMUNICATION FUNCTIONS 15.12.4 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 319 15. 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 320: Device On/Off
15. 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 321: Disable/Enable Of I/O Devices (Dio)
15. COMMUNICATION FUNCTIONS 15.12.6 Disable/enable of I/O devices (DIO) Inputs can be disabled independently of the I/O devices ON/OFF. When inputs are disabled, the input signals (devices) are recognized as follows. Among the input devices, EMG, LSP and LSN cannot be disabled.
Page 322: Input Devices On/Off (Test Operation)
15. COMMUNICATION FUNCTIONS 15.12.7 Input devices ON/OFF (test operation) Each input devices can be turned on/off for test operation. when the device to be switched off exists in the external input signal, also switch off that input signal. Send command [9] [2], data No. [0] [0] and data. Command Data No.
Page 323: Test Operation Mode
15. COMMUNICATION FUNCTIONS 15.12.8 Test operation mode (1) Instructions for test operation mode The test operation mode must be executed in the following procedure. If communication is interrupted for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a stop and servo-locked.
Page 324 15. COMMUNICATION FUNCTIONS (2) Jog operation Transmit the following communication commands: (a) Setting of jog operation data Item Command Data No. Data Speed [A][0] [1][0] Write the speed [r/min] in hexadecimal. Acceleration/deceleration Write the acceleration/deceleration time constant [A][0] [1][1] time constant [ms] in hexadecimal.
Page 325 15. COMMUNICATION FUNCTIONS (c) Start of positioning operation Transmit the speed and acceleration/deceleration time constant, turn on the servo-on (SON) and forward/reverse rotation stroke end (LSP LSN ) , and then send the moving distance to start positioning operation. After that, positioning operation will start every time the moving distance is transmitted.
Page 326: Output Signal Pin On/Off Output Signal (Do) Forced Output
15. COMMUNICATION FUNCTIONS 15.12.9 Output signal pin ON/OFF output signal (DO) forced output In the test operation mode, the output signal pins can be turned on/off independently of the servo status. Using command [9][0], disable the output signals in advance. (1) Choosing DO forced output in test operation mode Transmit command [8][B] data No.
Page 327: Alarm History
15. COMMUNICATION FUNCTIONS 15.12.10 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 328: Current Alarm
15. COMMUNICATION FUNCTIONS 15.12.11 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. Alarm No.
Page 329: Current Position Latch Data
15. COMMUNICATION FUNCTIONS 15.12.12 Current position latch data Read the current position latch data. When the data No. is transmitted, the data value and data processing information are sent back. (1) Transmission Send command [6][C] and data No. [0][1] to be read. (2) Reply The slave station sends back.
Page 330: General-Purpose Register
15. COMMUNICATION FUNCTIONS 15.12.13 General-purpose register (1) General-purpose register (Rx) read Read the general-purpose register (Rx) value stored in the EEP-ROM. (a) Transmission Transmit command [6][D] and any of data No. [0][1] to [0][4] corresponding to the general-pirpose register (Rx) to be read. Refer to Section 15.11.1. (b) Reply The slave station sends back the position data of the requested the value of the general-pirpose register (Rx).
Page 331 15. COMMUNICATION FUNCTIONS (3) General-purpose register (Rx) write Write the value of the general-purpose register (Rx). Write the value within the setting range. Refer to Section 4.2.2 (1) for the setting range. Transmit command [B][9], the data No., and setting value. Data to be written is hexadecimal. Data is transferred in hexadecimal.
Page 332: Servo Amplifier Group Designation
15. COMMUNICATION FUNCTIONS 15.12.14 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-422 communication. (1) Group setting write Write the group designation value to the slave station. (a) Transmission Transmit command [9][F], data No.
Page 333: Software Version
15. COMMUNICATION FUNCTIONS 15.12.15 Software version Reads the software version of the servo amplifier. (a) Transmission Send command [0] [2] and data No. [7] [0]. Command Data No. [0][2] [7][0] (b) Reply The slave station returns the software version requested. Space Software version (15 digits) 15 - 36...
Page 334: App 1. Status Indication Block Diagram
APPENDIX App 1. Status indication block diagram App - 1...
Page 335: App 2. Junction Terminal Block (Mr-Tb20) Terminal Block Labels
APPENDIX App 2. Junction terminal block (MR-TB20) terminal block labels For CN1A For CN1B App - 2...
Page 336 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Jan., 2003 SH(NA)030034-A First edition...
Page 337 MODEL MODEL CODE HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030034-A (0301) MEE Printed in Japan Specifications subject to change without notice.

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Mitsubishi Electric Melservo-J2-SUPER series Instruction Manual

1 Functions and Configuration

2 Installation

3 Signals and Wiring

4 Operation

5 Parameters

6 Servo Configuration Software

7 Display and Operation

8 General Gain Adjustment

9 Special Adjustment Functions

10 Inspection

11 Troubleshooting

12 Outline Dimension Drawings

13 Characteristics

14 Options and Auxiliary Equipment

15 Communication Functions

Appendix

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Summary of Contents for Mitsubishi Electric Melservo-J2-SUPER series