Page 1 DATASHEET MITSUBISHI ELECTRIC MR-J2S-200A OTHER SYMBOLS: MRJ2S200A, MRJ2S 200A, MRJ2S-200A, MR J2S200A, MR J2S 200A, MR J2S-200A, MR-J2S200A, MR-J2S 200A, MR-J2S-200A RGB ELEKTRONIKA AGACIAK CIACIEK SPÓŁKA JAWNA Jana Dlugosza 2-6 Street 51-162 Wrocław www.rgbelektronika.pl Poland biuro@rgbelektronika.pl +48 71 325 15 05 www.rgbautomatyka.pl...
Page 2 YOUR PARTNER IN MAINTENANCE Repair this product with RGB ELEKTRONIKA ORDER A DIAGNOSIS LINEAR ENCODERS SYSTEMS INDUSTRIAL COMPUTERS ENCODERS CONTROLS SERVO AMPLIFIERS MOTORS MACHINES OUR SERVICES POWER SUPPLIERS OPERATOR SERVO PANELS DRIVERS At our premises in Wrocław, we have a fully equipped servicing facility. Here we perform all the repair works and test each later sold unit.
Page 3 MELSERVO Servo Amplifiers and Motors Instruction Manual MR-J2S-„A Art. no.: 138918 INDUSTRIAL AUTOMATION 2001 02 15 Version C...
Page 4 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 5 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 6 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 motor by the cables, shaft or encoder.
Page 7 CAUTION Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. For safety of personnel, always cover rotating and moving parts. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine.
Page 8 (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 9 (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative. (7) Disposal CAUTION Dispose of the product as general industrial waste.
Page 10 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 11 (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 12 (7) Auxiliary equipment and options (a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant products of the models described in Section 13.2.2. (b) The sizes of the cables described in Section 13.2.1 meet the following requirements. To meet the other requirements, follow Table 5 and Appendix C in EN60204-1.
Page 13 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :MR-J2S-10A to MR-J2S-700A MR-J2S-10A1 to MR-J2S-40A1 Servo motor :HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS (2) Installation Install a fan of 100CFM air flow 10.16 cm (4 in) above the servo amplifier or provide cooling of at least equivalent capability.
Page 14: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-18 1.1 Introduction.............................. 1- 1 1.2 Function block diagram .......................... 1- 2 1.3 Servo amplifier standard specifications ....................1- 3 1.4 Function list ............................. 1- 4 1.5 Model code definition ..........................1- 5 1.6 Combination with servo motor.......................
Page 15 3.8.2 Connection diagram......................... 3-49 3.8.3 I/O terminals ............................ 3-51 3.9 Servo motor with electromagnetic brake ..................... 3-53 3.10 Grounding ............................. 3-56 3.11 Servo amplifier terminal block (TE2) wiring method ............... 3-57 3.12 Instructions for the 3M connector....................... 3-58 4. OPERATION 4- 1 to 4- 6 4.1 When switching power on for the first time..................
Page 16 7. GENERAL GAIN ADJUSTMENT 7- 1 to 7-12 7.1 Different adjustment methods ....................... 7- 1 7.1.1 Adjustment on a single servo amplifier..................7- 1 7.1.2 Adjustment using servo configuration software................7- 2 7.2 Auto tuning .............................. 7- 3 7.2.1 Auto tuning mode ..........................7- 3 7.2.2 Auto tuning mode operation ......................
Page 17 12. CHARACTERISTICS 12- 1 to 12- 8 12.1 Overload protection characteristics ....................12- 1 12.2 Power supply equipment capacity and generated loss ..............12- 3 12.3 Dynamic brake characteristics......................12- 5 12.4 Encoder cable flexing life ........................12- 7 13. OPTIONS AND AUXILIARY EQUIPMENT 13- 1 to 13-38 13.1 Options..............................
Page 18 14.12 Detailed explanations of commands....................14-14 14.12.1 Data processing.......................... 14-14 14.12.2 Status display ..........................14-16 14.12.3 Parameter........................... 14-17 14.12.4 External I/O pin statuses (DIO diagnosis)................14-19 14.12.5 Disable/enable of external I/O signals (DIO) ................14-20 14.12.6 External input signal ON/OFF (test operation) ..............14-21 14.12.7 Test operation mode ........................
Page 19: 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 20 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is based on the MELSERVO-J2 series and has further higher performance and higher functions. It has position control, speed control and torque control modes. Further, it can perform operation with the control modes changed, e.g.
Page 21: Function Block Diagram
1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. Regenerative brake option (Note 3) Servo amplifier Servo motor (Note2) (Note1) Power supply Regenerative 3-phase Current brake 200 to detector transistor CHARGE 230VAC, lamp 1-phase...
Page 22: Servo Amplifier Standard Specifications
1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications Servo Amplifier MR-J2S- 100A 200A 350A 500A 700A 10A1 20A1 40A1 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: 1-phase Permissible voltage fluctuation...
Page 23: Function List
1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the corresponding chapters and sections. (Note) Function Description Refer to Control mode Section 3.1.1 Position control mode This servo is used as position control servo.
Page 24: 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 : TC3XXAAAAG52 Serial number PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN 1 - 5...
Page 25: Combination With Servo Motor
1. FUNCTIONS AND CONFIGURATION (2) Model MR–J2S– MR–J2S–100A or less MR–J2S–200A 350A 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-60A or more.
Page 26: Structure
1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) MR-J2S-100A or less Name/Application Refer to Battery holder Section15.3 Contains the battery for absolute position data backup. Battery connector (CON1) Section15.3 Used to connect the battery for absolute position data backup.
Page 27 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200A MR-J2S-350A POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Refer to Battery holder Section15.3 Contains the battery for absolute position data backup. Battery connector (CON1) Section15.3 Used to connect the battery for absolute position data...
Page 28 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500A POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Refer to Battery connector (CON1) Used to connect the battery for absolute position data Section15.3 backup.
Page 29 1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700A POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to next page. Refer to Name/Application Battery connector (CON1) Used to connect the battery for absolute position data Section15.3 backup.
Page 30: Removal And Reinstallation Of The
1. FUNCTIONS AND CONFIGURATION 1.7.2 Removal and reinstallation of the front cover To avoid the risk of an electric shock, do not open the front cover while power is CAUTION (1) For MR-J2S-200A or more Removal of the front cover Reinstallation of the front cover Front cover hook (2 places)
Page 31 1. FUNCTIONS AND CONFIGURATION (3) For MR-J2S-700A 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 32: Servo System With Auxiliary Equipment
1. FUNCTIONS AND CONFIGURATION 1.8 Servo system with auxiliary equipment To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. (1) MR-J2S-100A or less (a) For 3-phase 200V to 230VAC or 1-phase 230VAC (Note2) 3-phase 200V...
Page 33 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC 1-phase 100V to 120VAC Options and auxiliary equipment Refer to Options and auxiliary equipment Refer to power supply Regenerative brake option Section 13.1.1 No-fuse breaker Section 13.2.2 Cables Section 13.2.1 Magnetic contactor Section 13.2.2 Servo configuration software...
Page 34 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200A MR-J2S-350A or more Options and auxiliary equipment Refer to Options and auxiliary equipment Refer to 3-phase 200V Regenerative brake option Section 13.1.1 No-fuse breaker Section 13.2.2 to 230VAC power supply Magnetic contactor Section 13.2.2 Cables Section 13.2.1 Power factor improving reactor Section 13.2.3...
Page 35 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500A 3-phase 200V Options and auxiliary equipment Options and auxiliary equipment Refer to Refer to to 230VAC No-fuse breaker Section 13.2.2 Regenerative brake option Section 13.1.1 power supply Magnetic contactor Section 13.2.2 Cables Section 13.2.1 Servo configuration software Section 13.1.8 Power factor improving reactor Section 13.2.3...
Page 36 1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700A Options and auxiliary equipment Options and auxiliary equipment Refer to Refer to No-fuse breaker Section 13.2.2 Regenerative brake option Section 13.1.1 Magnetic contactor Section 13.2.2 Cables Section 13.2.1 3-phase 200V Servo configuration software Section 13.1.8 Power factor improving reactor Section 13.2.3 to 230VAC power supply...
Page 37 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 18...
Page 38: Installation
2. INSTALLATION 2. INSTALLATION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual.
Page 39: Installation Direction And Clearances
2. INSTALLATION 2.2 Installation direction and clearances The equipment must be installed in the specified direction. Otherwise, a fault may occur. CAUTION Leave specified clearances between the servo amplifier and control box inside walls or other equipment. (1) Installation of one servo amplifier Control box Control box 40mm...
Page 40: 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 41: 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) In any application where the servo motor moves, the cables should be free from excessive stress. For use in any application where the servo motor moves run the cables so that their flexing portions fall within the optional encoder cable range.
Page 42: 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 43: Standard Connection Example
3. SIGNALS AND WIRING 3.1 Standard connection example POINT Refer to Section 3.7.1 for the connection of the power supply system and to Section 3.8 for connection with the servo motor. 3.1.1 Position control mode (1) FX-10GM Positioning module Servo amplifier FX-10GM (Note 4, 9) (Note 4) CN1A...
Page 44 3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) 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 45 3. SIGNALS AND WIRING (2) AD75P (A1SD75P Positioning module AD75P Servo amplifier (A1SD75P (Note 10) 10m(32ft) max. (Note 4,9) (Note 4) CN1A CN1B Ready (Note 12) INPS (Note 7) (Note 2,5) Trouble PGO(24V) PGO(5V) Zero speed PGO COM CLEAR Limiting torque CLEAR COM PULSE F PULSE F...
Page 46 3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) 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 47: Speed Control Mode
3. SIGNALS AND WIRING 3.1.2 Speed control mode Servo amplifier (Note 4) CN1B (Note 12) (Note 4,9) (Note 7) CN1A (Note 2,5) Trouble Speed selection 1 Zero speed Limiting torque 10m(32ft) max. (Note 4,9) (Note 4,9) CN1B CN1A (Note 3, 6) Emergency stop Servo-on Speed reached Reset...
Page 48 3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) 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 49: Torque Control Mode
3. SIGNALS AND WIRING 3.1.3 Torque control mode Servo amplifier (Note 4) CN1B (Note 10) (Note 4,8) (Note 6) CN1A (Note 2,5) Trouble Speed selection 1 Zero speed Limiting torque 10m(32ft) max. (Note 4,8) (Note 4,8) CN1B CN1A (Note 3) Emergency stop Servo-on Ready Reset...
Page 50 3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the (terminal marked ) 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 The following is the internal connection diagram where the signal assignment has been made in the initial status in each control mode. Servo amplifier CN1B DC24V (Note) (Note) CN1A CN1A COM COM COM 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. Refer to the next page for CN1A and CN1B signal assignment. (1) Signal arrangement CN1A CN1B MITSUBISHI...
Page 53 3. SIGNALS AND WIRING (2) CN1A and CN1B signal assignment The signal assignment of connector changes with the control mode as indicated below; For the pins which are given parameter No.s in the related parameter column, their signals can be changed using those parameters.
Page 54 3. SIGNALS AND WIRING Note: 1. I : Input signal, O: Output signal 2. P : Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode 3.
Page 55: Signal Explanations
3. SIGNALS AND WIRING 3.3.2 Signal explanations For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.6.2. In the control mode field of the table P : Position control mode, S: Speed control mode, T: Torque control mode : Denotes that the signal may be used in the initial setting status.
Page 56 3. SIGNALS AND WIRING Control Connec- mode Signal Symbol tor pin Functions/Applications division Outside torque CN1B Torque limit selection disconnecting TL-SG makes internal torque DI-1 limit selection limit 1 (parameter No. 28) valid and connecting them makes analog torque limit (TLA) valid. For details, refer to (5), Section 3.4.1.
Page 57 3. SIGNALS AND WIRING Connec- Control mode Signal Symbol tor pin Functions/Applications division Speed selection 1 CN1A <Speed control mode> DI-1 Used to select the command speed for operation. When using SP3, make it usable by making the setting of parameter No.
Page 58 3. SIGNALS AND WIRING Control Connec- Signal Symbol tor pin Functions/Applications mode division Proportion CN1B Connect PC-SG to switch the speed amplifier from the DI-1 control proportional integral type to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift.
Page 59 3. SIGNALS AND WIRING Control Connec- mode Signal Symbol tor pin Functions/Applications division Control change CN1B <Position/speed control change mode> DI-1 Refer to Used to select the control mode in the position/speed control Functions/ change mode. Appli- cations. (Note) LOP Control mode Position Speed...
Page 60 3. SIGNALS AND WIRING (2) Output signals Control Connec- mode Signal Symbol tor pin Functions/Applications division Trouble CN1B ALM-SG are disconnected when power is switched off or the DO-1 protective circuit is activated to shut off the base circuit. Without alarm, ALM-SG are connected within 1 after power on.
Page 61 3. SIGNALS AND WIRING Control Connec- mode Signal Symbol tor pin Functions/Applications division Alarm code ACD 0 CN1A To use this signal, set " 1 " in parameter No.49. DO-1 This signal is output when an alarm occurs. When there is no ACD 1 CN1A alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
Page 62 3. SIGNALS AND WIRING Control Connec- Signal Symbol tor pin Functions/Applications mode division Encoder Z-phase CN1A Outputs the zero-point signal of the encoder. One pulse is output DO-2 pulse per servo motor revolution. OP and LG are connected when the (Open collector) zero-point position is reached.
Page 63 3. SIGNALS AND WIRING (4) Power supply Control Connec- mode Signal Symbol tor pin Functions/Applications division I/F internal CN1B Used to output 24V 10% to across VDD-SG. power supply When using this power supply for digital interface, connect it with COM.
Page 64: Detailed Description Of The Signals
3. SIGNALS AND WIRING 3.4 Detailed description of the signals 3.4.1 Position control mode (1) Pulse train input (a) Input pulse waveform selection Encoder pulses may be input in any of three different forms, for which positive or negative logic can be chosen.
Page 65 3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collector system Connect as shown below: Servo amplifier Approx. 1.2k Approx. 1.2k The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the table in (a), (1) of this section are voltage waveforms of PP and NP based on SG.
Page 66 3. SIGNALS AND WIRING 2) Differential line driver system Connect as shown below: Servo amplifier The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows.
Page 67 3. SIGNALS AND WIRING (2) In-position (INP) PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset in-position range (parameter No. 5). INP-SG may remain connected when low-speed operation is performed with a large value set as the in-position range. Servo-on (SON) Alarm In-position range...
Page 68 3. SIGNALS AND WIRING (5) Torque limit (a) Torque limit and generated torque By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation. A relationship between the limit value and servo motor-generated torque is shown below.
Page 69: Speed Control Mode
3. SIGNALS AND WIRING 3.4.2 Speed control mode (1) Speed setting (a) Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command (VC). A relationship between the analog speed command (VC) applied voltage and the servo motor speed is shown below: The maximum speed is achieved at 10V.
Page 70 3. SIGNALS AND WIRING (b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC). (Note) External input signals Speed command value Analog speed command (VC)
Page 71: Torque Control Mode
3. SIGNALS AND WIRING 3.4.3 Torque control mode (1) Torque control (a) Torque command and generated torque A relationship between the applied voltage of the analog torque command (TC) and the torque generated by the servo motor is shown below. The maximum torque is generated at 8V.
Page 72 3. SIGNALS AND WIRING (b) Analog torque command offset Using parameter No. 30, the offset voltage of 999 to 999mV can be added to the TC applied voltage as shown below. Max. torque Parameter No.30 offset range 999 to 999mV 8( 8) TC applied voltage [V] (2) Torque limit...
Page 73 3. SIGNALS AND WIRING (b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection 1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the speed limit command (VLA), as indicated below.
Page 74: Position/Speed Control Change Mode
3. SIGNALS AND WIRING 3.4.4 Position/speed control change mode Set "0001" in parameter No. 0 to switch to the position/speed control change mode. This function is not available in the absolute position detection system. (1) Control change (LOP) Use control change (LOP) to switch between the position control mode and the speed control mode from an external contact.
Page 75 3. SIGNALS AND WIRING (3) Speed setting in speed control mode (a) Speed command and speed The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed set in the applied voltage of the analog speed command (VC). A relationship between analog speed command (VC) applied voltage and servo motor speed and the rotation directions determined by the forward rotation start signal (ST1) and reverse rotation start signal (ST2) are as in (a), (1) in section 3.4.2.
Page 76: Speed/Torque Control Change Mode
3. SIGNALS AND WIRING 3.4.5 Speed/torque control change mode Set "0003" in parameter No. 0 to switch to the speed/torque control change mode. (1) Control change (LOP) Use control change (LOP) to switch between the speed control mode and the torque control mode from an external contact.
Page 77 3. SIGNALS AND WIRING (4) Speed limit in torque control mode (a) Speed limit value and speed The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is as in (a), (3) in section 3.4.3.
Page 78: Torque/Position Control Change Mode
3. SIGNALS AND WIRING 3.4.6 Torque/position control change mode Set "0005" in parameter No. 0 to switch to the torque/position control change mode. (1) Control change (LOP) Use control change (LOP) to switch between the torque control mode and the position control mode from an external contact.
Page 79: 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 80: 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 CN1B DC24V CN1A CN1B ALM .etc DO-1 SON, etc. DI-1 (Note) PG NG PP NP Isolated 15VDC 10% 30mA P15R LA etc.
Page 81: 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 82 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) Pulse train input interface DI-2 Provide a pulse train signal in the open collector or differential line driver system.
Page 83 3. SIGNALS AND WIRING (b) Differential line driver system 1) Interface Servo amplifier Max. input pulse frequency 500kpps Am26LS31 or equivalent PP(NP) About 100 PG(NG) 2) Conditions of the input pulse tLH tHL 0.1 s PP PG tc 1 s tF 3 s NP NG (4) Encoder pulse output DO-2...
Page 84 3. SIGNALS AND WIRING (b) Differential line driver system 1) Interface Max. output current: 35mA Servo amplifier Servo amplifier Am26LS32 or equivalent High-speed photocoupler (LB, LZ) (LB, LZ) (LBR, LZR) (LBR, LZR) 2) Output pulse Servo motor CCW rotation LZ signal varies 3/8T on its leading edge. 400 s or more (5) Analog input Input impedance 10 to 12k...
Page 85 3. SIGNALS AND WIRING (7) Source input interface When using the input interface of source type, all Dl-1 input signals are of source type. Source output cannot be provided. For use of internal power supply For use of external power supply Servo amplifier Servo amplifier R: Approx.
Page 86: 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 87 3. SIGNALS AND WIRING (2) For 1-phase 100 to 120VAC or 1-phase 100 to 120VAC power supply Emergency stop Power supply Servo amplifier 1-phase 100 to 120VAC or 1-phase 230VAC (Note) Emergency stop Servo-on Trouble Note : Not provided for 1-phase 100 to 120VAC. 3 - 46...
Page 88: 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 11.1. Symbol Signal Description Supply L and L with the following power: For 1-phase 230VAC, connect the power supply to L and leave L open.
Page 89: 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 90: 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 91 3. SIGNALS AND WIRING Servo motor Connection diagram Servo amplifier Servo motor U (Red) V (White) Motor W (Black) (Green) (Note 1) 24VDC (Note2) HC-KFS053 (B) to 73 (B) HC-MFS053 (B) to 73 (B) Electro- magnetic HC-UFS13 (B) to 73 (B) brake To be shut off when servo on signal switches off or by...
Page 92: 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 Power supply connector (Molex make) Without electromagnetic brake Encoder cable 0.3m 5557-04R-210 (receptacle) With connector 1-172169-9 5556PBTL (Female terminal) (AMP make) With electromagnetic brake 5557-06R-210 (receptacle)
Page 93 3. SIGNALS AND WIRING (2) HC-SFS HC-RFS HC-UFS2000 r/min series Servo motor side connectors Servo motor Electromagnetic Motor plate For power supply For encoder (Opposite side) 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.
Page 94: Servo Motor With Electromagnetic Brake
3. SIGNALS AND WIRING 3.9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal. Contacts must be open when Circuit must be servo-on signal is off or when an alarm (trouble) is present and when...
Page 95 3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on signal command (from controller) ON/OFF Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.
Page 96 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 97: 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 98: 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 Twisted wire: Use the cable after stripping the sheath and twisting the core.
Page 99: Instructions For The 3M Connector
3. SIGNALS AND WIRING (2) Connection Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that the cable does not come off. (Tightening torque: 0.5 to 0.6N m) Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose.
Page 100: Operation
4. OPERATION 4. OPERATION 4.1 When switching power on for the first time Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (L ) of the servo amplifier. (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.
Page 101: Startup
4. OPERATION 4.2 Startup Do not operate the switches with wet hands. You may get an electric shock. WARNING Before starting operation, check the parameters. Some machines may perform unexpected operation. During power-on for some after power-off, do not touch or close a parts (cable etc.) CAUTION to the servo amplifier heat sink, regenerative brake resistor, the servo motor, etc.
Page 102 4. OPERATION (4) Servo-on Switch the servo-on in the following procedure: 1) Switch on main circuit/control power supply. 2) Switch on the servo-on signal (SON). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.
Page 103: Speed Control Mode
4. OPERATION 4.2.3 Speed control mode (1) Power on 1) Switch off the servo-on (SON) signal. 2) When main circuit power/control circuit power is switched on, the display shows "r (servo motor speed)", and in two second later, shows data. (2) Test operation Using jog operation in the test operation mode, make sure that the servo motor operates.
Page 104: Torque Control Mode
4. OPERATION (6) Stop In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake. Note that simultaneous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation start (ST1) or reverse rotation start (ST2) signal has the same stop pattern as described below.
Page 105: Multidrop Communication
4. OPERATION (4) Servo-on Switch the servo-on in the following procedure: 1) Switch on main circuit/control power supply. 2) Switch on the servo-on signal (SON) (short SON-SG). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.
Page 106: 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 After setting the parameter No. 19 value, switch power off, then on to make that setting valid.
Page 107: Lists
5. PARAMETERS 5.1.2 Lists POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. The symbols in the control mode column of the table indicate the following modes: P : Position control mode S : Speed control mode...
Page 108 5. PARAMETERS Control Initial Customer No. Symbol Name Unit mode value setting *OP2 Function selection 2 0000 *OP3 Function selection 3 (Command pulse selection) 0000 *OP4 Function selection 4 P S T 0000 Feed forward gain Zero speed P S T r/min Analog speed command maximum speed (r/min)
Page 109 5. PARAMETERS Control Initial Customer No. Symbol Name Unit mode value setting For manufacturer setting 0000 *OP6 Function selection 6 P S T 0000 For manufacturer setting 0000 *OP8 Function selection 8 P S T 0000 *OP9 Function selection 9 P S T 0000 *OPA...
Page 110 5. PARAMETERS (2) Details list Initial Setting Control Class No. Symbol Name and function Unit value range mode *STY Control mode, regenerative brake option selection 0000 P S T Refer to Used to select the control mode and regenerative brake option. Name function column.
Page 111 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Auto tuning 0105 Refer to Used to selection the response level, etc. for execution of auto tuning. Name Refer to Chapter 7. function column. Auto tuning response level setting Response Machine resonance value...
Page 112 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode In-position range pulse Used to set the in-position signal (INP) output range in the command pulse increments prior to electronic gear calculation. 10000 For example, when you want to set 10 m in the conditions that the ballscrew is direct coupled, the lead is 10mm, and the feedback pulses are 8192 pulses/rev (parameter No.
Page 113 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Internal speed command 2 r/min 0 to Used to set speed 2 of internal speed commands. instan- taneous Internal speed limit 2 permi- Used to set speed 2 of internal speed limits. ssible speed Internal speed command 3...
Page 114 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Torque command time constant Used to set the constant of a low pass filter in response to the torque command. 20000 Torque command Torque After filtered Time TQC: Torque command time constant...
Page 115 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Analog monitor output 0100 P S T Refer to Used to selection the signal provided to the analog monitor output. Name (Refer to Section 5.3) function column.
Page 116 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Status display selection 0000 P S T Refer to Used to select the status display shown at power-on. Name function Selection of status display at column.
Page 117 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *BLK Parameter block 0000 P S T Refer to Used to select the reference and write ranges of the parameters. Name Operation can be performed for the parameters marked function Basic Expansion...
Page 118 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *OP3 Function selection 3 (Command pulse selection) 0000 Refer to Used to select the input form of the pulse train input signal. Name (Refer to Section 3.4.1.) function column.
Page 119 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Feed forward gain Used to set the feed forward gain. At the setting of 100%, droop pulses during constant-speed operation will be almost “zero”. Note that sudden acceleration/deceleration will increase overshoot. As a guideline, set 1s or more as the acceleration/deceleration time constant to the rated speed when the feed forward gain is set to 100%.
Page 120 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Analog speed command offset Depends Used to set the offset voltage of the analog speed command (VC). on servo For example, if CCW rotation is provided by switching on forward amplifier rotation start (ST1) with 0V applied to VC, set a negative value.
Page 121 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Speed differential compensation Used to set the differential compensation. Made valid when the proportion control signal is switched on. 1000 For manufacturer setting Must not be changed. *DIA Input signal automatic ON selection 0000...
Page 122 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *DI2 Input signal selection 2 (CN1B-5) 0111 P S T Refer to This parameter is unavailable when parameter No.42 is set to assign Name the control change signal (LOP) to CN1B-pin 5. Allows any input signal to be assigned to CN1B-pin 5.
Page 123 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Input signal selection 4 (CN1A-8) *DI4 0665 P S T Refer to Allows any input signal to be assigned to CN1A-pin 8. Name The assignable signals and setting method are the same as in input signal selection 2 (parameter No.
Page 124 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *DO1 Output signal selection 1 0000 P S T Refer to Used to select the connector pins to output the alarm code, warning Name (WNG) and battery warning (BWNG). function column.
Page 125 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode For manufacturer setting 0000 Must not be changed. *OP6 Function selection 6 0000 P S T Refer to Used to select the operation to be performed when the alarm reset Name signal switches on.
Page 126 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *OPA Function selection A 0000 Refer to Used to select the position command acceleration/deceleration time Name constant (parameter No. 7) control system. function column. Position command acceleration/deceleration time constant control 0: Primary delay 1: Linear acceleration/deceleration...
Page 127 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Low-pass filter/adaptive vibration suppression control 0000 P S T Refer to Used to selection the low-pass filter and adaptive vibration Name suppression control. (Refer to Chapter 8.) function column.
Page 128 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *CDP Gain changing selection 0000 Refer to Used to select the gain changing condition. (Refer to Section 8.3.) Name function column. Gain changing selection Gains are changed in accordance with the settings of parameters No.
Page 129 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode r/min 0 to in- Internal speed command 5 stanta- Used to set speed 5 of internal speed commands. neous permi- Internal speed limit 5 ssible Used to set speed 5 of internal speed limits.
Page 130: Detailed Description
5. PARAMETERS 5.2 Detailed description 5.2.1 Electronic gear CAUTION Wrong setting can lead to unexpected fast rotation, causing injury. POINT The guideline of the electronic gear setting range is 500. If the set value is outside this range, noise may be generated during acceleration/ deceleration or operation may not be performed at the preset speed and/or acceleration/deceleration time constants.
Page 131 5. PARAMETERS (b) Conveyor setting example For rotation in increments of 0.01 per pulse Servo motor 131072 [pulse/rev] Machine specifications Table Table : 360 /rev Reduction ratio: n 4/64 Servo motor resolution: Pt 131072 [pulses/rev] Timing belt : 4/64 131072 65536 .................
Page 132 5. PARAMETERS (3) Setting for use of AD75P The AD75P also has the following electronic gear parameters. Normally, the servo amplifier side electronic gear must also be set due to the restriction on the command pulse frequency (differential 400kpulse/s, open collector 200kpulse/s). AP: Number of pulses per motor revolution AL: Moving distance per motor revolution AM: Unit scale factor...
Page 133 5. PARAMETERS To rotate the servo motor at 3000r/min in the open collector system (200kpulse/s), set the electronic gear as follows Input pulses [pulse/s] Servo motor speed [r/min] Pt : Servo motor resolution [pulse/rev] 3000 131072 3000 131072 3000 131072 4096 60 200000 The following table indicates the electronic gear setting example (ballscrew lead...
Page 134: Analog Output
5. PARAMETERS 5.2.2 Analog output The servo status can be output to two channels in terms of voltage. Use this function when using an ammeter to monitor the servo status or synchronizing the torque/speed with the other servo. (1) Setting Change the following digits of parameter No.17: Parameter No.
Page 135 5. PARAMETERS (2) Set content The servo amplifier is factory-set to output the motor speed to ch1 and the torque to ch2. The setting can be changed as listed below by changing the parameter No.17 value: Refer to Appendix 2 for the measurement point. Setting Output item Description...
Page 136 5. PARAMETERS (3) Analog monitor block diagram 5 - 31...
Page 137: Using Forward/Reverse Rotation Stroke End To Change The Stopping Pattern
5. PARAMETERS 5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern The stopping pattern is factory-set to make a sudden stop when the forward/reverse rotation stroke end is made valid. A slow stop can be made by changing the parameter No. 22 value. Parameter No.22 Setting Stopping method Sudden stop...
Page 138: Position Smoothing
5. PARAMETERS 5.2.5 Position smoothing By setting the position command acceleration/deceleration time constant (parameter No.7), you can run the servo motor smoothly in response to a sudden position command. The following diagrams show the operation patterns of the servo motor in response to a position command when you have set the position command acceleration/deceleration time constant.
Page 139 5. PARAMETERS MEMO 5 - 34...
Page 140: Display And Operation
6. DISPLAY AND OPERATION 6. DISPLAY AND OPERATION 6.1 Display flowchart Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status.
Page 141: Status Display
6. DISPLAY AND OPERATION 6.2 Status display The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears.
Page 142: Status Display List
6. DISPLAY AND OPERATION 6.2.2 Status display list The following table lists the servo statuses that may be shown: Refer to Appendix 2 for the measurement point. Display Name Symbol Unit Description range Cumulative feedback pulse Feedback pulses from the servo motor encoder are counted and 99999 pulses displayed.
Page 143: Changing The Status Display Screen
6. DISPLAY AND OPERATION Display Name Symbol Unit Description range Within one-revolution The within one-revolution position is displayed in 100 pulse position high pulse increments of the encoder. The value returns to 0 when it exceeds the maximum number of 1310 pulses.
Page 144: Diagnostic Mode
6. DISPLAY AND OPERATION 6.3 Diagnostic mode Name Display Description Not ready. Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. Indicates the ON-OFF states of the external I/O signals.
Page 145 6. 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 146: Alarm Mode
6. DISPLAY AND OPERATION 6.4 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below.
Page 147: Parameter Mode
6. DISPLAY AND OPERATION 6.5 Parameter mode The parameters whose abbreviations are marked* are made valid by changing the setting and then switching power off once and switching it on again. Refer to Section 5.1.2. (1) Operation example The following example shows the operation procedure performed after power-on to change the control mode (parameter No.
Page 148: External I/O Signal Display
6. DISPLAY AND OPERATION 6.6 External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. Press UP once.
Page 149 6. DISPLAY AND OPERATION (a) Control modes and I/O signals Signal (Note 2) Symbols of I/O signals in control modes Related Connector Pin No. input/output parameter (Note 1) I/O CR/SP1 SP1/CR No.43 to 48 CN1A INP/SA /INP No.49 No.49 (Note 3) 4 No.43 to 48 TLC/VLC VLC/TLC...
Page 150 6. DISPLAY AND OPERATION (3) Default signal indications (a) Position control mode EMG(CN 1 B-15) Emergency stop TL (CN 1 B-9) Torque limit PC (CN 1 B-8) Proportional control CR (CN 1 A-8) Clear RES (CN 1 B-14) Reset SON(CN 1 B-5) Servo-on LSN (CN 1 B-17) Reverse rotation stroke end LSP (CN 1 B-16) Forward rotation stroke end Input signals...
Page 151: Output Signal (Do) Forced Output
6. DISPLAY AND OPERATION 6.7 Output signal (DO) forced output POINT When the servo system is used in a vertical lift application, turning on the electromagnetic brake interlock signal after assigning it to pin CN1B-19 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.
Page 152: Test Operation Mode
6. DISPLAY AND OPERATION 6.8 Test operation mode The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. CAUTION Always use the servo motor alone. If any operational fault has occurred, stop operation using the forced stop (EMG) signal.
Page 153: Jog Operation
6. DISPLAY AND OPERATION 6.8.2 Jog operation Jog operation can be performed when there is no command from the external command device. (1) Operation Connect EMG-SG to start jog operation and connect VDD-COM to use the internal power supply. Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the servo configuration software, you can change the operation conditions.
Page 154: Positioning Operation
6. DISPLAY AND OPERATION 6.8.3 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 to start positioning operation and connect VDD-COM to use the internal power supply.
Page 155: Motor-Less Operation
6. DISPLAY AND OPERATION 6.8.4 Motor-less operation Without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals. This operation can be used to check the sequence of a host programmable controller or the like.
Page 156: General Gain Adjustment
7. GENERAL GAIN ADJUSTMENT 7. GENERAL GAIN ADJUSTMENT POINT For use in the torque control mode, you need not make gain adjustment. 7.1 Different adjustment methods 7.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1.
Page 157: Adjustment Using Servo Configuration Software
7. 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 158 7. GENERAL GAIN ADJUSTMENT 7.2 Auto tuning 7.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.
Page 159: Auto Tuning Mode Operation
7. GENERAL GAIN ADJUSTMENT 7.2.2 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 Set 0 or 1 to turn on. Position/speed tuning section feedback...
Page 160: Adjustment Procedure By Auto Tuning
7. GENERAL GAIN ADJUSTMENT 7.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.
Page 161: Response Level Setting In Auto Tuning Mode
7. GENERAL GAIN ADJUSTMENT 7.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No.2) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration.
Page 162: Manual Mode 1 (Simple Manual Adjustment)
7. GENERAL GAIN ADJUSTMENT 7.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 7.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.
Page 163 7. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed control gain 2 (parameter No. 37) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression: Speed control gain 2 setting Speed loop response...
Page 164 7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (parameter No. 6) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling.
Page 165: Interpolation Mode
7. GENERAL GAIN ADJUSTMENT 7.4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 2 and speed control gain 2 which determine command trackability are set manually and the other parameter for gain adjustment are set automatically.
Page 166: Differences In Auto Tuning Between Melservo-J2 And Melservo-J2-Super
7. GENERAL GAIN ADJUSTMENT 7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super 7.5.1 Response level setting To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level setting range from the MELSERVO-J2 series. The following table lists comparison of the response level setting.
Page 167 7. GENERAL GAIN ADJUSTMENT MEMO 7 - 12...
Page 168: Special Adjustment Functions
8. SPECIAL ADJUSTMENT FUNCTIONS 8. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 7. If a mechanical system has a natural resonance point, increasing the servo system response may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
Page 169 8. SPECIAL ADJUSTMENT FUNCTIONS You can use the machine resonance suppression filter 1 (parameter No. 58) and machine resonance suppression filter 2 (parameter No. 59) to suppress the vibration of two resonance frequencies. Note that if adaptive vibration suppression control is made valid, the machine resonance suppression filter 1 (parameter No.
Page 170: Adaptive Vibration Suppression Control
8. SPECIAL ADJUSTMENT FUNCTIONS POINT If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.
Page 171: Low-Pass Filter
8. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (parameter No.60). Parameter No. 60 Adaptive vibration suppression control selection Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 (parameter No. 58) invalid. 0: Invalid 1: Valid Machine resonance frequency is always detected to...
Page 172: Gain Changing Function
8. SPECIAL ADJUSTMENT FUNCTIONS 8.5 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation. 8.5.1 Applications This function is used when: (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.
Page 173: Parameters
8. SPECIAL ADJUSTMENT FUNCTIONS 8.5.3 Parameters When using the gain changing function, always set " " in parameter No.2 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.
Page 174 8. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. 6, 34 to 38 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and speed integral compensation to be changed.
Page 175: Gain Changing Operation
8. SPECIAL ADJUSTMENT FUNCTIONS 8.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. Abbreviation Name Setting Unit Position control gain 1 rad/s Speed control gain 1 1000 rad/s Ratio of load inertia moment to...
Page 176 8. 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 177 8. SPECIAL ADJUSTMENT FUNCTIONS MEMO 8 - 10...
Page 178: Inspection
9. INSPECTION 9. 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 179 9. INSPECTION MEMO 9 - 2...
Page 180: Troubleshooting
10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 Trouble at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable. POINT Using the optional servo configuration software, you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up.
Page 181 10. TROUBLESHOOTING Start-up sequence Fault Investigation Possible cause Refer to Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7 (speed fluctuations) following procedure: are large at low 1. Increase the auto tuning speed. response level. 2.
Page 182 10. TROUBLESHOOTING (2) How to find the cause of position shift Positioning unit Servo amplifier (a) Output pulse Electronic gear (parameters No. 3, 4) Machine counter Servo motor (d) Machine stop position M (b) Cumulative command pulses (C) Servo-on (SON), stroke end (LSP/LSN) input Encoder...
Page 183: Speed Control Mode
10. TROUBLESHOOTING 10.1.2 Speed control mode Start-up sequence Fault Investigation Possible cause Refer to Power on LED is not lit. Not improved if connectors 1. Power supply voltage fault LED flickers. CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty. are disconnected.
Page 184: Torque Control Mode
10. TROUBLESHOOTING 10.1.3 Torque control mode Start-up sequence Fault Investigation Possible cause Refer to Power on LED is not lit. Not improved if connectors 1. Power supply voltage fault LED flickers. CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty. are disconnected.
Page 185: When Alarm Or Warning Has Occurred
10. TROUBLESHOOTING 10.2 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. 10.2.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 10.2.2 or 10.2.3 and take the appropriate action.
Page 186: Remedies For Alarms
10. TROUBLESHOOTING 10.2.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. CAUTION If an absolute position erase alarm (AL.25) occurred, always make home position setting again.
Page 187 10. TROUBLESHOOTING Display Name Definition Cause Action AL.17 Board error 2 CPU/parts fault Faulty parts in the servo amplifier Change the servo amplifier. AL.19 Memory error 3 ROM memory fault Checking method Alarm (AL.17 or AL.19) occurs if power is switched on after CN1A, CN1B and CN3 connectors are disconnected.
Page 188 10. 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 189 10. TROUBLESHOOTING Display Name Definition Cause Action AL.35 Command Input pulse 1. Pulse frequency of the command Change the command pulse frequency to a pulse frequency frequency of the pulse is too high. proper value. error command pulse is 2. Noise entered command pulses. Take action against noise.
Page 190 10. TROUBLESHOOTING Display Name Definition Cause Action AL.51 Overload 2 Machine collision or 1. Machine struck something. 1. Review operation pattern. the like caused max. 2. Install limit switches. output current to 2. Wrong connection of servo motor. Connect correctly. flow successively for Servo amplifier's output terminals several seconds.
Page 191: Remedies For Warnings
10. TROUBLESHOOTING Display Name Definition Cause Action 88888 Watchdog CPU, parts faulty Fault of parts in servo amplifier Change servo amplifier. Checking method Alarm (88888) occurs if power is switched on after CN1A, CN1B and CN3 connectors are disconnected. 10.2.3 Remedies for warnings If AL.E6 or AL.EA occurs, the servo off status is established.
Page 192: Outline Dimension Drawings
11. OUTLINE DIMENSION DRAWINGS 11. OUTLINE DIMENSION DRAWINGS 11.1 Servo amplifiers (1) MR-J2S-10A to MR-J2S-60A MR-J2S-10A1 to MR-J2S-40A1 [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...
Page 193 11. OUTLINE DIMENSION DRAWINGS (2) MR-J2S-70A MR-J2S-100A [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 [kg]([lb]) MR-J2S-70A MR-J2S-100A...
Page 194 11. OUTLINE DIMENSION DRAWINGS (3) MR-J2S-200A MR-J2S-350A [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-200A MR-J2S-350A (4.41) PE terminals Terminal screw: M4 Tightening torque: 1.24 [N m] (175.6 [oz in]) Terminal screw: M4 Tightening torque: 1.24 [N m] (175.6 [oz in])
Page 195 11. OUTLINE DIMENSION DRAWINGS (4) MR-J2S-500A 2- 6( 0.24) [Unit: mm] mounting hole ([Unit: in]) (0.24) (0.24) 130(5.12) 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-500A 4.9(10.8) PE terminals...
Page 196 11. OUTLINE DIMENSION DRAWINGS (5) MR-J2S-700A 2- 6( 0.24) [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-700A 7.2(15.9) PE terminals...
Page 197: Connectors
11. OUTLINE DIMENSION DRAWINGS 11.2 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 (0.55) 22.0 (0.87) Logo, etc. are indicated here. 33.3 (1.31) 12.7(0.50) (b) Threaded type Model [Unit: mm]...
Page 198 11. OUTLINE DIMENSION DRAWINGS (2) Bus cable connector <Honda Tsushin> PCR-LS20LA1 PCR-LS20LA1W [Unit: mm] (Unit: in) 10.4 13.0 (0.512) (0.409) 14.2 (0.559) 12.2 23.0 (0.906) (0.48) (0.039) (0.039) 27.4 (1.079) 27.4 (1.079) (0.039) (0.039) 12.2 32.0 (0.906) 32.0 (0.906) (0.075) (0.48) Model Number of Pins...
Page 199 11. OUTLINE DIMENSION DRAWINGS MEMO 11 - 8...
Page 200: Characteristics
12. CHARACTERISTICS 12. CHARACTERISTICS 12.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. The operation characteristics of the electronic thermal relay are shown below. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown below.
Page 201 12. CHARACTERISTICS (3) MR-J2S-500A MR-J2S-700A HC-SFS series 10000 HC-RFS series HC-UFS series 1000 During servo lock During rotation Load ratio [%] Fig 12.3 Electronic thermal relay protection characteristics 3 12 - 2...
Page 202: Power Supply Equipment Capacity And Generated Loss
12. CHARACTERISTICS 12.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 12.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 12.1 in consideration for the worst operating conditions.
Page 203 12. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 .
Page 204: Dynamic Brake Characteristics
12. CHARACTERISTICS 12.3 Dynamic brake characteristics Fig. 12.4 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 12.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds.
Page 205 12. 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 206: Encoder Cable Flexing Life
12. CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. Servo amplifier Load inertia moment ratio [times] MR-J2S-10A to MR-J2S-200A...
Page 207 12. CHARACTERISTICS MEMO 12 - 8...
Page 208: Options And Auxiliary Equipment
13. OPTIONS AND AUXILIARY EQUIPMENT 13. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment, make sure that the charge WARNING lamp is off more than 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 209 13. OPTIONS AND AUXILIARY EQUIPMENT (b) To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative brake option: a.
Page 210 13. OPTIONS AND AUXILIARY EQUIPMENT Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative brake option. 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 211 13. 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 212 13. OPTIONS AND AUXILIARY EQUIPMENT When using the regenerative brake resistor option, remove the servo amplifier's built-in regenerative brake resistor terminals (across P-C), fit them back to back, and secure them to the frame with the accessory screw as shown below. Mounting method Accessory screw For MR-J2S-700A...
Page 213 13. 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) 1.6 (0.06) 6 (0.23) (0.79) Variable dimensions Weight Regenerative Regenerative Resistance brake option power[W] [kg] [lb] MR-RB032 0.5 1.1 (1.18) (0.59) (4.69)
Page 214: Brake Unit
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.2 Brake unit POINT The brake unit and resistor unit of other than 200V class are not applicable to the servo amplifier. The brake unit and resistor unit of the same capacity must be combined. The units of different capacities may result in damage.
Page 215 13. OPTIONS AND AUXILIARY EQUIPMENT The cables between the servo amplifier and brake unit and between the resistor unit and brake unit should be as short as possible. The cables longer than 5m(16.404ft) should be twisted. If twisted, the cables must not be longer than 10m(32.808ft). The cable size should be equal to or larger than the recommended size.
Page 216: Power Return Converter
13. 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 217 13. 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 Phase detection terminals Power return converter FR-RC FR-RC Operation ready 13 - 10...
Page 218 13. 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 219: Cables And Connectors
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.4 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 220 13. 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 Long flexing life MR-JCCBL M-H...
Page 221 13. 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 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 222 13. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable If you have fabricated the encoder cable, connect it correctly. CAUTION Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to Section 12.4 for the flexing life of the encoder cable. Generally use the encoder cable available as our options.
Page 223 13. OPTIONS AND AUXILIARY EQUIPMENT MR-JCCBL2M-L MR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL30M-L MR-JCCBL50M-H MR-JCCBL5M-H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side Plate Plate Plate When fabricating an encoder cable, use the recommended wires given in Section 13.2.1 and the MR-J2CNM connector set for encoder cable fabrication, and fabricate an encoder cable as shown in the following wiring diagram.
Page 224 13. 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 225 13. 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 Plate (Note) Use of AWG24 (Less than 10m(32.8ft)) Plate Plate Note: AWG28 can be used for 5m(16.4ft) or less.
Page 226 13. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable. (a) Model definition Model : MR-CPCATCBL3M Cable length 3[m](10[ft]) (b) Connection diagram MR-CPCATCBL3M...
Page 227: Junction Terminal Block (Mr-Tb20)
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.5 Junction terminal block (MR-TB20) POINT When using the junction terminal block, you cannot use SG of CN1A-20 and CN1B-20. Use SG of CN1A-4 and CN1B-4. (1) How to use the junction terminal block Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MR- J2TBL M) as a set.
Page 228 13. 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) Junction terminal block side connector (Hirose Electric) Servo amplifier side (CN1A CN1B) connector (3M) HIF3BA-20D-2.54R (connector) 10120-6000EL (connector) 10320-3210-000 (shell kit) (Note) Symbol Junction terminal...
Page 229: Maintenance Junction Card (Mr-J2Cn3Tm)
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.6 Maintenance junction card (MR-J2CN3TM) (1) Usage The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor outputs are used at the same time. Communication cable Servo amplifier Maintenance junction card (MR-J2CN3TM) Bus cable MR-J2HBUS M CN3B...
Page 230: Battery (Mr-Bat, A6Bat)
13. OPTIONS AND AUXILIARY EQUIPMENT (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 10120-6000EL (connector) 10120-6000EL (connector) 10320-3210-000 (shell kit) 10320-3210-000 (shell kit) EMG* Plate Plate 13.1.7 Battery (MR-BAT, A6BAT) Use the battery to build an absolute position detection system.
Page 231: Servo Configurations Software
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.8 Servo configurations software The servo configuration software uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications Item Description Communication signal Conforms to RS-232C.
Page 232 13. OPTIONS AND AUXILIARY EQUIPMENT (b) Configuration diagram 1) When using RS-232C Servo amplifier Personal computer Communication cable Servo motor To RS-232C connector 2) When using RS-422 You can make multidrop connection of up to 32 axes. Servo amplifier Personal computer RS-232C/RS-422 (Note) converter...
Page 233: Auxiliary Equipment
13. OPTIONS AND AUXILIARY EQUIPMENT 13.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C- UL Standard, use the products which conform to the corresponding standard. 13.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring.
Page 234 13. 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 13.2 Recommended crimping terminals Servo amplifier side crimping terminals Symbol Crimping terminal Applicable tool...
Page 235: No-Fuse Breakers, Fuses, Magnetic Contactors
13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.2 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. Fuse Servo amplifier No-fuse breaker...
Page 236: Relays
13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.4 Relays The following relays should be used with the interfaces: Interface Selection example Relay used especially for switching on-off analog input To prevent defective contacts , use a relay for small signal command and input command (interface DI-1) signals (twin contacts).
Page 237 13. OPTIONS AND AUXILIARY EQUIPMENT (b) Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required.
Page 238 13. 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 239 13. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. Relay Surge suppressor Surge suppressor Surge suppressor This distance should be short...
Page 240 13. 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 241 13. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.
Page 242: Leakage Current Breaker
13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.7 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
Page 243 13. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: Servo Servo motor amplifier HC-MFS73 MR-J2S-60A Use a leakage current breaker generally available. Find the terms of Equation (13.2) from the diagram: Ig1 20 0.1 [mA] 1000...
Page 244: Emc Filter
13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.8 EMC filter For compliance with the EMC Directive of the EN Standard, it is recommended to use the following filter: (1) Combination with the servo amplifier Recommended filter Servo amplifier Weight [kg]([lb]) Model Leakage current [mA] MR-J2S-10A to MR-J2S-100A SF1252 0.75 (1.65)
Page 245 13. 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) 13 - 38...
Page 246: Communication Functions
14. COMMUNICATION FUNCTIONS 14. COMMUNICATION FUNCTIONS This servo amplifier has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc. However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS- 422 and RS-232C with parameter No.16.
Page 247: Rs-232C Configuration
14. COMMUNICATION FUNCTIONS 14.1.2 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 248: Communication Specifications
14. COMMUNICATION FUNCTIONS 14.2 Communication specifications 14.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station.
Page 249: Parameter Setting
14. COMMUNICATION FUNCTIONS 14.2.2 Parameter setting When the RS-422/RS-232C communication function is used to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again.
Page 250: Protocol
14. COMMUNICATION FUNCTIONS 14.3 Protocol POINT Whether station number setting will be made or not must be selected if the RS-232C communication function is used. Note that choosing "no station numbers" in parameter No. 53 will make the communication protocol free of station numbers as in the MR-J2-A servo amplifiers. Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No., etc.
Page 251 14. COMMUNICATION FUNCTIONS (2) Transmission of data request from the controller to the servo 10 frames Check Data Station number Controller side (Master station) group Station number Check Servo side Data* (Slave station) group 6 frames (data) (3) Recovery of communication status by time-out EOT causes the servo to return to the receive neutral status.
Page 252: Character Codes
14. COMMUNICATION FUNCTIONS 14.4 Character codes (1) Control codes Hexadecimal Personal computer terminal key operation Code name Description (ASCII code) (General) start of head ctrl start of text ctrl end of text ctrl end of transmission ctrl (2) Codes for data JIS8 unit codes are used.
Page 253: Error Codes
14. COMMUNICATION FUNCTIONS 14.5 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station.
Page 254: Time-Out Operation
14. COMMUNICATION FUNCTIONS 14.7 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times.
Page 255: Initialization
14. COMMUNICATION FUNCTIONS 14.9 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after: (1) 1s or more time has elapsed after the slave station is switched on; and (2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems.
Page 256: Command And Data No. List
14. COMMUNICATION FUNCTIONS 14.11 Command and data No. list 14.11.1 Read commands (1) Status display (Command [0][1]) Command Data No. Description Display item Frame length [0][1] [8][0] Status display data value and cumulative feedback pulses processing information [0][1] [8][1] servo motor speed [0][1] [8][2] droop pulses...
Page 257: Write Commands
14. COMMUNICATION FUNCTIONS (5) Current alarm (Command [0][2] [3][5]) Command Data No. Description Frame length [0][2] [0][0] Current alarm number Command Data No. Description Display item Frame length [3][5] [8][0] Status display data value and cumulative feedback pulses processing information at alarm [3][5] [8][1] servo motor speed...
Page 258 14. COMMUNICATION FUNCTIONS (5) Operation mode selection (Command [8][B]) Command Data No. Description Setting range Frame length [8][B] [0][0] Operation mode changing 0000 to 0004 0000: Exit from test operation mode 0001: Jog operation 0002: Positioning operation 0003: Motor-less operation 0004: Output signal (DO) forced output (6) External input signal disable (Command [9][0]) Command...
Page 259: Detailed Explanations Of Commands
14. COMMUNICATION FUNCTIONS 14.12 Detailed explanations of commands 14.12.1 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 260 14. COMMUNICATION FUNCTIONS (2) Writing the processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position.
Page 261: Status Display
14. COMMUNICATION FUNCTIONS 14.12.2 Status display (1) Status display data read When the master station transmits the data No. (refer to the following table for assignment) to the slave station, the slave station sends back the data value and data processing information. 1) Transmission Transmit command [0][1] and the data No.
Page 262: Parameter
14. COMMUNICATION FUNCTIONS 14.12.3 Parameter (1) Parameter read Read the parameter setting. 1) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No. The data No. is expressed in hexadecimal equivalent of the data No. value corresponds to the parameter number.
Page 263 14. COMMUNICATION FUNCTIONS (2) Parameter write POINT The number of parameter write times is restricted to 1,000,000 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 No.
Page 264: External I/O Pin Statuses (Dio Diagnosis)
14. COMMUNICATION FUNCTIONS 14.12.4 External I/O pin statuses (DIO diagnosis) (1) External input pin status read Read the ON/OFF statuses of the external input pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. Command Data No. [1][2] [4][0] (b) Reply The ON/OFF statuses of the input pins are sent back.
Page 265: Disable/Enable Of External I/O Signals (Dio)
14. COMMUNICATION FUNCTIONS 14.12.5 Disable/enable of external I/O signals (DIO) Inputs can be disabled independently of the external I/O signal ON/OFF. When inputs are disabled, the input signals are recognized as follows. Among the external input signals, EMG, LSP and LSN cannot be disabled.
Page 266: External Input Signal On/Off (Test Operation)
14. COMMUNICATION FUNCTIONS 14.12.6 External input signal ON/OFF (test operation) Each input signal can be turned on/off for test operation. Turn off the external input signals. Send command [9] [2], data No. [0] [0] and data. Command Data No. Set data [9][2] [0][0] See below...
Page 267: Test Operation Mode
14. COMMUNICATION FUNCTIONS 14.12.7 Test operation mode (1) Instructions for test operation mode The test operation mode must be executed in the following procedure. If communication is interrupted for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a stop and servo-locked.
Page 268 14. 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/decelerati [A][0] [1][1] Write the acceleration/deceleration time constant on time constant [ms] in hexadecimal.
Page 269: Output Signal Pin On/Off Output Signal (Do) Forced Output
14. COMMUNICATION FUNCTIONS 14.12.8 Output signal pin ON/OFF output signal (DO) forced output In the test operation mode, the output signal pins can be turned on/off independently of the servo status. Using command [9][0], disable the output signals in advance. (1) Choosing DO forced output in test operation mode Transmit command [8][B] data No.
Page 270: Alarm History
14. COMMUNICATION FUNCTIONS 14.12.9 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last alarm) to No. 5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data No.
Page 271: Current Alarm
14. COMMUNICATION FUNCTIONS 14.12.10 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. Alarm No.
Page 272: Other Commands
14. COMMUNICATION FUNCTIONS 14.12.11 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. Note that overflow will occur in the position of 16384 or more revolutions from the home position. (a) Transmission Send command [0][2] and data No.
Page 273 14. COMMUNICATION FUNCTIONS MEMO 14 - 28...
Page 274: Absolute Position Detection System
15. ABSOLUTE POSITION DETECTION SYSTEM 15. ABSOLUTE POSITION DETECTION SYSTEM If an absolute position erase alarm (AL.25) has occurred, always perform home CAUTION position setting again. Not doing so can cause runaway. 15.1 Outline 15.1.1 Features 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 275: Specifications
15. ABSOLUTE POSITION DETECTION SYSTEM 15.2 Specifications (1) Specification list Item Description System Electronic battery backup system 1 piece of lithium battery ( primary battery, nominal 3.6V) Battery Type: MR-BAT or A6BAT Maximum revolution range Home position 32767 rev. (Note 1) Maximum speed at power failure 500r/min (Note 2) Battery backup time Approx.
Page 276: Battery Installation Procedure
15. ABSOLUTE POSITION DETECTION SYSTEM 15.3 Battery installation procedure Before starting battery installation procedure, make sure that the charge lamp is off WARNING more than 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. POINT The internal circuits of the servo amplifier may be damaged by static electricity.
Page 277: Standard Connection Diagram
15. ABSOLUTE POSITION DETECTION SYSTEM 15.4 Standard connection diagram Servo amplifier CN1B-3 CN1B-13 CN1B-16 (Note 2) Stroke end in forward rotation CN1B-17 Stroke end in reverse rotation (Note 3) CN1B-7 External torque control Reset CN1B-14 CN1B-10 EMG (Note 1) Emergency stop Output CN1B-15 Electromagnetic...
Page 278: Signal Explanation
15. ABSOLUTE POSITION DETECTION SYSTEM 15.5 Signal explanation When the absolute position data is transferred, the signals of connector CN1 change as described in this section. They return to the previous status on completion of data transfer. The other signals are as described in Section 3.3.2.
Page 279: Startup Procedure
15. ABSOLUTE POSITION DETECTION SYSTEM 15.6 Startup procedure (1) Battery installation. Refer to Section 15.3 installation of absolute position backup battery. (2) Parameter setting Set "1 "in parameter No. 1 of the servo amplifier and switch power off, then on. (3) Resetting of absolute position erase alarm (AL.25) After connecting the encoder cable, the absolute position erase alarm (AL.25) occurs at first power-on.
Page 280: Absolute Position Data Transfer Protocol
15. ABSOLUTE POSITION DETECTION SYSTEM 15.7 Absolute position data transfer protocol POINT After switching on the ABS transfer mode (ABSM), turn on the servo-on signal (SON). When the ABS transfer mode is off, turning on the servo-on signal (SON) does not switch on the base circuit. 15.7.1 Data transfer procedure Each time the SON signal is turned ON (when the power is switched ON for example), the programmable controller reads the position data (present position) of the servo amplifier.
Page 281: Transfer Method
15. ABSOLUTE POSITION DETECTION SYSTEM 15.7.2 Transfer method The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the servo-on signal (SON) going OFF, an emergency stop, or alarm, is explained below. In the absolute position detection system, every time the servo-on (SON) signal is turned on, the ABS transfer mode (ABSM) signal should always be turned on to read the current position in the servo amplifier to the controller.
Page 282 15. ABSOLUTE POSITION DETECTION SYSTEM 1) The ready signal (RD) is turned ON when the ABS transfer mode signal (ABSM) is turned OFF after transmission of the ABS data. While the ready signal (RD) is ON, the ABS transfer mode signal (ABSM) input is not accepted. 2) Even if the servo-on (SON) signal is turned ON before the ABS transfer mode signal (ABSM) is turned ON, the base circuit is not turned ON until the ABS transfer mode signal (ABSM) is turned ON.
Page 283 15. ABSOLUTE POSITION DETECTION SYSTEM (b) Detailed description of absolute position data transfer Servo-on (programmable controller) Servo-on (SON) (Note) ABS transfer mode During transfer of ABS (ABSM) ABS request (ABSR) Send data ready (TLC) Lower Check sum Transmission (ABS) data 2 bits Upper 2 bits Note: If the servo-on signal (SON) is not turned ON within 1 second after the ABS transfer mode signal (ABSM)
Page 284 15. ABSOLUTE POSITION DETECTION SYSTEM (c) Checksum The check sum is the code which is used by the programmable controller to check for errors in the received ABS data. The 6-bit check sum is transmitted following the 32-bit ABS data. At the programmable controller, calculate the sum of the received ABS data using the ladder program and compare it with the check sum code sent from the servo.
Page 285 15. ABSOLUTE POSITION DETECTION SYSTEM (2) Transmission error (a) Time-out warning(AL.E5) In the ABS transfer mode, the time-out processing shown below is executed at the servo. If a time- out error occurs, an ABS time-out warning (AL.E5) is output. The ABS time-out warning (AL.E5) is cleared when the ABS transfer mode (ABSM) changes from OFF to ON.
Page 286 15. ABSOLUTE POSITION DETECTION SYSTEM 3) ABS transfer mode finish-time time-out check If the ABS transfer mode signal is not turned OFF within 5s after the last ready to send signal (19th signal for ABS data transmission) is turned ON, it is regarded as the transmission error and the ABS time-out warning (AL.E5) is output.
Page 287 15. ABSOLUTE POSITION DETECTION SYSTEM (3) At the time of alarm reset If an alarm occurs, turn OFF the servo-on (SON) signal by detecting the alarm output (ALM). If an alarm has occurred, the ABS transfer mode signal (ABSM) cannot be accepted. In the reset state, the ABS transfer mode signal (ABSM) can be input.
Page 288 15. ABSOLUTE POSITION DETECTION SYSTEM (4) At the time of emergency stop reset (a) If the power is switched ON in the emergency stop state The emergency stop state can be reset while the ABS data is being transferred. If the emergency stop state is reset while the ABS data is transmitted, the base circuit is turned ON 80[ms] after resetting.
Page 289 15. ABSOLUTE POSITION DETECTION SYSTEM (b) If emergency stop is activated during servo-on The ABS transfer mode signal (ABSM) is permissible while in the emergency stop state. In this case, the base circuit and the ready signal (RD) are turned ON after the emergency stop state is reset.
Page 290: Home Position Setting
15. ABSOLUTE POSITION DETECTION SYSTEM 15.7.3 Home position setting (1) Dog type home position return Preset a home position return creep speed at which the machine will not be given impact. On detection of a zero pulse, the home position setting signal (CR) is turned from off to on. At the same time, the servo amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the non-volatile memory as the home position ABS data.
Page 291 15. ABSOLUTE POSITION DETECTION SYSTEM (2) Data set type home position return Move the machine to the position where the home position is to be set by performing manual operation such as jog operation to turn the motor shaft more than one revolution. When the home position setting signal (CR) is on for longer than 20ms, the stop position is stored into the non-volatile memory as the home position ABS data.
Page 292: Use Of Servo Motor With Electromagnetic Brake
15. ABSOLUTE POSITION DETECTION SYSTEM 15.7.4 Use of servo motor with electromagnetic brake The timing charts at power on/off and servo-on (SON) on/off are given below. Preset " 1 " in parameter No. 1 to make the electromagnetic brake interlock signal (MBR) usable. When the ABS transfer mode is ON, the electromagnetic brake interlock (MBR) is used as the ABS data bit 1.
Page 293: How To Process The Absolute Position Data At Detection Of Stroke End
15. ABSOLUTE POSITION DETECTION SYSTEM 15.7.5 How to process the absolute position data at detection of stroke end The servo amplifier stops the acceptance of the command pulse when stroke end (LSP LSN) is detected, clears the droop pulses to 0 at the same time, and stops the servo motor rapidly. At this time, the programmable controller keeps outputting the command pulse.
Page 294: Examples Of Use
15. ABSOLUTE POSITION DETECTION SYSTEM 15.8 Examples of use 15.8.1 MELSEC-A1S (A1SD71) (1) Instructions The absolute coordinate system (programmable controller coordinate system) of the A1SD71 (AD71) only covers the range in which the address increases (positive coordinate values) on moving away from the machine home position (the position reached in the home position return operation).
Page 295 15. ABSOLUTE POSITION DETECTION SYSTEM If the address of the machine home position is changed to any coordinate value other than "0", the programmable controller coordinate system will be as illustrated below. The power should be turned ON/OFF in the range in which the address increases on moving away from the home position.
Page 296 15. ABSOLUTE POSITION DETECTION SYSTEM (d) Slot arrangement The sequence programs presented in this section show I/O numbers (X, Y) assuming the arrangement of modules on the main base unit is as illustrated below. A1SD71 is mounted at I/O slots 0 and 1, a 16-point input module at slot 2, and 16-point output module at slot 3. If the actual arrangement of the modules differs from this arrangement, change the X and Y numbers accordingly.
Page 297 15. ABSOLUTE POSITION DETECTION SYSTEM (2) Connection diagram General purpose Servo amplifier programmable controller CN1B A1S62P Power INPUT supply AC100/200 A1SCPU A1SX40 ABS bit 0/Completion of positioning ABS bit 1/Zero speed Send data ready/Torque limit control Trouble Alarm reset Emergency stop Servo-on Home position return Operation mode I...
Page 298 15. ABSOLUTE POSITION DETECTION SYSTEM (3) Sequence program example (a) Conditions This sample program is an ABS sequence program example for a single axis (X axis). To transmit the ABS data using the OFF-to-ON change of the servo-on signal as the trigger. 1) When the servo-ON signal and the GND of the power supply are shorted, the ABS data is transmitted when the power to the servo amplifier power is turned ON, or at the leading edge of the RUN signal after a PC reset operation (PC-RESET).
Page 299 15. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X axis This sequence program example assumes the following conditions: Parameters of the A1SD71-S2 (AD71) positioning module 1) Unit setting pulse (PLS) 2) Travel per pulse : 1 1 pulse To select the unit other than the pulse, conversion into the unit of the feed command value per pulse is required.
Page 300 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Setting retry flag ABS data Servo-on request transmission retry control Resetting retry counter Retry flag reset request Alarm reset output Error reset Error flag Alarm reset Error flag output Servo alarm Emergency detection, alarm stop PB...
Page 301 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Saving ABS 32-bit data DMOVP Counter Check sum counter transfer mode Clearing register MOVP *1 Reading X-axis rotating Detecting absolute FROMP H0001 K7872 direction parameter position polarity and A1SD71 Rotation direction parameter WAND H0004 rotating direction...
Page 302 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Reading 4 bits K1X30 Read ABS data enabled counter Masking 2 bits WAND H0003 Adding 2 bits Reading ABS data Right rotation of A0 2 bits 32 bits DROR (2 bits 16 times) Adding check sum Counting frequency of ABS data reception...
Page 303 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) *1 A1SD71: reading home DFROP H0001 K7912 position address Check sum OK Restoring absolute Inserting constant K for conversion (Note) into the unit of feed per pulse position data Adding home position address to absolute position Detecting ABS Setting ABS coordinate error...
Page 304 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) ABS transfer retry start pulse Check sum NG Setting retry flag Retry start Retry pulse counter Retry counter ABS transfer retry control Retry wait timer (100ms) Retry flag set Resetting retry flag Retry wait timer M9039 Saving received shift data...
Page 305 15. ABSOLUTE POSITION DETECTION SYSTEM (d) X-axis control program This precludes execution of the X-axis start program while M3 (ready to send the ABS data) is OFF. Positioning X-axis start When M3 (ready to send the ABS data) command M3 mode X-axis start program is turned ON, the X-axis start command...
Page 306 15. ABSOLUTE POSITION DETECTION SYSTEM (g) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on signal is turned on), the servo motor must be at a stop. Set "1 1 "in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock signal.
Page 307 15. ABSOLUTE POSITION DETECTION SYSTEM (4) Sequence program - 2-axis control The following program is a reference example for creation of an ABS sequence program for the second axis (Y axis) using a single A1SD71 module. Create a program for the third axis in a similar manner. (a) Y-axis program Refer to the X-axis ABS sequence program and create the Y-axis program.
Page 308: Melsec Fx(2N)-32Mt (Fx(2N)-1Pg)
15. ABSOLUTE POSITION DETECTION SYSTEM 15.8.2 MELSEC FX -32MT (FX -1PG) (2N) (2N) (1) Connection diagram (a) FX-32MT (FX-1PG) Servo amplifier FX-32MT Power supply CN1B PC-RUN ABS bit 0/Completion of positioning 3.3k ABS bit 1/Zero speed ZSP 19 Send data ready/Torque limit control Alarm ALM 18 Servo ready...
Page 309 15. ABSOLUTE POSITION DETECTION SYSTEM (b) FX -32MT (FX -1PG) Servo amplifier -32MT Power supply CN1B ABS bit 0/Completion of positioning ABS bit 1/Zero speed 3.3k ZSP 19 Send data ready/Torque limit control Alarm ALM 18 Alarm reset Servo ready CN1A Emergency stop Servo-on...
Page 310 15. ABSOLUTE POSITION DETECTION SYSTEM (2) Sequence program example (a) Conditions 1) Operation pattern ABS data transfer is made as soon as the servo-on pushbutton is turned on. After that, positioning operation is performed as shown below: Home position 300000 300000 address After the completion of ABS data transmission, JOG operation is possible using the JOG or...
Page 311 15. ABSOLUTE POSITION DETECTION SYSTEM (b) Device list X input contact Y output contact ABS bit 0 / completion of positioning Servo-on ABS bit 1 / zero speed ABS transfer mode Send ABS data ready/ torque limit control ABS request Servo alarm Alarm reset Alarm reset PB...
Page 312 15. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X-axis M8002 Setting home position address DMOV to 0 Initial pulse Setting 1PG pulse command unit 1PG max. speed: 100 kpps K100000 1PG Jog speed: 10 kpps K10000 1PG home position return K50000 speed: 50 kpps 1PG creep speed: 1 kpps...
Page 313 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Servo-on request Servo-on Retry Servo-on output Servo-on Error ABS check request flag communication error error ABS data transmission start Clearing retry counter Retry transmission start Resetting ready to send ABS data Servo-on PB Servo-on and Resetting servo-on request...
Page 314 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Alarm reset output Alarm Error flag reset PB Clearing retry counter Alarm reset Clearing ABS data receiving ZRST area Clearing ABS receive data ZRST buffer Resetting ABS data reception counter Resetting all data reception counter Servo alarm Error flag output...
Page 315 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Resetting ABS data Send data ready transfer mode ABS data 32 bits ABS request ON (2 bits 16 times) ABS data read Check sum 6 bits ABS data waiting timer 10ms T204 (2 bits 3 times) Send data...
Page 316 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) ABS data D0, D1 DMOVP K8M20 Check match Adding 1PG home position DADDP address ABS data DTOP Writing absolute position data to Setting ABS data ready Clearing check sum judging ZRST area Resetting retry flag Detecting ABS...
Page 317 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) M8000 M109 Normally M110 M111 1PG control command (not used) M112 M102 M103 Start command pulse M120 Servo Position ABS data ready start PB ready 1PG JOG command M104 Operation command control 1PG JOG command M105...
Page 318 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) M8000 K4M100 Normally Transmission of control signals FROM K3M200 Transmission of status DFROM D106 Transmission of present position D106, D107 M200 M108 Resetting start command (d) Data set type home position return After jogging the machine to the position where the home position (e.g.500) is to be set, choose the home position return mode set the home position with the home position return start (PBON).
Page 319 15. ABSOLUTE POSITION DETECTION SYSTEM (e) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on signal is turned on), the servo motor must be at a stop. Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock signal.
Page 320: Melsec A1Sd75(Ad75)
15. ABSOLUTE POSITION DETECTION SYSTEM 15.8.3 MELSEC A1SD75(AD75) (1) Connection diagram Servo amplifier CN1B A1S62P 600mA Power INPUT supply AC100/200 A1SCPU A1SX40 ABS data bit 0/Positioning completion ABS data bit 1/zero speed Readying to send data/Torque limiting Trouble Alarm reset Emergency stop Servo-on Upper limit...
Page 321 15. ABSOLUTE POSITION DETECTION SYSTEM Note 1: For the dog type home position return. Need not be connected for the data set type home position return. 2: If the servo motor provided with the zero point signal is started, the A1SD75(AD75) will output the deviation counter clear signal.
Page 322 15. ABSOLUTE POSITION DETECTION SYSTEM (2) Sequence program example (a) Conditions 1) When the servo-on signal and power supply GND are shorted, the ABS data is transmitted at power-on of the servo amplifier or on the leading edge of the RUN signal after a PC reset operation (PC-RESET).
Page 323 15. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X axis This sequence program example assumes the following conditions: Parameters of the A1SD75-P1 (AD75-P1) positioning module 1) Unit setting pulse (PLS) 2) Travel per pulse :1 1 pulse To select the unit other than the pulse, conversion into the unit of the feed value per pulse is required.
Page 324 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Servo-on request Servo-on Reading A1SD75 1-axis RDY FROM H0000 K816 signal Masking RDY signal WAND H0001 Current position change processing instruction Current position change flag D11 K1 Processing instruction RDY signal ON judgment Servo-on Resetting ready control...
Page 325 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Initializing ABS data transmission counter ABS data transfer start Initializing checksum transmission counter Initializing checksum register Initializing ABS data register ABS transfer mode initial setting Initializing ABS data register DMOV Initializing ABS data register DMOV Resetting ABS transmission counter...
Page 326 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Reading 4 bits K1X20 Read ABS data enabled counter Masking 2 bits WAND H0003 Adding 2 bits Reading checksum 6bits (2 bits 3 times) Right rotation of A0 2 bits Counting the number of checksum data Completion of reading checksum 2 bits...
Page 327 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) ABS request reset ABS 2 bits completion Checksum 2 bits completion ABS 2 bits request ABS transfer Ready to send ABS request mode ABS data control ABS request set ABS 2 bits request 10ms delay timer T200 ABS request Ready to send ABS data...
Page 328 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Resetting ABS transfer mode ABS communi- Servo-on PB cation error ABS transfer mode 5s timer ABS transfer mode ABS request response 1s timer ABS transfer ABS request mode Detecting ABS ABS data send ready communication response 1s timer ABS transfer...
Page 329 15. ABSOLUTE POSITION DETECTION SYSTEM (d) X-axis program Do not execute the X-axis program while the ABS ready (M8) is off. (Note) Positioning X-axis start When "M8" (ready to send ABS data) switches on, mode command X-axis start program the X-axis start program is executed by the X-axis Ready to start command.
Page 330 15. ABSOLUTE POSITION DETECTION SYSTEM (f) Data set type home position return After jogging the machine to the position where the home position (e.g. 500) is to be set, choose the home position return mode and set the home position with the home position return start (PBON). After switching power on, rotate the servo motor more than 1 revolution before starting home position return.
Page 331 15. ABSOLUTE POSITION DETECTION SYSTEM (g) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on signal is turned on), the servo motor must be at a stop. Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock signal.
Page 332 15. ABSOLUTE POSITION DETECTION SYSTEM (3) Sequence program - 2-axis control The following program is a reference example for creation of an ABS sequence program for the second axis (Y axis) using a single A1SD75 module. Create a program for the third axis in a similar manner. (a) Y-axis program Refer to the X-axis ABS sequence program and create the Y-axis program.
Page 333 15. ABSOLUTE POSITION DETECTION SYSTEM (4) Differences between A1SD75 (AD75) and A1SD71 (AD71) The sequence programs shown in (2) of this section differ from those for the A1SD71 (AD71) in the following portions. 1) to 20) in the following sentences indicate the numbers in the programs given in (2) of this section.
Page 334 15. ABSOLUTE POSITION DETECTION SYSTEM 6) Writing absolute position data to A1SD75 The slot number and buffer address of the X-axis current value changing area are changed from [DTOP H0001 K41 D3 K1] to [DTOP H0000 K1154 D3 K1] 14). When the current value is changed in the A1SD75, the current feed value is changed at the start of positioning data No.9003.
Page 335: Confirmation Of Absolute Position Detection Data
15. ABSOLUTE POSITION DETECTION SYSTEM 15.9 Confirmation of absolute position detection data You can confirm the absolute position data with servo configuration software (MRZJW3-SETUP121E). Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen. (1) Choosing "Diagnostics" in the menu opens the sub-menu as shown below: (2) By choosing "Absolute Encoder Data"...
Page 336: Absolute Position Data Transfer Errors
15. ABSOLUTE POSITION DETECTION SYSTEM 15.10 Absolute position data transfer errors 15.10.1 Corrective actions (1) Error list The number within parentheses in the table indicates the output coil or input contact number of the A1SD71 (AD71). Output coil Name Description Cause Action AD71 1PG...
Page 337 15. ABSOLUTE POSITION DETECTION SYSTEM (2) ABS communication error (a) The OFF period of the send data ready signal output from the servo amplifier is checked. If the OFF period is 1s or longer, this is regarded as a transfer fault and the ABS communication error is generated.
Page 338: Error Resetting Conditions
15. ABSOLUTE POSITION DETECTION SYSTEM (c) To detect the ABS time-out warning (AL.E5) at the servo amplifier, the time required for the ABS request signal to go OFF after it has been turned ON (ABS request time) is checked. If the ABS request remains ON for longer than 1s, it is regarded that an fault relating to the ABS request signal or the send data ready signal has occurred, and the ABS communication error is generated.
Page 339 15. ABSOLUTE POSITION DETECTION SYSTEM MEMO 15 - 66...
Page 340: App 1. Signal Arrangement Recording Sheets
Appendix App 1. Signal arrangement recording sheets (1) Position control mode CN1A CN1B P15R P15R (2) Speed control mode CN1A CN1B P15R P15R (3) Torque control mode CN1A CN1B P15R P15R App - 1...
Page 341: App 2. Status Display Block Diagram
Appendix App 2. Status display block diagram App - 2...
Page 342 REVISIONS *The manual number is given on the bottom left of the back cover. Print data *Manual number Revision Nov.,1999 SH(NA)030006-A First edition SH(NA)030006-B Addition of single-phase 100VAC specifications Sep.,2000 Compatible Servo Configuration software model name change Compliance with EC Directives 1: Review of sentence Section 1.2: Review of function block diagram Section 1.3: Moving of servo amplifier standard specifications Review of torque limit description in position control mode...
Page 343 Print data *Manual number Revision Sep.,2000 SH(NA)030006-B Section 10.2.2: Addition of description to AL.30 Addition of Cause to AL.33 Chapter 11: Changed to only outline dimensional drawing Section 11.2 (2): Addition Section 12.2 (1): Review of Note for Table 12.1 Section 12.3: Correction of dynamic brake time constant graph Chapter 13: Deletion of MR-CPC98CBL3M communication cable Section 13.1.1 (4)(c): Review of outline drawing...
Page 344 HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES MIDDLEEASTREPRESENTATIVE MITSUBISHI ELECTRIC EUROPE GEVA AUSTRIA UTECO A.B.E.E. GREECE SHERF Motion Techn. LTD ISRAEL EUROPE B.V. Wiener Straße 89 5, Mavrogenous Str. Rehov Hamerkava 19 German Branch A-2500 Baden GR-18542 Piraeus IL-58851 Holon Gothaer Straße 8...

Mitsubishi Electric MR-J2S-*A series Instruction Manual

1 Functions and Configuration

2 Installation

3 Signals and Wiring

4 Operation

5 Parameters

6 Display and Operation

7 General Gain Adjustment

8 Special Adjustment Functions

9 Inspection

10 Troubleshooting

11 Outline Dimension Drawings

12 Characteristics

13 Options and Auxiliary Equipment

14 Communication Functions

15 Absolute Position Detection System

Appendix

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Summary of Contents for Mitsubishi Electric MR-J2S-*A series