Mitsubishi Electric MELSERVO-J2 Series Instruction Manual
  1. Manuals
  2. Brands
  3. Mitsubishi Electric Manuals
  4. Amplifier
  5. MELSERVO-J2 Series
  6. Instruction manual
Mitsubishi Electric MELSERVO-J2 Series Instruction Manual

Mitsubishi Electric MELSERVO-J2 Series Instruction Manual

Servo amplifier
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
General-Purpose AC Servo
Built-In Positioning Function
MODEL
MR-J2- C
SERVO AMPLIFIER
INSTRUCTION MANUAL
J2
Series
F

Advertisement

Table of Contents
loading

Related Manuals for Mitsubishi Electric MELSERVO-J2 Series

Summary of Contents for Mitsubishi Electric MELSERVO-J2 Series

  • Page 1 General-Purpose AC Servo Series Built-In Positioning Function MODEL MR-J2- C SERVO AMPLIFIER INSTRUCTION MANUAL...
  • Page 2 Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly.
  • Page 3 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work.
  • Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder.
  • Page 5 CAUTION Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.
  • Page 6 (3) Test run adjustment CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be instable. (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately.
  • Page 7 CAUTION When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted). (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor will deteriorate.
  • Page 8 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC Directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the Machinery Directive (effective in January, 1995), EMC Directive (effective in January, 1996) and Low Voltage Directive (effective in January, 1997) of the EC Directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking).
  • Page 9 (4) Power supply (a) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC or EN Standard should be used in the power input section. (b) When supplying interface power from external, use a 24VDC power supply which has been insulation-reinforced in I/O.
  • Page 10 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the following models of servo amplifiers and servo motors: Servo amplifier series: MR-J2-10C to MR-J2-350C Servo motor series : HA-FF C -UE HC-MF (-UE) HC-SF HC-RF HC-UF (2) Installation Install a fan of 100CFM (2.8m /min) air flow 4in (10.16cm) above the servo amplifier or provide cooling of at least equivalent capability.
  • Page 11 MEMO A - 10 Downloaded from ManualsNet.com search engine...

  • Page 12: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -16 1.1 Introduction............................. 1 - 1 1.1.1 Function block diagram........................1 - 2 1.1.2 System configuration........................1 - 3 1.1.3 I/O devices ............................1 - 8 1.2 Function list ............................1 - 9 1.3 Model name make-up..........................
  • Page 13 4. OPERATION 4 - 1 to 4 -36 4.1 When switching power on for the first time..................4 - 1 4.1.1 Pre-operation checks ........................4 - 1 4.1.2 Startup .............................. 4 - 2 4.2 Automatic operation mode........................4 - 5 4.2.1 What is automatic operation mode? ....................
  • Page 14 6.4 Parameters .............................. 6 - 4 6.5 Point table ............................... 6 - 6 6.6 Device setting............................6 - 8 6.7 Test operation ............................6 -10 6.7.1 Jog operation ........................... 6 -10 6.7.2 Positioning operation........................6 -12 6.7.3 Motor-less operation ........................6 -14 6.7.4 Output signal (DO) forced output ....................
  • Page 15 9. ADJUSTMENT 9 - 1 to 9 -10 9.1 What is gain adjustment? ........................9 - 1 9.1.1 Difference between servo amplifier and other drives ..............9 - 1 9.1.2 Basics of the servo system ......................9 - 2 9.2 Gain adjustment ............................. 9 - 3 9.2.1 Parameters required for gain adjustment..................
  • Page 16 14.1.3 Junction terminal block (MR-TB20) ..................14 -13 14.1.4 Maintenance junction card (MR-J2CN3TM) ................14 -15 14.1.5 External digital display (MR-DP60) ..................14 -17 14.1.6 Manual pulse generator (MR-HDP01) ..................14 -19 14.1.7 Battery (MR-BAT, A6BAT)......................14 -20 14.2 Auxiliary equipment ......................... 14 -21 14.2.1 Recommended wires ........................

  • Page 17: Introduction

    Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual. 1.INTRODUCTION 2.
  • Page 18 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The MR-J2-C AC servo amplifier with built-in positioning functions is the MR-J2-A general-purpose AC servo amplifier which incorporate single-axis positioning functions. These functions perform positioning operation by merely setting the position data (target positions), servo motor speeds, acceleration and deceleration time constants, etc.

  • Page 19: Function Block Diagram

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

  • Page 20: System Configuration

    1. FUNCTIONS AND CONFIGURATION 1.1.2 System configuration This section describes operations using the MELSERVO-J2-C. You can arrange any configurations from a single-axis to max. 32-axis systems. Further, the connector pins in the interface section allow you to assign the optimum signals to respective systems. (Refer to Sections 1.1.3 and 3.3.3.) The Set-up Software (refer to Chapter 6) and personal computer are required to change or assign devices.
  • Page 21 1. FUNCTIONS AND CONFIGURATION (2) Operation using external input signals and communication (a) Description Communication can be used to change the point table data, choose the point table, change parameter values, and confirm monitor data, for example. Enter a forward rotation start (ST1) or reverse rotation start (ST2) through the external I/O.
  • Page 22 1. FUNCTIONS AND CONFIGURATION 2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422. Use parameter No. 16 to change the communication system. Personal External I/O computer Set-up signals Software Servo amplifier (axis 1) CN1A CN1B RS–232C RS–422 RS–232C/RS-422 converter...
  • Page 23 1. FUNCTIONS AND CONFIGURATION (3) Operation using communication (a) Description Analog input, forced stop (EMG) and other signals are controlled by external I/O signals and the other devices controlled through communication. Also, you can set each point table, choose the point table, and change or set parameter values, for example.
  • Page 24 1. FUNCTIONS AND CONFIGURATION 2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422. Use parameter No. 16 to change the communication system. Personal External I/O computer Set-up signals Software Servo amplifier (axis 1) CN1A CN1B RS–232C RS–422 RS–232C/RS-422 converter...

  • Page 25: I/O Devices

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

  • Page 26: Function List

    1. FUNCTIONS AND CONFIGURATION 1.2 Function list The following table lists the functions of the MELSERVO-J2-C. For details of the functions, refer to the reference field. Function Description Reference Select the required ones from among 15 preset point tables (moving distance, speed, acceleration time constant, deceleration time constant, auxiliary function) and perform operation in Positioning by automatic operation Section 4.2...

  • Page 27: Model Name Make-Up

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

  • Page 28: Parts Identification

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

  • Page 31: Servo System With Auxiliary Equipment

    1. FUNCTIONS AND CONFIGURATION 1.6 Servo system with auxiliary equipment 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 WARNING control box. (1) MR-J2-100C or less (Note2) 3-phase 200V Options and Auxiliary Equipment...
  • Page 32 1. FUNCTIONS AND CONFIGURATION (2) MR-J2-200C or more Options and Auxiliary Equipment Reference Options and Auxiliary Equipment Reference 3-phase 200V to 230VAC No-fuse breaker Section 14.2.2 Cables Section 14.2.1 power supply Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.6 Set-up software Chapter 6 External digital display...
  • Page 33 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 16 Downloaded from ManualsNet.com search engine...

  • Page 34: 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 35: 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 36: 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 37: Cable Stress

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

  • Page 38: Signals And Wiring

    3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, make sure that the voltage is safe in the tester more than 15 minutes after power-off. Otherwise, you may get an electric shock. Ground the servo amplifier and the servo motor securely.

  • Page 39: Standard Connection Example

    3. SIGNALS AND WIRING 3.1 Standard connection example (Note 8) Servo amplifier Servo motor U(Red) 3-phase 200 to 230VAC V(White) W(Black) single-phase 230VAC (Note 10) (Green) Electromagnetic (Note 1) brake Regenerative brake option (Note 3) Forced stop When connecting the external regenerative (Note 4) To be shut off when servo-on (SON) brake option, always disconnect...
  • Page 40 3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.

  • Page 41: Common Line

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

  • Page 42: I/O Signals

    3. SIGNALS AND WIRING 3.3 I/O signals 3.3.1 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. For assignment of the CN1A and CN1B signals, refer to the next page. CN1A CN1B P15R...

  • Page 43: Signal Explanations

    3. SIGNALS AND WIRING 3.3.2 Signal explanations 1) CN1A Signal Name Symbol Pin No. Description I/O Division Digital I/F power supply Used to input 24VDC (200mA or more) for input interface. input Connect the positive ( ) terminal of the 24VDC external power supply.
  • Page 44 3. SIGNALS AND WIRING 2) CN1B Signal Name Symbol Pin No. Description I/O Division I/F Internal power Used to output 24V 10% to across VDD-COM. supply When using this power supply for digital interface, connect it with COM. Permissible current: 80mA Digital I/F power supply Used to input 24VDC (200mA or more) for input interface.
  • Page 45 3. SIGNALS AND WIRING Signal Name Symbol Pin No. Description I/O Division This device is used in the incremental value command system. Reverse rotation start DI-1 When ST2-SG are shorted in the automatic operation mode, positioning is executed once in the reverse rotation direction on the basis of the position data set to the point table.

  • Page 46: Additional Function Devices

    3. SIGNALS AND WIRING 3) CN3 Signal Name Symbol Pin No. Description I/O Division Analog monitor 1 Used to output the data set in parameter No.17 to across MO1-LG in Analog terms of voltage. Resolution 8 bits output Analog monitor 2 Used to output the data set in parameter No.17 to across MO2-LG in Analog terms of voltage.
  • Page 47 3. SIGNALS AND WIRING (2) Assignable devices 1) Input devices Device Name Symbol Description I/O Division No assigned function No function is assigned. Forced stop When EMG-SG are opened, the servo amplifier is placed in the forced stop DI-1 status, the servo switches off, and the dynamic brake is operated to bring the servo motor to a sudden stop.
  • Page 48 3. SIGNALS AND WIRING Device Name Symbol Description I/O Division Temporary stop/Restart Short STP-SG during automatic operation to make a temporary stop. DI-1 Short STP-SG again to make a restart. Shorting a forward rotation start (ST1) or reverse rotation start (ST2) during a temporary stop is ignored.

  • Page 49: Detailed Description Of The Signals

    3. SIGNALS AND WIRING 3.4 Detailed description of the signals 3.4.1 Forward rotation start, reverse rotation start, temporary stop/restart (1) Make up a sequence so that the forward rotation start (ST1) or reverse rotation start (ST2) is switched on after the main circuit has been established. The forward rotation start (ST1) or reverse rotation start (ST2) is invalid if it is switched on before the main circuit is established.

  • Page 50: Override

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

  • Page 51: Torque Limit

    3. SIGNALS AND WIRING 3.4.4 Torque limit POINT To use the torque limit, make the external torque limit selection (TL) and internal torque limit selection (TL2) available. The following table lists the signals and parameters related to the torque limit: Item Name Remarks...
  • Page 52 3. SIGNALS AND WIRING (3) External torque limit selection (TL), internal torque limit selection (TL2) To use the external torque limit selection (TL) and internal torque limit selection (TL2), make them available using the Set-up Software (refer to Chapter 6). These input signals may be used to choose the torque limit values made valid.

  • Page 53: Alarm Occurrence Timing Chart

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

  • Page 54: Interfaces

    3. SIGNALS AND WIRING 3.6 Interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.3.2 and 3.3.3. Refer to this section and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.
  • Page 55 3. SIGNALS AND WIRING For use of internal power supply For use of external power supply Servo amplifier Servo amplifier Do not connect 24VDC VDD-COM. ALM, etc. 27VDC or ALM, etc. less (3) Analog input Input inpedance 10 to 12k Servo amplifier 15VDC P15R...
  • Page 56 3. SIGNALS AND WIRING (5) Source input interface When using the input interface of source type, all DI-1 input signals are of source type. Source output cannot be provided. For use of internal power supply For use of external power supply Servo amplifier Servo amplifier 24VDC...

  • Page 57: 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 (ALM) to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
  • Page 58 3. SIGNALS AND WIRING (2) For 1-phase 230VAC power supply Forced stop Servo amplifier Power supply 1-phase 230VAC Forced stop Servo-on Trouble 3 - 21 Downloaded from ManualsNet.com search engine...

  • Page 59: Terminals

    3. SIGNALS AND WIRING 3.7.2 Terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to Section 12.2.1. Symbol Signal Description Supply L and L with the following power. For a single-phase 230VAC power supply, connect the power supply to L and keep L open: Servo amplifier...

  • Page 60: Power-On Sequence

    3. SIGNALS AND WIRING 3.7.3 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with the main circuit power supply (three-phase 200V: L , single-phase 230V: L ). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
  • Page 61 3. SIGNALS AND WIRING (3) Forced stop Provide an external forced stop circuit to ensure that operation can be stopped and CAUTION power switched off immediately. Forced stop (EMG) can be used by making device setting on the Servo Configuration Software. Make up a circuit which shuts off main circuit power as soon as EMG-SG are opened at a forced stop.

  • Page 62: 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 63: Connection Diagram

    3. SIGNALS AND WIRING 3.8.2 Connection diagram During power-on, do not open or close the motor power line. Otherwise, a WARNING malfunction or faulty may occur. The following table lists wiring methods according to the servo motor types. Use the connection diagram which conforms to the servo motor used.

  • Page 64: I/O Terminals

    3. SIGNALS AND WIRING Servo Motor Connection Diagram Servo amplifier Servo motor Motor (Note 1) HC-SF81(B) 24VDC (Note2) HC-SF52 (B) to 152 (B) Electro- HC-SF53 (B) to 153 (B) magnetic HC-RF103 (B) to 203 (B) brake To be shut off when servo- HC-UF72 (B) 152 (B) on (SON) switches off or by trouble (ALM)
  • Page 65 3. SIGNALS AND WIRING (3) HC-UF 3000r/min series Bottom Encoder connector signal arrangement Power supply lead 4-AWG19 0.3m(11.81inch) (With end-insulated round crimping Encoder cable 0.3m Brake cable terminal 1.25-4) (11.81inch) VCTF 2-0.5 0.5m(19.69inch) : U phase With connector (With end-insulated round White : V phase 172169-9 (AMP) crimping terminal 1.25-4)
  • Page 66 3. SIGNALS AND WIRING (5) HC-SF HC-RF HC-UF2000 r/min series Servo Motor Side Connectors Motor plate (Opposite side) Servo Motor Electromagnetic For power supply For encoder Brake Connector HC-SF81(B) The connector CE05-2A22- HC-SF52(B) to 152(B) for power is 23PD-B HC-SF53(B) to 153(B) shared.

  • Page 67: Servo Motor With Electromagnetic Brake

    3. SIGNALS AND WIRING 3.9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop (EMG). Contacts must be open when servo-on (SON) is off or when a Circuit must be trouble (ALM) is present and when an...
  • Page 68 3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on (SON) command (from controller) ON/OFF Tb (ms) after servo-on (SON) is switched off, servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. For use in vertical lift and similar applications, therefore, set delay time (Tb) to the time which is about equal to the electromagnetic brake operation delay time and during which the load will not drop.
  • Page 69 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 70: Grounding

    3. SIGNALS AND WIRING 3.10 Grounding Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal of WARNING 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 71: Servo Amplifier Terminal Block (Te2) Wiring Method

    3. SIGNALS AND WIRING 3.11 Servo amplifier terminal block (TE2) wiring method POINT Refer to Table 14.1 in Section 14.2.1 for the wire sizes used for wiring. (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.

  • Page 72: Instructions For The 3M Connector

    3. SIGNALS AND WIRING 3.12 Instructions for the 3M connector When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core...
  • Page 73 3. SIGNALS AND WIRING MEMO 3 - 36 Downloaded from ManualsNet.com search engine...

  • Page 74: Operation

    4. OPERATION 4. OPERATION 4.1 When switching power on for the first time 4.1.1 Pre-operation checks Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (L ) of the servo amplifier. (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.

  • Page 75: Startup

    4. OPERATION 4.1.2 Startup WARNING Do not operate the switches with wet hands. You may get an electric shock. Before starting operation, check the parameters. Some machines may perform unexpected operation. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative brake resistor, servo motor, etc.
  • Page 76 4. OPERATION (2) Startup procedure (a) Power on 1) Switch off the servo-on (SON). 2) When main circuit power/control circuit power is switched on, "r" (motor speed) appears on the servo amplifier display. In the absolute position detection system, first power-on results in the absolute position lost (A.25) alarm and the servo system cannot be switched on.
  • Page 77 4. OPERATION (f) Home position return Perform home position return as required. Refer to Section 4.4 for home position return types. A parameter setting example for dog type home position return is given here. Parameter Name Setting Description Dog type home position return is selected. Home position return is started in address No.8 Home position return type...

  • Page 78: Automatic Operation Mode

    4. OPERATION 4.2 Automatic operation mode 4.2.1 What is automatic operation mode? (1) Command system After selection of preset point tables using the input signals or communication, operation is started by the forward rotation start (ST1) or reverse rotation start (ST2). Automatic operation has the absolute value command system and incremental value command system.

  • Page 79: Absolute Value Command System

    4. OPERATION (2) Point table (a) Point table setting Up to 15 point tables may be set. To use point table No.s 4 to 15, however, the point table No. selection 3 (DI2) and/or point table No. selection 4 (DI3) should be made valid in "I/O Devices" on the Servo Configuration Software.
  • Page 80 4. OPERATION (Note 2) Input Signals (Note 1) (Note 1) Selected Point Table No. Across DI1-SG Across DI0-SG Across DI3-SG Across DI2-SG Note: 1. Make signals valid in "I/O Devices" on the Servo Configuration Software. 2."1": short "0": open (3) Parameter setting Set the following parameters to perform automatic operation: (a) Command mode selection (parameter No.0) Select the absolute value command system or incremental value command system.

  • Page 81: Incremental Value Command System

    4. OPERATION 2) Incremental value command system Servo Motor Rotation Direction Parameter No.1 Setting Forward Rotation Start (ST1) ON Reverse Rotation Start (ST2) ON CCW rotation (address incremented) CW rotation (address decremented) CW rotation (address incremented) CCW rotation (address decremented) ST1:ON ST2:ON ST2:ON...
  • Page 82 4. OPERATION 4.2.2 Absolute value command system (1) Setting (a) Signal, parameters Set the input signal and parameters as follows according to the purpose of use: Item Setting Method Description Automatic operation mode selection Automatic/manual selection (MD0) Short MD0-SG (ON). Absolute value command system Parameter No.0 Setting:...
  • Page 83 4. OPERATION 4.2.3 Incremental value command system (1) Setting (a) Signal, parameters Set the input signal and parameters as follows according to the purpose of use: Item Setting Method Description Automatic operation mode selection Automatic/manual selection (MD0) Short MD0-SG (ON) Incremental value command system Parameter No.0 Setting:...

  • Page 84: Automatic Operation Timing Chart

    4. OPERATION 4.2.4 Automatic operation timing chart The following is the timing chart. Servo-on (SON) Ready (RD) Trouble (ALM) Automatic/manual selection (MDO) In position (INP) Rough match (CPO) Point table No. No.1 No.2 Forward Point table No. 1 rotation Servo motor speed 0r/min Reverse 3ms or less...

  • Page 85: Automatic Continuous Operation

    4. OPERATION 4.2.5 Automatic continuous operation (1) What is automatic continuous operation? By merely choosing one point table and making a forward rotation start (ST1) or reverse rotation start (ST2), operation can be performed in accordance with the point tables having consecutive numbers. Automatic operation is available in two types: varied speed operation and automatic continuous positioning operation.
  • Page 86 4. OPERATION (a) Absolute value command system 1) Positioning in the same direction Deceleration time constant (d) Acceleration time constant (c) Speed Servo motor Speed (bn) speed Speed(bn 2) (bn 1) Position data Position data Position data (an) (an 1) (an 2) Point table No.n...
  • Page 87 4. OPERATION (b) Incremental value command system Deceleration time constant (d) Acceleration time constant (c) Speed Servo motor Speed (bn) speed (bn 1) Speed(bn 2) Position Position data data Position data(an) (an 1) (an 2) Point table No.n Forward rotation start (ST1) or reverse rotation start (ST2) Rough match (CPO)
  • Page 88 4. OPERATION Point table No. n 2 Point table No. n Point table No. n+1 Servo motor speed Dwell Dwell time time (an) (an 1) Point table selection No.n Forward rotation start (ST1) or reverse rotation start (ST2) Rough match (CPO) In position (INP) Point Table No.
  • Page 89 4. OPERATION (4) Temporary stop/restart When STP-SG are connected during automatic operation, the motor is decelerated to a temporary stop at the deceleration time constant in the point table being executed. When STP-SG are connected again, the remaining distance is executed. If the forward rotation start (ST1) or reverse rotation start (ST2) is ignored if it is switched on during a temporary stop.

  • Page 90: Manual Operation Mode

    4. OPERATION 4.3 Manual operation mode For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position. 4.3.1 Jog operation (1) Setting Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No.
  • Page 91 4. OPERATION (4) Timing chart Servo-on (SON) 80ms Ready (RD) Trouble (ALM) Automatic/manual mode selection (MDO) In position (INP) Rough match (CPO) Forward rotation Servo motor speed 0r/min Reverse rotation Forward rotation start (ST1) Forward rotation jog Reverse rotation start (ST2) Reverse rotation jog 4 - 18 Downloaded from...

  • Page 92: Manual Pulse Generator Operation

    4. OPERATION 4.3.2 Manual pulse generator operation (1) Setting Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No. selection 1 to 4 signals (DI0 to DI3) are invalid: Item Setting Method Description...
  • Page 93 4. OPERATION (b) Using the input signals for setting Set the pulse generator multiplication 1 (TP0) and pulse generator multiplication 2 (TP1) to the input signals in "Device setting" on the Servo Configuration Software (refer to Chapter 6). Multiplication Ratio of Servo Motor Pulse Generator Multiplication 2 Pulse Generator Multiplication 1 Rotation to Manual Pulse Generator...

  • Page 94: Manual Home Position Return Mode

    4. OPERATION 4.4 Manual home position return mode 4.4.1 Outline of home position return Home position return is performed to match the command coordinates with the machine coordinates. In the incremental system, home position return is required every time input power is switched on. In the absolute position detection system, once home position return is done at the time of installation, the current position is retained if power is switched off.
  • Page 95 4. OPERATION (2) Home position return parameter When performing home position return, set parameter No.8 as follows: Home position return method························································1) 0: Dog type 1: Count type 2: Data setting type 3: Stopper type 4: Home position ignorance (Servo-on position as home position) Home position return direction ······················································2) 0: Address increment direction 1: Address decrement direction...
  • Page 96 4. OPERATION 4.4.2 Dog type home position return A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.
  • Page 97 4. OPERATION (3) Timing chart In position (INP) Rough match (CPO) Home position return completion (ZP) Home position shift Point table No. 1 Point table No. 1 Home position return distance Parameter No. 11 Deceleration time constant Acceleration time speed Parameter No. 9 Creep speed constant Home position...
  • Page 98 4. OPERATION 4.4.3 Count type home position return In count type home position return, a motion is made over the distance set in parameter No.43 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Z- phase signal is given after that is defined as a home position.
  • Page 99 4. OPERATION (2) Timing chart In position (INP) Rough match (CPO) Home position return Home position completion (ZP) Point table No. 1 shift distance Home position return Point table No. 1 Deceleration time Parameter No. 11 Acceleration time constant speed Parameter No. 9 constant Creep speed Home position...
  • Page 100 4. OPERATION 4.4.4 Data setting type home position return In data setting type home position return, a motion is made to any position by jog operation, manual pulse generator operation or the like to make a home position return, and the position reached is defined as a home position.
  • Page 101 4. OPERATION 4.4.5 Stopper type home position return In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation, manual pulse generator operation or the like to make a home position return and that position is defined as a home position.

  • Page 102: Home Position Ignorance (Servo-On Position Defined As Home Position)

    4. OPERATION 4.4.6 Home position ignorance (servo-on position defined as home position) The position where servo is switched on is defined as a home position. (1) Signals, parameter Set the input signals and parameter as follows: Item Device/Parameter Used Description Automatic/manual selection (MD0) Short MD0-SG (ON).

  • Page 103: Home Position Return Automatic Return Function

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

  • Page 104: Absolute Position Detection System

    4. OPERATION 4.5 Absolute position detection system If an absolute position erase alarm (A.25) or absoluto position counter warning CAUTION (A.E3) has occurred, always perform home position setting again. Not doing so can cause runaway. This servo amplifier contains a single-axis controller. Also, all servo motor encoders are compatible with an absolute position system.
  • Page 105 4. OPERATION (4) Outline of absolute position detection data communication For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions. The absolute position detection system always detects the absolute position of the machine and keeps it battery-backed, independently of whether the general-purpose programming controller power is on or off.

  • Page 106: Serial Communication Operation

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

  • Page 107: Positioning Operation

    4. OPERATION 4.6.2 Positioning operation Positioning operation can be performed by changing the point table settings and making a start. For example, positioning operation can be performed by writing the data of point table No.1, then specifying point table No.1, and making a start. For transmission data details, refer to Chapter 8.

  • Page 108: Group Designation

    4. OPERATION 4.6.4 Group designation When using several servo amplifiers, command-driven parameter settings, etc. can be made on a group basis. You can set up to six groups, a to f. Set the group to each station using the communication command. (1) Group setting example Group a Group b...
  • Page 109 4. OPERATION (2) Timing chart In the following timing chart, operation is performed group-by-group in accordance with the values set in point table No.1. Transmission data Station 0 Servo motor speed Station 1 Servo motor speed Station 2 Servo motor Group a speed Station 3...

  • Page 110: Parameters

    5. PARAMETERS 5. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. 5.1 Parameter list 5.1.1 Parameter write inhibit POINT Set "000E" when using the Servo Configuration Software to make device setting. After setting the parameter No.19 value, switch power off, then on to make that setting valid.

  • Page 111: Lists

    5. PARAMETERS 5.1.2 Lists POINT For any parameter whose symbol is preceded by*, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. For details of the parameters, refer to the corresponding items. (1) Item list Customer Class...
  • Page 112 5. PARAMETERS Customer Class Symbol Name and Function Initial Value Unit Setting *OP2 Function selection 2 0000 For manufacturer setting 0002 *OP4 Function selection 4 0000 Serial communications time-out selection Feed forward gain Override offset Torque limit offset For manufacturer setting Internal torque limit 1 Internal torque limit 2 *BKC...
  • Page 113 5. PARAMETERS (2) Detail list Initial Setting Class No. Symbol Name and Function Unit Reference Value Range *STY Command system, regenerative brake option selection 0000 Refer to Used to select the command system and regenerative brake option. Name function column. Selection of command mode Section 0: Absolute value command...
  • Page 114 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Reference Value Range *OP1 Function selection 1 0002 Refer to Used to select the input filter and absolute position detection Name system. function column. Input filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it.
  • Page 115 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Reference Value Range Position loop gain 1 rad/s 4 to 1000 Chapter 9 Used to set the gain of position loop 1. Increase the gain to improve tracking performance in response to the position command.
  • Page 116 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Reference Value Range *BPS Communication baudrate 0000 Refer to Section Used to select the RS-422/RS-232C communication baudrate and Name 8.2.2 choose various conditions for communication. function column. RS-422/RS-232C baudrate selection 0: 9600[bps] 1: 19200[bps] 2: 4800[bps]...
  • Page 117 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Reference Value Range *DMD Status display selection, alarm history clear 0000 Refer to Used to select the status display shown at power-on and choose Name alarm history clear. function column.
  • Page 118 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Reference Value Range *OP2 Function selection 2 0000 Refer to Used to select slight vibration suppression control. Name function column. Section Rotation Direction in Which Torque Limit Is Made Valid 3.4.4 Setting CCW direction...
  • Page 119 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Reference Value Range Serial communication time-out selection 0 to 60 Used to choose the time-out period of communication protocol. Setting Description No time-out check Time-out check period setting 1 to 60 Check period setting [s] Feed forward gain...
  • Page 120 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Reference Value Range Electromagnetic brake sequence output 0 to 1000 Section Used to set the delay time (Tb) between when the electromagnetic brake interlock (MBR) switches off and when the base circuit is shut off.
  • Page 121 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit Reference Value Range Software limit *LMP 999999 Section Used to set the address increment side software stroke limit. The 5.2.8 software limit is made invalid if this value is the same as in 999999 "software limit ".

  • Page 122: Detailed Explanation

    5. PARAMETERS 5.2 Detailed explanation 5.2.1 Electronic gear CAUTION False setting will result in unexpected fast rotation, causing injury. POINT The range of the electronic gear setting is 20 . If you set any value outside this range, a parameter error (A.37) occurs. Always make electronic gear setting in the servo off status to prevent runaway due to false setting.

  • Page 123: Changing The Status Display Screen

    5. PARAMETERS 5.2.2 Changing the status display screen The status display item of the servo amplifier display and the display item of the external digital display (MR-DP60) shown at power-on can be changed by changing the parameter No.18 (status display selection) settings.

  • Page 124: Analog Output

    5. PARAMETERS 5.2.4 Analog output The servo status can be output to two channels in terms of voltage. The servo status can be monitored using un ammeter. The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 and the torque to analog monitor 2.

  • Page 125: Changing The Stop Pattern Using A Limit Switch

    5. PARAMETERS Change the following digits of parameter No.17: Parameter No. 17 Analog monitor 1 (MO1) output selection (Signal output to across MO1-LG) Analog monitor 2 (MO2) output selection (Signal output to across MO2-LG) Parameters No.31 and 32 can be used to set the offset voltages to the analog output voltages. The setting range is between 999 and 999mV.

  • Page 126: Rough Match Output

    5. PARAMETERS 5.2.7 Rough match output Rough match (CPO) is output when the command remaining distance reaches the value set in parameter No. 12 (rough match output range). The set remaining distance is 0 to 65535 [ 10 Command remaining distance ( 10 set in parameter No.
  • Page 127 5. PARAMETERS MEMO 5 - 18 Downloaded from ManualsNet.com search engine...

  • Page 128: Servo Configuration Software

    6. SERVO CONFIGURATION SOFTWARE 6. SERVO CONFIGURATION SOFTWARE POINT Some functions of the Servo Configuration software may be unavailable for some versions. For details, please contact us. The Servo Configuration software uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc.
  • Page 129 6. SERVO CONFIGURATION SOFTWARE (2) Configuration diagram (a) For use of RS-232C Servo amplifier Personal computer Communication cable Servo motor To RS-232C connector (b) For use of RS-422 Up to 32 axes may be multidropped. Servo amplifier Personal computer RS-232C/RS-422 (Note 1) converter Communication cable...

  • Page 130: Station Setting

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

  • Page 131: Parameters

    6. SERVO CONFIGURATION SOFTWARE 6.4 Parameters Click “Parameters” on the menu bar and click “Parameter List” on the menu. When the above choices are made, the following window appears: (1) Parameter value write ( a) ) Click the parameter whose setting was changed and press the “Write” button to write the new parameter setting to the servo amplifier.
  • Page 132 6. SERVO CONFIGURATION SOFTWARE (3) Parameter value batch-read ( c) ) Click the “Read All” button to read and display all parameter values from the servo amplifier. (4) Parameter value batch-write ( d) ) Click the “Write All” button to write all parameter values to the servo amplifier. (5) Parameter change list display ( e) ) Click the “Change List”...

  • Page 133: Point Table

    6. SERVO CONFIGURATION SOFTWARE 6.5 Point table Click “Position-Data” on the menu bar and click “Point Tables” on the menu. When the above choices are made, the following window appears: (1) Point table data write ( a) ) Click the point table data changed and press the “Write” button to write the new point table data to the servo amplifier.
  • Page 134 6. SERVO CONFIGURATION SOFTWARE (3) Point table data batch-read ( c) ) Click the “Read All” button to read and display all point table data from the servo amplifier. (4) Point table data batch-write ( d) ) Click the “Write All” button to write all point table data to the servo amplifier. (5) Point table data insertion ( e) ) Click the “Insert Row”...

  • Page 135: Device Setting

    6. SERVO CONFIGURATION SOFTWARE 6.6 Device setting POINT When using the device setting, preset "000E" in parameter No.19. Click “Parameters” on the menu bar and click “I/O Devices” on the menu. When the above choices are made, the following window appears: (1) Function assignment batch-read ( a) ) Click the “Read All”...
  • Page 136 6. SERVO CONFIGURATION SOFTWARE (3) Function assignment verify ( c) ) Click the “Verify” button to verify the function assignment being displayed and the function assignment in the servo amplifier. (4) Function assignment default value indication ( d) ) Click the “Set to Default” button to show the initial values of function assignment. (5) Function assignment changing (a) Function assignment changing Drag the pin number whose function assignment is to be changed and drop it in the new function...

  • Page 137: Test Operation

    6. SERVO CONFIGURATION SOFTWARE 6.7 Test operation The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. CAUTION Always use the servo motor alone. If any operational fault has occurred, stop operation using the forced stop (EMG).
  • Page 138 6. SERVO CONFIGURATION SOFTWARE (1) Servo motor speed setting ( a) ) Enter a new value into the “Motor speed” input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the “Accel/decel time” input field and press the enter key. (3) Servo motor start ( c), d) ) Hold down the “Forward”...

  • Page 139: Positioning Operation

    6. SERVO CONFIGURATION SOFTWARE 6.7.2 Positioning operation POINT In the positioning operation mode, do not rewrite data from the point table list screen or the servo amplifier's front panel. Otherwise, the set values are made invalid. Click the “Forward” or “Reverse” button to start and rotate the servo motor by the preset moving distance and then stop.
  • Page 140 6. SERVO CONFIGURATION SOFTWARE (1) Servo motor speed setting ( a) ) Enter a new value into the “Motor speed” input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the “Accel/decel time” input field and press the enter key. (3) Moving distance setting ( c) ) Enter a new value into the “Move distance”...

  • Page 141: Motor-Less Operation

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

  • Page 142: Output Signal (Do) Forced Output

    6. SERVO CONFIGURATION SOFTWARE 6.7.4 Output signal (DO) forced output Each servo amplifier output signal is forcibly switched on/off independently of the output condition of the output signal. Click “Test” on the menu bar and click “Forced Output” on the menu. When the above choices are made, the following window appears: (1) Signal ON/OFF setting ( a), b) ) Choose the signal name or pin number and click the “ON”...

  • Page 143: Single-Step Feed

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

  • Page 144: Alarm History

    6. SERVO CONFIGURATION SOFTWARE 6.8 Alarm history Click “Alarms” on the menu bar and click “History” on the menu. When the above choices are made, the following window appears: (1) Alarm history display The most recent six alarms are displayed. The smaller numbers indicate newer alarms. (2) Alarm history clear Click the “Clear”...
  • Page 145 6. SERVO CONFIGURATION SOFTWARE MEMO 6 - 18 Downloaded from ManualsNet.com search engine...

  • Page 146: Display And Operation

    7. DISPLAY AND OPERATION 7. DISPLAY AND OPERATION 7.1 Display flowchart Use the display (4-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status.

  • Page 147: Status Display

    7. DISPLAY AND OPERATION 7.2 Status display The servo status during operation is shown on the 4-digit, 7-segment LED display. Press the "UP or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears.
  • Page 148 7. DISPLAY AND OPERATION The following table lists the servo statuses that may be shown: Display Range Status Display Symbol Unit Description Servo amplifier MR-DP60 display The current position from the machine home position of 0 Cannot be 999999 to Current position is displayed.

  • Page 149: Diagnostic Mode

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

  • Page 150: Point Table Mode

    7. DISPLAY AND OPERATION 7.5 Point table mode You can set the target position, servo motor speed, acceleration time, deceleration time, dwell time and auxiliary function. (1) Point table mode setting screen sequence Press "SET" in the point table mode. The following screen appears. Press "UP"...
  • Page 151 7. DISPLAY AND OPERATION (2) Operation method (a) Setting of 4 or less-digit value The following example provides the after-power-on operation procedure to set "1" in the auxiliary function of point table No.1: Press MODE three times. ··········The point table No. appears. Press UP or DOWN to choose point table No.
  • Page 152 7. DISPLAY AND OPERATION (b) Setting of 5 or more-digit value The following example gives the after-power-on operation procedure to change the target value of point table No.1 to "123456": Press MODE three times. Press UP or DOWN to choose point table No. 1. Press SET once.

  • Page 153: Parameter Mode

    7. DISPLAY AND OPERATION 7.6 Parameter mode Change the parameter settings when: The regenerative brake option is used; The number of pulse per servo motor revolution is changed The machine mounted with the servo motor hunts or operational performance is further improved. The parameter whose abbreviation is marked * is made valid by switching power off, then on after changing its setting.
  • Page 154 7. DISPLAY AND OPERATION 2) 5-digit parameter The following example shows the operation procedure performed to change the electronic gear denominator (parameter No.5) into "12345": Call the display screen shown after power-on. Press once. Select parameter No.5 with MODE DOWN Press once.
  • Page 155 7. DISPLAY AND OPERATION MEMO 7 - 10 Downloaded from ManualsNet.com search engine...

  • Page 156: Communication Functions

    8. COMMUNICATION FUNCTIONS 8. 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 (communication baudrate).

  • Page 157: Rs-232C Configuration

    8. COMMUNICATION FUNCTIONS 8.1.2 RS-232C configuration (1) Outline A single axis of servo amplifier is operated. Servo amplifier MR-J2- MITSUBISHI CHARGE To CN3 RS-232C Controller such as personal computer (2) Cable connection diagram Wire as shown below. The communication cable for connection with the personal computer (MR- CPCATCBL3M MR-CPC98CBL3M) is available.

  • Page 158: Communication Specifications

    8. COMMUNICATION FUNCTIONS 8.2 Communication specifications 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 159: Protocol

    8. COMMUNICATION FUNCTIONS (3) RS-422/RS-232C serial interface selection Select the RS-422 or RS-232C communication standard. RS-422 and RS-232C cannot be used together. Parameter No. 16 RS-422/RS-232C communication standard selection 0: RS-422 used 1: RS-232C used (4) Communication delay time Set the time from when the servo amplifier (slave station) receives communication data to when it sends back data.
  • Page 160 8. COMMUNICATION FUNCTIONS (1) Transmission of data from the controller to the servo 10 frames (data) Controller side Data Check Station number Data* (Master station) group Servo side Station number Check (Slave station) group 6 frames Positive response: Error code A Negative response: Error code other than A (2) Transmission of data request from the controller to the servo 10 frames...

  • Page 161: Character Codes

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

  • Page 162: Error Codes

    8. COMMUNICATION FUNCTIONS 8.5 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station.

  • Page 163: Time-Out Operation

    8. COMMUNICATION FUNCTIONS 8.7 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times.

  • Page 164: Initialization

    8. COMMUNICATION FUNCTIONS 8.9 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after: 1) 1s or more time has elapsed after the slave station is switched on; and 2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems.

  • Page 165: Command And Data No. List

    8. COMMUNICATION FUNCTIONS 8.11 Command and data No. list POINT If the command/data No. is the same, its data may be different from the interface and drive units and other servo amplifiers. 8.11.1 Read commands (1) Status display (Command [0][1]) Command Data No.
  • Page 166 8. COMMUNICATION FUNCTIONS (4) Alarm history (Command [3][3]) Command Data No. Description Alarm Occurrence Sequence Frame Length [3][3] [1][0] Alarm number in alarm history Most recent alarm [3][3] [1][1] First alarm in past [3][3] [1][2] Second alarm in past [3][3] [1][3] Third alarm in past [3][3]...
  • Page 167 8. COMMUNICATION FUNCTIONS (6) Point table/position data (Command [4][0]) Command Data No. Description Frame Length Position data read [0][1] to [4][0] The decimal equivalent of the data No. value (hexadecimal) [0][F] corresponds to the Point table No. (7) Point table/speed data (Command [5][0]) Command Data No.

  • Page 168: Write Commands

    8. COMMUNICATION FUNCTIONS 8.11.2 Write commands (1) Status display (Command [8][1]) Command Data No. Description Setting Range Frame Length [8][1] [0][0] Status display data clear 1EA5 (2) Parameter (Command [8][4]) Command Data No. Description Setting Range Frame Length Each parameter write Depends on the [0][0] to [8][4]...
  • Page 169 8. COMMUNICATION FUNCTIONS (6) Point table/position data (Command [C][0]) Command Data No. Description Setting Range Frame Length Position data write 999999 to 999999 [0][1] to [C][0] The decimal equivalent of the data No. value [0][F] (hexadecimal) corresponds to the Point table No. (7) Point table/speed data (Command [C][6]) Command Data No.

  • Page 170: Detailed Explanations Of Commands

    8. COMMUNICATION FUNCTIONS 8.12 Detailed explanations of commands 8.12.1 Data processing When the command data number or the command data number data are sent from the master station to a slave station, a reply or data is returned from the servo amplifier according to the purpose. In these send data and receive data, numerical values are represented in decimal, hexadecimal, etc.
  • Page 171 8. COMMUNICATION FUNCTIONS (2) Writing processed data When written data is handled as a decimal number, the decimal point position must be specified. If it is not specified, data cannot be written. When data is handled as a hexadecimal number, specify "0" for the decimal point position.

  • Page 172: Status Display

    8. COMMUNICATION FUNCTIONS 8.12.2 Status display (1) Status display data read When the master station transmits the data No. (refer to the following table for assignment) to the slave station, the slave station sends back the data value and data processing information. (a) Transmission Transmit command [0][1] and the data No.

  • Page 173: Parameter

    8. COMMUNICATION FUNCTIONS 8.12.3 Parameter (1) Parameter read Read the parameter setting. 1) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No. Command Data No. Data No. Definition [0][0] to [0][5] Corresponds to the parameter No. [3][5] 2) Reply The slave station sends back the data and processing information of the requested parameter No.
  • Page 174 8. COMMUNICATION FUNCTIONS (2) Parameter write Write the parameter setting. Write the value within the setting range. Refer to Section 5.1 for the setting range. Transmit command [8][4], the data No., and the set data. The data number is represented in hexadecimal. The decimal value converted from the data number value corresponds to the parameter number.

  • Page 175: External I/O Signal Statuses

    8. COMMUNICATION FUNCTIONS 8.12.4 External I/O signal statuses (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and data No. [0][0]. Command Data No. [1][2] [0][0] (b) Reply The slave station sends back the statuses of the input pins. 1:ON 0:OFF Command of each bit is transmitted to the master...
  • Page 176 8. COMMUNICATION FUNCTIONS (3) Read of the statuses of input devices switched on through communication Read the ON/OFF statuses of the input devices switched on through communication. (a) Transmission Transmit command [1][2] and data No. [6][0]. Command Data No. [1][2] [6][0] (b) Reply The slave station sends back the statuses of the input pins.

  • Page 177: Device On/Off

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

  • Page 178: Alarm History

    8. COMMUNICATION FUNCTIONS 8.12.6 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No.0 (last alarm) to No.5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data No.

  • Page 179: Current Alarm

    8. COMMUNICATION FUNCTIONS (3) Alarm history clear Erase the alarm history. Send command [8][2] and data No. [2][0]. Command Data No. Data [8][2] [2][0] 1EA5 8.12.7 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No.
  • Page 180 8. COMMUNICATION FUNCTIONS Data 32 bits long (represented in hexadecimal) (Data conversion into display type is required) Display type 0: Conversion into decimal required 1: Used unchanged in hexadecimal Decimal point position 0: No decimal point 1: Lower first digit (usually not used) 2: Lower second digit 3: Lower third digit 4: Lower fourth digit...

  • Page 181: Point Table

    8. COMMUNICATION FUNCTIONS 8.12.8 Point table (1) Position data read Read the position data of the point table. (a) Transmission Transmit command [4][0] and any of data No. [0][1] to [0][F] corresponding to the point table to be read. Refer to Section 8.11.1. (b) Reply The slave station sends back the position data of the requested point table.
  • Page 182 8. COMMUNICATION FUNCTIONS (3) Acceleration time constant read Read the acceleration time constant of the point table. (a) Transmission Transmit command [5][4] and any of data No. [0][1] to [0][F] corresponding to the point table to be read. Refer to Section 8.11.1. (b) Reply The slave station sends back the acceleration time constant of the requested point table.
  • Page 183 8. COMMUNICATION FUNCTIONS (5) Dwell time read Read the dwell time of the point table. (a) Transmission Transmit command [6][0] and any of data No. [0][1] to [0][F] corresponding to the point table to be read. Refer to Section 8.11.1. (b) Reply The slave station sends back the dwell time of the requested point table.
  • Page 184 8. COMMUNICATION FUNCTIONS (7) Position data write Write the position data of the point table. Transmit command [C][0], any of data No. [0][1] to [0][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2. Command Data No.
  • Page 185 8. COMMUNICATION FUNCTIONS (9) Acceleration time constant write Write the acceleration time constant of the point table. Transmit command [C][7], any of data No. [0][1] to [0][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2. Command Data No.
  • Page 186 8. COMMUNICATION FUNCTIONS (11) Dwell time write Write the dwell time of the point table. Transmit command [C][A], any of data No. [0][1] to [0][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2. Command Data No.

  • Page 187: Servo Amplifier Group Designation

    8. COMMUNICATION FUNCTIONS 8.12.9 Servo amplifier group designation With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group through RS-422 communication. (1) Group setting write Write the group designation value to the slave station. Transmission Transmit command [9][F], data No.

  • Page 188: Other Commands

    8. COMMUNICATION FUNCTIONS 8.12.10 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. (a) Transmission Send command [0][2] and data No. [9][0]. Command Data No. [0][2] [9][0] (b) Reply The slave station sends back the requested servo motor end pulses.
  • Page 189 8. COMMUNICATION FUNCTIONS MEMO 8 - 34 Downloaded from ManualsNet.com search engine...

  • Page 190: Adjustment

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

  • Page 191: Basics Of The Servo System

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

  • Page 192: Gain Adjustment

    9. ADJUSTMENT 9.2 Gain adjustment 9.2.1 Parameters required for gain adjustment Parameter No. Symbol Name Auto tuning Position loop gain 1 *OP4 Function selection 4 (machine resonance filter) Ratio of load inertia moment to motor inertia moment Position loop gain 2 Speed loop gain 1 Speed loop gain 2 Speed integral compensation...

  • Page 193: What Is Auto Tuning

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

  • Page 194: Gain Adjustment By Auto Tuning

    9. ADJUSTMENT 9.3 Gain adjustment by auto tuning 9.3.1 Adjustment method In the factory setting of the servo amplifier, auto tuning is valid and the response level setting is "2" (parameter No.3 : 0104). The initial settings provide sufficient tuning for general machines. Higher-level tuning can be provided by adjusting the response level setting (parameter No.3) according to machine rigidity.

  • Page 195: Manual Gain Adjustment

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

  • Page 196: When The Machine Vibrates Due To Machine Resonance Frequency

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

  • Page 197: Load Inertia Moment Is 20 Or More Times

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

  • Page 198: When Shortening The Settling Time

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

  • Page 199: When The Same Gain Is Used For Two Or More Axes

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

  • Page 200: Inspection

    10. INSPECTION 10. INSPECTION Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 15 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. WARNING Any person who is involved in inspection should be fully competent to do the work.
  • Page 201 10. INSPECTION MEMO 10 - 2 Downloaded from ManualsNet.com search engine...

  • Page 202: Troubleshooting

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

  • Page 203: When Alarm Or Warning Has Occurred

    11. TROUBLESHOOTING 11.2 When alarm or warning has occurred POINT If an alarm has occurred, detect the trouble (ALM) and turn off the servo-on (SON). 11.2.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 11.2.2 or 11.2.3 and take the appropriate action.

  • Page 204: Remedies For Alarms

    11. TROUBLESHOOTING 11.2.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase alarm (A.25) occurred, always make home position CAUTION setting again.
  • Page 205 11. TROUBLESHOOTING Display Name Definition Cause Action 1. Faulty parts in the servo amplifier A.15 Memory error 2 EEP-ROM fault Change the servo amplifier. Checking method Alarm (A.15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
  • Page 206 11. TROUBLESHOOTING Display Name Definition Cause Action A.30 Regenerative Permissible 1. Wrong setting of parameter No. 0 Set correctly. alarm regenerative power 2. Built in regenerative brake resistor or Connect correctly of the built-in regenerative brake option is not regenerative brake connected.
  • Page 207 11. TROUBLESHOOTING Display Name Definition Cause Action A.33 Overvoltage Converter bus 1. Lead of built-in regenerative brake 1. Change lead. voltage exceeded resistor or regenerative brake option is 2. Connect correctly. 400V. open or disconnected. 2. Regenerative transistor faulty. Change servo amplifier 3.
  • Page 208 11. TROUBLESHOOTING Display Name Definition Cause Action A.50 Overload 1 Load exceeded 5. Encoder faulty. Change the servo motor. overload protection Checking method characteristic of When the servo motor shaft is rotated with the servo off, the servo amplifier. cumulative feedback pulses do Load ratio 300%: not vary in proportion to the 2.5s or more...

  • Page 209: Remedies For Warnings

    11. TROUBLESHOOTING Display Name Definition Cause Action A.61 Operation alarm "1" is set in auxiliary Setting error of auxiliary function of point Set "0" in auxiliary function of function of point table No.15 point table No.15. table No.15. A.8A Serial Valid command has 1.
  • Page 210 11. TROUBLESHOOTING Display Name Definition Cause Action A.92 Open battery Absolute position 1. Battery cable is open. Repair cable or change battery. cable warning detection system battery 2. Battery voltage dropped to 2.8V or Change battery. voltage is low. less. A.96 Home position 1.
  • Page 211 11. TROUBLESHOOTING MEMO 11 - 10 Downloaded from ManualsNet.com search engine...

  • Page 212: Specifications

    12. SPECIFICATIONS 12. SPECIFICATIONS 12.1 Servo amplifier standard specifications Servo Amplifier MR-J2- 100C 200C 350C Item Three-phase 200 to 230VAC, 50/60Hz or single- Three-phase 200 to 230VAC, Voltage/frequency phase 230VAC, 50/60Hz (Note) 50/60Hz Three-phase 200 to 230VAC: 170 to 253VAC Three-phase 170 to 253VAC Permissible voltage fluctuation Single-phase 230VAC: 207 to 253VAC...
  • Page 213 12. SPECIFICATIONS Servo Amplifier MR-J2- 100C 200C 350C Item Absolute position detection, backlash function Other functions Overtravel prevention using external limit switch Software stroke limit, override using external analog signal Structure Open (IP00) 0 to 55 [ ] (non-freezing) Ambient temperature 32 to 131 [ ] (non-freezing) Ambient humidity 90%RH or less (non-condensing)

  • Page 214: Outline Dimension Drawings

    12. SPECIFICATIONS 12.2 Outline dimension drawings 12.2.1 Servo amplifiers (1) MR-J2-10C to MR-J2-60C [Unit: mm] ([Unit: in]) 70 (2.76) 135 (5.32) 6 ( 0.24) mounting hole Terminal layout (Terminal cover open) MITSUBISHI MITSUBISHI OPEN OPEN Name plate PE terminal (0.24) 4(0.16) Variable Dimensions Weight...
  • Page 215 12. SPECIFICATIONS (2) MR-J2-70C MR-J2-100C 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 Model [kg]([lb]) MR-J2-70C (3.75) MR-J2-100C Terminal screw: M4 0.7...
  • Page 216 12. SPECIFICATIONS (3) MR-J2-200C MR-J2-350C [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 12-M4 screw 3-M4 screw PE terminal Weight Servo Amplifier Model [kg]([lb]) MR-J2-200C (4.41) MR-J2-350C PE terminals Terminal screw: M4 0.7 Tightening torque: 1.2 [N m] (10 [lb in]) Terminal screw: M4 0.7 Tightening torque: 1.2 [N m] (10 [lb in])

  • Page 217: Connectors

    12. SPECIFICATIONS 12.2.2 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] Connector...
  • Page 218 12. SPECIFICATIONS (2) Communication cable connector <JAE> [Unit: mm] ([Unit: in]) Fitting fixing screw G E (max. diameter of cable used) Type 0.25 Reference DE-C1-J6-S6 34.5(1.36) 19(0.75) 24.99(0.98) 33(1.30) 6(0.24) 18(0.71) #4-40 DE-C2-J9 46(1.81) 21(0.83) 47.04(1.85) 55(2.17) 10(0.39) 20(0.79) M2.6 12 - 7 Downloaded from ManualsNet.com...
  • Page 219 12. SPECIFICATIONS MEMO 12 - 8 Downloaded from ManualsNet.com search engine...

  • Page 220: Characteristics

    13. CHARACTERISTICS 13. CHARACTERISTICS 13.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (A.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs.
  • Page 221 13. CHARACTERISTICS (2) MR-J2-200C and MR-J2-350C HC-SF series 1000 HC-RF series HC-UF series During rotation During stop (Note) Load ratio [%] Fig 13.3 Electronic Thermal Relay Protection Characteristics 3 Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the electronic thermal relay protection is not activated.

  • Page 222: Power Supply Equipment Capacity And Generated Loss

    13. CHARACTERISTICS 13.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 13.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 13.1 in consideration for the worst operating conditions.
  • Page 223 13. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter referred to as the control box) which will contain the servo amplifier should be designed to ensure a temperature rise of 10 max. at the ambient temperature of 40 .

  • Page 224: Dynamic Brake Characteristics

    13. CHARACTERISTICS 13.3 Dynamic brake characteristics Fig. 13.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 13.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds.
  • Page 225 13. CHARACTERISTICS 0.02 0.04 0.018 0.035 0.016 0.03 0.014 0.025 0.012 0.01 0.02 0.008 0.015 0.006 0.01 0.004 0.005 0.002 500 1000 1500 2000 2500 3000 1000 Speed [r/min] Speed [r/min] b. HC-SF1000r/min Series a. HC-MF Series 0.045 0.12 0.04 0.035 0.03 0.08...

  • Page 226: Encoder Cable Flexing Life

    13. CHARACTERISTICS Table 13.2 HA-FF Dynamic Brake Time Constant Servo Motor Brake Time Constant [s] HA-FF053 13 0.02 HA-FF23 0.05 HA-FF33 0.07 HA-FF43 0.09 HA-FF63 0.12 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.
  • Page 227 13. CHARACTERISTICS MEMO 13 - 8 Downloaded from ManualsNet.com search engine...

  • Page 228: Options And Auxiliary Equipment

    14. OPTIONS AND AUXILIARY EQUIPMENT 14. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment, make sure that the charge lamp is off more than 15 minutes after power-off, then confirm the voltage with a WARNING tester or the like. Otherwise, you may get an electric shock. Use the specified auxiliary equipment and options.
  • Page 229 14. OPTIONS AND AUXILIARY EQUIPMENT b) To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative brake option: 1) Regenerative energy calculation Use the following table to calculate the regenerative energy.
  • Page 230 14. OPTIONS AND AUXILIARY EQUIPMENT Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative brake option. ER [J] Es – Ec Calculate the power consumption of the regenerative brake option on the basis of single-cycle operation period tf [s] to select the necessary regenerative brake option PR [W] ER/tf ....................(14.1)
  • Page 231 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Outline drawing 1) 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 (1.18) (0.59) (4.69) (3.9) MR-RB12...

  • Page 232: Cables And Connectors

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.2 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. Those indicated by broken lines in the figure are not options. Servo amplifier Operation CN1A CN1B panel Personal...
  • Page 233 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Standard MR-JCCBL M-L Connector: 10120-3000VE Housing: 1-172161-9 Standard encoder cable Refer to (2) in this Shell kit: 10320-52F0-008 Pin: 170359-1 flexing life section. (3M or equivalent) (AMP or equivalent) IP20 Cable clamp: MTI-0002 (Toa Electric Industry) Long flexing life MR-JCCBL M-H...
  • Page 234 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Control signal MR-J2CN1 Connector: 10120-3000VE connector set Shell kit: 10320-52F0-008 (3M or equivalent) Qty: 2 each Junction MR-J2TBL Connector: HIF3BA-20D-2.54R Connector: 10120-6000EL For junction terminal block Refer to (3) Section (Hirose Electric) Shell kit: 10320-3210-000 terminal cable...
  • Page 235 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable If you have fabricated the encoder cable, connect it correctly. CAUTION Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to Section 12.4 for the flexing life of the encoder cable. When the encoder cable is used, the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2.4 .
  • Page 236 14. OPTIONS AND AUXILIARY EQUIPMENT MR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL30M-L MR-JCCBL50M-H MR-JCCBL5M-H Encoder side Encoder side Encoder side Drive unit side Drive unit side Drive unit side (Note) (Note) (Note) Plate Plate Plate Note. Always make connection for use in an absolute position detection system. This wiring is not needed for use in an incremental system.
  • Page 237 14. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors. 1) Model explanation Model: MR-JHSCBL M- Symbol Specifications Standard flexing life Long flexing life Symbol Cable length [m(ft)] 2 (6.56) 5 (16.4) 10 (32.8)
  • Page 238 14. OPTIONS AND AUXILIARY EQUIPMENT MR-JHSCBL2M-L MR-JHSCBL10M-L MR-JHSCBL10M-H MR-JHSCBL5M-L MR-JHSCBL2M-H MR-JHSCBL30M-L MR-JHSCBL50M-H MR-JHSCBL5M-H MR-ENCBL10M-H MR-ENCBL2M-H MR-ENCBL5M-H MR-ENCBL50M-H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side (note1) Plate (Note2) Use of AWG24 (Less than 10m(32.8ft)) (note1) (note1) Note1: This wiring is required for use in the absolute...
  • Page 239 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable. Select the communication cable according to the shape of the RS-232C connector of the personal computer used.

  • Page 240: Junction Terminal Block (Mr-Tb20)

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.3 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 241 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable (MR-J2TBL M) Model : MR-J2TBL Symbol Cable length[m(ft)] 0.5 (1.64) 1 (3.28) Servo amplifier side (CN1A CN1B) connector (3M) Junction terminal block side connector (Hirose Electric) 10120-6000EL (connector) HIF3BA-20D-2.54R (connector) 10320-3210-000 (shell kit) Terminal block label Junction terminal...

  • Page 242: Maintenance Junction Card (Mr-J2Cn3Tm)

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.4 Maintenance junction card (MR-J2CN3TM) (1) Usage The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor outputs are used at the same time. Communication cable Servo amplifier Maintenance junction card (MR-J2CN3TM) Bus cable MR-J2HBUS M CN3B...
  • Page 243 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawing [Unit: mm] ([Unit: in]) CN3A CN3B CN3C 2- 5.3(0.21)(mounting hole) 3(0.12) 88(3.47) 41.5(1.63) 100(3.94) Weight: 110g(0.24Ib) (4) Bus cable (MR-J2HBUS Model: MR-J2HBUS M Symbol Cable length [m(ft)] 0.5 (1.64) 1 (3.28) 5 (16.4) MR-J2HBUS05M MR-J2HBUS1M MR-J2HBUS5M...

  • Page 244: External Digital Display (Mr-Dp60)

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.5 External digital display (MR-DP60) The data equivalent to the servo amplifier status display can be displayed on the MR-DP60. When using the MR-DP60, set " 0 2" in parameter No. 16. The items that appear at the time of power-on can be selected in parameter No.18.
  • Page 245 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Mounting [Unit: mm (in)] Front mounting Inside mounting Square hole Square hole 2- 5 (0.20) 2- 5 (0.20) 95(3.74) 141(5.55) 150(5.91) 150(5.91) (5) Outline dimension drawing [Unit: mm (in)] MITSUBISHI MR-DP60 150(5.91) 2- 4.5 (0.18) mounting hole (0.30) (0.30) 165(6.50)

  • Page 246: Manual Pulse Generator (Mr-Hdp01)

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

  • Page 247: Battery (Mr-Bat, A6Bat)

    14. OPTIONS AND AUXILIARY EQUIPMENT (4) Mounting [Unit: mm(in)] Panel cutting 3- 4.8(0.189) equally divided (5) Outline dimension drawing [Unit: mm(in)] 3.6(0.142) 3-M4 stud L10 Packing t2.0 P.C.D.72 equally divided 5V to 12V 0V M3 6 may only be used. 8.89 7.6(0.299) 27.0...

  • Page 248: Auxiliary Equipment

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C- UL (CS4) Standard, use the products which conform to the corresponding standard. 14.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring.
  • Page 249 14. OPTIONS AND AUXILIARY EQUIPMENT Note: For the crimping terminals and applicable tools, see the following table: Table 14.2 Recommended Crimping Terminals Servo Amplifier Side Crimping Terminals (AMP) Symbol Crimping terminal Applicable tool 32959 47387 32968 59239 (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 14.3 Wires for option cables Characteristics of one core...

  • Page 250: Fuse Breakers, Fuses, Magnetic Contactors

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.2 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. Fuse Servo amplifier No-fuse breaker...

  • Page 251: Relays

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.4 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 command and input command (interface DI-1) signals signal (twin contacts).

  • Page 252: Noise Reduction Techniques

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.6 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.
  • Page 253 14. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
  • Page 254 14. OPTIONS AND AUXILIARY EQUIPMENT Noise Transmission Route Suppression Techniques When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.
  • Page 255 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. Relay Surge suppressor Surge suppressor Surge suppressor This distance should be short...
  • Page 256 14. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] ([Unit: in.]) Earth plate Clamp section diagram 2- 5(0.20) hole 17.5(0.69) installation hole L or less 10(0.39) 22(0.87) (Note)M4 screw 35(1.38) (0.24) Note: Screw hole for grounding. Connect it to the earth plate of the control box. Type Accessory Fittings Clamp Fitting...
  • Page 257 14. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.

  • Page 258: Leakage Current Breaker

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.7 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
  • Page 259 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: 5m(196.85inch) 5m(196.85inch) Servo amplifier HA-FF63 MR-J2-60C Use a leakage current breaker designed for suppressing harmonics/surges. Find the terms of Equation (14.2) from the diagram: Ig1 20 0.1 [mA] 1000...

  • Page 260: Emc Filter

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.8 EMC filter For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended Filter Servo Amplifier Weight [kg] ([lb])

  • Page 261: Setting Potentiometers For Analog Inputs

    14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.9 Setting potentiometers for analog inputs The following variable resistors are available for use with analog inputs. (1) Single-revolution type WA2WYA2SEBK2K Ω (Japan Resistor make) Resistance Dielectric strength Insulation Mechanical Rated power Resistance Rotary torque tolerance (for 1 minute) resistance...
  • Page 262 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Jul., 1998 SH(NA)3179-A First edition Dec., 1998 SH(NA)3179-B Correction of missing pages in Chapters 9 and 13 Mar., 2000 SH(NA)3179-C (1) and (8) added to Instructions for Conformance in CONFORMANCE WITH EUROPEAN COMMUNITY DIRECTIVES (1) and (5) added to UL/C-UL STANDARD (3) changed to short circuit rating...
  • Page 263 Print Data *Manual Number Revision Jan., 2002 SH(NA)3179-D Safety precautions Servo motor vibration conditions changed UL/C-UL Standard Addition of (6) Servo motor installation Section 1.1.3 Table changed Section 1.6 Power factor improving reactor added Section 3.3.2 Table reexamined Section 3.3.3 Table reexamined Section 3.3.4 (3) Contents changed Section 3.7 Contents changed Section 3.8 Contents changed...
  • Page 264 Print Data *Manual Number Revision Jun.,2006 SH(NA)3179-F Section 3.3.2 (1) PG,NG deleted Initial value “ 1 ” of proximity dog(DOG), parameter No.8 is modified Section 3.5 CAUTION added Section 3.7.2 Description of U,V,and W terminal added Section 3.7.3 (3) CAUTION added Section 3.8.1 POINT added Section 3.8.2 CAUTION added Section 3.9 CAUTION added...
  • Page 265 MODEL MR-J2-C INSTRUCTION MODEL 1CW923 CODE HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 3179-F (0606) MEE Printed in Japan Specifications subject to change without notice.

This manual is also suitable for:

Melservo mr-j2 c series

Table of Contents