Mitsubishi Electric Melservo-J2-JR SERIES Instruction Manual

General-purpose ac servo general-purpose interface mr-j2-03a5
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Table of Contents
General-Purpose AC Servo
J2-Jr
Series
General-Purpose Interface
MR-J2-03A5
Servo Amplifier
Instruction Manual
B

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  Summary of Contents for Mitsubishi Electric Melservo-J2-JR SERIES

  • Page 1 General-Purpose AC Servo J2-Jr Series General-Purpose Interface MR-J2-03A5 Servo Amplifier Instruction Manual...
  • Page 2: Safety Instructions

    Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly.
  • Page 3 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work.
  • Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the motor by the cables, shaft or encoder.
  • Page 5 Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi. (2) Wiring CAUTION Wire the equipment correctly and securely.
  • Page 6 (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.
  • Page 7 Disposal CAUTION Dispose of the product as general industrial waste. (8) General instruction To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified.
  • Page 8 To ensure ease of compliance with the EMC Directive, Mitsubishi Electric prepared the "EMC INSTALLATION GUIDELINES" (IB(NA)67310) which provides servo amplifier installation, control box making and other procedures.
  • Page 9 (5) Auxiliary equipment and options (a) The circuit protector used should be the EN or IEC Standard-compliant product of the model described in Section 12.2.2. (b) The sizes of the cables described in Section 12.2.2 meet the following requirements. To meet the other requirements, follow Table 5 and Appendix C in EN60204.
  • Page 10 CONFORMANCE WITH UL/C-UL STANDARD The standard models of the servo amplifier and servo motor comply with the UL/C-UL Standard. Unless otherwise specified, the handling, performance, specifications, etc. of the UL/C-UL Standard- compliant models are the same as those of the standard models. When using 24VDC power supply, options and auxiliary equipment, use those which conform to the UL/C- UL Standard.
  • Page 11: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 5 1.1 Introduction 1- 1 1.2 Function List 1- 2 1.3 Model Code Definition 1- 3 1.4 Combination with Servo Motor 1- 3 1.5 Parts Identification 1- 4 1.6 Servo System with Auxiliary Equipment 1- 5 2.
  • Page 12 4. OPERATION 4- 1 to 4- 6 4.1 When Switching Power On for the First Time 4- 1 4.2 Startup 4- 2 4.2.1 Selection of control mode 4- 2 4.2.2 Position control mode 4- 2 4.2.3 Speed control mode 4- 4 4.2.4 Torque control mode 4- 5 4.3 Multidrop Communication...
  • Page 13 7.3 Gain Adjustment by Auto Tuning 7- 5 7.3.1 Adjustment method 7- 5 7.3.2 Valid conditions 7- 5 7.4 Manual Gain Adjustment 7- 6 7.4.1 When machine rigidity is low 7- 6 7.4.2 When the machine vibrates due to machine resonance frequency 7- 7 7.4.3 Load inertia moment is 20 or more times 7- 8...
  • Page 14 12.2.3 Relays 12- 11 12.2.4 Noise reduction techniques 12- 11 13. COMMUNICATION FUNCTIONS 13- 1 to 13- 26 13.1 Configuration 13- 1 13.1.1 RS-422 configuration 13- 1 13.1.2 RS-232C configuration 13- 2 13.2 Communication Specifications 13- 3 13.2.1 Communication overview 13- 3 13.2.2 Parameter setting 13- 4...
  • Page 15 Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual. 1.
  • Page 16 About the Manuals This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General-Purpose AC servo MR-J2-03A5 for the first time. Always purchase them and use the MR-J2-03A5 safely. Relevant manuals Manual Name Manual No. MELSERVO-J2-Jr Series Installation Guide IB(NA)67426 MELSERVO Servo Motor Instruction Manual...
  • Page 17: Functions And Configuration

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The MELSERVO-J2-Jr series general-purpose AC servo has been developed as an ultracompact, small capacity servo system compatible with the MELSERVO-J2 series 24VDC power supply. It can be used in a wide range of fields from semiconductor equipment to small robots, etc.
  • Page 18: Function List

    1. FUNCTIONS AND CONFIGURATION 1.2 Function List The following table lists the functions of the MR-J2-03A5. For details of the functions, refer to the corresponding chapters and sections. (Note) Function Description Refer To Control Mode Section 3.1.1 Position control mode MR-J2-03A5 is used as position control servo.
  • Page 19: Model Code Definition

    1. FUNCTIONS AND CONFIGURATION (Note) Function Description Refer To Control Mode Servo configuration Using a personal computer, parameter setting, test P, S, T Section 12.1.3 software operation, status display, etc. can be performed. If an alarm has occurred, the corresponding alarm number Alarm code output P, S, T Section 9.2.1...
  • Page 20: Parts Identification

    1. FUNCTIONS AND CONFIGURATION 1.5 Parts Identification Name/Application Refer To Display The four-digit, seven-segment LED shows the servo Chapter6 status and alarm number. Operation section Used to perform status display, diagnostic, alarm and parameter operations. MODE DOWN Chapter6 Used to set parameter data.
  • Page 21: Servo System With Auxiliary Equipment

    To prevent an electric shock, fit the supplied earth terminal (E) to the servo WARNING amplifier (refer to (2), Section 3.9) and always connect it to the earth (E) of the control box. Power supply Servo amplifier 24VDC MITSUBISHI MELSERVO Circuit OPEN protector CN1A CN1B...
  • Page 22: Installation

    Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment. Do not install or operate a faulty servo amplifier. When the product has been stored for an extended period of time, consult Mitsubishi. 2.1 Environmental conditions Environment Conditions...
  • Page 23: Installation Direction And Clearances

    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 (1.6 in.) Wiring clearance or more Servo amplifier 70mm MITSUBISHI (2.8 in.) 10mm 10mm (0.4 in.) (0.4 in.) MELSERVO OPEN CN1A CN1B or more...
  • Page 24: Keep Out Foreign Materials

    2. INSTALLATION 2.3 Keep out foreign materials (1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo amplifier. (2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box or a fan installed on the ceiling.
  • Page 25: Using The Din Rail For Installation

    2. INSTALLATION 2.5 Using the DIN rail for installation (1) Fitting into the DIN rail Put the upper catch on the DIN rail and push the unit until it clicks. Wall Wall Upper catch DIN rail DIN rail (2) Removal from DIN rail 1) Pull down the hook.
  • Page 26: Signals And Wiring

    3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, make sure that the voltage is safe in the tester more than 10 minutes after power-off. Otherwise, you may get an electric shock. Ground the servo amplifier and the servo motor securely.
  • Page 27: Standard Connection Example

    3. SIGNALS AND WIRING 3.1 Standard connection example POINT For the connection of the power supply system, refer to Section 3.7.1. 3.1.1 Position control mode AD75P (A1SD75P ) 24VDC power supply Servo amplifier Circuit CNP1 protector P24M P24G (Note 4) P24L CN1B (Note 4,7)
  • Page 28 3. SIGNALS AND WIRING Note: 1. To prevent an electric shock, fit the supplied earth terminal (E) to the servo amplifier and always connect it to the earth (E) of the control box. (Refer to section 3.9.) 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 forced stop and other protective circuits.
  • Page 29: Speed Control Mode

    3. SIGNALS AND WIRING 3.1.2 Speed control mode 24VDC power supply Servo amplifier Circuit protector CNP1 P24M P24G (Note 4) CN1B P24L (Note 4,7) (Note 6) CN1A Trouble Speed Selection 1 Zero speed Limiting torque 10m (32ft) max. (Note 4,7) CN1B (Note 3) Forced stop...
  • Page 30: Torque Control Mode

    3. SIGNALS AND WIRING 3.1.3 Torque control mode 24VDC power supply Servo amplifier Circuit protector CNP1 P24M P24G (Note 4) P24L CN1B (Note 4,6) (Note 5) CN1A (Note 2) Trouble Speed Selection 1 Zero speed Limiting torque 10m(32ft) max. (Note 4,6) CN1B (Note 3) Forced stop...
  • Page 31: Internal Connection Diagram Of Servo Amplifier

    3. SIGNALS AND WIRING 3.2 Internal Connection Diagram of Servo Amplifier Servo amplifier CNP2 CNP1 P24M P24G P24L (Note) CN1B CNP2 COM COM (Note) (Note) CN1A CN1A COM COM COM Approx.4.7k 10,20 (Note) CN1B (Note) CN1B Approx.4.7k Approx.4.7k Approx.4.7k Approx.4.7k Approx.4.7k Approx.4.7k EMG EMG...
  • Page 32: I/O Signals

    Connectors and signal arrangements POINT The connector pin-outs shown above are viewed from the cable connector wiring section side. Refer to the next page for CN1A and CN1B signal assignment. (1) Signal arrangement CN1A CN1B MITSUBISHI MELSERVO CNP1 CNP2 CNP1 CNP2 P24M CNP3...
  • Page 33 3. SIGNALS AND WIRING (2) CN1A and CN1B signal assignment The signal assignment of connector changes with the control mode as indicated below; (Note2) I/O Signals in Control Modes (Note1) Connector Pin No. P15R P15R/P15R P15R P15R P15R P15R CR/SP1 SP1/SP1 SP1/CR (Note8)
  • Page 34 3. SIGNALS AND WIRING Note:1. I : Input signal, O: Output signal, -: Others (e. g. power) 2. P : Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode 3.
  • Page 35: Signal Explanations

    3. SIGNALS AND WIRING 3.3.2 Signal explanations For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.6.2. In the Control Mode field of the table P : Position control mode, S: Speed control mode, T: Torque control mode : Denotes that the signal may be used in the initial setting status.
  • Page 36 3. SIGNALS AND WIRING Control Connec- Mode Signal Symbol tor Pin Functions/Applications Division Torque limit CN1B Torque limit selection input device. DI-1 Short TL-SG to make the analog torque limit valid. For details, refer to (2), section 3.4.1. Forward rotation CN1B Used to start the servo motor in any of the following directions: DI-1...
  • Page 37 3. SIGNALS AND WIRING Control Connec- Mode Signal Symbol tor Pin Functions/Applications Division Speed selection 1 CN1A <Speed control mode> DI-1 Used to select the command speed for operation. (Note) Input signals Speed Command Analog speed command (VC) Internal speed command 1 (parameter No.
  • Page 38 3. SIGNALS AND WIRING Control Connec- Mode Signal Symbol tor Pin Functions/Applications Division Proportion CN1B Connect PC-SG to switch the speed amplifier from the DI-1 control proportional integral type to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift.
  • Page 39 3. SIGNALS AND WIRING Control Connec- Mode Signal Symbol tor Pin Functions/Applications Division Analog torque CN1B To use this signal in the speed control mode, set any of Analog limit parameters No. 43 to 48 to make TL available. input When the analog torque limit (TLA) is valid, torque is limited in the full servo motor output torque range.
  • Page 40 3. SIGNALS AND WIRING (2) Output signals Control Connec- Mode Signal Symbol tor Pin Functions/Applications Division Trouble CN1B ALM-SG are disconnected when power is switched off or the DO 1 protective circuit is activated to shut off the base circuit. Without alarm, ALM-SG are connected within 1 after power on.
  • Page 41 3. SIGNALS AND WIRING Control Connec- Mode Signal Symbol tor Pin Functions/Applications Division Alarm code CN1A To use this signal, set 1 in parameter No. 49. DO 1 This signal is output when an alarm occurs. When there is no CN1A alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
  • Page 42 3. SIGNALS AND WIRING Control Connec- Mode Signal Symbol tor Pin Functions/Applications Division Encoder Z-phase CN1A Outputs the zero-point signal of the encoder. One pulse is output DO 2 pulse per servo motor revolution. OP and LG are connected when the (Open collector) zero-point position is reached.
  • Page 43 3. SIGNALS AND WIRING (3) Power supply Control Connec- Mode Signal Symbol tor Pin Functions/Applications Division I/F internal CN1B Used to output 24VDC for input interface. power supply Connected with P24L inside the servo amplifier. Digital I/F power CN1A Used to input 24VDC for input interface. supply input Connect the positive terminal of the 24VDC external power CN1B...
  • Page 44: Detailed Description Of The Signals

    3. SIGNALS AND WIRING 3.4 Detailed Description of the Signals 3.4.1 Position control mode (1) Pulse train input (a) Input pulse waveform selection Encoder pulses may be input in any of three different forms, for which positive or negative logic can be chosen.
  • Page 45 3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collector system Connect as shown below: Servo amplifier 24VDC P24G P24L About 2k About 2k The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010).
  • Page 46 3. SIGNALS AND WIRING 2) Differential line driver system Connect as shown below: Servo amplifier The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows.
  • Page 47 3. SIGNALS AND WIRING (2) Torque limit (a) Torque limit and generated torque By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation. A relationship between the limit value and servo motor-generated torque is shown below.
  • Page 48 3. SIGNALS AND WIRING (b) Torque limit value selection Choose the torque limit made valid by the internal torque limit value 1 (parameter No. 28) using the external torque limit selection (TL) or the torque limit made valid by the analog torque limit (TLA) as indicated below: Torque Limit Value Made Valid (Note) TL...
  • Page 49: Speed Control Mode

    3. SIGNALS AND WIRING 3.4.2 Speed control mode (1) Speed setting (a) Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command (VC). A relationship between the analog speed command (VC) applied voltage and the servo motor speed is shown below: Rated speed [r/min] Forward rotation (CCW)
  • Page 50 3. SIGNALS AND WIRING (b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC). (Note) External Input Signals Speed Command Value Analog speed command (VC)
  • Page 51: Torque Control Mode

    3. SIGNALS AND WIRING 3.4.3 Torque control mode (1) Torque control (a) Torque command and generated torque A relationship between the applied voltage of the analog torque command (TC) and the torque generated by the servo motor is shown below. The maximum torque is generated at 8V.
  • Page 52 3. SIGNALS AND WIRING (b) Analog torque command offset Using parameter No. 30, the offset voltage of -999 to +999mV can be added to the TC applied voltage as shown below. Max. torque Parameter No.30 offset range 999 to 999mV 8( 8) TC applied voltage [V] (2) Torque limit...
  • Page 53 3. SIGNALS AND WIRING (b) Speed selection 1 (SP1)/speed selection 2 (SP2) and speed command values Choose any of the speed settings made by the internal speed limits 1 to 3 using speed selection 1 (SP1) and speed selection 2 (SP2) or the speed setting made by the speed limit command (VLA). (Note) External Input Signals Speed Command Value Speed limit command (VLA)
  • Page 54: Position/Speed Control Change Mode

    3. SIGNALS AND WIRING 3.4.4 Position/speed control change mode Set 0001 in parameter No. 0 to switch to the position/speed control change mode. This function is not available in the absolute position detection system. (1) Control change (LOP) Use control change (LOP) to switch between the position control mode and the speed control mode from an external contact.
  • Page 55 3. SIGNALS AND WIRING (3) Speed setting in speed control mode (a) Speed command and speed The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed set in the applied voltage of the analog speed command (VC). A relationship between analog speed command (VC) applied voltage and servo motor speed and the rotation directions determined by the forward rotation start signal (ST1) and reverse rotation start signal (ST2) are as in (a), (1) in section 3.4.2.
  • Page 56: Speed/Torque Control Change Mode

    3. SIGNALS AND WIRING 3.4.5 Speed/torque control change mode Set 0003 in parameter No. 0 to switch to the speed/torque control change mode. (1) Control change (LOP) Use control change (LOP) to switch between the speed control mode and the torque control mode from an external contact.
  • Page 57 3. SIGNALS AND WIRING (4) Speed limit in torque control mode (a) Speed limit value and speed The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is as in (a), (3) in section 3.4.3.
  • Page 58: Torque/Position Control Change Mode

    3. SIGNALS AND WIRING 3.4.6 Torque/position control change mode Set 0005 in parameter No. 0 to switch to the torque/position control change mode. (1) Control change (LOP) Use control change (LOP) to switch between the torque control mode and the position control mode from an external contact.
  • Page 59: Alarm Occurrence Timing Chart

    3. SIGNALS AND WIRING 3.5 Alarm Occurrence Timing Chart When an alarm has occurred, remove its cause, make sure that the operation CAUTION signal is not being input, ensure safety, and reset the alarm before restarting operation. When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop.
  • Page 60: Interfaces

    3. SIGNALS AND WIRING 3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line. CNP1 DC24V P24G P24L CN1A CN1B CN1A CN1B DO-1 ALM etc. SON etc. DI-1 (Note) PG NG PP NP Open collector output 15VDC 10% 30mA 35mA or less...
  • Page 61: Detailed Description Of The Interfaces

    3. SIGNALS AND WIRING 3.6.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Section 3.3.2. Refer to this section and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.
  • Page 62 3. SIGNALS AND WIRING (3) Pulse train input interface DI-2 Provide a pulse train signal in the open collector or differential line driver system. (a) Open collector system 1) Interface Servo amplifier 24VDC P24G P24L Max. input pulse frequency 200kpps Approx.
  • Page 63 3. SIGNALS AND WIRING (b) Differential line driver system 1) Interface Servo amplifier Max.input pulse frequency 500kpps Am26LS31 PP(NP) PG(NG) 2) Conditions of the input pulse tLH = tHL < 0.1 s tc > 0.7 s tF > 3 s (4) Encoder pulse output DO-2 (a) Open collector system Interface...
  • Page 64 3. SIGNALS AND WIRING (b) Differential line driver system 1) Interface Max.output current 35mA Servo amplifier Servo amplifier Am26LS32 or equivalent High-speed photocoupler (LB,LZ) (LB,LZ) (LBR,LZR) (LBR,LZR) 2) Output pulse Servo motor CCW rotation LZ signal varies 3/8T on its leading edge. 400 s or more Open Shorted...
  • Page 65: 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 CAUTION amplifier power side. Continuous flow of a large current may cause a fire. 3.7.1 Connection example Forced stop 24VDC Circuit...
  • Page 66: Explanation Of Signals

    3. SIGNALS AND WIRING 3.7.2 Explanation of signals Abbreviation Signal Name Description P24M Main circuit power input Power supply for main circuit Main circuit power supply and control power supply. Connected to SG and LG P24G Power ground inside the unit. Control power supply and digital I/O power supply.
  • Page 67 3. SIGNALS AND WIRING (3) Forced stop CAUTION To stop operation and switch power off immediately, provide a forced stop circuit. Make up a circuit which shuts off main circuit power as soon as EMG-SG are opened at a forced stop. To ensure safety, always install a forced stop switch across EMG-SG.
  • Page 68: Servo Motor With Electromagnetic Brake

    3. SIGNALS AND WIRING 3.8 Servo Motor with Electromagnetic Brake (1) Setting Using parameter No.33 (electromagnetic brake sequence output), set a time delay from electromagnetic brake operation to base circuit shut-off as in the timing chart shown in (2) in this section. (2) Operation timing (a) Servo on signal command (from controller) ON/OFF Tb after the servo-on signal is switched off, the base circuit is shut off and the servo motor coasts.
  • Page 69 3. SIGNALS AND WIRING (c) Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed Electromagnetic brake Base circuit Invalid(ON) Electromagnetic brake Electromagnetic operation delay time(10ms) brake(CNP2-9) Valid(OFF) No(ON) Trouble (ALM) Yes(OFF) (d) Main circuit power off When main circuit power switches off, the undervoltage alarm (A.10) occurs and the operation timing is as shown in (c) of this section.
  • Page 70: Grounding

    3. SIGNALS AND WIRING 3.9 Grounding Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the earth terminal (E) of the servo WARNING amplifier to the earth (E) of the control box (refer to (2) of this section for the fitting method of the earth terminal).
  • Page 71: Instructions For The 3M Connector

    3. SIGNALS AND WIRING (2) Fitting of earth (E) terminal (AERSBAN-JR) As shown below, fit the earth (E) terminal to the bottom or top of the servo amplifier. Positioning boss Earth (E) terminal AERSBAN-JR M4 screw 3.10 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.
  • Page 72: Operation

    4. OPERATION 4. OPERATION 4.1 When Switching Power On for the First Time Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (P24M P24G P24L) of the servo amplifier. (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.
  • Page 73: Startup

    4. OPERATION 4.2 Startup WARNING Do not operate the switches with wet hands. You may get an electric shock. Before starting operation, check the parameters. Some machines may perform unexpected operation. CAUTION During power-on or soon after power-off, do not touch the servo motor as they may be at high temperatures.
  • Page 74 4. OPERATION (4) Servo on Switch the servo on in the following procedure: (a) Switch on main circuit/control power. (b) Switch on the servo on signal (SON) (short SON-SG). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.
  • Page 75: Speed Control Mode

    4. OPERATION 4.2.3 Speed control mode (1) Power on (a) Switch off the servo on (SON) signal. (b) When main circuit power/control circuit power is switched on, "r (motor speed)" appears on the parameter unit. (2) Test operation Using jog operation in the "test operation mode" of the Parameter unit, make sure that the servo motor operates.
  • Page 76: Torque Control Mode

    4. OPERATION (6) Stop In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.8, (2) for the servo motor equipped with electromagnetic brake. Note that simultaneous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation start (ST1) or reverse rotation start (ST2) signal has the same stop pattern as described below.
  • Page 77: Multidrop Communication

    4. OPERATION (4) Servo on Switch the servo on in the following procedure: 1) Switch on main circuit/control power. 2) Switch on the servo on signal (SON) (short SON-SG). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.
  • Page 78: Parameters

    5. PARAMETERS 5. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. 5.1 Parameter List 5.1.1 Parameter write inhibit POINT After setting the parameter No. 19 value, switch power off, then on to make that setting valid.
  • Page 79: 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. The symbols in the Control Mode column of the table indicate the following modes: P : Position control mode S : Speed control mode...
  • Page 80 5. PARAMETERS Control Initial Customer No. Symbol Name Unit Mode Value Setting *OP2 Function selection 2 P S T 0000 *OP3 Function selection 3 (Command pulse selection) 0000 *OP4 Function selection 4 P S T 0000 Feed forward gain Zero speed P S T r/min Analog speed command maximum speed...
  • Page 81 5. PARAMETERS (2) Details list Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode *STY Control mode, regenerative brake option selection 0000 0000h P S T Used to select the control mode and regenerative brake option. 0005h Select the control mode.
  • Page 82 5. PARAMETERS Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode Auto tuning: 0104 0001h Used to set the response level, etc. for execution of auto tuning. 0215h Auto tuning response level setting Set Value Response Level Low response Middle response High response...
  • Page 83 5. PARAMETERS Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode In-position range: pulse Used to set the droop pulse range in which the imposition (INP) signal will be output. 10000 Position loop gain 1: red/s Used to set the gain of position loop 1.
  • Page 84 5. PARAMETERS Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode Internal speed command 3: 1000 r/min 0 to Used to set speed 3 of internal speed commands. instan- taneous permi- Internal speed limit 3: Used to set speed 3 of internal speed limits. ssible speed Acceleration time constant:...
  • Page 85 5. PARAMETERS Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode Torque command time constant: Used to set the constant of a low pass filter in response to the torque command. 20000 Torque command Torque After filtered Time TQC: Torque command time constant...
  • Page 86 5. PARAMETERS Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode *DMD Status display selection: 0000 0000h P S T Used to select the status display shown at power-on. 001Ch Selection of status display at power-on 0: Cumulative feedback pulses 1: Servo motor speed 2: Droop pulses...
  • Page 87 5. PARAMETERS Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode *OP2 Function selection 2: 0000 0000h Used to select restart after instantaneous power failure, servo lock at a stop in speed control mode, and slight vibration 0111h suppression control.
  • Page 88 5. PARAMETERS Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode *OP4 Function selection 4: 0000 0000h P S T Used to select stop processing at LSP/LSN signal off and choose the machine resonance suppression filter. 7301h How to make a stop when LSP/LSN signal is valid.
  • Page 89 5. PARAMETERS Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode Feed forward gain: Used to set the fee forward gain. When it is set to 100%, droop pulses will not be generated in constant-speed operation. Note that sudden acceleration/deceleration will increase overshoot.
  • Page 90 5. PARAMETERS Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode Analog speed command offset: Depends Used to set the offset voltage of the analog speed command (VC). on servo When automatic VC offset is used, the automatically offset value is amplifier set to this parameter.
  • Page 91 5. PARAMETERS Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode Speed differential compensation: Used to set the differential compensation. Made valid when the proportion control signal is switched on. 1000 Spare *DIA Input signal automatic ON selection: 0000 0000h P S T...
  • Page 92 5. PARAMETERS Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode *DI2 Input signal selection 2 (CN1B-pin 5): 0000h P S T 0111 This parameter is unavailable when parameter No. 42 is set to assign the control change signal (LOP) to CN1B-pin 5. 0999h Allows any input signal to be assigned to CN1B-pin 5.
  • Page 93 5. PARAMETERS Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode *DI4 Input signal selection 4 (CN1A-pin 8): 0000h P S T 0665 This parameter is unavailable when parameter No. 42 is set to assign the control change signal (LOP) to CN1 A-pin 8. 0999h Allows any input signal to be assigned to CN1A-pin 8.
  • Page 94 5. PARAMETERS Initial Setting Control Class No. Symbol Name and Function Unit Value Range Mode *DO1 Output signal selection 1: 0000h P S T 0000 Used to select the connector pins to output the alarm code and 0051h warning (WNG). Setting of alarm code output Connector Pins Set Value...
  • Page 95: Detailed Description

    5. PARAMETERS 5.2 Detailed Description 5.2.1 Electronic gear POINT The guideline of the electronic gear setting range is 50. If the set value is outside this range, noise may be generated during acceleration/deceleration or operation may not be performed at the preset speed and/or acceleration/deceleration time constants.
  • Page 96 5. PARAMETERS (2) Setting for use of AD75P The AD75P also has the following electronic gear parameters. Normally, the servo amplifier side electronic gear must also be set due to the restriction on the command pulse frequency (differential 500kpps, open collector 200kpps). AP: Number of pulses per motor revolution AL: Moving distance per motor revolution AM: Unit scale factor...
  • Page 97: Changing The Status Display Screen

    5. PARAMETERS 5.2.2 Changing the status display screen The status display item of the servo amplifier display shown at power-on can be changed by changing the parameter No. 18 settings. The item displayed in the initial status changes with the control mode as follows: Control Mode Displayed Item Position control mode...
  • Page 98: Using Forward/Reverse Rotation Stroke End To Change The Stopping Pattern

    5. PARAMETERS 5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern The stopping pattern is factory-set to make a sudden stop when the forward/reverse rotation stroke end is made valid. A slow stop can be made by changing the parameter No. 22 value. Parameter No.22 Setting Stopping Method Sudden stop...
  • Page 99: Display And Operation

    6. DISPLAY AND OPERATION 6. DISPLAY AND OPERATION 6.1 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 100: Status Display

    6. DISPLAY AND OPERATION 6.2 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 101 6. DISPLAY AND OPERATION The following table lists the servo statuses that may be shown: Display Name Symbol Unit Description Range Cumulative feedback pulse Feedback pulses from the servo motor encoder are counted and 9999 pulses displayed. The value in excess of 9999 is counted, bus since the servo amplifier display is four digits, it shows the lower four digits of 9999 the actual value.
  • Page 102: Diagnostic Mode

    6. DISPLAY AND OPERATION 6.3 Diagnostic mode Name Display Description Not ready. Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. Refer to section 6.6.
  • Page 103: Alarm Mode

    6. DISPLAY AND OPERATION 6.4 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below.
  • Page 104: Parameter Mode

    6. DISPLAY AND OPERATION 6.5 Parameter mode The servo amplifier is factory-set in the position control mode. Change the parameter settings when: The control mode is changed; The number of pulses per servo motor revolution is changed; or The machine mounted with the servo motor hunts or operational performance is further improved. Some parameters are made valid by changing the setting and then switching power off once and switching it on again.
  • Page 105 6. DISPLAY AND OPERATION (b) 5-digit parameter The following example shows the operation procedure performed to change the electronic gear denominator (parameter No. 4) into "12345": Call the display screen shown after power-on. Press MODE once. Select parameter No. 4 with UP / DOWN. Press SET once.
  • Page 106: External I/O Signal Display

    6. DISPLAY AND OPERATION 6.6 External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Press MODE once. Press UP once. External I/O signal display screen (2) Display definition CN1B...
  • Page 107 6. DISPLAY AND OPERATION (a) Control modes and I/O signals Signal (Note 2) Symbols of I/O Signals in Control Modes Connector Pin No. Input/Output (Note 1) I/O CR/SP1 SP1/CR (Note 3) (Note 3) CN1A (Note 6, 8) 18 INP/SA /INP (Note 8) 19 (Note 9) 4 (Note 7) 5...
  • Page 108 6. DISPLAY AND OPERATION (3) Default signal indications (a) Position control mode TL (CN 1 B-9) Torque limit PC (CN 1 B-8) Proportional control CR (CN 1 A-8) Clear RES (CN 1 B-14) Reset SON(CN 1 B-5) Servo-on LSN (CN 1 B-17) Reverse rotation stroke end EMG (CN 1 B-15) Forced stop LSP (CN 1 B-16) Forward rotation stroke end Input signals...
  • Page 109: Output Signal Forced Output (Do Forced Output)

    6. DISPLAY AND OPERATION 6.7 Output signal forced output (DO forced output) POINT When the servo system is used in a vertical lift application, turning off CNP2-9 (electromagnetic brake) will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side. The output signal can be forced on/off independently of the servo status.
  • Page 110: Test Operation Mode

    6. DISPLAY AND OPERATION 6.8 Test operation mode The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. CAUTION If any operational fault has occurred, stop operation using the forced stop (EMG) signal.
  • Page 111: Jog Operation

    6. DISPLAY AND OPERATION 6.8.2 Jog operation Jog operation can be performed when there is no command from the external command device. (1) Operation Connect EMG-SG to start jog operation and connect VDD-COM to use the internal power supply. Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the Servo Configuration software, you can change the operation conditions.
  • Page 112: Positioning Operation

    6. DISPLAY AND OPERATION 6.8.3 Positioning operation POINT The Servo Configuration software is required to perform positioning operation. Positioning operation can be performed once when there is no command from the external command device. (1) Operation Connect EMG-SG to start positioning operation and connect VDD-COM to use the internal power supply.
  • Page 113: Motor-Less Operation

    6. DISPLAY AND OPERATION 6.8.4 Motor-less operation Without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals. This operation can be used to check the sequence of a host programmable controller or the like.
  • Page 114: Adjustment

    7. ADJUSTMENT 7. ADJUSTMENT 7.1 What Is Gain Adjustment? 7.1.1 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 115: Basics Of The Servo System

    7. ADJUSTMENT 7.1.2 Basics of the servo system Servo motor Command pulse train Current Power Deviation Position Speed control control Motor counter control control section section section section Current loop Speed loop Encoder Position loop A general servo system configuration is shown above. The servo control system consists of three loops: current loop, speed loop and position loop.
  • Page 116: Gain Adjustment

    7. ADJUSTMENT 7.2 Gain Adjustment 7.2.1 Parameters required for gain adjustment Parameter No. Symbol Name No. 2 Auto tuning No. 6 Position loop gain 1 No. 22 *OP4 Function selection 4 (machine resonance filter) No. 34 Ratio of load inertia moment to motor inertia moment No.
  • Page 117: What Is Auto Tuning

    7. ADJUSTMENT 7.2.3 What is auto tuning? The load inertia moment is estimated from the angular speed ( ) and torque (T) in accordance with the equation of motion (7.1) used for motor acceleration/deceleration. In actuality, the acceleration/deceleration characteristics of the model and those of the actual motor are compared to estimate the inertia moment of the load in real time.
  • Page 118: Gain Adjustment By Auto Tuning

    7. ADJUSTMENT 7.3 Gain Adjustment by Auto Tuning 7.3.1 Adjustment method In the factory setting of the servo amplifier, auto tuning is valid and the response setting is "2". The initial settings provide sufficient tuning for general machines. Higher-level tuning can be provided by adjusting the response setting (parameter No.
  • Page 119: Manual Gain Adjustment

    7. ADJUSTMENT 7.4 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 120: When The Machine Vibrates Due To Machine Resonance Frequency

    7. ADJUSTMENT 7.4.2 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 121: Load Inertia Moment Is 20 Or More Times

    7. ADJUSTMENT 7.4.3 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 122: When Shortening The Settling Time

    7. ADJUSTMENT 7.4.4 When shortening the settling time (1) Machine condition The settling time will be increased by the gains provided by auto tuning. (2) Adjustment procedure 1) Choose the response setting of slow response. Set 0101 in parameter No.2. 2) Alternate a start and a stop several times, execute auto tuning, and check whether the machine does not vibrate.
  • Page 123: When The Same Gain Is Used For Two Or More Axes

    7. ADJUSTMENT 7.4.5 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 7.4.1 to 7.4.4.
  • Page 124: Inspection

    8. INSPECTION 8. INSPECTION Before starting maintenance/inspection, switch power off, and after more than 10 seconds have elapsed, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. WARNING Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock.
  • Page 125: Troubleshooting

    9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Trouble at Start-Up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable. POINT Using the optional Servo Configuration software, you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up.
  • Page 126 9. TROUBLESHOOTING Start-Up Sequence Fault Investigation Possible Cause Refer To Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7 (speed fluctuations) following procedure: are large at low 1. Increase the auto tuning speed. response level. 2.
  • Page 127 9. TROUBLESHOOTING (2) How to find the cause of position shift Positioning unit Servo amplifier (a) Output pulse Electronic gear (parameters No. 3, 4) Machine counter Servo moter (d) Machine stop position M (b) Cumulative command pulses (C) Servo on (SON), stroke end (LSP/LSN) input Encoder...
  • Page 128: Speed Control Mode

    9. TROUBLESHOOTING 9.1.2 Speed control mode Start-Up Sequence Fault Investigation Possible Cause Refer To Power on LED is not lit. Not improved if connectors 1. Power supply voltage fault LED flickers. CN1A, CN1B and CNP2 are 2. Servo amplifier is faulty. disconnected.
  • Page 129: Torque Control Mode

    9. TROUBLESHOOTING 9.1.3 Torque control mode Start-Up Sequence Fault Investigation Possible Cause Refer To Power on LED is not lit. Not improved if connectors 1. Power supply voltage fault LED flickers. CN1A, CN1B and CNP2 are 2. Servo amplifier is faulty. disconnected.
  • Page 130: When Alarm Or Warning Has Occurred

    9. TROUBLESHOOTING 9.2 When Alarm or Warning Has Occurred 9.2.1 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 9.2.2 or 9.2.3 and take the appropriate action. 1 in parameter No.
  • Page 131: Remedies For Alarms

    9. TROUBLESHOOTING 9.2.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the CAUTION alarm, and restart operation. Otherwise, injury may occur. POINT When any of the following alarms has occurred, always remove its cause and allow about 15 minutes for cooling before resuming operation.
  • Page 132 9. TROUBLESHOOTING Display Name Definition Cause Action A. 17 Board error 2 CPU/parts fault Faulty parts in the servo amplifier Change the servo amplifier. Checking method Alarm (A. 17 or A. 18) occurs if power is switched on after A. 18 Board error 3 Printed board fault connectors CN1A, CN1B,...
  • Page 133 9. TROUBLESHOOTING Display Name Definition Cause Action A. 35 Command Input pulse Change the command pulse frequency to a 1. Pulse frequency of the command pulse frequency frequency of the proper value. pulse is too high. error command pulse is Take action against noise.
  • Page 134 9. TROUBLESHOOTING Display Name Definition Cause Action A. 51 Overload 2 Machine collision or 1. Machine struck something. 1. Review operation pattern. the like caused max. 2. Install limit switches. output current to 2. Wrong connection of servo motor. Connect correctly. flow successively for Servo amplifier's output terminals several seconds.
  • Page 135: Remedies For Warnings

    9. TROUBLESHOOTING Display Name Definition Cause Action A. 8E Serial Serial 1. Communication cable fault Repair or change the cable. communication communication (Open cable or short circuit) error error occurred between servo amplifier and 2. Communication device (e.g. Change the communication device (e.g. communication personal computer) faulty personal computer).
  • Page 136: Specifications

    10. SPECIFICATIONS 10. SPECIFICATIONS 10.1 Servo Amplifier Standard Specifications Servo Amplifier MR-J2-03A5 Item Voltage 21.6 to 30VDC (instantaneous permissible voltage 34V) Circuit HC-AQ0135D Continuous 0.8A, max. 2.4A power Power supply HC-AQ0235D Continuous 1.6A, max. 4.8A supply capacity HC-AQ0335D Continuous 2.4A, max. 7.2A 24VDC 10%, 200mA (400mA when using the servo motor equipped with Control circuit power supply (Note) electromagnetic brake)
  • Page 137: Outline Dimension Drawings

    10.2.1 Servo amplifiers [Unit: mm] 70 (2.756) max. 90 (3.543) ([Unit: in]) 45 (1.772) 2- 5 ( 0.197) hole (0.197) (0.551) 76 (2.992) (mounting hole) MITSUBISHI Display setting MELSERVO section cover OPEN CN1A CN1B Rating plate CNP1 CNP2 CNP3 Earth terminal plate (accessory) (0.197)
  • Page 138: Connectors

    10. SPECIFICATIONS 10.2.2 Connectors (1) Connectors for CN1A/CN1B <Sumitomo 3M make> Model Model [Unit: mm] [Unit: mm] Connector : 10120-3000VE Connector : 10120-3000VE ([Unit: in]) ([Unit: in]) Shell kit : 10320-52F0-008 Shell kit : 10320-52A0-008 12.0 (0.47) 12.0 Note: Not available as an option. (0.47) 14.0 22.0 (0.87)
  • Page 139 10. SPECIFICATIONS (2) Connectors for CNP1/CNP2/CNP3 <molex make> Connector [Unit: mm] 0.6 (0.024) ([Unit: in]) R0.3 Circuit number 3 (0.118) Layout diagrams clossified by the number of poles (0.047) 5.4 (0.213) 11.6 5.4 (0.213) (0.457) 4 poles 8 poles 12 poles (0.059) Variable Dimensions (0.118)
  • Page 140: Characteristics

    11. CHARACTERISTICS 11. CHARACTERISTICS 11.1 Overload Protection Characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. The operation characteristics of the electronic thermal relay are shown below. Overload 1 alarm (A.
  • Page 141: Dynamic Brake Characteristics

    Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. Servo Amplifier...
  • Page 142: Encoder Cable Flexing Life

    11. CHARACTERISTICS 11.3 Encoder Cable Flexing Life The flexing life of the MR-JRCBL M-H cable is shown below. This graph gives calculated values. Since they are not guaranteed values, provide a little allowance for these values. 7 10 70 100 Flexing radius [mm] 11 - 3...
  • Page 143: Options And Auxiliary Equipment

    12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment, switch power off, and after WARNING more than 10 seconds have elapsed, confirm that the voltage is safe in a tester or the like. Not doing so can cause an electric shock. Use the specified auxiliary equipment and options.
  • Page 144 12. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Motor cable MR-JRCBL M-H Servo amplifier side connector Servo motor side connector IP44 Refer to (2) in this (Molex make) (Molex make) compliant section Connector: 5557-12R-210 Connector: 5559-12P-210 Terminal: 5556 Terminal: 5558 Motor cable MR-JRCNM Servo amplifier side connector...
  • Page 145 12. OPTIONS AND AUXILIARY EQUIPMENT (2) Motor cable If you have fabricated the motor cable, connect it correctly. CAUTION Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to section 11.3 for the flexing life of the motor cable. Generally use the encoder cable available as our options.
  • Page 146 12. OPTIONS AND AUXILIARY EQUIPMENT (c) Connection diagram When fabricating the cable, use the recommended wire (J14B1180) given in Section 12.2.1 and follow the connection diagram shown below. A cable of up to 30m may be fabricated for this connection. Servo amplifier side Servo motor side Connector: 5557-12R-210...
  • Page 147 12. 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 148: Junction Terminal Block (Mr-Tb20)

    1) For CN1A 2) For CN1B (3) Outline drawing 126 (4.96) [Unit: mm] 117 (4.61) ([Unit: in.]) MITSUBISHI MR-TB20 2- 4.5 (0.18) Terminal screw: M3.5 Applicable cable: Max. 2mm (Crimping terminal width: 7.2mm (0.283 in) max.) 12 - 6...
  • Page 149 12. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable (MR-J2TBL05M) Model: MR-J2TBL05M Cable length: 0.5[m] Junction terminal block side connector (Hirose Electric) Servo amplifier side (CN1A CN1B) connector (3M) HIF38A-20D-2.54R (connector) 1020-6000EL (connector) 10320-3210-000 (shell kit) (Note) Terminal Junction Terminal Block Labels Block Terminal No.
  • Page 150: Servo Configurations Software

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.3 Servo configurations software The Servo Configuration software uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications Item (Note 1) Description Communication signal Conforms to RS-232C.
  • Page 151 12. OPTIONS AND AUXILIARY EQUIPMENT (b) Configuration diagram 1) When using RS-232C Servo amplifier Personal computer Communication cable CNP3 CNP2 Servo motor To RS-232C connector 2) When using RS-422 You can make multidrop connection of up to 32 axes. Servo amplifier Personal computer RS-232C/RS-422 (Note 1)
  • Page 152: Auxiliary Equipment

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.2 Auxiliary Equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C- UL Standard, use the products which conform to the corresponding standard. 12.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring.
  • Page 153: Relays

    12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.3 Relays The following relays should be used with the interfaces: Interface Selection Example Relay used especially for switching on-off input To prevent defective contacts , use a relay for small signal command (interface DI-1) signals (twin contacts).
  • Page 154 12. 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 155 12. 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 156 12. OPTIONS AND AUXILIARY EQUIPMENT (b) Cable clamp fitting (AERSBAN- SET) Generally, the earth of the shielded cable may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an earth plate as shown below. Install the earth plate near the servo amplifier for the encoder cable.
  • Page 157: Communication Functions

    13.1 Configuration 13.1.1 RS-422 configuration (1) Outline Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus. Servo amplifier Servo amplifier Servo amplifier MITSUBISHI MITSUBISHI MITSUBISHI Controller such as MELSERVO MELSERVO MELSERVO...
  • Page 158: Rs-232C Configuration

    13. COMMUNICATION FUNCTIONS 13.1.2 RS-232C configuration (1) Outline A single axis of servo amplifier is operated. Servo amplifier MITSUBISHI MELSERVO OPEN CN1A CN1B CNP1 CNP2 CNP3 To CNP3 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 159: Communication Specifications

    13. COMMUNICATION FUNCTIONS 13.2 Communication Specifications 13.2.1 Communication overview The MELSERVO-J2 series is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station.
  • Page 160: Parameter Setting

    13. COMMUNICATION FUNCTIONS 13.2.2 Parameter setting When the RS-422/RS-232C communication function is used to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again.
  • Page 161: Protocol

    13. COMMUNICATION FUNCTIONS 13.3 Protocol Since up to 32 axes may be connected to the bus, add a station number to the command, data No., etc. to determine the destination servo amplifier of data communication. Set the station number to each servo amplifier using the parameter.
  • Page 162: Character Codes

    13. COMMUNICATION FUNCTIONS 13.4 Character Codes (1) Control codes Hexadecimal Personal Computer Terminal Key Operation Code Name Description (ASCII code) (General) start of head ctrl + A start of text ctrl + B end of text ctrl + C end of transmission ctrl + D (2) Codes for data JIS8 unit codes are used.
  • Page 163: Error Codes

    13. COMMUNICATION FUNCTIONS 13.5 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 164: Time-Out Operation

    13. COMMUNICATION FUNCTIONS 13.7 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 165: Initialization

    13. COMMUNICATION FUNCTIONS 13.9 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 166: Command And Data No. List

    13. COMMUNICATION FUNCTIONS 13.11 Command and Data No. List 13.11.1 Read commands (1) Status display (Command [0][1]) Display Item Command Data No. Description Frame Length [0][1] [8][0] Status display data value and cumulative feedback pulses processing information [0][1] [8][1] servo motor speed [0][1] [8][2] droop pulses...
  • Page 167: Write Commands

    13. COMMUNICATION FUNCTIONS (5) Current alarm (Command [0][2] [3][5]) Command Data No. Description Frame Length [0][2] [0][0] Current alarm number Command Data No. Description Display Item Frame Length [3][5] [8][0] Status display data value and cumulative feedback pulses processing information at alarm [3][5] [8][1] servo motor speed...
  • Page 168 13. COMMUNICATION FUNCTIONS (5) Operation mode selection (command [8][B]) Command Data No. Description Setting Range Frame Length Operation mode changing 0000 to 0004 0000: Exit from test operation mode 0001: Jog operation [8][B] [0][0] 0002: Positioning operation 0003: Motor-less operation 0004: DO forced output (output signal forced output) (6) External input signal disable (command [9][0]) Command...
  • Page 169: Detailed Explanations Of Commands

    13. COMMUNICATION FUNCTIONS 13.12 Detailed Explanations of Commands 13.12.1 Data processing When the master station transmits a command + data No. or a command + data No. + data to a slave station, the servo amplifier returns a reply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc.
  • Page 170 13. COMMUNICATION FUNCTIONS (2) Writing the processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position.
  • Page 171: Status Display

    13. COMMUNICATION FUNCTIONS 13.12.2 Status display (1) Status display data read When the master station transmits the data No. (refer to the following table for assignment) to the slave station, the slave station sends back the data value and data processing information. 1) Transmission Transmit command [0][1] and the data No.
  • Page 172: Parameter

    13. COMMUNICATION FUNCTIONS 13.12.3 Parameter (1) Parameter read Read the parameter setting. 1) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No. The data No. is expressed in hexadecimal equivalent of the data No. value corresponds to the parameter number.
  • Page 173 13. COMMUNICATION FUNCTIONS (2) Parameter write POINT The number of parameter write times is restricted to 100,000 times. Write the parameter setting. Write the value within the setting range. Refer to Section 5.1 for the setting range. Transmit command [8][4], the data No., and the set data. The data No.
  • Page 174: External I/O Pin Statuses (Dio Diagnosis)

    13. COMMUNICATION FUNCTIONS 13.12.4 External I/O pin statuses (DIO diagnosis) (1) External input pin status read Read the ON/OFF statuses of the external input pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. Command Data No. [1][2] [4][0] (b) Reply The ON/OFF statuses of the input pins are sent back.
  • Page 175: Disable/Enable Of External I/O Signals (Dio)

    13. COMMUNICATION FUNCTIONS 13.12.5 Disable/enable of external I/O signals (DIO) Inputs can be disabled independently of the external I/O signal ON/OFF. When inputs are disabled, the input signals are recognized as follows. Among the external input signals, EMG, LSP and LSN cannot be disabled.
  • Page 176: External Input Signal On/Off (Test Operation)

    13. COMMUNICATION FUNCTIONS 13.12.6 External input signal ON/OFF (Test operation) Each input signal can be turned on/off for test operation. Turn off the external input signals. Send command [9] [2], data No. [0] [0] and data. Command Data No. Set Data [9] [2] [0] [0] See below...
  • Page 177: Test Operation Mode

    13. COMMUNICATION FUNCTIONS 13.12.7 Test operation mode (1) Instructions for test operation mode The test operation mode must be executed in the following procedure. If communication is interrupted for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a stop and servo-locked.
  • Page 178 13. COMMUNICATION FUNCTIONS (2) Jog operation Transmit the following communication commands: (a) Setting of jog operation data Item Command Data No. Data Speed [A][0] [1][0] Write the speed [r/min] in hexadecimal. Acceleration/decelerati [A][0] [1][1] Write the acceleration/deceleration time constant on time constant [ms] in hexadecimal.
  • Page 179: Output Signal Pin On/Off (Do Forced Output)

    13. COMMUNICATION FUNCTIONS 13.12.8 Output signal pin ON/OFF (DO forced output) In the test operation mode, the output signal pins can be turned on/off independently of the servo status. Using command [9][0], disable the output signals in advance. (1) Choosing DO forced output in test operation mode Transmit command [8][B] + data No.
  • Page 180: Alarm History

    13. COMMUNICATION FUNCTIONS 13.12.9 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last alarm) to No. 5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data No.
  • Page 181: Current Alarm

    13. COMMUNICATION FUNCTIONS 13.12.10 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. Alarm No.
  • Page 182: Other Commands

    13. COMMUNICATION FUNCTIONS 13.12.11 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 183 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Feb.,1999 SH(NA)3200-A First edition Oct.,1999 SH(NA)3200-B Deletion of 2(3)(a) in COMPLIANCE WITH EC DIRECTIVES Section 1.3: Rating plate changed Section 3.2: Corrections made to CN1B-4 and CN1A-18 connections Section 3.3.1 (1): Addition of CNP1/CNP2/CNP3 signal arrangement...
  • Page 184 *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Section 10.2.2 (1): Addition of the outline drawings of connector 10120 -3000EL and shell kit 10320-52A0-008 Section 11.1: Addition of description related to load during a stop Section 12.2.1 (2): Addition of finishing OD Changes made to the core insulation sheath outline d...
  • Page 185 HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 3200-B (9910) MEE Printed in Japan Specifications subject to change without notice.

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