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Melservo MR-J5W G Series
Mitsubishi Electric Melservo MR-J5W G Series Manuals
Manuals and User Guides for Mitsubishi Electric Melservo MR-J5W G Series. We have
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Mitsubishi Electric Melservo MR-J5W G Series manuals available for free PDF download: User Manual
Mitsubishi Electric Melservo MR-J5W G Series User Manual (624 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 16.22 MB
Table of Contents
Safety Instructions
3
About the Manual
5
Cables Used for Wiring
6
Customary Units
6
Table of Contents
7
Chapter 1 Introduction
15
Wiring Procedure
15
Servo Amplifier/Motor Combinations
16
Rotary Servo Motor
16
Geared Servo Motor
21
Linear Servo Motor
23
Direct Drive Motor
28
Wiring Check
30
Power Supply System Wiring
30
I/O Signal Wiring
32
Surrounding Environment
33
Chapter 2 Installation
34
Mounting Direction and Clearances
35
Keeping out Foreign Materials
38
Cable Stress
38
SSCNET III Cable Laying [B]
39
Fan Unit Replacement Procedure
41
List of Applicable Fan Units
41
Fan Unit Removal Procedure
42
Fan Unit Installation Procedure
43
Restrictions When Using this Product at an Altitude Exceeding 1000 M and up to 2000 M
44
Chapter 3 Signals and Wiring
45
Example Power Circuit Connections
46
200 V Class
46
400 V Class
50
Using Servo Amplifier with DC Power Supply Input
53
Example I/O Signal Connections
55
MR-J5-_G_ (Excluding MR-J5-_G_-HS_)
55
Mr-J5-_G_-Hs
58
Mr-J5W_-_G
61
Mr-J5-_B
64
Mr-J5W_-_B
67
Mr-J5-_A
70
Explanation of Power Supply System
78
Explanation of Signals
78
Power-On Procedure [G] [B]
80
Power-On Procedure [A]
81
Wiring CNP1, CNP2, and CNP3
82
Connectors and Pin Assignments
89
Precautions
89
Connectors and Pin Assignments [G]
90
Connectors and Pin Assignments [B]
95
Connectors and Pin Assignments [A]
97
Signal (Device) Explanation
100
Input Device
100
Output Device
110
Input Signal
117
Output Signal
119
Power Supply
121
Interface
122
Internal Connection Diagram [G]
122
Internal Connection Diagram [B]
128
Internal Connection Diagram [A]
132
Detailed Explanation of Interfaces
135
Source I/O Interface
139
Servo Motor with an Electromagnetic Brake
141
Connection Diagram
141
SSCNET III Cable Connection [B]
143
Grounding
145
Chapter 4 Dimensions
146
Mr-J5-_G
146
200 V Class
146
400 V Class
149
Mr-J5W_-_G
152
Mr-J5-_B
154
200 V Class
154
400 V Class
157
Mr-J5W_-_B
159
Mr-J5-_A
161
200 V Class
161
400 V Class
164
Connector
166
Mr-J5_-_G
166
Mr-J5_-_B
170
Mr-J5-_A
171
Chapter 5 Characteristics
172
Overload Protection Characteristics
172
Power Supply Capacity and Generated Loss
175
Power Supply Capacity
175
Generated Loss
186
Using Servo Amplifier with DC Power Supply Input
188
Dynamic Brake Characteristics
189
Dynamic Brake Operation
190
Cable Flex Life
253
Inrush Currents at Power-On of Main Circuit and Control Circuit
254
Chapter 6 Options and Peripheral Equipment
255
Cables/Connector Sets
255
Combinations of Cables/Connector Sets
256
MR-D05UDL3M-B STO Cable
266
MR-AHSCN7CBL2M10M Output Cable for Analog Monitor and A/B/Z-Phase Pulse [G]
267
Ethernet Cable [G]
268
SSCNET III Cable [B]
269
Regenerative Option
271
Combination and Regenerative Power
271
Selection of the Regenerative Option (1-Axis Servo Amplifier)
273
Selection of the Regenerative Option (Multi-Axis Servo Amplifier)
276
Servo Parameter Setting
280
Connection of Regenerative Option
280
Mounting Direction
281
Dimensions
282
MR-CM Simple Converter
287
Combination of Simple Converter and Servo Amplifier
287
Servo Amplifier Setting When Using a Simple Converter
287
Simple Converter Standard Specifications
287
External Interface
289
Signals and Wiring
292
Dimensions
294
Peripheral Equipment
295
Mounting Direction and Clearances
296
Multifunction Regeneration Converter (FR-XC-(H))
297
Precautions
297
Servo Amplifier Settings
297
Capacity Selection
297
Connection Diagram
300
Wiring and Peripheral Options
302
PS7DW-20V14B-F Junction Terminal Block (Recommended) (1-Axis Servo Amplifier) [G] [B]
306
MR-TB26A Junction Terminal Block (Multi-Axis Servo Amplifier) [G] [B]
308
MR-TB50 Junction Terminal Block [A]
310
MR Configurator2
312
Engineering Tool
312
Precautions for Using USB Communication Function and Ethernet Communication Function
312
Battery
313
Selection of Battery
313
MR-BAT6V1SET Battery
314
MR-BAT6V1SET-A Battery
317
MR-BT6VCASE Battery Case
320
MR-BAT6V1 Battery
326
Battery Cable and Junction Battery Cable
327
Selection Example of Wires
328
Molded-Case Circuit Breakers, Fuses, Magnetic Contactors
331
Selection Example
331
Main Circuit Wiring (Connecting Multiple Servo Amplifiers to One Molded-Case Circuit Breaker)
337
Example Settings that Comply with IEC/EN/UL 61800-5-1 and CSA C22.2 No.274
340
Power Factor Improving DC Reactor
343
Power Factor Improving AC Reactor
350
Relay (Recommended)
355
Noise Reduction Techniques
356
Noise Reduction Products
360
Earth-Leakage Current Breaker
364
Selection Method
364
Selection Example
367
EMC Filter (Recommended)
369
MR-J3-D05 Safety Logic Unit
375
Contents of the Package
375
Terms Related to Safety
375
Precautions
376
Residual Risks
376
Block Diagram and Timing Chart
377
Maintenance and Disposal
377
Functions and Configuration
378
Signal
381
LED Display
388
Rotary Switch Settings
389
Troubleshooting
389
Dimensions
390
Installation
391
Combinations of Cables and Connectors
392
J5-CHP07-10P Cabinet-Mounting Attachment
393
Compatible Models
393
Dimensions
393
View When Installed
393
Fitting Method
394
Components
395
Installation Dimensions
395
J5-CHP08 Grounding Terminal Attachment
400
Compatible Models
400
Restrictions
400
Appearance and Dimensions
400
View When Installed
401
Components
402
Installation Dimensions
402
MR-ASCHP06 Shield Clamp Attachment
407
Compatible Models
407
Appearance and Dimensions
407
Cable Connection Method
408
View When Installed
409
Components
410
Installation Dimensions
410
Cables Manufactured by Mitsubishi Electric System & Service Co., Ltd
411
SSCNET III Cable [B]
411
SCC 15-F Shield Connection Clamp
412
Compatible Models
412
Applicable Wire Diameter
412
Cable Connection Method
412
View When Installed
413
Chapter 7 Absolute Position Detection System
414
Outline
414
Characteristics
414
Restrictions [G]
414
Restrictions [B]
414
Restrictions [A]
414
Precautions [G] [A]
415
Precautions [B]
415
Configuration
416
Servo Parameter Setting [G]
416
Servo Parameter Setting [B]
416
Servo Parameter Setting [A]
416
Homing [G] [A]
417
Homing [B]
417
Checking the Detected Absolute Position Data
417
Procedure of Replacing a Servo Motor with Battery-Less Absolute Position Encoder
419
Procedure of Replacing a Servo Amplifier Without Losing the Absolute Position Data [B]
420
Configuration and Specifications
421
Connecting the Battery-Less Encoder
421
Connecting the Battery Backup Type Absolute Position Encoder
423
Absolute Position Detection System by DIO [A]
427
Standard Connection Example
427
Signal Explanation
428
Startup Procedure
429
Absolute Position Data Transfer Protocol
430
Absolute Position Data Transfer Errors
443
Absolute Position Detection System Via Communication [A]
445
Serial Communication Command
445
Absolute Position Data Transfer Protocol
446
Chapter 8 Using Sto Function
449
Introduction
449
Outline
449
Terms Related to Safety
449
Precautions
449
Residual Risks of the STO Function
450
Specifications
450
Maintenance
451
Functional Safety I/O Signal Connector (CN8) and Pin Assignments
452
Pin Assignment
452
Signal (Device) Explanation
452
How to Pull out the STO Cable
453
Connection Example
454
Precautions for Compliance with Stop Category 1 (IEC/EN 60204-1)
454
Precautions for Compliance with Stop Category 0 (IEC/EN 60204-1)
454
Connection Example for CN8 Connector
455
External I/O Signal Connection Example Using the MR-J3-D05 Safety Logic Unit
455
External I/O Signal Connection Example Using an External Safety Relay Unit
458
Detailed Explanation of Interfaces
460
Sink I/O Interface
460
Source I/O Interface
462
Chapter 9 Using Functional Safety [G] (Exculuding Mr-J5-_G_-Hs_)
463
Introduction
463
Function Block Diagram
464
Safety Sub-Function Control by Input Device
464
Safety Sub-Function Control by Network
465
System Configuration
466
Safety Sub-Function Control by Input Device
466
Safety Sub-Function Control by Network
467
Specifications
468
Connectors and Pin Assignments
468
Example I/O Signal Connections
469
Input Signal
469
Output Signal
470
Connecting I/O Interfaces
471
Source Input
471
Sink Input
471
Wiring the SBC Output
472
Noise Reduction Techniques
473
Example of Connection with Other Devices
474
Safety Sub-Function Control by Input Device
474
Safety Sub-Function Control by Network
475
Chapter 10 Using Functional Safety [G] (Mr-J5-_G_-Hs_)
476
Introduction
476
Function Block Diagram
477
Safety Sub-Function Control by Input Device
477
Safety Sub-Function Control by Network
478
System Configuration
479
Safety Sub-Function Control by Input Device
479
Safety Sub-Function Control by Network
479
Specifications
480
Connectors and Pin Assignments
480
Example I/O Signal Connections
481
Input Signal
481
Output Signal
483
Connecting Safety I/O Interfaces
485
Source Input
485
Sink Input
487
Source Output
489
Source/Sink Output
490
Wiring the SBC Output
491
Using SDO1_ and SDO2_ for SBCS
491
Using SDO3_ for SBCS
491
Noise Reduction Techniques
492
Example of Connection with Other Devices
493
Safety Sub-Function Control by Input Device
493
Safety Sub-Function Control by Network
494
Chapter 11 Using a Linear Servo Motor
495
Functions and Configuration
495
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Mitsubishi Electric Melservo MR-J5W G Series User Manual (442 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 43.32 MB
Table of Contents
Safety Instructions
3
About the Manual
5
Object Units
6
U.s. Customary Units
6
Table of Contents
7
Chapter 1 Function
13
Function Explanation
13
Chapter 2 Control Mode
21
Control Mode [G] [WG]
21
Control Switching
21
Cyclic Synchronous Position Mode (Csp)
22
Cyclic Synchronous Velocity Mode (Csv)
24
Cyclic Synchronous Torque Mode (Cst)
26
Profile Position Mode (Pp)
28
Profile Velocity Mode (Pv)
32
Profile Torque Mode (Tq)
36
Continuous Operation to Torque Control Mode (Ct)
39
Homing Mode (Hm) and Homing
44
Control Mode [A]
71
Control Switching
71
Position Control Mode (P)
71
Speed Control Mode (S)
75
Torque Control Mode (T)
77
Position/Speed Control Switching Mode (P/S)
80
Speed/Torque Control Switching Mode (S/T)
82
Torque/Position Control Switch Mode (T/P)
84
Chapter 3 Basic Function
85
Outline of Servo Parameter and Object Dictionary
85
Servo Parameter
85
Object Dictionary [G] [WG]
87
Rotation/Travel Direction Selection [G] [WG]
88
Setting Methods of Functions
89
Rotation/Travel Direction Selection [A]
92
Setting Methods of Functions
93
Stroke Limit Function [G] [WG]
94
Explanation of the Stroke Limit Signal Names
94
Setting Methods of Functions
95
Stop Method at Stroke Limit Detection
98
Servo Parameter List
99
Stroke Limit Function [A]
100
Setting Methods of Functions
100
Stop Method at Stroke Limit Detection
101
Servo Parameter List
101
Limit Switch Release Position Assessment Function [G] [WG]
102
Outline
102
Precautions
102
Setting Methods of Functions
102
Command Unit Select Function [G] [WG]
103
Position Command Unit Selection Function
103
Speed Command Unit Selection Function
105
Command Unit Select Function [A]
106
Torque Command Unit Selection Function
106
Electronic Gear Function [G] [WG]
107
Setting Method
107
Setting Example
108
Electronic Gear Function [A]
113
Setting Method
113
Setting Example
114
Electronic Gear Selection Function
116
In-Position Range Setting
117
Setting Method [G] [WG]
118
Setting Method [A]
118
Assigning I/O Devices
119
Setting Method [G] [WG]
120
Setting Method [A]
121
Regenerative Option Selection
122
Regenerative Option
122
Alarm Function
123
Operation Status at Alarm Occurrence [G] [WG]
123
Operation Status at Alarm Occurrence [A]
123
Operation Status at Warning Occurrence [G] [WG]
124
Operation Status at Warning Occurrence [A]
124
Returning from an Alarm [G] [WG]
125
Returning from an Alarm [A]
125
Returning from a Warning
125
Alarm History [G] [WG]
125
Alarm History [A]
127
Stop Method at Occurrence of Alarms/Warnings
127
Timing Chart at Alarm Occurrence
128
Forced Stop Deceleration Function
130
Setting Method [G] [WG]
130
Setting Method [A]
131
Timing Chart [G] [WG]
131
Timing Chart [A]
132
Electromagnetic Brake Interlock Function
133
Base Circuit Shut-Off Delay Time Function
133
Setting Method [G] [WG]
133
Setting Method [A]
134
Timing Chart
135
Vertical Axis Freefall Prevention Function
143
Setting Method [G] [WG]
143
Setting Method [A]
143
Timing Chart [G] [WG]
144
Timing Chart [A]
144
Acceleration/Deceleration Function
145
Acceleration/Deceleration Time Constant
145
S-Pattern Acceleration/Deceleration Time Constant [G] [WG]
147
S-Pattern Acceleration/Deceleration Time Constant [A]
148
Acceleration/Deceleration [G] [WG]
149
Quick Stop [G] [WG]
151
Objects for Setting
151
Timing Chart
152
Halt [G] [WG]
153
Objects for Setting
153
Timing Chart
153
Command Pulse Train Monitoring Function [A]
154
Setting a Command Frequency Error Threshold
154
Setting PEN (Command Input Permission Signal)
154
Chapter 4 Applicable Functions
155
Tough Drive Function
157
Vibration Tough Drive
157
Instantaneous Power Failure Tough Drive
157
Compliance with SEMI-F47 Standard
161
Setting Method
161
Behavior
161
Requirements of the SEMI-F47 Standard
162
Calculation Method of Tolerance against Instantaneous Power Failure
162
Scale Measurement Function [G] [WG]
163
Outline
163
Function Block Diagram
164
System Configuration
165
Scale Measurement Encoders
167
Setting Method
170
Related Objects
173
Touch Probe [G] [WG]
174
Outline
174
Setting Method
175
Machine Diagnosis
186
Friction Vibration Estimation Function
187
Friction Failure Prediction Function
193
Vibration Failure Prediction Function
202
Total Travel Distance Failure Prediction Function
208
Gear Failure Diagnosis Function
215
Belt Diagnosis Function
222
Drive Recorder
241
Specification Outline
243
How to Use the Function [G] [WG]
243
How to Use the Function [A]
246
Servo Parameter/Object Dictionary
248
Standard Acquisition Waveform List [G] [WG]
261
Standard Acquisition Waveform List [A]
263
Waveform Recording Inapplicable Alarm List
265
List of Auxiliary Recording Data
266
Software Reset
267
Software Reset in MR Configurator2
267
Software Reset Via Network Communication [G] [WG]
267
Software Position Limit [G] [WG]
268
Setting Method
268
Torque Limit [G] [WG]
271
Setting Method
271
Checking "Limiting Torque" Status
273
Torque Limit [A]
274
Setting Method
275
Checking "Limiting Torque" Status
276
Speed Limit [G] [WG]
277
Setting Method
277
Checking "Limiting Speed" Status
277
Speed Limit [A]
278
Setting Method
278
Checking "Limiting Speed" Status
280
A/B/Z-Phase Pulse Output Function
281
Setting Method [G] [WG]
282
Setting Method [A]
285
Z-Phase Pulse Output
288
Degree Unit [G] [WG]
289
Summary
289
Position-Related Data When the Unit Is Set to "Degree
290
Setting Method
291
Sequence
292
Infinite Feed Function [G] [WG]
293
Outline
293
Setting Method
293
When the Servo Motor Rotates 32768 Rev or more
293
When Using the Infinite Feed Function with a Controller
293
Servo Amplifier Life Diagnosis Function
294
Cumulative Energization Time Function
294
Relay Usage Count Display Function
295
Encoder Communication Diagnosis Function
296
Usage [G] [WG]
296
Usage [A]
297
Diagnostic Procedure
297
Disconnection/Incorrect Wiring Detection Function
298
Input Open-Phase Detection Function
298
Output Open Phase Detection Function
301
Servo Motor Incorrect Wiring Detection Function [WG]
303
Overload Protection (Electronic Thermal) Function
305
Command Offset [G] [WG]
306
Chapter 5 Monitoring
308
Explanation of Monitor Signals
308
Name and Description of the Monitor Signals
308
Signal Block Diagram
320
Checking with MR Configurator2
323
Display All" Function
323
Graph Function
323
I/O Monitor Display
324
System Configuration Display
325
Analog Monitor [G] [WG]
326
Setting Method
326
Setting Details
327
Analog Monitor [A]
331
Setting Method
331
Setting Details
332
Chapter 6 Functional Safety
336
Functions and Configuration
336
Outline
336
Outline of Safety Sub-Functions
336
Risk Assessments
337
Signal
338
Explanation of Signals
338
Power-On Sequence
340
Setting Method
341
Setting Functional Safety Parameters
341
Functional Safety Parameters that Must be Set
342
Test Operation
343
Safety Sub-Function
344
Achievable Safety Level
344
I/O Function
346
STO Function
356
SS1 Function
359
SS2/SOS Function
366
SLS Function
372
SSM Function
376
SBC Function
377
SDI Function
378
SLI Function
381
SLT Function
383
Status Monitor (SM) Function
387
Multiple Operation Commands for Safety Sub-Functions
387
Simultaneous Operation of STO and SS1 Functions
388
At Alarm Occurrence
389
Troubleshooting
391
Parameter Combinations that Trigger [AL. 537.2 Parameter Combination Error a (Safety Sub-Function)]
391
Chapter 7 Network Function
393
IP Address Setting
393
Setting an IP Address [G] [WG]
393
Setting an IP Address [A]
393
Managing Accounts
393
Setting an Account
394
Precautions
394
FTP Server Function
395
Restrictions
395
Precautions
395
Directory Structure
396
Steps of Accessing the FTP Server
396
Firmware Update
397
Chapter 8 Communication Function (Mitsubishi Electric Ac Servo Pro- Tocol) [A]
398
Structure
398
System Architecture
398
Precautions for Using the RS-422/USB Communication Function
400
Communication Specifications
401
Outline of Communication Specifications
401
Setting Servo Parameters
401
Protocol
402
Transmission Data Configuration
402
Character Codes
404
Error Codes
405
Checksum
405
Time-Out Processing
406
Retry Processing
406
Initialization
406
Communication Procedure Example
407
Command and Data No. List
408
Reading Command
408
Writing Commands
415
Detailed Explanations of Commands
417
Data Processing
417
Status Display
419
Servo Parameter
420
External I/O Signal Status (DIO Diagnosis)
423
Input Device On/Off
425
Disabling/Enabling I/O Devices (DIO)
426
Input Device On/Off (Test Operation)
426
Test Operation Mode
427
Output Signal Pin On/Off (Output Signal (DO) Forced Output)
431
Alarm History
432
Current Alarm
434
Version
435
Absolute Position Monitoring
436
Revisions
438
Warranty
439
Trademarks
440
Mitsubishi Electric Melservo MR-J5W G Series User Manual (74 pages)
AC Servo System
Brand:
Mitsubishi Electric
| Category:
Amplifier
| Size: 8.77 MB
Table of Contents
Safety Instructions
3
Disposal of Waste
4
About the Manual
5
U.s. Customary Units
6
Table of Contents
7
Chapter 1 Specifications
9
Outline
9
Model Designation
9
Servo Amplifier/Motor Combinations
11
Servo Amplifier Standard Specifications
12
Mr-J5-_G
12
Mr-J5W2-_G
14
Mr-J5W3-_G
15
Functional Safety
16
Environment
19
Function Block Diagram
20
Mr-J5-_G
20
Mr-J5W_-_G
21
Configuration Including Peripheral Equipment
22
Special Specifications
23
Servo Amplifiers Without the Dynamic Brake (-ED/-RU)
23
Chapter 2 Function
24
Function List
24
Security
35
Chapter 3 Structure
36
Parts Identification
36
Switch Setting and Display of the Servo Amplifier
40
Switches
40
7-Segment LED
41
CN1A/CN1B Connector LED
44
Status Leds
45
Chapter 4 Startup
46
Turning on Servo Amplifier for the First Time
50
Test Operation of the Servo Motor Alone in Test Operation Mode
51
Equipment Configuration Setting
52
Controller-Related Setting
52
Operation by Controller Command
53
Instructions on Startup
54
Troubleshooting at Startup
54
Duplicate Setting
55
Duplication Using MR Configurator2
55
Test Operation
55
Execution Method
55
Test Operation Mode
56
Motor Driving by Test Operation
56
Motor-Less Operation
59
Output Signal (DO) Forced Output
60
Servo Amplifier Setting Initialization
61
Initialization Procedure by MR Mode Change
61
Chapter 5 Maintenance, Inspection and Parts Replacement
62
Inspection Items
62
Periodic Inspection
62
Parts with a Service Life
62
Replacing Fan Unit
63
Chapter 6 Compliance with Global Standards
64
Compliance with Global Standards
64
Handling of AC Servo Amplifier Batteries for the United Nations Recommendations on the Transport of
64
Dangerous Goods
64
Symbol for the New EU Battery Directive
66
Compliance with China Compulsory Certification (CCC)
67
Compliance with the China Rohs Directive
68
Revisions
70
Warranty
71
Trademarks
72
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