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Mitsubishi Electric MELSERVO MR-J2S- A, Instruction Manual

The Mitsubishi Electric MELSERVO MR-J2S-A is a high-performance servo amplifier designed for precision motion control applications. With its reliable and advanced features, users can achieve excellent motor control. For detailed configuration and operation instructions, an Instruction Manual is available for free download from our website. Expand your knowledge and optimize your machine's performance with this comprehensive manual.

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General-Purpose AC Servo

MODEL

MR-J2S-   A

SERVO AMPLIFIER
INSTRUCTION MANUAL

General-Purpose Interface

J2-Super 

Series

H

Summary of Contents for MELSERVO MR-J2S- A

Page 1: ...General Purpose AC Servo MODEL MR J2S A SERVO AMPLIFIER INSTRUCTION MANUAL General Purpose Interface J2 Super Series H ...

Page 2: ...ous conditions resulting in death or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be d...

Page 3: ... and you may get an electric shock 2 To prevent fire note the following CAUTION Do not install the servo amplifier servo motor and regenerative brake resistor on or near combustibles Otherwise a fire may cause When the servo amplifier has become faulty switch off the main servo amplifier power side Continuous flow of a large current may cause a fire When a regenerative brake resistor is used use a...

Page 4: ...amplifier or servo motor Isolate from all impact loads When you keep or use it please fulfill the following environmental conditions Conditions Environment Servo amplifier Servo motor 0 to 55 non freezing 0 to 40 non freezing During operation 32 to 131 non freezing 32 to 104 non freezing 20 to 65 non freezing 15 to 70 non freezing Ambient temperature In storage 4 to 149 non freezing 5 to 158 non f...

Page 5: ...herwise the servo motor may misoperate Do not install a power capacitor surge absorber or radio noise filter FR BIF option between the servo motor and servo amplifier Connect the output terminals U V W correctly Otherwise the servo motor will operate improperly U Servo Amplifier V W U V W Servo Motor Do not connect AC power directly to the servo motor Otherwise a fault may occur The surge absorbin...

Page 6: ...ical structure e g where a ballscrew and the servo motor are coupled via a timing belt the electromagnetic brake may not hold the motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault use a servo motor with electromagnetic brake or an externa...

Page 7: ...ed to human life Before using the products for special purposes such as nuclear power electric power aerospace medicine passenger movement vehicles or under water relays contact Mitsubishi These products have been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsafe func...

Page 8: ...7310 2 Low voltage directive The low voltage directive applies also to servo units alone Hence they are designed to comply with the low voltage directive This servo is certified by TUV third party assessment organization to comply with the low voltage directive 3 Machine directive Not being machines the servo amplifiers need not comply with this directive 2 PRECAUTIONS FOR COMPLIANCE 1 Servo ampli...

Page 9: ...ays connect the protective earth PE terminals marked of the servo amplifier to the protective earth PE of the control box b Do not connect two ground cables to the same protective earth PE terminal Always connect the cables to the terminals one to one PE terminals PE terminals c If a leakage current breaker is used to prevent an electric shock the protective earth PE terminals of the servo amplifi...

Page 10: ...1 Ambient temperature 40 104 Sheath PVC polyvinyl chloride Installed on wall surface or open table tray c Use the EMC filter for noise reduction 8 Performing EMC tests When EMC tests are run on a machine device into which the servo amplifier has been installed it must conform to the electromagnetic compatibility immunity emission standards after it has satisfied the operating environment electrica...

Page 11: ...apacitor discharge time The capacitor discharge time is as listed below To ensure safety do not touch the charging section for 15 minutes after power off Servo amplifier Discharge time min MR J2S 10A 1 20A 1 1 MR J2S 40A 1 60A 2 MR J2S 70A to 350A 3 MR J2S 500A 700A 5 MR J2S 11KA 4 MR J2S 15KA 6 MR J2S 22KA 8 5 Options and auxiliary equipment Use UL C UL standard compliant products 6 Attachment of...

Page 12: ...f you use the General Purpose AC servo MR J2S A for the first time Always purchase them and use the MR J2S A safely Relevant manuals Manual name Manual No MELSERVO J2 Super Series To Use the AC Servo Safely IB NA 0300010 MELSERVO Servo Motor Instruction Manual SH NA 3181 EMC Installation Guidelines IB NA 67310 ...

Page 13: ...A 12 MEMO ...

Page 14: ...control mode 3 2 3 1 2 Speed control mode 3 6 3 1 3 Torque control mode 3 8 3 2 Internal connection diagram of servo amplifier 3 10 3 3 I O signals 3 11 3 3 1 Connectors and signal arrangements 3 11 3 3 2 Signal explanations 3 15 3 4 Detailed description of the signals 3 24 3 4 1 Position control mode 3 24 3 4 2 Speed control mode 3 29 3 4 3 Torque control mode 3 31 3 4 4 Position speed control ch...

Page 15: ...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 4 6 5 PARAMETERS 5 1 to 5 34 5 1 Parameter list 5 1 5 1 1 Parameter write inhibit 5 1 5 1 2 Lists 5 2 5 2 Detailed description 5 26 5 2 1 Electronic gear 5 26 5 2 2 Analog monitor 5 30 5 2 3 Using forward reverse rotation stroke end to change the stopping pattern 5 33 5 2 4 Alarm ...

Page 16: ...LSERVO J2 and MELSERVO J2 Super 7 11 7 5 1 Response level setting 7 11 7 5 2 Auto tuning selection 7 11 8 SPECIAL ADJUSTMENT FUNCTIONS 8 1 to 8 10 8 1 Function block diagram 8 1 8 2 Machine resonance suppression filter 8 1 8 3 Adaptive vibration suppression control 8 3 8 4 Low pass filter 8 4 8 5 Gain changing function 8 5 8 5 1 Applications 8 5 8 5 2 Function block diagram 8 5 8 5 3 Parameters 8 ...

Page 17: ...ations software 13 30 13 1 10 Power regeneration common converter 13 32 13 1 11 Heat sink outside mounting attachment MR JACN 13 36 13 2 Auxiliary equipment 13 39 13 2 1 Recommended wires 13 39 13 2 2 No fuse breakers fuses magnetic contactors 13 42 13 2 3 Power factor improving reactors 13 42 13 2 4 Power factor improving DC reactors 13 43 13 2 5 Relays 13 44 13 2 6 Surge absorbers 13 44 13 2 7 N...

Page 18: ...estrictions 15 1 15 2 Specifications 15 2 15 3 Battery installation procedure 15 3 15 4 Standard connection diagram 15 4 15 5 Signal explanation 15 5 15 6 Startup procedure 15 6 15 7 Absolute position data transfer protocol 15 7 15 7 1 Data transfer procedure 15 7 15 7 2 Transfer method 15 8 15 7 3 Home position setting 15 17 15 7 4 Use of servo motor with electromagnetic brake 15 19 15 7 5 How to...

Page 19: ... 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 INSTALLATION 3 CONNECTORS USED FOR SERVO MOTOR WIRING 4 INSPECTION 5 SPECIFICATIONS 6 CHARACTERISTICS 7 OUTLINE DIMENSION DRAWINGS 8 CALCULATION METHODS FOR DESIGNING ...

Page 20: ...ystem This makes home position return unnecessary at power on or alarm occurrence by setting a home position once 1 Position control mode An up to 500kpps high speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 131072 pulses rev resolution The position smoothing function provides a choice of two different modes appropriate for a machine so ...

Page 21: ...N1B D I O control Servo on Start Failure etc RS 232C CN3 RS 422 D A Analog 2 channels RS 422 RS 232C Controller B2 I F Servo amplifier Analog monitor 2 channels Model position control Model speed control Pulse input Model position Actual position control Actual speed control Current control Model torque Virtual motor Virtual encoder CN2 MR BAT Optional battery for absolute position detection syste...

Page 22: ...e 200 to 230VAC MC L1 L2 L3 L11 L21 A D CN1A CN1B D I O control Servo on Start Failure etc RS 232C CN3 RS 422 D A Analog 2 channels RS 422 RS 232C Controller B2 I F Servo amplifier Analog monitor 2 channels Model position control Model speed control Pulse input Model position Actual position control Actual speed control Current control Model torque Virtual motor Virtual encoder CN2 MR BAT Optional...

Page 23: ...Servo motor Electro magnetic brake Encoder Current detection Overcurrent protection Voltage detection Base amplifier Regenerative brake Control power supply Fan Model position control Model speed control Virtual encoder Virtual motor Model torque Model speed Model position Actual position control Actual speed control Current control Analog 2 channels D I O control Servo on Start Failure etc Analog...

Page 24: ...it Set by parameter setting or external analog input 0 to 10VDC maximum torque Speed control range Analog speed command 1 2000 internal speed command 1 5000 Analog speed command input 0 to 10VDC Rated speed Speed fluctuation ratio 0 01 or less load fluctuation 0 to 100 0 or less power fluctuation 10 0 2 max ambient temperature 25 10 for external speed setting only Speed control mode Torque limit S...

Page 25: ...tects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration P S T Section 8 3 Low pass filter Suppresses high frequency resonance which occurs as servo system response is increased P S T Section 8 4 Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply connecting a MR Configurator servo configuration softwar...

Page 26: ... P S T Section 6 6 Output signal DO forced output Output signal can be forced on off independently of the servo status Use this function for output signal wiring check etc P S T Section 6 7 Automatic VC offset Voltage is automatically offset to stop the servo motor if it does not come to a stop at the analog speed command VC or analog speed limit VLA of 0V S T Section 6 3 Test operation mode JOG o...

Page 27: ...MR J2S 700A Rating plate Rating plate Rated output kW 0 1 10 Symbol 0 2 20 0 4 40 0 6 60 0 75 70 1 100 2 200 3 5 350 Rated output kW Symbol 5 500 7 700 11k 15k 22k 11 15 22 MR J2S 11KA 15KA MR J2S 22KA Rating plate Rating plate Description PX Indicates a servo amplifier of 11 to 22kw that does not use a regenerative resistor as standard accessory Symbol With no regenerative resistor Note 1 1 phase...

Page 28: ...2S 100A 81 102 103 MR J2S 200A 121 201 152 202 153 203 103 153 152 MR J2S 350A 301 352 353 Note1 203 Note1 202 MR J2S 500A Note1 502 Note1 353 503 Note1 352 502 MR J2S 700A Note1 702 Servo motors HA LFS Servo amplifier 1000r min 1500r min 2000r min Note1 HC LFS MR J2S 60A 52 MR J2S 100A 102 MR J2S 200A 152 MR J2S 350A 202 MR J2S 500A Note1 502 302 MR J2S 700A Note2 601 Note2 701M Note1 702 MR J2S ...

Page 29: ...ct a command device RS 422 RS 232C and output analog monitor data Name plate Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Used to connect the servo motor encoder Main circuit terminal block TE1 Used to connect the input power supply and servo motor Protective earth PE terminal Ground terminal Section15 3 Opera...

Page 30: ...nd device RS 422 RS232C and output analog monitor data Name plate Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Used to connect the servo motor encoder Main circuit terminal block TE1 Used to connect the input power supply and servo motor Protective earth PE terminal Ground terminal Section15 3 Operation sectio...

Page 31: ...he mode I O signal connector CN1A Used to connect digital I O signals Section3 3 Section3 3 I O signal connector CN1B Used to connect digital I O signals Section3 3 Section13 1 5 Chapter14 Communication connector CN3 Used to connect a command device RS 422 RS232C and output analog monitor data Encoder connector CN2 Used to connect the servo motor encoder Section3 3 Section13 1 5 Charge lamp Lit to...

Page 32: ...he mode I O signal connector CN1A Used to connect digital I O signals Section3 3 I O signal connector CN1B Used to connect digital I O signals Section3 3 Communication connector CN3 Used to connect a command device RS 422 RS232C and output analog monitor data Section3 3 Section13 1 5 Chapter14 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the ...

Page 33: ...C I O signal connector CN1A Used to connect digital I O signals I O signal connector CN1B Used to connect digital I O signals Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Control circuit terminal block TE2 Used to connect the control circuit power supply Encoder connector CN2 Used to connect the servo motor encoder Name plate Main ...

Page 34: ... the front cover sockets of the servo amplifier 2 Press the front cover against the servo amplifier until the removing knob clicks 1 Hold down the removing knob 2 Pull the front cover toward you 2 For MR J2S 500A Front cover socket 2 places Removal of the front cover Reinstallation of the front cover 1 Insert the front cover hooks into the front cover sockets of the servo amplifier 2 Press the fro...

Page 35: ...t cover 1 Insert the two front cover hooks at the bottom into the sockets of the servo amplifier 2 Press the front cover against the servo amplifier until the removing knob clicks 1 Push the removing knob A or B and put you finger into the front hole of the front cover 2 Pull the front cover toward you A 2 B 2 1 Front cover hook 2 places ...

Page 36: ...nting screws 2 places 1 Remove the front cover mounting screws 2 places and remove the front cover Removal of the front cover Mounting screws 2 places 2 Remove the front cover mounting screws 2 places 3 Remove the front cover by drawing it in the direction of arrow ...

Page 37: ...sert the front cover in the direction of arrow Reinstallation of the front cover Mounting screws 2 places 2 Fix it with the mounting screws 2 places Mounting screws 2 places 3 Fit the front cover and fix it with the mounting screws 2 places ...

Page 38: ...onfigurator Servo configuration software MRZJW3 SETUP151E Servo amplifier Regenerative brake option D P C CHARGE Options and auxiliary equipment No fuse breaker Magnetic contactor MR Configurator Servo configuration software Regenerative brake option Reference Section 13 2 2 Section 13 2 2 Section 13 1 9 Section 13 1 1 Control circuit terminal block Note1 Encoder cable Options and auxiliary equipm...

Page 39: ...plifier Regenerative brake option D P C CHARGE Options and auxiliary equipment No fuse breaker Magnetic contactor MR Configurator Servo configuration software Regenerative brake option Reference Section 13 2 2 Section 13 2 2 Section 13 1 9 Section 13 1 1 Control circuit terminal block Note Encoder cable Note The HC SFS HC RFS series have cannon connectors Options and auxiliary equipment Reference ...

Page 40: ... Servo amplifier Regenerative brake option P C U V W Options and auxiliary equipment No fuse breaker Magnetic contactor MR Configurator Servo configuration software Regenerative brake option Reference Section 13 2 2 Section 13 2 2 Section 13 1 9 Section 13 1 1 Options and auxiliary equipment Reference Personal computer MR Configurator Servo configuration software MRZJW3 SETUP151E Cables Section 13...

Page 41: ...s Section 13 2 1 Power factor improving reactor Section 13 2 3 3 phase 200V to 230VAC power supply No fuse breaker NFB or fuse Magnetic contactor MC Power factor improving reactor FA BAL Servo amplifier L1 L2 L3 C P Regenerative brake option L11 L21 U V W To CN1B To CN3 To CN2 Personal computer MR Configurator Servo configuration software MRZJW3 SETUP151E Junction terminal block Command device Not...

Page 42: ...ction 13 2 1 Power factor improving reactor Section 13 2 3 3 phase 200V to 230VAC power supply No fuse breaker NFB or fuse Magnetic contactor MC Power factor improving reactor FA BAL L1 L2 L3 U Note Regenerative brake option C P Servo amplifier To CN1A To CN1B To CN3 To CN2 Personal computer MR Configurator Servo configuration software MRZJW3 SETUP151E L11 L21 Junction terminal block Command devic...

Page 43: ...wer factor improving reactor Section 13 2 3 Power factor improving DC reactor Section 13 2 4 3 phase 200V to 230VAC power supply No fuse breaker NFB or fuse Magnetic contactor MC Power factor improving reactor FA BAL Regenerative brake option Command device Junction terminal block Personal computer MR Configurator Servo configuration software MRZJW3 SETUP151E Note2 Power factor improving DC reacto...

Page 44: ...st ports of the servo amplifier Otherwise a fault may occur 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 When treating the servo amplifier be careful about the edged parts such as the corners of the servo amplifier...

Page 45: ... Otherwise a fault may occur 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 10mm 0 4 in or more 10mm 0 4 in or more 40mm 1 6 in or more Servo amplifier 40mm 1 6 in or more Wiring clearance 70mm 2 8 in Top Bottom ...

Page 46: ...sideration of heat generation so that the servo amplifier is not affected Install the servo amplifier on a perpendicular wall in the correct vertical direction 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 ...

Page 47: ...flex the optional encoder cable or the power supply and brake wiring cables Use the optional encoder cable within the flexing life range Use the power supply and brake wiring cables within the flexing life of the cables 3 Avoid any probability that the cable sheath might be cut by sharp chips rubbed by a machine corner or stamped by workers or vehicles 4 For installation on a machine where the ser...

Page 48: ...nsure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction Otherwise the signal is not output due to a fault disabling the emergency stop EMG and other protective circuits Control output signal COM DC24V Servo amplifier RA RA Servo Amplifier COM 24VDC Control outpu...

Page 49: ...t selection Note 6 Forward rotation stroke end Reverse rotation stroke end Upper limit setting Analog torque limit Note 11 MR Configurator Servo configuration software Personal computer 10V max torque Note 10 2m 6 5ft max 10m 32ft max 2m 6 5ft max Note 8 Communication cable Servo amplifier Note 4 9 Note 4 CN1A CN1B 1 2 12 11 14 13 7 17 8 18 5 6 9 19 16 15 3 Note 12 Note 2 5 Note 7 Trouble Zero spe...

Page 50: ...utput signals are not used 6 When starting operation always turn on emergency stop EMG and Forward Reverse rotation stroke end LSP LSN Normally closed contacts 7 Trouble ALM turns on in normal alarm free condition When this signal is switched off at occurrence of an alarm the output of the programmable controller should be stopped by the sequence program 8 When connecting the personal computer tog...

Page 51: ... CN1A Note 4 CN1B Note 12 Note 7 Note 2 5 Trouble Zero speed Limiting torque Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Note 4 9 Note 4 9 14 Plate Plate Note 3 6 Emergency stop Servo on Reset Proportion control Torque limit selection Note 6 Forward rotation stroke end Reverse rotation stroke end ...

Page 52: ...on emergency stop EMG and forward reverse rotation stroke end LSP LSN Normally closed contacts 7 Trouble ALM turns on in normal alarm free condition When this signal is switched off at occurrence of an alarm the output of the controller should be stopped by the sequence program 8 When connecting the personal computer together with analog monitor 1 MO1 and analog monitor 2 MO2 on the 7kW or less se...

Page 53: ...t setting Note 10 Analog torque limit 10V max torque Upper limit setting Analog speed command 10V rated speed 2m 6 5ft max Plate Plate Note 11 MR Configurator Servo configuration software Personal computer Note 4 9 CN1B Note 4 Note 12 Note 7 Trouble Zero speed Limiting torque Note 2 5 Note 4 9 Note 4 9 Speed reached Ready Control common Encoder Z phase pulse open collector Encoder Z phase pulse di...

Page 54: ...rrent necessary for the interface described in Section 3 6 2 Connect the external 24VDC power supply if the output signals are not used 6 When starting operation always turn on emergency stop EMG and forward reverse rotation stroke end LSP LSN Normally closed contacts 7 Trouble ALM turns on in normal alarm free condition 8 When connecting the personal computer together with Analog monitor 1 MO1 an...

Page 55: ...art Speed selection 2 Upper limit setting Analog speed limit 0 to 10V rated speed Upper limit setting Analog torque command 8V max torque Note 9 MR Configurator Servo configuration software Personal computer Note 7 Communication cable 2m 6 5ft max Plate Plate Note 7 Analog monitor Max 1mA Reading in both directions 10k 10k 2m 6 5ft max Note 4 8 12 Note 1 Control common Encoder Z phase pulse open c...

Page 56: ...ll I O signals are used Reducing the number of I O points decreases the current capacity Refer to the current necessary for the interface described in Section 3 6 2 Connect the external 24VDC power supply if the output signals are not used 6 Trouble ALM turns on in normal alarm free condition 7 When connecting the personal computer together with analog monitor 1 MO1 and analog monitor 2 MO2 on the...

Page 57: ...2 P15R LG SD TLA P15R LG SD TLA P15R LG SD P15R LG SD 11 1 4 P15R P S T P S T INP SA 18 RD RD RD 19 TLC TLC VLC 6 ALM ALM ALM 18 ZSP ZSP ZSP 19 DO1 4 DO1 DO1 6 16 17 7 15 14 5 LA LAR LBR LB LZR OP LZ COM COM COM 9 T CN1A COM VDD CN1B 4 MO1 14 2 MO2 TXD CN3 12 RXD 9 SDP 19 SDN 5 RDP 15 RDN PE DC24V Servo amplifier Note1 Approx 4 7k Note1 Approx 4 7k Approx 4 7k Approx 4 7k Approx 4 7k Approx 4 7k A...

Page 58: ...1 MR J2S 700A or less 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 RXD MO1 TRE LG LG RDP SDP TXD MO2 P5 LG LG RDN SDN 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 MD LG MDR P5 LG MRR P5 LG P5 BAT MR LG MITSUBISHI MELSERVO J2 CN2 CN3 CN1A CN1B The connector frames are connected with the...

Page 59: ...SUBISHI CHARGE 2 LG 4 6 MD 8 10 1 LG 3 5 7 MR 9 12 LG 14 16 MDR 18 P5 20 11 LG 13 15 17 MRR 19 P5 P5 BAT CN2 CN1A CN1B CN4 1 2 4 MO1 MO2 LG Same as the one of the MR J2S 700A or less Same as the one of the MR J2S 700A or less The connector frames are connected with the PE earth terminal inside the servo amplifier For maker adjustment Keep this open ...

Page 60: ...G 2 I VC VC VC VLA VLA VLA 3 VDD VDD VDD VDD VDD VDD Note 4 4 O DO1 DO1 DO1 DO1 DO1 DO1 5 I SON SON SON SON SON SON No 43 to 48 6 O TLC TLC TLC TLC VLC VLC VLC TLC No 49 7 I LOP SP2 LOP SP2 LOP No 43 to 48 8 I PC PC ST1 ST1 ST1 RS2 RS2 RS2 PC No 43 to 48 9 I TL TL ST2 ST2 ST2 RS1 RS1 RS1 TL No 43 to 48 10 SG SG SG SG SG SG 11 P15R P15R P15R P15R P15R P15R 12 I TLA Note3 TLA TLA Note3 TLA Note3 TLA...

Page 61: ...orque limit selection MBR Electromagnetic brake interlock RES Reset LZ EMG Emergency stop LZR Encoder Z phase pulse differential line driver LOP Control change LA VC Analog speed command LAR Encoder A phase pulse differential line driver VLA Analog speed limit LB TLA Analog torque limit LBR Encoder B phase pulse differential line driver TC Analog torque command VDD I F internal power supply RS1 Fo...

Page 62: ...d coast the servo motor servo off Set 1 in parameter No 41 to switch this signal on keep terminals connected automatically in the servo amplifier DI 1 Reset RES CN1B 14 Turn RES on for more than 50ms to reset the alarm Some alarms cannot be deactivated by the reset signal Refer to Section 10 2 Turning RES on in an alarm free status shuts off the base circuit The base circuit is not shut off when 1...

Page 63: ...ervo motor starting direction Forward rotation start ST1 CN1B 8 0 0 Stop servo lock 0 1 CCW 1 0 CW 1 1 Stop servo lock Reverse rotation start ST2 CN1B 9 Note 0 off 1 on If both ST1 and ST2 are switched on or off during operation the servo motor will be decelerated to a stop according to the parameter No 12 setting and servo locked DI 1 Used to select any of the following servo motor torque generat...

Page 64: ...speed command 5 parameter No 73 1 1 0 Internal speed command 6 parameter No 74 When speed selection SP3 is made valid 1 1 1 Internal speed command 7 parameter No 75 Note 0 off 1 on Torque control mode Used to select the limit speed for operation When using SP3 make it usable by making the setting of parameter No 43 to 48 Note Input signals Setting of parameter No 43 to 48 SP3 SP2 SP1 Speed limit 0...

Page 65: ...the base circuit is shut off and the dynamic brake is operated Turn EMG on short EMG common in the emergency stop state to reset that state DI 1 Clear CR CN1A 8 Turn CR on to clear the position control counter droop pulses on its leading edge The pulse width should be 10ms or more When the parameter No 42 setting is 1 the pulses are always cleared while CR is on DI 1 Electronic gear selection 1 CM...

Page 66: ...LA Maximum torque is generated at 10V Refer to 5 in Section 3 4 1 Resolution 10bit Analog input Analog torque command TC CN1B 12 Used to control torque in the full servo motor output torque range Apply 0 to 8VDC across TC LG Maximum torque is generated at 8V Refer to 1 in Section 3 4 3 The torque at 8V input can be changed using parameter No 26 Analog input Analog speed command VC Apply 0 to 10VDC...

Page 67: ...the preset speed is 20r min or less SA always turns on DO 1 Limiting speed VLC VLC turns on when speed reaches the value limited using any of the internal speed limits 1 to 7 parameter No 8 to 10 72 to 75 or the analog speed limit VLA in the torque control mode VLC turns off when servo on SON turns off DO 1 Limiting torque TLC CN1B 6 TLC turns on when the torque generated reaches the value set to ...

Page 68: ...rror AL 15 Memory error 2 AL 17 Board error AL 19 Memory error 3 AL 37 Parameter error AL 8A Serial communication timeout 0 0 0 AL 8E Serial communication error AL 30 Regenerative error 0 0 1 AL 33 Overvoltage 0 1 0 AL 10 Undervoltage AL 45 Main circuit device AL 46 Servo motor overheat AL 50 Overload 1 0 1 1 AL 51 Overload 2 AL 24 Main circuit error 1 0 0 AL 32 Overcurrent AL 31 Overspeed AL 35 C...

Page 69: ...of the A and B phase pulses can be changed using parameter No 54 DO 2 Encoder Z phase pulse Differential line driver LZ LZR CN1A 5 CN1A 15 CN1A 5 CN1A 15 The same signal as OP is output in the differential line driver system DO 2 Analog monitor 1 MO1 CN3 4 CN4 1 Used to output the data set in parameter No 17 to across MO1 LG in terms of voltage Resolution 10 bits Analog output Analog monitor 2 MO2...

Page 70: ... collector power input OPC CN1A 11 CN1A 11 When inputting a pulse train in the open collector system supply this terminal with the positive power of 24VDC Digital I F common SG CN1A 10 20 CN1B 10 20 CN1A 10 20 CN1B 10 20 Common terminal for input signals such as SON and EMG Pins are connected internally Separated from LG 15VDC power supply P15R CN1A 4 CN1B 11 CN1A 4 CN1B 11 Outputs 15VDC to across...

Page 71: ...timing of importing a pulse train A and B phase pulse trains are imported after they have been multiplied by 4 Pulse train form Forward rotation command Reverse rotation command Parameter No 21 Command pulse train Forward rotation pulse train Reverse rotation pulse train PP NP 0010 Pulse train sign PP NP L H 0011 Negative logic A phase pulse train B phase pulse train PP NP 0012 Forward rotation pu...

Page 72: ... the negative logic and forward and reverse rotation pulse trains parameter No 21 has been set to 0010 The waveforms in the table in a 1 of this section are voltage waveforms of PP and NP based on SG Their relationships with transistor ON OFF are as follows ON OFF ON OFF ON OFF ON OFF Forward rotation pulse train transistor Reverse rotation pulse train transistor ON OFF Forward rotation command Re...

Page 73: ... 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 The waveforms of PP PG NP and NG are based on that of the ground of the differential line driver PP PG NP NG Forward rotation pulse train Reverse rotation pulse train Forward rotation command Reverse rotation command ...

Page 74: ...3 Ready RD Servo on SON Alarm Ready RD ON OFF Yes No 80ms or less 10ms or less 10ms or less ON OFF 4 Electronic gear switching The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in the parameters As soon as CM1 CM2 is turned ON or OFF the molecule of the electronic gear changes Therefore if any shock occurs at this change use position smoothing param...

Page 75: ... 10 5 0 05 Torque limit value TLA application voltage vs torque limit value TLA application voltage V 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 When internal torque limit selection TL1 is made usab...

Page 76: ...o forward rotation start ST1 and reverse rotation start ST2 combination Note 1 External input signals Note 2 Rotation direction Analog speed command VC ST2 ST1 Polarity 0V Polarity Internal speed commands 0 0 Stop Servo lock Stop Servo lock Stop Servo lock Stop Servo lock 0 1 CCW CW CCW 1 0 CW Stop No servo lock CCW CW 1 1 Stop Servo lock Stop Servo lock Stop Servo lock Stop Servo lock Note 1 0 of...

Page 77: ...nd value 0 0 0 Analog speed command VC 0 0 1 Internal speed command 1 parameter No 8 0 1 0 Internal speed command 2 parameter No 9 0 1 1 Internal speed command 3 parameter No 10 1 0 0 Internal speed command 4 parameter No 72 1 0 1 Internal speed command 5 parameter No 73 1 1 0 Internal speed command 6 parameter No 74 1 1 1 Internal speed command 7 parameter No 75 Note 0 off 1 on The speed may be c...

Page 78: ...alue In such a case increase the speed limit value The following table indicates the torque generation directions determined by the forward rotation selection RS1 and reverse rotation selection RS2 when the analog torque command TC is used Note External input signals Rotation direction Torque control command TC RS2 RS1 Polarity 0V Polarity 0 0 Torque is not generated Torque is not generated 0 1 CC...

Page 79: ...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 shown below When the servo motor speed reaches the speed limit value torque control may become unstable Make the set value more than 100r min greater than the desired speed limit value 10 0 10 Rated speed Speed r min CCW direction CW direction VLA appl...

Page 80: ...n SP3 is not used initial status 1 1 Internal speed limit 3 parameter No 10 0 0 0 Analog speed limit VLA 0 0 1 Internal speed limit 1 parameter No 8 0 1 0 Internal speed limit 2 parameter No 9 0 1 1 Internal speed limit 3 parameter No 10 1 0 0 Internal speed limit 4 parameter No 72 1 0 1 Internal speed limit 5 parameter No 73 1 1 0 Internal speed limit 6 parameter No 74 When speed selection SP3 is...

Page 81: ...anged in the zero speed status To ensure safety change control after the servo motor has stopped When position control mode is changed to speed control mode droop pulses are reset If the signal has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown below ON OFF ON OFF...

Page 82: ... SP1 Speed command value 0 Analog speed command VC 1 Internal speed command 1 parameter No 8 Note 0 off 1 on By making speed selection 2 SP2 speed selection 3 SP3 usable by setting of parameter No 43 to 48 you can choose the speed command values of analog speed command VC and internal speed commands 1 to 7 Note External input signals SP3 SP2 SP1 Speed command value 0 0 0 Analog speed command VC 0 ...

Page 83: ...de 1 Torque control mode Note 0 off 1 on The control mode may be changed at any time A change timing chart is shown below Note When the start ST1 ST2 is switched off as soon as the mode is changed to speed control the servo motor comes to a stop according to the deceleration time constant 10V 0 ON OFF Torque control mode Servo motor speed Control change LOP Note Speed control mode Speed control mo...

Page 84: ...LG SD Servo amplifier 2k 2k b Speed selection 1 SP1 and speed limit value Use speed selection 1 SP1 to select between the speed set by the internal speed command 1 and the speed set by the analog speed limit VLA as indicated in the following table Note External input signals SP1 Speed command value 0 Analog speed limit VLA 1 Internal speed limit 1 parameter No 8 Note 0 off 1 on When the internal s...

Page 85: ...r the servo motor has stopped When position control mode is changed to torque control mode droop pulses are reset If the signal has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown below 0V 10V ON OFF ON OFF Servo motor speed Zero speed ZSP Control change LOP Zero s...

Page 86: ...e main circuit power as soon as an alarm occurs about 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent AL 32 overload 1 AL 50 or overload 2 AL 51 alarm after its occurrence without removing its cause the servo amplifier and servo motor may become faulty due to temperature rise Securely remove the cause of the al...

Page 87: ...M etc LG SD SDP SDN RDP RDN LG CN3 RA CN2 SD MO1 MO2 LG SG TXD RXD RS 232C RS 422 Note Analog input 10V max current Servo motor Ground SD LG Servo motor encoder Isolated 15VDC 10 30mA LA etc Analog monitor output SON etc PP NP LG Note For the open collection pulse train input Make the following connection for the different line driver pulse train input Differential line driver output 35mA max LAR ...

Page 88: ...V I CEO 100 A Switch COM SG Switch SON etc 24VDC 200mA or more Servo amplifier R Approx 4 7 VDD 24VDC Do not connect VDD COM Note This also applies to the use of the external power supply 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Provide a diode D for an inductive load or an inrush current suppressing resister R for a lamp load Permissible current 40mA or less inru...

Page 89: ...n the open collector or differential line driver system a Open collector system 1 Interface For use of internal power supply For use of external power supply VDD OPC PP NP SG SD Servo amplifier Max input pulse frequency 200kpps About 1 2k 24VDC 2m 78 74in or less OPC PP NP SG SD 24VDC Servo amplifier Max input pulse frequency 200kpps About 1 2k VDD 24VDC Do not connect VDD OPC 2m 78 74in or less 2...

Page 90: ...rvo amplifier Am26LS31 or equivalent About 100 10m 393 70in or less 2 Conditions of the input pulse 0 9 PP PG tc tHL tc tLH tF tLH tHL 0 1 s tc 1 s tF 3 s NP NG 0 1 4 Encoder pulse output DO 2 a Open collector system Interface Servo amplifier OP 5 to 24VDC Photocoupler SD Max output current 35mA LG Servo amplifier OP SD LG ...

Page 91: ... 2 Output pulse Servo motor CCW rotation LA LAR LB LBR LZ LZR T 2 400 s or more OP The time cycle T is determined by the setting of the parameter No 27 and 54 5 Analog input Input impedance 10 to 12k Upper limit setting 2k 15VDC P15R VC etc LG SD 2k Servo amplifier Approx 10k 6 Analog output Output voltage 10V Max 1mA Max output current Resolution 10bit MO1 MO2 LG SD A Servo amplifier Reading in o...

Page 92: ...200mA or more R Approx 4 7 SON etc Switch Servo amplifier Note This also applies to the use of the external power supply When using the input interface of source type all Dl 1 input signals are of source type Source output cannot be provided For 11kW or more the source input interface cannot be used with the internal power supply Always use the external power supply CON2 MITSUBISHI JP11 CON2 CON2 ...

Page 93: ... circuit of the MR J2S 11KA to MR J2S 22KA refer to Section 3 13 where the power line circuit is shown together with the servo motor connection diagram 3 7 1 Connection example Wire the power supply and main circuit as shown below so that the servo on SON turns off as soon as alarm occurrence is detected and power is shut off A no fuse breaker NFB must be used with the input cables of the power su...

Page 94: ... phase 230VAC power supply RA OFF ON MC MC SK NFB MC L1 L2 L3 L11 L21 EMG SON SG VDD COM ALM RA Power supply 1 phase 100 to 120VAC or 1 phase 230VAC Emergency stop Servo on Note Servo amplifier Trouble Emergency stop Note Not provided for 1 phase 100 to 120VAC ...

Page 95: ...Hz L11 L21 1 phase 100 to 120VAC 50 60Hz L11 L21 L11 L21 Control circuit power supply P C D Regenerative brake option 1 MR J2S 350A or less Wiring is factory connected across P D servo amplifier built in regenerative brake resistor When using the regenerative brake option always remove the wiring from across P D and connect the regenerative brake option across P C 2 MR J2S 500A 700A Wiring is fact...

Page 96: ...d the ready RD will switch on in further about 20ms making the servo amplifier ready to operate Refer to paragraph 2 in this section 4 When the reset RES is switched on the base circuit is shut off and the servo motor shaft coasts 2 Timing chart 60ms 60ms OFF ON OFF ON ON OFF OFF ON OFF ON 10ms 20ms 10ms 10ms 20ms 10ms 20ms 10ms 1 to 2s Servo on SON accepted Main circuit Control circuit Power supp...

Page 97: ...o motor to the protective earth PE terminal of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box Do not connect them directly to the protective earth of the control panel Servo amplifier Servo motor PE terminal Control box 2 Do not share the 24VDC interface power supply between the interface and electromagnetic brake Al...

Page 98: ...e Note 2 To be shut off when servo off or Trouble ALM 24VDC EMG CN2 U V W U V W B1 B2 Servo amplifier Note 1 Encoder Encoder cable Motor Servo motor 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 This circuit applies to the servo motor with electromagnetic brake HC SFS81 B HC SFS52 B to 152 ...

Page 99: ...oder cable 0 3m 0 98ft Power supply lead 4 AWG19 0 3m 0 98ft With connector 1 172169 9 Tyco Electronics 1 2 3 4 1 2 5 4 3 6 1 2 3 5 6 Power supply connector 5557 04R 210 Pin Signal Earth U V W Power supply connector 5557 06R 210 Pin Signal Earth U V W MR 1 2 3 MRR BAT MD 4 5 6 MDR P5 7 8 9 LG SHD Encoder connector signal arrangement B1 B2 Note Note Note For the motor with electromagnetic brake sup...

Page 100: ... U V W Note B2 Earth Key Note B1 CE05 2A22 23PD B Power supply connector signal arrangement Pin A B C D E F G U V W CE05 2A24 10PD B Signal Earth Note B2 Note B1 Note For the motor with electromagnetic brake supply electromagnetic brake power 24VDC There is no polarity View c View c D C B A A B C D E F G H A B C D E F G Pin A B C D U V W Signal Earth Key Key CE05 2A32 17PD B Note For the motor wit...

Page 101: ... motor equipped with electromagnetic brake is used 1 Set 1 in parameter No 1 to make the electromagnetic brake interlock MBR valid Note that this will make the zero speed signal ZSP unavailable 2 Do not share the 24VDC interface power supply between the interface and electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake 3 The brake will operate when t...

Page 102: ... to about the same as the electromagnetic brake operation delay time to prevent a drop Servo motor speed Electromagnetic brake MBR ON OFF Base circuit Invalid ON Valid OFF ON OFF Servo on SON Electromagnetic brake operation delay time Tb Coasting 0 r min 60ms 80ms b Emergency stop EMG ON OFF Servo motor speed Electromagnetic brake interlock MBR ON OFF Base circuit Invalid ON Valid OFF Emergency st...

Page 103: ...lectromagnetic brake Control circuit power Note 15 to 60ms 10ms 10ms or less Electromagnetic brake operation delay time Note Changes with the operating status Note 2 e Only main circuit power supply off control circuit power supply remains on Servo motor speed ON OFF Base circuit Electromagnetic brake interlock MBR Invalid ON Valid OFF Trouble ALM No ON Yes OFF ON OFF Main circuit power supply Dyn...

Page 104: ...e transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Control box Servo amplifier L1 L2 L3 L11 L21 CN1A CN1B Line filter NFB MC Protective earth PE CN2 U V W Outer box Servo motor Ensure to connect it to PE terminal of the servo amplifier Do not connect it directly to the protective...

Page 105: ...take care to avoid a short caused by the loose wires of the core and the adjacent pole Do not solder the core as it may cause a contact fault Alternatively a bar terminal may be used to put the wires together 2 When the wires are put together Using a bar terminal Cable Size Bar Terminal Type mm2 AWG For 1 cable For 2 cables Crimping Tool Maker 1 25 1 5 16 AI1 5 10BK AI TWIN 1 5 10BK 2 2 5 14 AI2 5...

Page 106: ... short circuit bar from across P D press the buttons of P and D alternately pulling the short circuit bar For the installation insert the bar straight to the end b When the wires are put together using a bar terminal Insert a bar terminal with the odd shaped side of the pressured terminal on the button side Bar terminal for one wire or solid wire Bar terminal for two wires When the two wires are i...

Page 107: ...ble into the opening and tighten the screw with a flat blade screwdriver so that the cable does not come off Tightening torque 0 3 to 0 4N m 2 7 to 3 5 lb in Before inserting the cable into the opening make sure that the screw of the terminal is fully loose When using a cable of 1 5mm2 or less two cables may be inserted into one opening To loosen To tighten Opening Control circuit terminal block C...

Page 108: ...e 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 External conductor Pull back the external conductor to cover the sheath Sheath Core Strip the sheath Screw Screw Ground plate Cable ...

Page 109: ...an alarm occurs a servo emergency stop is made valid a controller emergency stop or a servo motor thermal relay alarm is made valid A no fuse breaker NFB must be used with the input cables of the power supply L1 L2 L3 L11 L21 EMG SON SG CN2 U V W U V W M BU RA2 BV BW MC SK ON MC NFB MC OHS2 OHS1 ALM COM VDD RA1 Servo motor thermal relay RA2 Alarm RA1 emergency stop OFF 3 phase 200 to 230VAC Servo ...

Page 110: ...0VAC power P C Regenerative brake option The servo amplifier built in regenerative brake resistor is not connected at the time of shipment When using the regenerative brake option wire it across P C Refer to Section 13 1 1 for details N Return converter Brake unit When using the return converter or brake unit connect it across P N Refer to Sections 13 1 2 and 13 1 3 for details Protective earth PE...

Page 111: ...coder connector signal arrangement MS3102A20 29P J Terminal box inside HA LFS11K2 Earth terminal M6 screw Motor power supply terminal block U V W M6 screw Thermal sensor terminal block OHS1 OHS2 M4 screw Cooling fan terminal block BU BV M4screw Encoder commector MS3102A20 29P U V W BU BV OHS1OHS2 Terminal block signal arrangement Power supply connection screw size Servo motor Power supply connecti...

Page 112: ...f the servo amplifier Supply power which satisfies the following specifications HA LFS11K2 Item Description Voltage frequency single phase 200 to 220VAC 50Hz single phase 200 to 230VAC 60Hz Power consumption W 42 50Hz 54 60Hz Rated voltage V 0 12 50Hz 0 25 60Hz HA LFS15K2 22K2 Item Description Voltage frequency Three phase 200 to 220VAC 50Hz Three phase 200 to 230VAC 60Hz Power consumption W 32 50...

Page 113: ...3 66 3 SIGNALS AND WIRING MEMO ...

Page 114: ...generation converter 1 For the MR J2S 350A or less the lead has been removed from across D P of the control circuit terminal block and twisted cables are used for its wiring 2 For the MR J2S 500A or more the lead has been removed from across P C of the servo amplifier built in regenerative brake resistor and twisted cables are used for its wiring f When stroke end limit switches are used LSP and L...

Page 115: ...is not a failure and takes place due to the uncharged capacitor in the encoder The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then switching power off once and on again Also in the absolute position detection system if power is switched on at the servo motor speed of 500r min or higher position mismatch may occur due to external force or the like Power m...

Page 116: ...gains The optimum tuning results are provided by setting the response level appropriate for the machine in parameter No 2 Refer to chapter 7 6 Home position return Make home position return as required 7 Stop In any of the following statuses the servo amplifier interrupts and stops the operation of the servo motor Refer to Section 3 9 2 for the servo motor equipped with electromagnetic brake Note ...

Page 117: ...celeration time constant 500 Set 500ms 13 S pattern acceleration deceleration time constant 0 Not used After setting the above parameters switch power off once Then switch power on again to make the set parameter values valid 4 Servo on Switch the servo on in the following procedure 1 Switch on main circuit control circuit power supply 2 Switch on the servo on SON When placed in the servo on statu...

Page 118: ... 2 4 Torque control mode 1 Power on 1 Switch off the servo on SON 2 When main circuit power control circuit power is switched on the display shows U torque command voltage and in two second later shows data 2 Test operation Using jog operation in the test operation mode operate at the lowest speed to confirm that the servo motor operates Refer to Section 6 8 2 3 Parameter setting Set the parameter...

Page 119: ...the servo motor equipped with electromagnetic brake a Servo on SON OFF The base circuit is shut off and the servo motor coasts b Alarm occurrence When an alarm occurs the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop c Emergency stop EMG OFF The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden sto...

Page 120: ...the basic parameter values but cannot change the expansion parameter values When fine adjustment e g gain adjustment is required change the parameter No 19 setting to make the expansion parameters write enabled The following table indicates the parameters which are enabled for reference and write by the setting of parameter No 19 Operation can be performed for the parameters marked Parameter No 19...

Page 121: ...tion range P 100 pulse 6 PG1 Position loop gain 1 P 7kW or less 35 11kW or more 19 rad s 7 PST Position command acceleration deceleration time constant Smoothing P 3 ms Internal speed command 1 S 100 r min 8 SC1 Internal speed limit 1 T 100 r min Internal speed command 2 S 500 r min 9 SC2 Internal speed limit 2 T 500 r min Internal speed command 3 S 1000 r min 10 SC3 Internal speed limit 3 T 1000 ...

Page 122: ...Electromagnetic brake sequence output P S T 100 ms 34 GD2 Ratio of load inertia moment to servo motor inertia moment P S 70 0 1 times 35 PG2 Position loop gain 2 P 7kW or less 35 11kW or more 19 rad s 36 VG1 Speed loop gain 1 P S 7kW or less 177 11kW or more 96 rad s 37 VG2 Speed loop gain 2 P S 7kW or less 817 11kW or more 45 rad s 38 VIC Speed integral compensation P S 7kW or less 48 11kW or mor...

Page 123: ...io P S 100 64 VICB Speed integral compensation changing ratio P S 100 65 CDP Gain changing selection P S 0000 66 CDS Gain changing condition P S 10 Note3 67 CDT Gain changing time constant P S 1 ms 68 For manufacturer setting 0 69 CMX2 Command pulse multiplying factor numerator 2 P 1 70 CMX3 Command pulse multiplying factor numerator 3 P 1 71 CMX4 Command pulse multiplying factor numerator 4 P 1 I...

Page 124: ... amplifier 01 FR RC FR BU FR CV 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 08 MR RB31 09 MR RB51 0E When regenerative brake resistors supplied to 11kW or more are cooled by fans to increase capability The MR RB65 66 and 67 are regenerative brake options that have encased the GRZG400 2 GRZG400 1 and GRZG400 0 8 respectively When using any of these regenerative brake options make the sa...

Page 125: ...input filter is used to suppress it 0 None 1 1 777 ms 2 3 555 ms 3 5 333 ms CN1B pin 19 s function selection 0 Zero Speed detection ZSP 1 Electromagnetic brake interlock MBR Selection of absolute position detection system Refer to Chapter 15 0 Used in incremental system 1 Used in absolute position detection system CN1B pin 18 s function selection 0 Alarm ALM 1 Dynamic brake interlock DB When using...

Page 126: ... F 300Hz Set value Gain adjustment mode 0 Description 1 3 Simple manual adjustment 4 Manual adjustment of all gains Interpolation mode Fixes position control gain 1 parameter No 6 Auto tuning mode 1 Fixes the load inertia moment ratio set in parameter No 34 Response level setting can be changed Manual mode 1 Manual mode 2 2 Auto tuning mode 2 Ordinary auto tuning 0 0 7kW or less 0105 11kW or more ...

Page 127: ...position smoothing Used to set the time constant of a low pass filter in response to the position command You can use parameter No 55 to choose the primary delay or linear acceleration deceleration control system When you choose linear acceleration deceleration the setting range is 0 to 10ms Setting of longer than 10ms is recognized as 10ms POINT 7 PST When you have chosen linear acceleration dece...

Page 128: ...tion time constant Used to set the deceleration time required to reach 0r min from the rated speed in response to the analog speed command and internal speed commands 1 to 7 0 ms 0 to 20000 S T Basic parameters 13 STC S pattern acceleration deceleration time constant Used to smooth start stop of the servo motor Set the time of the arc part for S pattern acceleration deceleration STA Acceleration t...

Page 129: ...ot be made 0 sta tion 0 to 31 P S T Basic parameters 16 BPS Serial communication function selection alarm history clear Used to select the serial communication baudrate select various communication conditions and clear the alarm history Serial baudrate selection 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps Alarm history clear 0 Invalid 1 Valid When alarm history clear is made valid the alarm his...

Page 130: ...que Note 2 Motor speed 8V max speed 3 Torque 8V max torque Note 4 Current command 8V max current command 5 Command pulse frequency 10V 500kpulse s 6 Droop pulses 10V 128 pulses 7 Droop pulses 10V 2048 pulses 8 Droop pulses 10V 8192 pulses 9 Droop pulses 10V 32768 pulses A Droop pulses 10V 131072 pulses 0 0 B Bus voltage 8V 400V Analog monitor MO1 Note 8V is outputted at the maximum torque However ...

Page 131: ...sition high D ABS counter E Load inertia moment ratio F Bus voltage In speed control mode Analog speed limit voltage in torque control mode In torque control mode Analog torque limit voltage in speed or position control mode Note 1 2 Status display at power on in corresponding control mode 0 Depends on the control mode 0 0 0000 Refer to Name and function column P S T Control Mode Position Position...

Page 132: ... 0000 Refer to Name and function column S Expansion parameters 1 Function selection 2 Used to select restart after instantaneous power failure servo lock at a stop in speed control mode and slight vibration suppression control 0 Invalid Undervoltage alarm AL 10 occurs 1 Valid If the power supply voltage has returned to normal after an undervoltage status caused by the reduction of the input power ...

Page 133: ...meters 1 Function selection 4 Used to select stop processing at forward rotation stroke end LSP reverse rotation stroke end LSN off and choose VC VLA voltage averaging How to make a stop when forward rotation stroke end LSP reverse rotation stroke end LSN is valid Refer to Section 5 2 3 0 Sudden stop 1 Slow stop Set value 0 1 2 Filtering time ms 0 0 444 0 888 3 1 777 VC VLA voltage averaging Used ...

Page 134: ...o amplifier Set the value 4 times greater than the A phase or B phase pulses You can use parameter No 54 to choose the output pulse setting or output division ratio setting The number of A B phase pulses actually output is 1 4 times greater than the preset number of pulses The maximum output frequency is 1 3Mpps after multiplication by 4 Use this parameter within this range For output pulse design...

Page 135: ...00 P S T 34 GD2 Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment When auto tuning mode 1 and interpolation mode is selected the result of auto tuning is automatically used Refer to section 7 1 1 In this case it varies between 0 and 1000 70 0 1 times 0 to 3000 P S 35 PG2 Position loop gain 2 Used to s...

Page 136: ... external wiring 0 Switched on off by external input 1 Switched on automatically in servo amplifier No need of external wiring Reverse rotation stroke end LSN input selection Forward rotation stroke end LSP input selection 0 0000 Refer to Name and function column P S P S S T T P Expansion parameters 1 42 DI1 Input signal selection 1 Used to assign the control mode changing signal input pins and to...

Page 137: ...ignal will be invalid Set value Note Control mode P S T 0 1 2 3 4 5 6 7 8 9 SON SON SON RES RES RES PC PC TL TL SP1 SP1 SP2 SP2 ST1 RS2 ST2 RS1 CR CR CR A SP3 SP3 B C D TL1 TL1 E CDP CDP CM1 CM2 TL1 CDP Note P Position control mode S Speed control mode T Torque control mode 0111 Refer to Name and function column P S T Expansion parameters 1 44 DI3 Input signal selection 3 CN1B 14 Allows any input ...

Page 138: ...I6 Input signal selection 6 CN1B 8 Allows any input signal to be assigned to CN1B pin 8 The assignable signals and setting method are the same as in input signal selection 2 parameter No 43 Position control mode Input signals of CN1B pin 8 selected Torque control mode Speed control mode 0 This parameter is unavailable when parameter No 42 is set to assign the control change LOP to CN1B pin 8 When ...

Page 139: ... WNG output Select the connector pin to output warning The old signal before selection will be unavailable A parameter error AL 27 will occur if the connector pin setting is the same as that in the third digit AL 19 Memory error 3 AL 37 Parameter error AL 33 Overvoltage AL 46 Servo motor overheat AL 10 Undervoltage 1 0 0 AL 1A AL 25 Motor combination error Absolute position erase Setting of batter...

Page 140: ...ksum not added Protocol checksum selection 0 With station numbers 1 No station numbers 0000 Refer to Name and function column P S T Expansion parameters 2 54 OP9 Function selection 9 Use to select the command pulse rotation direction encoder output pulse direction and encoder pulse output setting 0 0 1 CCW CW CW CCW Servo motor rotation direction changing Changes the servo motor rotation direction...

Page 141: ...8dB 4dB Notch frequency selection Set 00 when you have set adaptive vibration suppression control to be valid or held parameter No 60 1 or 2 00 01 02 03 04 05 06 07 Setting value Frequency Invalid 4500 2250 1500 1125 900 750 642 9 08 09 0A 0B 0C 0D 0E 0F 562 5 500 450 409 1 375 346 2 321 4 300 Frequency 10 11 12 13 14 15 16 17 281 3 264 7 250 236 8 225 214 3 204 5 195 7 Frequency 18 19 1A 1B 1C 1D...

Page 142: ...ion 0 Normal 1 Large sensitivity When you choose vaid the filter of the handwidth represented by the following expression is set automatically 2 1 GD2 setting 0 1 VG2 setting 10 For 1kW or less 2 1 GD2 setting 0 1 VG2 setting 5 For 2kW or more Hz Hz 0000 Refer to Name and function column P S T 61 GD2B Ratio of load inertia moment to servo motor inertia moment 2 Used to set the ratio of load inerti...

Page 143: ...8 5 10 kpps pulse r min 10 to 9999 P S 67 CDT Gain changing time constant Used to set the time constant at which the gains will change in response to the conditions set in parameters No 65 and 66 Refer to Section 8 5 1 ms 0 to 100 P S 68 For manufacturer setting Do not change this value by any means 0 69 CMX2 Command pulse multiplying factor numerator 2 Used to set the multiplier for the command p...

Page 144: ...et speed 6 of internal speed limits 500 r min 0 to in stanta neous permi ssible speed T Internal speed command 7 Used to set speed 7 of internal speed commands S 75 SC7 Internal speed limit 7 Used to set speed 7 of internal speed limits 800 r min 0 to in stanta neous permi ssible speed T 76 TL2 Internal torque limit 2 Set this parameter to limit servo motor torque on the assumption that the maximu...

Page 145: ...r No 4 Parameter No 3 Electronic gear Feedback pulse CMX CDV Deviation counter Motor Encoder Input pulse train The following setting examples are used to explain how to calculate the electronic gear POINT The following specification symbols are required to calculate the electronic gear Pb Ballscrew lead mm n Reduction ratio Pt Servo motor resolution pulses rev 0 Travel per command pulse mm pulse S...

Page 146: ...tation e g an index table indexing positions will be missed due to cumulative error produced by rounding off For example entering a command of 36000 pulses in the above example causes the table to rotate only 26214 450 36000 1 131072 4 64 360 359 995 Therefore indexing cannot be done in the same position on the table 2 Instructions for reduction The calculated value before reduction must be as nea...

Page 147: ...Servo amplifier A1SD75P Servo motor Electronic gear The resolution of the servo motor is 131072 pulses rev For example the pulse command needed to rotate the servo motor is as follows Servo motor speed r min Required pulse command 2000 131072 2000 60 4369066 pulse s 3000 131072 3000 60 6553600 pulse s For the A1SD75P the maximum value of the pulse command that may be output is 200kpulse s in the o...

Page 148: ...ed 3000r min 2000r min Input system Open collector Differential line driver Open collector Differential line driver Max input pulse frequency kpulse s 200 500 200 500 Feedback pulse revolution pulse rev 131072 131072 Servo amplifier Electronic gear CMX CDV 4096 125 2048 125 8192 375 4096 375 Command pulse frequency kpulse s Note 200 400 200 400 Number of pulses per servo motor revolution as viewed...

Page 149: ...ction Signal output to across MO1 LG Analog monitor MO2 output selection Signal output to across MO2 LG Parameter No 17 0 0 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 Parameter No Description Setting range mV 31 Used to set the offset voltage for the analog monitor 1 MO1 32 Used to set the offset voltage f...

Page 150: ...CW direction 2048 pulse 2 Servo motor speed 8 V Max speed 0 Max speed CCW direction CW direction 8 Droop pulses Note1 10V 8192pulse 10 V 0 8192 pulse 10 V CCW direction CW direction 8192 pulse 3 Torque Note2 8 V Max torque 0 Max torque Driving in CW direction Driving in CCW direction 9 Droop pulses Note1 10V 32768pulse 10 V 0 32768 pulse 10 V CCW direction CW direction 32768 pulse 4 Current comman...

Page 151: ...M M Current control Speed control Current command Position control Droop pulse Differ ential Command pulse frequency Bus voltage Speed command Command pulse Current feedback Position feedback Servo Motor speed Current encoder Servo Motor Encoder Torque ...

Page 152: ...o 1 Slow stop Position control mode The motor is decelerated to a stop in accordance with the parameter No 7 value Speed control mode The motor is decelerated to a stop in accordance with the parameter No 12 value 5 2 4 Alarm history clear The servo amplifier stores one current alarm and five past alarms from when its power is switched on first To control alarms which will occur during operation c...

Page 153: ... delay or linear acceleration deceleration in parameter No 55 according to the machine used 1 For step input Command 3t t t Time t Input position command Position command after filtering for primary delay Position command after filtering for linear acceleration deceleration Position command acceleration deceleration time constant parameter No 7 2 For trapezoidal input Command Time t 3t t 3t t Inpu...

Page 154: ...ignal forced output Test operation Jog feed Test operation Positioning operation Test operation Motor less operation Software version L Software version H Automatic VC offset Current alarm Last alarm Second alarm in past Third alarm in past Fourth alarm in past Fifth alarm in past Sixth alarm in past Parameter error No Parameter No 0 Parameter No 1 Parameter No 18 Parameter No 19 Parameter No 20 P...

Page 155: ...e status display selected in parameter No 18 has been shown for 2 s The servo amplifier display shows the lower five digits of 16 data items such as the servo motor speed 6 2 1 Display examples The following table lists display examples Displayed data Item Status Servo amplifier display Forward rotation at 3000r min Servo motor speed Reverse rotation at 3000r min Reverse rotation is indicated by L...

Page 156: ...ress the SET button to reset the display value to zero When the servo motor is rotating in the reverse direction the decimal points in the upper four digits are lit 99999 to 99999 Command pulse frequency n kpps The frequency of the position command input pulses is displayed The value displayed is not multiplied by the electronic gear CMX CDV 800 to 800 1 Torque control mode Analog speed limit VLA ...

Page 157: ...ated ratio of the load inertia moment to the servo motor shaft inertia moment is displayed 0 0 to 300 0 Bus voltage Pn V The voltage across P N of the main circuit converter is displayed 0 to 450 6 2 3 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 ...

Page 158: ...once when there is no command from the external command device Motorless operation Without connection of the servo motor the servo amplifier provides output signals and displays the status as if the servo motor is running actually in response to the external input signal For details refer to section 6 8 4 Test operation mode Machine analyzer operation Merely connecting the servo amplifier allows t...

Page 159: ...l MELSERVO Servo Motor Instruction Manual Motor type Press the SET button to show the motor type ID of the servo motor currently connected For indication details refer to the optional MELSERVO Servo Motor Instruction Manual Encoder Press the SET button to show the encoder ID of the servo motor currently connected For indication details refer to the optional MELSERVO Servo Motor Instruction Manual ...

Page 160: ... that there is no sixth alarm in the past Indicates no occurrence of parameter error AL 37 Parameter error No Indicates that the data of parameter No 1 is faulty Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 Even during alarm occurrence the other screen can be viewed by pressing the button in the operation area At this time the decimal point in the fourth digit...

Page 161: ...ic parameter screen The set value of the specified parameter number flickers UP DOWN The parameter number is displayed Press or to change the number Press SET twice Press UP once During flickering the set value can be changed Use or Press SET to enter 2 Speed control mode UP DOWN To shift to the next parameter press the UP DOWN button When changing the parameter No 0 setting change its set value t...

Page 162: ...xternal I O signal display screen 2 Display definition CN1B 7 CN1B 9 CN1B 8 CN1A 14 CN1A 8 CN1B 4 CN1B 18 CN1B 14 CN1B 5 CN1B 17 CN1B 16 CN1B 19 CN1B 6 CN1A 19 CN1A 18 Lit ON Extinguished OFF Input signals Output signals CN1B 15 Always lit The 7 segment LED shown above indicates ON OFF Each segment at top indicates the input signal and each segment at bottom indicates the output signal The signals...

Page 163: ...ALM ALM ALM ALM No 49 CN1B 19 O ZSP ZSP ZSP ZSP ZSP ZSP No 1 49 Note 1 I Input signal O Output signal 2 P Position control mode S Speed control mode T Torque control mode P S Position speed control change mode S T Speed torque control change mode T P Torque position control change mode 3 CN1B 4 and CN1A 18 output signals are the same b Symbol and signal names Symbol Signal name Symbol Signal name ...

Page 164: ...7 External emergency stop LSP CN 1 B 16 Forward rotation stroke end Lit ON Extinguished OFF RD CN 1 A 19 Ready SA CN 1 A 18 Limiting speed ZSP CN 1 B 19 Zero speed TLC CN 1 B 6 Limiting torque DO1 CN 1 B 4 Limiting speed ALM CN 1 B 18 Trouble OP CN 1 A 14 Encoder Z phase pulse Input signals Output signals SP2 CN 1 B 7 Speed selection 2 ST1 CN 1 B 8 For ward rotation start ST2 CN 1 B 9 Reverse rota...

Page 165: ...rmed in the servo off state servo on SON Operation Call the display screen shown after power on Using the MODE button show the diagnostic screen Press UP twice Press SET for more than 2 seconds Switch on off the signal below the lit segment Indicates the ON OFF of the output signal The correspondences between segments and signals are as in the output signals of the external I O signal display Lit ...

Page 166: ...hoosing Incremental system in parameter No 1 The MR Configurator servo configuration software is required to perform positioning operation Test operation cannot be performed if the servo on SON is not turned OFF 6 8 1 Mode change Call the display screen shown after power on Choose jog operation motor less operation in the following procedure Using the MODE button show the diagnostic screen When th...

Page 167: ...e to stop If the communication cable is disconnected during jog operation performed by using the MR Configurator servo configuration software the servo motor will be decelerated to a stop 2 Status display You can confirm the servo status during jog operation Pressing the MODE button in the jog operation ready status calls the status display screen With this screen being shown perform jog operation...

Page 168: ...ation software The initial conditions and setting ranges for operation are listed below Item Initial setting Setting range Travel distance pulse 10000 0 to 9999999 Speed r min 200 0 to instantaneous permissible speed Acceleration deceleration time constant ms 1000 0 to 50000 How to use the buttons is explained below Button Description Forward Click to start positioning operation CCW Reverse Click ...

Page 169: ...ou can confirm the servo status during motor less operation Pressing the MODE button in the motor less operation ready status calls the status display screen With this screen being shown perform motor less operation Every time you press the MODE button the next status display screen appears and on completion of a screen cycle pressing that button returns to the motor less operation ready status sc...

Page 170: ...1 initial value 010 Always estimated PG1 parameter No 6 GD2 parameter No 34 PG2 parameter No 35 VG1 parameter No 36 VG2 parameter No 37 VIC parameter No 38 Response level setting of parameter No 2 Auto tuning mode 2 020 PG1 parameter No 6 PG2 parameter No 35 VG1 parameter No 36 VG2 parameter No 37 VIC parameter No 38 GD2 parameter No 34 Response level setting of parameter No 2 Manual mode 1 030 PG...

Page 171: ...lifier with the MR Configurator servo configuration software which operates on a personal computer Function Description Adjustment Machine analyzer With the machine and servo motor coupled the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response You can grasp the machine resonance fre...

Page 172: ...ormed properly if the following conditions are not satisfied Time to reach 2000r min is the acceleration deceleration time constant of 5s or less Speed is 150r min or higher The ratio of load inertia moment to servo motor inertia moment is 100 times or less The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance torque ...

Page 173: ...rtia moment ratio is already known or if estimation cannot be made properly chose the auto tuning mode 2 parameter No 2 2 to stop the estimation of the load inertia moment ratio Switch in above diagram turned off and set the load inertia moment ratio parameter No 34 manually From the preset load inertia moment ratio parameter No 34 value and response level The first digit of parameter No 2 the opt...

Page 174: ...procedure is as follows END Yes No Yes No No Yes Auto tuning adjustment Acceleration deceleration repeated Load inertia moment ratio estimation value stable Auto tuning conditions not satisfied Estimation of load inertia moment ratio is difficult Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performance satis...

Page 175: ...n control parameter No 60 or machine resonance suppression filter parameter No 58 59 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to Section 8 1 for adaptive vibration suppression control and machine resonance suppression filter Parameter No 2 Response level setting Gain adjustment mode selection Machine characterist...

Page 176: ...chine resonance Refer to Section 8 1 1 For speed control a Parameters The following parameters are used for gain adjustment Parameter No Abbreviation Name 34 GD2 Ratio of load inertia moment to servo motor inertia moment 37 VG2 Speed control gain 2 38 VIC Speed integral compensation b Adjustment procedure Step Operation Description 1 Set an estimated value to the ratio of load inertia moment to se...

Page 177: ...rol a Parameters The following parameters are used for gain adjustment Parameter No Abbreviation Name 6 PG1 Position control gain 1 34 GD2 Ratio of load inertia moment to servo motor inertia moment 37 VG2 Speed control gain 2 38 VIC Speed integral compensation b Adjustment procedure Step Operation Description 1 Set an estimated value to the ratio of load inertia moment to servo motor inertia momen...

Page 178: ... response frequency of the speed loop is as indicated in the following expression Speed loop response frequency Hz Speed control gain 2 setting 1 ratio of load inertia moment to servo motor inertia moment 2 2 3 Speed integral compensation parameter No 38 To eliminate stationary deviation against a command the speed control loop is under proportional integral control For the speed integral compensa...

Page 179: ...tion control gain 1 parameter No 6 and speed control gain 1 parameter No 36 Check the upper setting limits 4 Set the interpolation mode parameter No 2 000 Select the interpolation mode 5 Using the position control gain 1 value checked in step 3 as the guideline of the upper limit set in PG1 the value identical to the position loop gain of the axis to be interpolated Set position control gain 1 6 U...

Page 180: ...40Hz F 300Hz Note that because of a slight difference in gain adjustment pattern response may not be the same if the resonance frequency is set to the same value 7 5 2 Auto tuning selection The MELSERVO J2 Super series has an addition of the load inertia moment ratio fixing mode It also has the addition of the manual mode 1 which permits manual adjustment with three parameters 1 Parameter No 2 Gai...

Page 181: ...7 12 7 GENERAL GAIN ADJUSTMENT MEMO ...

Page 182: ... resonance of the mechanical system 8 1 Function block diagram Speed control Machine resonance suppression filter 2 Encoder Current command Low pass filter Parameter No 58 Parameter No 60 Parameter No 59 Parameter No 60 Machine resonance suppression filter 1 Adaptive vibration suppression control 00 or 1 2 0 00 0 1 00 except 00 except Servo motor 8 2 Machine resonance suppression filter 1 Function...

Page 183: ... or a too deep notch 2 Parameters a Machine resonance suppression filter 1 parameter No 58 Set the notch frequency and notch depth of the machine resonance suppression filter 1 parameter No 58 When you have made adaptive vibration suppression control selection parameter No 60 valid or held make the machine resonance suppression filter 1 invalid parameter No 58 0000 3 1 2 0 14dB 8dB 00 01 02 03 04 ...

Page 184: ...aracteristics frequency depth are set automatically you need not be conscious of the resonance frequency of a mechanical system Also while adaptive vibration suppression control is valid the servo amplifier always detects machine resonance and if the resonance frequency changes it changes the filter characteristics in response to that frequency Mechanical system response level Mechanical system re...

Page 185: ...vity of detecting machine resonance Setting of large sensitivity detects smaller machine resonance and generates a filter to suppress machine vibration However since a phase delay will also increase the response of the servo system may not increase 8 4 Low pass filter 1 Function When a ballscrew or the like is used resonance of high frequency may occur as the response level of the servo system is ...

Page 186: ...al to ensure stability of the servo system since the load inertia moment ratio varies greatly during a stop e g a large load is mounted on a carrier 8 5 2 Function block diagram The valid control gains PG2 VG2 VIC and GD2 of the actual loop are changed according to the conditions selected by gain changing selection CDP parameter No 65 and gain changing condition CDS parameter No 66 Valid GD2 value...

Page 187: ...ore changing 61 GD2B Ratio of load inertia moment to servo motor inertia moment 2 0 1 times Used to set the ratio of load inertia moment to servo motor inertia moment after changing 62 PG2B Position control gain 2 changing ratio Used to set the ratio of the after changing position control gain 2 to position control gain 2 63 VG2B Speed control gain 2 changing ratio Used to set the ratio of the aft...

Page 188: ...tion control gain 2 changing ratio 100 180rad s Speed control gain 2 Speed control gain 2 Speed control gain 2 changing ratio 100 3000rad s Speed integral compensation Speed integral compensation Speed integral compensation changing ratio 100 16ms 4 Gain changing selection parameter No 65 Used to set the gain changing condition Choose the changing condition in the first digit If you set 1 here you...

Page 189: ...s 61 GD2B Ratio of load inertia moment to servo motor inertia moment 2 100 0 1 times 62 PG2B Position control gain 2 changing ratio 70 63 VG2B Speed control gain 2 changing ratio 133 64 VICB Speed integral compensation changing ratio 250 65 CDP Gain changing selection 0001 Changed by ON OFF of pin CN1A 8 67 CDT Gain changing time constant 100 ms b Changing operation OFF ON OFF Gain changing CDP Ch...

Page 190: ... 62 PG2B Position control gain 2 changing ratio 70 63 VG2B Speed control gain 2 changing ratio 133 64 VICB Speed integral compensation changing ratio 250 65 CDP Gain changing selection 0003 Changed by droop pulses 66 CDS Gain changing condition 50 pulse 67 CDT Gain changing time constant 100 ms b Changing operation CDT 100ms 0 Droop pulses pulses Change of each gain CDS CDS Before changing gain Af...

Page 191: ...8 10 8 SPECIAL ADJUSTMENT FUNCTIONS MEMO ...

Page 192: ...s not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please contact your sales representative Part name Life guideline Smoothing capacitor 10 years Relay Number of power on and number of emergency stop times 100 000 times Cooling fan 10 000 to 30 000hours 2 to 3 years Servo amplifier Absolute position battery Refer to Sectio...

Page 193: ...9 2 9 INSPECTION MEMO ...

Page 194: ...pply of encoder cabling is shorted 2 Encoder is faulty LED is not lit LED flickers Improved when connector CN3 is disconnected Power supply of CN3 cabling is shorted 1 Power on Alarm occurs Refer to Section 10 2 and remove cause Section 10 2 Alarm occurs Refer to Section 10 2 and remove cause Section 10 2 2 Switch on servo on SON Servo motor shaft is not servo locked is free 1 Check the display to...

Page 195: ... complete auto tuning Gain adjustment fault Chapter 7 4 Gain adjustment Large load inertia moment causes the servo motor shaft to oscillate side to side If the servo motor may be run with safety repeat acceleration and deceleration several times to complete auto tuning Gain adjustment fault Chapter 7 5 Cyclic operation Position shift occurs Confirm the cumulative command pulses cumulative feedback...

Page 196: ...o amplifier s cumulative command pulses 2 CMX parameter No 3 CDV parameter No 4 P C cumulative command pulses electronic gear cumulative feedback pulses 3 C M cumulative feedback pulses travel per pulse machine position Check for a position shift in the following sequence 1 When Q P Noise entered the pulse train signal wiring between positioning unit and servo amplifier causing pulses to be miss c...

Page 197: ...l the status display and check the input voltage of the analog speed command VC Analog speed command is 0V Section 6 2 Call the external I O signal display and check the ON OFF status of the input signal LSP LSN ST1 or ST2 is off Section 6 6 Check the internal speed commands 1 to 7 parameters No 8 to 10 72 to 75 Set value is 0 Check the internal torque limit 1 parameter No 28 Torque limit level is...

Page 198: ...nd remove cause Section 10 2 2 Switch on servo on SON Servo motor shaft is free Call the external I O signal display and check the ON OFF status of the input signal 1 Servo on SON is not input Wiring mistake 2 24VDC power is not supplied to COM Section 6 6 Call the status display and check the analog torque command TC Analog torque command is 0V Section 6 2 Call the external I O signal display and...

Page 199: ... 13 0 0 0 Clock error AL 15 0 0 0 Memory error 2 AL 16 1 1 0 Encoder error 1 AL 17 0 0 0 Board error AL 19 0 0 0 Memory error 3 AL 1A 1 1 0 Motor combination error AL 20 1 1 0 Encoder error 2 AL 24 1 0 0 Main circuit error AL 25 1 1 0 Absolute position erase AL 30 0 0 1 Regenerative error Note 1 Note 1 Note 1 AL 31 1 0 1 Overspeed AL 32 1 0 0 Overcurrent AL 33 0 0 1 Overvoltage AL 35 1 0 1 Command...

Page 200: ... the dynamic brake is operated to stop the servomotor At this time the display indicates the alarm No The servo motor comes to a stop Remove the cause of the alarm in accordance with this section The optional MR Configurator servo configuration software may be used to refer to the cause Display Name Definition Cause Action 1 Power supply voltage is low 2 There was an instantaneous control power fa...

Page 201: ...V W of the servo amplifier and the input terminals U V W of the servo motor AL 19 Memory error 3 ROM memory fault Faulty parts in the servo amplifier Checking method Alarm AL 19 occurs if power is switched on after disconnection of all cable but the control circuit power supply cable Change the servo amplifier AL 1A Motor combination error Wrong combination of servo anplifier and servo motor Wrong...

Page 202: ...option of larger capacity 3 Reduce the load 4 Power supply voltage is abnormal MR J2S A 260VAC or more MR J2S A1 135VAC or more Review power supply Permissible regenerative power of the built in regenerative brake resistor or regenerative brake option is exceeded 5 Built in regenerative brake resistor or regenerative brake option faulty Change servo amplifier or regenerative brake option AL 30 Reg...

Page 203: ...tive brake option change regenerative brake option 6 Capacity of built in regenerative brake resistor or regenerative brake option is insufficient Add regenerative brake option or increase capacity 7 Power supply voltage high Review the power supply AL 33 Overvoltage Converter bus voltage exceeded 400VDC 8 Ground fault occurred in servo amplifier output phases U V and W Correct the wiring 1 Pulse ...

Page 204: ...eview operation pattern 2 Install limit switches 4 Wrong connection of servo motor Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W Connect correctly AL 50 Overload 1 Load exceeded overload protection characteristic of servo amplifier 5 Encoder faulty Checking method When the servo motor shaft is rotated with the servo off the cumulative feedback pulses do ...

Page 205: ...motor s input terminals U V W Connect correctly 1 Communication cable breakage Repair or change communication cable 2 Communication cycle longer than parameter No 56 setting Set correct value in parameter AL 8A Serial communication time out error RS 232C or RS 422 communication stopped for longer than the time set in parameter No 56 3 Wrong protocol Correct protocol 1 Communication cable fault Ope...

Page 206: ... entered after clearing of droop pulses Do not enter command pulse after clearing of droop pulses AL 96 Home position setting warning Home position setting could not be made 3 Creep speed high Reduce creep speed AL 9F Battery warning Voltage of battery for absolute position detection system reduced Battery voltage fell to 3 2V or less Detected with the servo amplifier Change the battery AL E0 Exce...

Page 207: ...is off External emergency stop was made valid EMG was turned off Ensure safety and deactivate emergency stop AL E9 Main circuit off warning Servo on SON was switched on with main circuit power off Switch on main circuit power 1 PC ladder program wrong 1 Correct the program AL EA ABS servo on warning Servo on SON turned on more than 1s after servo amplifier had entered absolute position data transf...

Page 208: ... C N 3 Approx 20 Variable dimensions Servo amplifier A B Mass kg lb MR J2S 10A 1 MR J2S 20A 1 50 1 97 6 0 24 0 7 1 54 MR J2S 40A 1 MR J2S 60A 70 2 76 22 0 87 1 1 2 43 Note This data applies to the 3 phase 200 to 230VAC and 1 phase 230VAC power supply models TE2 Front D C P L21 L11 PE terminals Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in TE1 L1 U V W Terminal screw M4 Tightening torque 1...

Page 209: ...ate Terminal layout Terminal cover open 6 0 24 mounting hole 168 6 61 156 6 14 6 0 24 6 0 24 42 1 65 22 0 87 6 0 24 PE terminal 6 0 24 0 87 Approx 20 Servo amplifier Mass kg lb MR J2S 70A MR J2S 100A 1 7 3 75 TE1 L1 U V W Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in TE2 D C P N PE terminals Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in L2 L3 L21 L11 Front Mounting Screw Screw Si...

Page 210: ...E terminal 0 24 0 24 Fan air orientation Servo amplifier Mass kg lb MR J2S 200A MR J2S 350A 2 0 4 41 TE1 L1 L2 L3 U V W L11 L21 D P C N Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in TE2 PE terminals Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in Mounting Screw Screw Size M5 Tightening torque 3 24 N m 28 676 lb in Terminal sign...

Page 211: ... layout N P Fan Fan Fan air orientation MITSUBISHI MITSUBISHI Approx 20 Servo amplifier Mass kg lb MR J2S 500A 4 9 10 8 TE1 TE2 L11 L21 N L1 L2 L3 C P U V W Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in PE terminals Built in regenerative brake resistor lead terminal fixing screw Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in Terminal screw M3 5 Tightening torque 0 8 N m 7 lb in Mo...

Page 212: ... 5 6 0 24 Fan air orientation Fan MITSUBISHI OPEN OPEN MITSUBISHI Approx 20 Servo amplifier Mass kg lb MR J2S 700A 7 2 15 9 L1 L2 L3 TE1 TE2 N P C L11 L21 W V U Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in Terminal screw M3 5 Tightening torque 0 8 N m 7 lb in Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in Built in regenerative brake resistor lead terminal fixing screw PE terminal...

Page 213: ... TE2 2 12 0 47 mounting hole 0 47 Unit mm Unit in 260 10 24 Servo amplifier Mass kg lb MR J2S 11KA 15 33 1 MR J2S 15KA 16 35 3 TE2 L11 L21 Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in L1 L2 L3 TE1 Terminal screw M6 Tightening torque 3 0 N m 26 lb in W V U C P P1 N PE terminal Terminal screw M6 Tightening torque 6 0 N m 52 lb in Mounting Screw Screw Size M10 Tightening torque 26 5 N m 234...

Page 214: ...2 0 47 0 47 12 CHARGE CN2 TE2 2 12 0 47 mounting hole 0 47 260 0 24 Servo amplifier Mass kg lb MR J2S 22KA 20 44 1 TE2 L11 L21 Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in L1 L2 L3 TE1 W V U C P P1 N Terminal screw M8 Tightening torque 6 0 N m 52 lb in PE terminal Terminal screw M8 Tightening torque 6 0 N m 52 lb in Mounting Screw Screw Size M10 Tighting torque 26 5 N m 234 545 lb in Ter...

Page 215: ...re indicated here 10 0 0 39 Unit mm Unit in Variable dimensions Connector Shell kit A B 10120 3000VE 10320 52F0 008 22 0 0 87 33 3 1 31 b Threaded type Model Connector 10120 3000VE Shell kit 10320 52A0 008 12 0 0 47 33 3 1 31 22 0 0 87 23 8 0 94 39 0 1 54 12 7 0 50 14 0 0 55 Logo etc are indicated here 10 0 0 22 5 7 27 4 1 08 Unit mm Unit in 0 39 Note This is not available as option and should be ...

Page 216: ...dustry 23 0 0 91 RS 1 0 04 0 04 1 12 2 0 48 14 2 0 56 38 5 1 52 27 4 1 08 32 0 0 91 HONDA PCR LS20LA1 38 5 1 52 27 4 1 08 32 0 0 91 HONDA RS 10 4 0 41 1 9 0 08 20 6 0 81 1 12 2 0 48 PCR LS20LA1W 13 0 0 04 0 04 1 Unit mm Unit in 0 51 Model Number of Pins Connector Case Crimping terminal PCR S20FS soldering type 20 PCR S20F insulation displacement type PCR LS20LA1 PCR LS20LA1W FHAT 002A Note PCR S20...

Page 217: ...ication cable connector Japan Aviation Electronics Industry C D F A B Unit mm Unit in Fitting fixing screw G E max diameter of cable used Type A 1 B 1 C 0 25 D 1 E F Reference G 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 ...

Page 218: ... or less of the rated torque 1000 100 10 1 0 1 0 50 150 200 250 300 Note Load ratio Operation time s During rotation During stop 100 a MR J2S 10A to MR J2S 100A 1000 100 10 1 0 1 0 50 100 150 200 250 300 Note Load ratio Operation time s During rotation During stop b MR J2S 200A to MR J2S 350A 0 50 100 150 200 250 300 1 10 100 1000 10000 Note Load ratio Operation time s During rotation During servo...

Page 219: ...C KFS23 0 5 25 15 0 5 5 4 HC MFS23 0 5 25 15 0 5 5 4 MR J2S 20A 1 HC UFS23 0 5 25 15 0 5 5 4 HC KFS43 0 9 35 15 0 7 7 5 HC MFS43 0 9 35 15 0 7 7 5 MR J2S 40A 1 HC UFS43 0 9 35 15 0 7 7 5 HC SFS52 1 0 40 15 0 8 8 6 HC SFS53 1 0 40 15 0 8 8 6 MR J2S 60A HC LFS52 1 0 40 15 0 8 8 6 HC KFS73 1 3 50 15 1 0 10 8 HC MFS73 1 3 50 15 1 0 10 8 MR J2S 70A HC UFS72 73 1 3 50 15 1 0 10 8 HC SFS81 1 5 50 15 1 0 ...

Page 220: ...8 4 HA LFS801 12 0 390 45 7 8 83 9 HA LFS12K1 18 0 580 45 11 6 124 8 MR J2S 11KA HA LFS11K1M 16 0 530 45 11 0 118 4 HA LFS15K2 22 0 640 45 13 139 0 HA LFS15K1 22 0 640 45 13 139 0 MR J2S 15KA HA LFS15K1M 22 0 640 45 13 139 0 HA LFS22K2 33 0 850 55 17 183 0 HA LFS20K1 30 1 775 55 15 5 166 8 HA LFS25K1 37 6 970 55 19 4 208 8 MR J2S 22KA HA LFS22K1M 33 0 850 55 17 0 193 0 Note 1 Note that the power s...

Page 221: ...sure Refer to Table 12 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the enclosure is directly installed on an insulated wall that extra amount must be added to the enclosure s surface area The required heat dissipation area will vary wit the conditions in the enclosure If convection in the enclosure is poor and heat builds up effective heat...

Page 222: ...hine rapid feedrate mm min in min JM Servo motor inertial moment kg cm2 oz in2 JL Load inertia moment converted into equivalent value on servo motor shaft kg cm2 oz in2 Brake time constant s te Delay time of control section s For 7kW or less servo there is internal relay delay time of about 30ms For 11kW to 22kW servo there is delay time of about 100ms caused by a delay of the external relay and a...

Page 223: ...0 01 0 012 0 014 0 016 0 018 0 500 1000 1500 2000 2500 3000 153 503 103 353 203 e HC SFS3000r min series f HC RFS series Time constant s Speed r min 352 500 1000 1500 2000 0 0 0 01 0 02 0 03 0 04 0 05 0 06 0 07 0 08 0 09 0 1 502 72 202 152 0 0 01 0 02 0 03 0 04 0 05 0 06 50 500 10001500200025003000 0 43 23 0 07 13 73 Speed r min Time constant s g HC UFS 2000r min series h HC UFS3000r min series 0 ...

Page 224: ...A1 30 MR J2S 350A 16 MR J2S 500A MR J2S 700A 15 MR J2S 11KA to MR J2S 22KA Note 30 Note The value assumes that the external dynamic brake is used 12 4 Encoder cable flexing life The flexing life of the cables is shown below This graph calculated values Since they are not guaranteed values provide a little allowance for these values 1 107 5 107 1 108 5 106 1 106 5 105 1 105 5 104 1 104 5 103 1 103 ...

Page 225: ...100A Attenuated to approx 0A in 0 5 to 1ms MR J2S 200A 350A 120A Attenuated to approx 12A in 20ms 100 to 130A Attenuated to approx 0A in 0 5 to 1ms MR J2S 500A 44A Attenuated to approx 20A in 20ms MR J2S 700A 88A Attenuated to approx 20A in 20ms MR J2S 11KA MR J2S 15KA MR J2S 22KA 235A Attenuated to approx 20A in 20ms 30A Attenuated to approx 0A in several ms MR J2S 10A1 20A1 59A Attenuated to app...

Page 226: ...300 500 Note Always install a cooling fan Note Regenerative power W Servo amplifier External regenerative brake resistor Accessory MR RB65 8 MR RB66 5 MR RB67 4 MR J2S 11KA 500 800 500 800 MR J2S 15KA 850 1300 850 1300 MR J2S 22KA 850 1300 850 1300 Note Values in parentheses assume the installation of a cooling fan 2 Selection of the regenerative brake option a Simple selection method In horizonta...

Page 227: ...TU TF E5 2 0 1047 N0 T5 Tpsa2 6 T6 TU TF E6 0 1047 N0 T6 t3 7 T7 JL JM 9 55 104 N0 1 Tpsd2 TU TF E7 2 0 1047 N0 T7 Tpsd2 From the calculation results in 1 to 8 find the absolute value Es of the sum total of negative energies b Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regene...

Page 228: ... brake options that have encased the GRZG400 2 GRZG400 1 and GRZG400 0 8 respectively When using any of these regenerative brake options make the same parameter setting as when using the GRZG400 2 GRZG400 1 or GRZG400 0 8 supplied regenerative brake resistors or regenerative brake option is used with 11kW or more servo amplifier Parameter No 0 Selection of regenerative 00 Regenerative brake option...

Page 229: ...he G3 and G4 terminals act as a thermal sensor G3 G4 are opened when the regenerative brake option overheats abnormally Servo amplifier Regenerative brake option Note 1 When using the MR RB50 forcibly cool it with a cooling fan 1 0m3 min 92 or so 2 Make up a sequence which will switch off the magnetic contactor MC when abnormal heating occurs Note2 5m 16 4 ft max D P P C G3 G4 C Always remove the ...

Page 230: ...resistor Regenerative brake option Fan Note 1 Note 1 When using the MR RB50 MR RB51 forcibly cool it with a cooling fan 1 0m3 min 92 or so 2 Make up a sequence which will switch off the magnetic contactor MC when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4VA When using the regenerative brake resistor option remove...

Page 231: ...is case set 0E in parameter No 0 P C Servo amplifier Note Series connection Fan P1 Do not remove the short bar 5m or less Note The number of resistors connected in series depends on the resistor type Install a thermal sensor or like to configure a circuit that will shut off the main circuit power at abnormal overheat The supplied regenerative brake resistor does not have a built in thermal sensor ...

Page 232: ...ion with fans improves regenerative capability The G3 and G4 terminals are for the thermal sensor G3 G4 are opened when the regenerative brake option overheats abnormally RA ALM G3 G4 C P COM C P P1 Servo amplifier Do not remove the short bar Configure up a circuit which shuts off main circuit power when thermal sensor operates Note Regenerative brake option Note Specifications of contact across G...

Page 233: ... 0 5 to 0 6 N m 4 to 5 lb in Variable dimensions Mass Regenerative brake option LA LB LC LD kg lb MR RB032 30 1 18 15 0 59 119 4 69 99 3 9 0 5 1 1 MR RB12 40 1 57 15 0 59 169 6 69 149 5 87 1 1 2 4 b MR RB30 MR RB31 MR RB32 Mounting screw G4 G3 C P Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in 100 3 94 90 3 54 10 0 39 7 8 5 0 34 8 5 0 34 125 4 92 150 5 91 142 5 59 17 0 67 318 12 52 335 13 ...

Page 234: ...ion G4 G3 C P d MR RB65 MR RB66 MR RB67 G4 G3 C P Terminal block Terminal screw M5 Tightening torque 2 0 N m 17 lb in Tightening torque 13 2 N m 116 83 lb in Mounting screw Screw size M8 10 0 39 43 1 69 480 18 9 500 19 69 427 16 81 10 0 39 30 1 18 215 8 47 2 3 0 09 10 0 39 230 9 06 260 10 24 230 9 06 2 10 0 39 monutinghde TE1 G4G3 CP Unit mm in 15 0 59 82 5 82 5 82 5 4 M3 screw Fan mounting 3 24 3...

Page 235: ...r Hence use the this brake unit when the MR RB cannot provide sufficient regenerative brake capability When using the brake unit set 01 in parameter No 0 1 Selection Brake unit Resistor unit Permissible Continuous Power kw Max Instantaneous Power kw Applicable Servo Amplifier FR BU 15K FR BR 15K 0 99 16 5 FR BU 30K FR BR 30K 1 99 33 4 FR BU 55K FR BR 55K 3 91 66 8 MR J2S 500A MR J2S 700A MR J2S 11...

Page 236: ...rake unit Resistor unit 5m 16 404ft or less 5m 16 404ft or less 10m 32 808ft or less 10m 32 808ft or less Brake unit Twist Twist Resistor unit 3 Outside dimensions a Brake unit FR BU Unit mm in D K F BA B E AA A C E EE F K Note Control circuit terminals Main circuit terminals Operation display Note Ventilation ports are provided in both side faces and top face The bottom face is open Brake Unit A ...

Page 237: ...K 340 11 389 270 10 63 600 23 622 582 22 913 560 22 047 220 8 661 10 0 394 35 1 378 10 0 394 2 0 079 20 0 787 30 33 069 FR BR 55K 480 18 898 410 16 142 700 27 559 670 26 378 620 24 409 450 17 717 12 0 472 35 1 378 12 0 472 3 2 0 126 40 1 575 70 154 323 13 1 3 Power regeneration converter When using the power regeneration converter set 01 in parameter No 0 1 Selection The converters can continuousl...

Page 238: ... the phase detection terminals fit the jumpers across RX R SX S and TX T If the jumpers remain removed the FR RC will not operate 2 For the servo amplifiers of 5k and 7kW always remove the wiring across P C of the built in regenerative brake resistor 3 Refer to the power return converter FR RC instruction manual IB NA 66330 for the power factor improving reactor to be used When using FR RC with th...

Page 239: ...195 7 677 10 0 394 10 0 394 8 0 315 3 2 0 126 90 3 543 31 68 343 FR RC 55K 480 18 898 410 16 142 700 27 559 670 26 378 250 9 843 12 0 472 15 0 591 15 0 591 3 2 0 126 135 5 315 55 121 254 4 Mounting hole machining dimensions When the power regeneration converter is fitted to a totally enclosed type box mount the heat generating area of the converter outside the box to provide heat generation measur...

Page 240: ...ier Dynamic brake MR J2S 11KA DBU 11K MR J2S 15KA DBU 15K MR J2S 22KA DBU 22K 2 Connection example 13 U 14 V W NFB MC L11 L21 U V W U V W E M a b RA1 RA1 EMG CN1B 5 SON CN1B L3 L2 L1 RA1 15 EMG 10 SG SD Plate 18 DB 13 COM 3 VDD MC SK MC ON OFF Note1 EMG Servo amplifier Servo motor Dynamic brake Power supply 3 phase 200 to 230VAC Operation ready Note1 Configure up the circuit so that power is switc...

Page 241: ...vo motor rotation Coasting Alarm RA1 ON OFF emergency stop EMG Absent Invalid Valid Short Open a Timing chart at alarm occurrence b Timing chart at emergency stop EMG validity Dynamic brake Base ON OFF Coasting Dynamic brake Dynamic brake Present ...

Page 242: ... 69 163 5 6 44 2 4 41 5 5 DBU 15K 22K 250 9 84 238 9 37 150 5 91 25 0 98 6 0 24 235 9 25 228 8 98 6 13 23 5 5 POINT Configure up a sequence which switches off the contact of the brake unit after or as soon as it has turned off the servo on signal at a power failure or failure For the braking time taken when the dynamic brake is operated refer to Section 12 3 The brake unit is rated for a short dur...

Page 243: ...ose indicated by broken lines in the figure are not options HC SFS HC RFS HC UFS 2000r min HC KFS HC MFS HC UFS 3000r min HA LFS CN1A CN1B CN2 CN3 CON2 CN4 Operation panel Controller Servo amplifier Personal computer 14 13 12 To U V W 19 20 1 2 6 15 16 17 18 3 4 5 7 8 7 8 3 4 5 10 10 11 11 9 Note1 Note2 22 Note 1 Use 12 and 13 with 7kW or less 2 Use 21 with 11kW or more ...

Page 244: ...e MR JHSCBL M H Refer to 2 in this section Long flexing life Connector 10120 3000VE Shell kit 10320 52F0 008 3M or equivalent Connector MS3106A20 29S D190 Cable clamp CE3057 12A 3 D265 Back shell CE02 20BS S DDK 5 IP65 compliant encoder cable MR ENCBL M H Refer to 2 in this section Long flexing life IP65 IP67 Not oil resistant Connector 10120 3000VE Shell kit 10320 52F0 008 3M or equivalent Housin...

Page 245: ...ication cable MR CPCATCBL3M Refer to 3 in this section For connection with PC AT compatible personal computer 15 Power supply connector set MR PWCNS1 Refer to the Servo Motor Instruction Manual Connector CE05 6A22 23SD B BSS Cable clamp CE3057 12A 2 D265 DDK 16 Power supply connector set MR PWCNS2 Refer to the Servo Motor Instruction Manual Connector CE05 6A24 10SD B BSS Cable clamp CE3057 16A 2 D...

Page 246: ...ired length is not found in the options fabricate the cable on the customer side a MR JCCBL M L MR JCCBL M H These encoder cables are used with the HC KFS HC MFS HC UFS3000r min series servo motors 1 Model explanation L H 2 5 10 20 30 2 6 56 5 16 4 10 32 8 20 65 6 30 98 4 40 50 40 131 2 50 164 0 Symbol Specifications Standard flexing life Long flexing life Symbol Note Cable length m ft Note MR JCC...

Page 247: ...cating an encoder cable use the recommended wires given in Section 13 2 1 and the MR J2CNM connector set for encoder cable fabrication and fabricate an encoder cable as shown in the following wiring diagram Referring to this wiring diagram you can fabricate an encoder cable of up to 50m 164 0ft length including the length of the encoder cable supplied to the servo motor When the encoder cable is t...

Page 248: ...0 40 131 2 50 164 0 2 5 10 20 30 Long flexing life Symbol Cable length m ft Model MR ENCBL M H 40 50 Note MR JHSCBL M L has no 40 131 2 and 50m 164 0ft sizes 2 6 56 5 16 4 10 32 8 20 65 6 30 98 4 40 131 2 50 164 0 2 Connection diagram For the pin assignment on the servo amplifier side refer to Section 3 3 1 CN2 A B C D E F G H J K L M A B C MR D MRR E F BAT G LG H J K L M N SHD P R LG S P5 T Servo...

Page 249: ... BAT LG SD 19 11 20 12 18 2 7 17 9 1 S R C D F N G P5 LG P5 LG P5 LG MR MRR BAT LG SD 19 11 20 12 18 2 7 17 9 1 S R C D F N G Note 1 This wiring is required for use in the absolute position detection system This wiring is not needed for use in the incremental system 2 AWG28 can be used for 5m 16 4ft or less When fabricating an encoder cable use the recommended wires given in Section 13 2 1 and the...

Page 250: ...itch 20 pins D SUB9 pins 3 2 5 7 8 6 4 TXD RXD GND RTS CTS DSR DTR FG RXD LG TXD LG Servo amplifier side Plate 2 1 12 11 Personal computer side MR CPCATCBL3M When fabricating the cable refer to the connection diagram in this section The following must be observed in fabrication 1 Always use a shielded multi core cable and connect the shield with FG securely 2 The optional communication cable is 3m...

Page 251: ... fitting AERSBAN ESET For the use of the cable clamp fitting refer to Section 13 2 6 2 c 2 Terminal labels Among the terminal block labels for the junction terminal block use the two for the MR J2S A MR J2 A When changing the input signals in parameters No 43 to 48 refer to 4 in this section and Section 3 3 and apply the accessory signal seals to the labels 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16...

Page 252: ...Z LA LB OP LZR LAR LBR RD LG P15R COM SG SA SD SP1 LZ LA LB OP LZR LAR LBR RD LG VC VDD DO1 SON TLC PC TLC SG P15R TLA COM RES EMG LSP LSN ALM ZSP SD LG NP PP P15R COM SG OPC NG PG INP SD CR LZ LA LB OP LZR LAR LBR RD LG VC VDD DO1 SON TLC ST1 ST2 SG P15R TLA COM RES EMG LSP LSN ALM ZSP SD SP2 LG VLA VDD DO1 SON VLC RS2 RS1 SG P15R TC COM RES EMG ALM ZSP SD SP2 For CN1A For CN1B For CN1A For CN1B ...

Page 253: ...ard MR J2CN3TM Analog monitor 2 Analog monitor 1 Servo amplifier Not used Bus cable MR J2HBUS M 2 Connection diagram LG RXD LG MO3 SDP LG TXD LG MO2 P5 MO1 RDP TRE SDN CN3A 1 2 3 4 5 6 7 8 9 10 11 13 12 14 15 16 17 18 19 20 1 2 3 4 5 6 7 8 9 10 11 13 12 14 15 16 17 18 19 20 1 2 3 4 5 6 7 8 9 10 11 13 12 14 15 16 17 18 19 20 CN3B CN3C Shell Shell Shell 1 3 4 5 10 13 14 15 19 20 B5 B6 A5 A6 A1 A2 A3...

Page 254: ...Association IATA went into effect on January 1 2003 and was enforced immediately In this rule provisions of the lithium and lithium ion batteries were revised to tighten the restrictions on the air transportation of batteries However since this battery is non dangerous goods non Class 9 air transportation of 24 or less batteries is outside the range of the restrictions Air transportation of more t...

Page 255: ...red in addition to the servo amplifier and servo motor Model Note 1 Description Note 2 Personal computer IBM PC AT compatible where the English version of Windows 95 Windows 98 Windows Me Windows NT Workstation 4 0 or Windows 2000 Professional operates Processor Pentium 133MHz or more Windows 95 Windows 98 Windows NT Workstation 4 0 Windows 2000 Professional Pentium 150MHz or more Windows Me Memor...

Page 256: ...amplifier Servo motor 2 When using RS 422 You can make multidrop connection of up to 32 axes Personal computer CN3 CN2 Servo amplifier Servo motor Servo motor Servo motor Servo amplifier Servo amplifier Axis 1 Axis 2 Axis 32 RS 232C RS 422 converter To RS 232C connector Note Communication cable Note For cable connection refer to section 14 1 1 CN3 CN2 CN3 CN2 ...

Page 257: ...f the FR CV a Up to six servo amplifiers can be connected to one FR CV b FR CV capacity W Total of rated capacities W of servo amplifiers connected to FR CV 2 c The total of used servo motor rated currents should be equal to or less than the applicable current A of the FR CV d Among the servo amplifiers connected to the FR CV the servo amplifier of the maximum capacity should be equal to or less t...

Page 258: ...amplifier Emergency stop is activated 2 For the servo motor with thermal relay configure a sequence that will shut off main circuit power when the thermal relay operates 3 For the servo amplifier configure a sequence that will switch the servo on after the FR CV is ready 4 For 7kW or less servo amplifier always remove the wiring 3 5kW or less across P D 5k 7kW across P C of built in regenerative b...

Page 259: ...er capacities is 15kW since 7kW 3 5kW 2 0kW 12 5kW Third unit 8mm assuming that the total of servo amplifier capacities is 7kW since 3 5kW 2 0kW 5 5kW Fourth unit 3 5mm assuming that the total of servo amplifier capacities is 2kW since 2 0kW 2 0kW FR CV 55K Servo amplifier 15kW Servo amplifier 7kW Servo amplifier 3 5kW Servo amplifier 2kW 2 2 2 2 Note Note Note Note For 7kW or less servo amplifier...

Page 260: ...luctuation 5 Power supply Power supply capacity Note2 kVA 17 20 28 41 52 66 100 Protective structure JEM 1030 cooling system Open type IP00 forced cooling Ambient temperature 10 to 50 non freezing Ambient humidity 90 RH or less non condensing Environment Ambience Indoors without corrosive gas flammable gas oil mist dust and dirt Altitude vibration 1000m or less above sea level 5 9m s2 or less comp...

Page 261: ...the fitting screws 4 screws supplied and install the servo amplifier to the control box The environment outside the control box when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment conditions 1 Panel cut dimensions Unit mm in Changeable dimension Model A B C D Servo amplifier MR JACN15K 236 9 291 255 10 039 270 10 63 203 7 992...

Page 262: ...nk outside mounting attachment b Installation to the control box 4 Outline dimension drawing a MR JACN15K MR J2S 11KA MR J2S 15KA Servo amplifier Attachment Panel Panel 20 0 787 145 5 709 400 15 748 35 1 378 194 7 638 84 3 307 58 2 283 12 0 472 3 2 0 126 236 9 291 155 6 102 11 5 0 453 260 10 236 280 11 024 260 10 236 510 20 079 580 22 835 Servo amplifier 4 12 Mounting hole Attachment 105 4 134 ...

Page 263: ...A 68 2 677 145 5 709 400 15 748 35 1 378 194 7 638 84 58 12 3 2 0 126 326 12 835 155 6 102 105 11 5 260 370 14 567 350 13 78 510 20 079 580 22 835 Attachment Servo amplifer Attachment 4 12 Mounting hole Servo amplifer Panel Panel 2 283 0 472 3 307 10 236 4 134 0 453 ...

Page 264: ... 5 4 Regenerative brake option lead 5 Electromagnetic brake lead 2 Control power supply lead Regenerative brake option 6 Brake unit lead or Return converter Cooling fan BU BV BW Fan lead Power supply The following table lists wire sizes The wires used assume that they are 600V vinyl wires and the wiring distance is 30m 98 4ft max If the wiring distance is over 30m 98 4ft choose the wire size in co...

Page 265: ...FR BU and power regeneration converter FR RC Model Wires mm2 FR BU 15K 3 5 AWG12 FR BU 30K 5 5 AWG10 FR BU 55K 14 AWG6 FR RC 15K 14 AWG6 FR RC 30K 14 AWG6 FR RC 55K 22 AWG4 Table 13 2 Recommended crimping terminals Servo amplifier side crimping terminals Symbol Crimping terminal Applicable tool Maker name a 32959 47387 b 32968 59239 Tyco Electronics c FVD8 5 Body YF 1 E 4 Head YNE 38 Dice DH 111 D...

Page 266: ...0 88 8 0 Note 2 A14B0238 7P 2 5 6 56 16 4 0 08 8 4 pairs 7 0 127 222 0 38 4 7 UL20276 AWG 28 4pair BLAC MR JHSCBL M L 10 to 30 32 8 to 98 4 0 3 12 6 pairs 12 0 18 62 1 2 8 2 UL20276 AWG 22 6pair BLAC 2 5 6 56 16 4 0 2 8 4 pairs 40 0 08 105 0 88 6 5 Note 2 A14B2339 4P MR JHSCBL M H 10 to 50 32 8 to 164 0 2 12 6 pairs 40 0 08 105 0 88 7 2 Note 2 A14B2343 6P 2 5 6 56 16 4 0 2 8 4 pairs 40 0 08 105 0 ...

Page 267: ...5 D1 Installation screw D 5 Unit mm Note Servo amplifier MR J2S A Servo amplifier MR J2S A Servo amplifier MR J2S A1 Note For the 1 phase 230V power supply Connect the power supply to L1 L2 and leave L3 open Dimensions mm in Servo amplifier Model W W1 H D D1 C Mounting screw size Terminal screw size Mass kg lb MR J2S 10A 1 20A FR BAL 0 4K 135 5 31 120 4 72 115 4 53 59 2 32 45 0 2 5 1 77 0 0 098 7 ...

Page 268: ...ng the DC reactor remove the short circuit bar across P P1 5m or less Dimensions mm in Servo amplifier Power factor improving DC reactors A B C D E F L G H Terminal screw size Mass kg lb Used wire mm 2 MR J2S 11KA FR BEL 15K 170 6 69 93 3 66 170 6 69 2 3 0 09 155 6 10 6 0 24 14 0 55 M8 56 2 21 M5 3 8 8 38 22 AWG4 MR J2S 15KA FR BEL 22K 185 7 28 119 4 69 182 7 17 2 6 0 10 165 6 49 7 0 28 15 0 59 M8...

Page 269: ...0 12 or less 30 0 1 18 or more Crimping terminal for M4 screw Vinyl tube 4 7 1 0 0 19 0 04 0 8 0 03 13 2 7 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 t...

Page 270: ...oduced 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 Noises produced by servo amplifier Noises transmitte...

Page 271: ...servo amplifier 3 Avoid laying the power lines I O cables of the servo amplifier and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits 7 When the power supply of peripheral devices is connected to the power supply of the servo amplifier system noises produced by the servo amplifier may be transmitted b...

Page 272: ... 5 0 71 0 06 Note that a diode should be installed to a DC relay DC valve or the like Maximum voltage Not less than 4 times the drive voltage of the relay or the like Maximum current Not less than twice the drive current of the relay or the like Diode RA c Cable clamp fitting AERSBAN SET Generally the earth of the shielded cable may only be connected to the connector s SD terminal However the effe...

Page 273: ...38 L or less 10 0 39 30 1 18 7 0 28 24 0 0 2 Note Screw hole for grounding Connect it to the earth plate of the control box 0 24 24 0 3 0 0 940 0 940 Unit mm Unit in B 0 3 0 01 2 5 0 20 hole installation hole Type A B C Accessory fittings Clamp fitting L AERSBAN DSET 100 3 94 86 3 39 30 1 18 clamp A 2pcs A 70 2 76 AERSBAN ESET 70 2 76 56 2 20 clamp B 1pc B 45 1 77 ...

Page 274: ...number of turns must be four or less Do not wind the grounding wire together with the 3 phase wires The filter effect will decrease Use a separate wire for grounding Example 2 Two filters are used Total number of turns 4 Power supply Servo amplifier Line noise filter NFB L3 L1 L2 Example 1 Number of turns 4 Power supply NFB L1 L2 L3 Servo amplifier Line noise filter MC MC 160 6 30 180 7 09 130 5 1...

Page 275: ... the leakage current breaker to the input terminals of the servo amplifier Found from Fig 13 1 Ig2 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 13 1 Ign Leakage current when a filter is connected to the input side 4 4mA per one FR BIF Iga Leakage current of the servo amplifier Found from Table 13 6 Igm Leakage current of...

Page 276: ...eakage current breaker generally available Find the terms of Equation 13 2 from the diagram Ig1 20 1000 5 0 1 mA Ig2 20 1000 5 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in Equation 13 2 Ig 10 0 1 0 0 1 1 0 1 0 1 4 0 mA According to the result of calculation use a leakage current breaker having the rated sensitivity current Ig of 4 0 mA or more A leakage current breaker having...

Page 277: ...100A TMA 3 0 14 5 31 97 Note Soshin Electric A surge protector is separately required to use any of these EMC filters Refer to the EMC Installation Guidelines 2 Connection example NFB L1 L2 L3 L11 L21 L1 L2 L3 LINE LOAD EMC filter Servo amplifier Note 1 Power supply Note 2 Note 1 For 1 phase 230VAC power supply connect the power supply to L1 L2 and leave L3 open There is no L3 for 1 phase 100 to 1...

Page 278: ... TM 290 11 42 240 9 45 100 3 94 190 7 48 175 6 89 160 6 29 44 1 73 170 6 69 100 3 94 M6 M4 HF3060A TMA 290 11 42 240 9 45 100 3 94 190 7 48 175 6 89 160 6 29 44 1 73 230 9 06 160 6 29 R3 25 0 13 length 8 0 32 M6 M4 HF3080A TMA HF3100A TMA H 2 J 2 G 1 F 2 E 1 D 2 3 L 8 K 3 L M C 1 B 2 A 5 C 1 C 1 Dimensions mm in Model A B C D E F G H J K L M HF3080A TMA HF3100A TMA 405 15 95 350 13 78 100 3 94 220...

Page 279: ... 56 hole 25 0 98 10 0 39 2 5 0 10 1 6 0 06 Unit mm in Panel hole machining diagram 12 0 47 10 0 37 hole 3 6 0 14 hole Unit mm in 2 Multi revolution type Position meter RRS10M202 Japan Resistor make Analog dial 23M Japan Resistor make Rated power Resistance Resistance tolerance Dielectric strength for 1 minute Insulation resistance Mechanical rotary angle Rotary torque 10 1W 2k 10 700V A C 1000M or...

Page 280: ... as personal computer RS 232C RS 422 converter To CN3 Axis 1 Station 0 Axis 2 Station 1 Axis 32 Station 31 Unavailable as option To be prepared by customer To CN3 To CN3 Servo amplifier Servo amplifier Servo amplifier 2 Cable connection diagram Wire as shown below RS 422 output unit RDP RDN SDP SDN GND GND Note 3 30m 98 4ft or less Note 1 Axis 1 servo amplifier CN3 connector 5 15 9 19 11 1 10 Plat...

Page 281: ...tion with the personal computer MR CPCATCBL3M is available Refer to Section 13 1 4 Personal computer connector D SUB9 socket TXD RXD GND RTS CTS 3 2 5 7 8 DSR DTR 6 4 Note 1 Servo amplifier CN3 connector TXD GND RXD GND FG 12 11 2 1 Plate Note 2 15m 49 2ft or less Note 1 Connector set MR J2CN1 3M Connector 10120 6000EL Shell kit 10320 3210 000 2 15m 49 2ft or less in environment of little noise Ho...

Page 282: ...h sends a reply in response to the instruction servo amplifier is called a slave station When fetching data successively the master station repeatedly commands the slave station to send data Item Description Baudrate 9600 19200 38400 57600 asynchronous system Transfer code Start bit 1 bit Data bit 8 bits Parity bit 1 bit even Stop bit 1 bit Transfer protocol Character system half duplex communicat...

Page 283: ... communication standard selection 0 RS 232C used 1 RS 422 used Parameter No 16 3 Serial communication response delay time Set the time from when the servo amplifier slave station receives communication data to when it sends back data Set 0 to send back data in less than 800 s or 1 to send back data in 800 s or more Serial communication response delay time 0 Invalid 1 Valid reply sent in 800 s or m...

Page 284: ...arameter Transmission data is valid for the servo amplifier of the specified station number or group When is set as the station number added to the transmission data the transmission data is made valid for all servo amplifiers connected However when return data is required from the servo amplifier in response to the transmission data set 0 to the station number of the servo amplifier which must pr...

Page 285: ...0 frames Command Data No Check sum Error code Data Check sum 6 frames data Station number Station number 3 Recovery of communication status by time out E O T Controller side Master station Servo side Slave station EOT causes the servo to return to the receive neutral status 4 Data frames The data length depends on the command or Data 4 frames Data 8 frames or 12 frames or 16 frames ...

Page 286: ...a q 0 0 1 0 2 STX DC2 2 B R b r 0 0 1 1 3 ETX DC3 3 C S c s 0 1 0 0 4 4 D T d t 0 1 0 1 5 5 E U e u 0 1 1 0 6 6 F V f v 0 1 1 1 7 7 G W g w 1 0 0 0 8 8 H X h x 1 0 0 1 9 9 I Y i y 1 0 1 0 10 J Z j z 1 0 1 1 11 K k 1 1 0 0 12 L l 1 1 0 1 13 M m 1 1 1 0 14 N n 1 1 1 1 15 O _ o DEL 3 Station numbers You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to speci...

Page 287: ... error occurred in the transmitted data C c Checksum error Checksum error occurred in the transmitted data D d Character error Character not existing in the specifications was transmitted E e Command error Command not existing in the specifications was transmitted F f Data No error Data No not existing in the specifications was transmitted Negative response 14 6 Checksum The check sum is a ASCII c...

Page 288: ... communication between the master and slave stations the error code in the response data from the slave station is a negative response code B to F b to f In this case the master station retransmits the message which was sent at the occurrence of the fault Retry operation A communication error occurs if the above operation is repeated and results in the error three or more consecutive times Message...

Page 289: ...ion 1 from the servo amplifier of station 0 Data item Value Description Station number 0 Servo amplifier station 0 Command 05 Read command Data No 02 Parameter No 2 Checksum 30H 30H 35H 02H 30H 32H 03H FCH 0 2 STX ETX 5 0 Yes No Yes No No No Yes Yes Yes No 0 0 5 0 2 0 Axis No Command Data No Data Start Data make up Checksum calculation and addition Addition of SOH to make up transmission data Data...

Page 290: ... 8 D load inertia moment ratio 12 0 1 8 E Status display data value and processing information Bus voltage 12 2 Parameter Command 0 5 Command Data No Description Frame length 0 5 0 0 to 5 4 Current value of each parameter The decimal equivalent of the data No value hexadecimal corresponds to the parameter number 8 3 External I O signals Command 1 2 Command Data No Description Frame length 1 2 4 0 ...

Page 291: ...tia moment ratio 12 3 5 8 E Status display data value and processing information at alarm occurrence Bus voltage 12 6 Others Command Data No Description Frame length 0 2 9 0 Servo motor end pulse unit absolute position 8 0 2 9 1 Command unit absolute position 8 0 2 7 0 Software version 16 14 11 2 Write commands 1 Status display Command 8 1 Command Data No Description Setting range Frame length 8 1...

Page 292: ...rain inputs with the exception of EMG LSP and LSN 1EA5 4 9 0 1 3 Enables the disabled external output signals DO 1EA5 4 7 Data for test operation mode Command 9 2 A 0 Command Data No Description Setting range Frame length 9 2 0 0 Input signal for test operation Refer to section 14 12 6 8 9 2 A 0 Forced output from signal pin Refer to section 14 12 8 8 Command Data No Description Setting range Fram...

Page 293: ...from hexadecimal to decimal and a decimal point is placed according to the decimal point position information When the display type is 1 the eight character data is used unchanged The following example indicates how to process the receive data 003000000929 given to show The receive data is as follows 0 0 Data 32 bit length hexadecimal representation Data conversion is required as indicated in the ...

Page 294: ... is transferred in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit By way of example here is described how to process the set data when a value of 15 5 is sent Since the decimal point position is the second digit the decimal point po...

Page 295: ...o display type is required Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required 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 5 Lower fifth digit 6 Lower sixth digit 2 Status display data clear The cumulative feedback pulse data of the status display is cleared Send this comman...

Page 296: ...er No Data is transferred in hexadecimal Decimal point position 0 No decimal point 1 Lower first digit 2 Lower second digit 3 Lower third digit 4 Lower fourth digit 5 Lower fifth digit Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Parameter write type 0 Valid after write 1 Valid when power is switched on again after write Read enable disable 0 Read enable 1 Read d...

Page 297: ... data after making sure that it is within the upper lower limit value range given in Section 5 1 2 Read the parameter data to be written confirm the decimal point position and create transmission data to prevent error occurrence On completion of write read the same parameter data to verify that data has been written correctly Command Data No Set data 8 4 0 0 to 5 4 See below Data is transferred in...

Page 298: ... 9 16 24 1 CN1B 17 9 17 25 2 CN1B 15 10 18 26 3 CN1B 5 11 19 27 4 CN1B 14 12 20 28 5 CN1A 8 13 21 29 6 CN1B 7 14 22 30 7 CN1B 8 15 23 31 2 External output pin status read Read the ON OFF statuses of the external output pins a Transmission Transmit command 1 2 and data No C 0 Command Data No 1 2 C 0 b Reply The slave station sends back the ON OFF statuses of the output pins b31 b0 0 OFF 1 ON b1 Com...

Page 299: ...als DI OFF External analog input signals 0V Pulse train inputs None 1 Disabling enabling the external input signals DI external analog input signals and pulse train inputs with the exception of EMG LSP and LSN Transmit the following communication commands a Disable Command Data No Data 9 0 0 0 1EA5 b Enable Command Data No Data 9 0 1 0 1EA5 2 Disabling enabling the external output signals DO Trans...

Page 300: ...ommand 9 2 data No 0 0 and data Command Data No Set data 9 2 0 0 See below b31 b0 0 OFF 1 ON b1 Command of each bit is transmitted to the slave station as hexadecimal data bit Signal abbreviation bit Signal abbreviation bit Signal abbreviation bit Signal abbreviation 0 SON 8 16 24 1 LSP 9 17 25 2 LSN 10 18 26 3 TL 11 ST1 19 27 4 12 ST2 20 28 5 PC 13 21 29 6 RES 14 22 30 7 CR 15 23 31 ...

Page 301: ...0 1EA5 3 Choose the test operation mode Command Data No Transmission data Selection of test operation mode 8 B 0 0 0000 Test operation mode cancel 8 B 0 0 0001 Jog operation 8 B 0 0 0002 Positioning operation 8 B 0 0 0003 Motor less operation 8 B 0 0 0004 DO forced output 4 Set the data needed for test operation 5 Start 6 Continue communication using the status display or other command b Terminati...

Page 302: ...ommand 9 2 data No 0 0 Item Command Data No Data Servo on 9 2 0 0 00000001 Turns on SON Servo OFF Stroke end ON 9 2 0 0 00000006 Turns off SON and turns on LSP LSN Servo on Stroke end ON 9 2 0 0 00000007 Turns on SON LSP LSN c Start of positioning operation Transmit the speed and acceleration deceleration time constant turn on the servo on SON and forward reverse rotation stroke end LSP LSN and th...

Page 303: ...choose DO forced output 0 0 Selection of test operation mode 4 DO forced output output signal forced output 0 4 2 External output signal ON OFF Transmit the following communication commands Command Data No Setting data 9 2 A 0 See below Command of each bit is sent to the slave station in hexadecimal b31 b0 0 OFF 1 ON b1 bit External output pin bit External output pin bit External output pin bit Ex...

Page 304: ...L _ no alarm 2 Alarm occurrence time read Read the occurrence time of alarm which occurred in the past The alarm occurrence time corresponding to the data No is provided in terms of the total time beginning with operation start with the minute unit omitted a Transmission Send command 3 3 and data No 2 0 to 2 5 Refer to Section 14 11 1 b Reply The alarm occurrence time is transferred in decimal Hex...

Page 305: ...d command 3 5 and any of data No 8 0 to 8 E corresponding to the status display item to be read Refer to Section 14 11 1 b Reply The slave station sends back the requested status display data at alarm occurrence 0 0 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...

Page 306: ...rted into decimal For example data 000186A0 is 100000 pulse in the motor end pulse unit 2 Command unit absolute position Read the absolute position in the command unit a Transmission Send command 0 2 and data No 9 1 Command Data No 0 2 9 1 b Reply The slave station sends back the requested command pulses Absolute value is sent back in hexadecimal in the command unit Must be converted into decimal ...

Page 307: ...14 28 14 COMMUNICATION FUNCTIONS MEMO ...

Page 308: ... the absolute position data which is battery backed by the super capacitor in the encoder can be retained within the specified period cumulative revolution counter value retaining time if the cable is unplugged or broken LSO 1XO MR BAT CPU General purpose programmable controller Servo amplifier Pulse train command Changing the current position data Positioning module I O module Current position da...

Page 309: ...ke 2 Time to hold data by a battery with power off It is recommended to replace the battery in three years independently of whether power is kept on or off 3 Period during which data can be held by the super capacitor in the encoder after power off with the battery voltage low or the battery removed or during which data can be held with the encoder cable disconnected Battery replacement should be ...

Page 310: ...nd human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand 1 Open the operation window When the model used is the MR J2S 200A MR J2S 350A or more also remove the front cover 2 Install the battery in the battery holder 3 Install the battery connector into CON1 until it clicks Battery connector Battery Operation window CON1 Battery hol...

Page 311: ...G Note 1 Positioning module Note 2 Stroke end in forward rotation Stroke end in reverse rotation External torque control Electromagnetic brake output Near zero point signal Stop signal Power supply 24V Ready Zero point signal Clear Command pulses for differential line driver type Dog Stop Emergency stop Servo on ABS transmission mode ABS request ABS bit 0 ABS bit 1 Send data ready Torque limit 10V...

Page 312: ...ndicates the lower bit of the ABS data 2 bits which is sent from the servo to the programmable controller in the ABS transfer mode If there is a signal D01 turns on DO 1 ABS bit 1 ZSP CN1B 19 Indicates the upper bit of the ABS data 2 bits which is sent from the servo to the programmable controller in the ABS transfer mode If there is a signal ZSP turns on DO 1 Send data ready TLC CN1B 6 Indicates ...

Page 313: ... 1PG turns on c The MR Configurator servo configuration software ABS data display window refer to Section 15 9 and programmable controller side ABS data registers D3 D4 for A1SD71 D106 D107 for 1PG show the same value at the home position address of 0 If any warning such as ABS time out warning AL E5 or programmable controller side transfer error occurs refer to Section 15 10 or Chapter 10 and tak...

Page 314: ...ta ready ON ABS transfer mode OFF TLC send data ready OFF DI0 allocation change Transmission data set Transmission data set DI0 allocation change Watch dog timer Reading 2 bits Shift and addition Watch dog timer Reading 2 bits Shift and addition Setting the current position Sum check Every time the SON is turned ON the ABS transfer mode signal is turned ON to set the data to be transmitted The dat...

Page 315: ...t position latched when the ABS transfer mode ABSM switches from OFF to ON At the same time this data is set as a position command value inside the servo amplifier Unless the ABS transfer mode ABSM is turned ON the base circuit cannot be turned ON 1 At power on a Timing chart OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 80 ms 80 ms 1 2 3 Power supply Servo on SON 4 ABS transfer mode ABSM ABS r...

Page 316: ... ABS transfer mode the ABS transfer mode is interrupted and the ABS time out warning AL E5 occurs 4 The functions of output signals such as ZSP TLC D01 and INP change depending on the ON OFF state of the ABS transfer mode ABSM Note that if the ABS transfer mode ABSM is turned ON for a purpose other than ABS data transmission the output signals will be assigned the functions of ABS data transmissio...

Page 317: ...e absolute position and turns ON the send data ready TLC to notify the programmable controller that the servo is ready for data transmission 3 After acknowledging that the ready to send TLC has been turned ON the programmable controller turns ABS request ABSR ON 4 In response to ABS request ABSR the servo outputs the lower 2 bits of the ABS data and the ready to send TLC in the OFF state 5 After a...

Page 318: ...the servo The method of calculating the check sum is shown Every time the programmable controller receives 2 bits of ABS data it adds the data to obtain the sum of the received data The check sum is 6 bit data Negative data is available for the FX 1PG and unavailable for the A1SD71 Example ABS data 10 FFFFFFF6H 10b 01b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b b 11 101101b 10 FFFF FFF6 1...

Page 319: ...ble controller within 5s after the send data ready TLC is turned ON this is regarded as a transmission error and the ABS time out warning AL E5 is output OFF ON OFF ON OFF ON 5s ABS transfer mode ABS request Send data ready AL E5 warning Signal is not turned ON No Yes 2 ABS request ON time time out check applied to 32 bit ABS data in 2 bit units check sum If the ABS request signal is not turned OF...

Page 320: ...check sum error occurs the programmable controller should retry transmission of the ABS data Using the ladder check program turn OFF the ABS transfer mode ABSM and servo on SON once Turn them ON again after an OFF time of longer than 20 ms If the ABS data transmission fails to end normally even after retry regard this situation as an ABS check sum error and execute error processing The start comma...

Page 321: ...he ABS transfer mode ABSM cannot be accepted In the reset state the ABS transfer mode ABSM can be input OFF ON OFF ON OFF ON OFF ON OFF ON 80 ms OFF ON OFF ON Servo on SON Reset RES ABS transfer mode ABSM ABS request ABSR Send data ready TLC Transmission ABS data Base circuit Alarm output ALM Ready RD Occurrence of alarm During transfer of ABS ABS data Operation enabled OFF ON ...

Page 322: ...emergency stop as shown below the servo amplifier transmits to the controller the current position latched when the ABS transfer mode ABSM switches from OFF to ON and at the same time the servo amplifier sets this data as a position command value However since the base circuit is OFF during an emergency stop the servo lock status is not encountered Therefore if the servo motor is rotated by extern...

Page 323: ...ergency stop state In this case the base circuit and the ready RD are turned ON after the emergency stop state is reset OFF ON OFF ON OFF ON OFF ON OFF ON 80 ms OFF ON OFF ON Servo on SON Emergency stop EMG ABS transfer mode ABSM ABS request ABSR Send data ready TLC Send ABS data Base circuit Ready RD During transfer of ABS ABS data Operation enabled ...

Page 324: ...e non volatile memory as the home position ABS data The home position setting CR should be turned on after it has been confirmed that the in position D01 or INP is on If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to 1 000...

Page 325: ...setting CR is on for longer than 20ms the stop position is stored into the non volatile memory as the home position ABS data The home position setting CR should be turned on after it has been confirmed that the in position D01 or INP is on If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset automatically by making home position retur...

Page 326: ... ABS data bit 1 Hence make up an external sequence which will cause the electromagnetic brake torque to be generated by the ABS mode ABSM and electromagnetic brake interlock MBR OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 80 ms 20 ms Tb 80 ms 20 ms Tb Power supply Servo on SON ABS transfer mode ABSM ABS request ABSR ABS transmission data ready ABST Send ABS data Base circuit Rea...

Page 327: ...absolute position data of the servo amplifier and the programmable controller a difference will occur between the position data of the servo amplifier and that of the programmable controller To prevent this difference in position data from occurring do as described below When the servo amplifier has detected the stroke end perform jog operation or the like to clear the stroke end After that switch...

Page 328: ...nt removed from the machine home position by more than one revolution of the motor shaft 0 0 10000 50000 50000 0 0 10000 50000 20000 Machine home position Home position operation home position Programmable controller coordinate system ABS coordinate system a If revolution direction parameter Pr 14 0 b If revolution direction parameter Pr 14 1 Programmable controller coordinate system ABS coordinat...

Page 329: ...curs if power is turned on within this range ABS coordinate value error occurs if power is turned on within this range Home position address changed to 2000 Home position address changed to 2000 b If revolution direction parameter Pr 14 1 c In a positioning program the address of the positioning point should be determined by adding the home position address to the target position address Example A...

Page 330: ...ow First slot Vacant slot 16 points Second slot Special function module 32 points 2 To execute the FROM TO instruction for the A1SD71 use the head I O number of the second slot A1S CPU A1SD71 X Y000 to X Y00F X Y010 to X Y02F X30 to X3F Y40 to Y4F I O numbers to be set with FROM TO instruction 16 point input module 16 point output module Note The program example given in 3 in this section is for 1...

Page 331: ...er supply ABS bit 0 Completion of positioning ABS bit 1 Zero speed Send data ready Torque limit control Trouble Servo on ABS transfer mode ABS request Alarm reset Power supply Power supply Electromagnetic brake output Note 4 Note 1 JOG JOG Alarm reset Emergency stop Servo on Home position return Operation mode I Operation mode II Position start Position stop Note 1 To be connected for dog type hom...

Page 332: ... ready torque limit control Y42 ABS request X33 Servo alarm Y43 Alarm reset X34 Error reset X44 Note 2 Electromagnetic brake output X35 Servo emergency stop Y45 Note 1 Clear X36 Servo on Y48 Servo alarm X37 Home position return start Y49 ABS communication error X38 Operation mode I Y4A ABS check sum error X39 Operation mode II Y4B ABS coordinate error D register M contact D0 ABS data transmission ...

Page 333: ...l m PLS inch PLS degree PLS PLS D P K D3 D3 Constant K for conversion into unit of travel 1 to 10 to 100 1 to 10 to 100 1 to 10 to 100 None Reference For 1 m PLS set constant K to 10 For 5 m PLS set constant K to 50 When the unit setting is pulse the additional program is not required M9038 K1 K1 K201 H0001 TOP M9039 X36 D7 K3 MOV M8 SET M8 M9 M11 1 1 X36 M3 RST M8 RST C0 RST C1 RST A0 D100 DMOV Y...

Page 334: ...t Alarm reset output Error flag output Resetting ready to send Resetting servo on request Servo alarm Initializing ABS data transfer counter Initializing check sum transfer counter Initializing check sum register Initializing ABS data register Initializing ABS data register Initializing ABS data register Resetting error for ABS coordinate Resetting ABS transfer counter Resetting check sum transfer...

Page 335: ... 32 bit data Clearing register 1 Reading X axis rotating direction parameter Rotation direction parameter mask ABS data sign mask PLS processing command Reversing polarity of upper 16 bits Subtraction for upper 16 bits Reversing polarity of lower 16 bits Reading 4 bits Masking 2 bits Adding 2 bits Right rotation of A0 2 bits Counting check sum data reception frequency Completion of reading 2 bits ...

Page 336: ...rotation of A0 2 bits Adding check sum Counting frequency of ABS data reception Completion of reading 2 bits of ABS data Right rotation of A0 10 bits Masking check sum Sum check OK Sum check NG Sum check memory ABS check sum error Resetting ABS request ABS 2 bits request Setting ABS request 10ms delay timer Transmission data read enabled Continued from preceding page To be continued Read enabled A...

Page 337: ...ting ABS coordinate error 1 X axis Present position change ABS data ready ABS data ready Resetting ABS transfer mode ABS transfer mode timer 5s ABS request response timer 1s Ready to send response timer 1s ABS communication error Note When the unit setting parameter value of the A1SD71 positioning module is changed from 3 pulse to 0 mm the unit is 0 1 m for the input value To change the unit to 1 ...

Page 338: ...ift data Check sum NG Retry start pulse Retry counter Retry flag set Retry wait timer PC RUN Continued from preceding page POINT When absolute position data is received at power ON for example if a negative coordinate position which cannot be handled by the A1SD71 is detected the ABS coordinate error Y4B ON is generated If this error is generated move the axis into the positive coordinate zone in ...

Page 339: ...9 T10 M20 PLS M21 SET Y2D PC ready Clear CR ON timer request Clear CR 100ms ON timer Setting data set type home position return request Resetting data set type home position return request Clear CR ON Setting X axis home position address 500 in the data register 1 Changing X axis home position address PC RUN Clear signal 100ms ON timer Home position return mode Home position Y41 return mode X30 X3...

Page 340: ...he servo on SON is turned on the servo motor must be at a stop Y41 X30 M Y41 Completion of servo positioning ABS transfer mode Positioning completion ABS transfer mode i Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y41 X31 M Y41 Servo zero speed ABS transfer mode Z...

Page 341: ... and write the Y axis program FROMP H0001 K7872 D8 K1 DFROP H0001 K7912 D9 K1 DTOP H0001 K41 D3 K1 FROMP H0001 K7892 D8 K1 DFROP H0001 K7922 D9 K1 DTOP H0001 K341 D3 K1 b Data set type home position return Arrange the data set type home position return programs given in Section 15 8 1 3 f in series to control two axes Refer to the X axis data set type home position return program and create the Y ...

Page 342: ...Zero speed Send data ready Torque limit control Alarm Servo ready JOG JOG Alarm reset Servo on Position start Position stop Home position return start 1PG error reset Emergency stop CN1A 19 Servo on ABS transfer mode ABS request Alarm reset Electromagnetic brake output Note 3 Note 2 Servo alarm ABS communication error ABS check sum error Pulse train for forward rotation Pulse train for reverse rot...

Page 343: ...start 1PG error reset ABS bit 0 Completion of positioning ABS bit 1 Zero speed Send data ready Torque limit control Alarm Servo ready Emergency stop Note 2 Electromagnetic brake output Note 3 Servo alarm ABS communication error ABS check sum error Servo on ABS transfer mode ABS request Alarm reset Note 1 Pulse train for forward rotation Pulse train for reverse rotation Clear Z phase pulse Note 1 T...

Page 344: ...ion return zero point signal count N 2 pulses Initial value 10 14 13 Home position address HP 0 15 Acceleration deceleration time Ta 200ms Initial value 100 16 Not usable 18 17 Target address I P I 0 20 19 Operation speed I V I 100000 Initial value 10 22 21 Target address II P II 0 24 23 Operation speed II V II 10 25 Operation command H0000 3 Instructions When the servo on pushbutton switch and th...

Page 345: ...n check sum discrepancy M4 Spare D24 Home position address Lower 16 bits M5 Servo on request D25 Home position address Upper 16 bits M6 Retry flag D106 D107 1PG present position address Lower 16 bits 1PG present position address Upper 16 bits M10 M11 M12 M13 ABS data 2 bit receiving buffer M20 M51 ABS data 32 bit buffer M52 M57 Check sum 6 bit buffer M58 M59 For checksum comparison T timer M62 Sum...

Page 346: ...me position address to 0 Setting 1PG pulse command unit 1PG max speed 100 kpps 1PG Jog speed 10 kpps 1PG home position return speed 50 kpps 1PG creep speed 1 kpps 1PG home position return zero point count twice 1PG home position address setting 1PG acceleration deceleration time 200ms 1PG operation speed 100kpps Position move account 1 300000 pulses Position move account 2 250000 pulses Position m...

Page 347: ...ing retry counter Resetting ready to send ABS data Resetting servo on request Resetting ABS transfer mode Resetting ABS request Resetting retry flag Resetting check sum judgement Resetting communication counter Servo on PB Retry Servo on request Servo on PB Continued from preceding page To be continued Servo on and retry control M1 M6 ABS transmission start Retry M0 Y11 Error flag ABS communicatio...

Page 348: ...l data reception counter Error flag output Servo alarm output Resetting ABS transfer mode Resetting ABS request Resetting ready to send Resetting servo on request Resetting retry flag ABS transfer mode ON Clearing ABS data reception area Clearing ABS receiver data buffer Resetting ABS data reception counter Resetting all data reception counter Servo alarm detection alarm reset control ABS transfer...

Page 349: ... 2 bits Right shift 2 bits of ABS data Check sum addition Updating ABS data reception counter Updating all data reception counter Resetting ABS request Resetting ABS transfer mode Masking check sum 6 bits Comparison of check sum ABS data check sum error Retry command Setting retry wait timer 100ms Storing check sum value in the case of check sum error Retry flag ON Resetting servo on request ABS t...

Page 350: ...dress ABS data 1PG Setting ABS data ready Clearing check sum judging area Resetting retry flag Detecting ABS communication error Resetting ABS request ABS transfer mode 5s timer ABS request response 1s timer Ready to send response 1s timer ABS communication error Counting retry frequency Setting servo on request Continued from preceding page To be continued Check sum match ABS communi cation error...

Page 351: ...l Note Program example for the dog type home position return For the data set type home position return refer to the program example in 2 d in this section Start command pulse 1PG JOG command 1PG JOG command 1PG home position return start Setting motion distance 1PG start Index processing 1PG stop command 1PG error reset Continued from preceding page To be continued Normally OFF Servo ready Positi...

Page 352: ...tion before starting home position return Do not turn ON the clear CR Y5 for an operation other than home position return Turning it ON in other circumstances will cause position shift Y1 X0 X14 M70 M71 T210 M70 PLS M71 D24 K500 DMOVP K1 D24 K13 K0 DTOP K1 D24 K26 K0 DTOP T210 M71 SET K10 M71 RST Y5 Clear CR ON timer request Clear CR 100ms ON timer Setting data set type home position return reques...

Page 353: ...r the servo on SON is turned on the servo motor must be at a stop Y1 X0 M Y1 Completion of servo positioning ABS transfer mode Positioning completion ABS transfer mode g Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y1 X1 M Y1 Servo zero speed ABS transfer mode Zero...

Page 354: ...3 10 20 SG SG VDD COM 24 24G FG LG Servo amplifier CN1B CN1A JOG JOG Alarm reset Emergency stop Servo on Home position return Operation mode I Operation mode II Position start Position stop DO1 ABS data bit 1 zero speed Readying to send data Torque limiting Trouble Upper limit Lower limit ZSP TLC I II OFF OFF OFF ON ON OFF ON ON JOG Note 3 Operation mode Operating status Home position return Posit...

Page 355: ...r clear CR Therefore do not connect the clear CR of the MR J2 A to the A1SD75 but connect it to the output module of the programmable controller 3 This circuit is provided for your reference 4 The electromagnetic brake output should be controlled via a relay connected to the programmable controller output 5 Use the differential line driver system for pulse input Do not use the open collector syste...

Page 356: ...S checksum error X29 Operation mode II D register M contact D0 ABS data transmission counter M5 ABS data transmission start D1 Checksum transmission counter M6 Sum check completion D2 Checksum addition register M7 Sum check mismatch D3 ABS data Lower 16 bits M8 ABS data ready D4 ABS data Upper 16 bits M9 Transmission data read enabled D5 ABS data 2 bit receiving buffer M10 Checksum 2 bits read com...

Page 357: ...er pulse 0 1 to 1 to 10 to 100 0 00001 to 0 0001 to 0 001 to 0 01 to 0 00001 to 0 0001 to 0 001 to 0 01 to Unit of travel m PLS inch PLS degree PLS PLS D P K D3 D3 Constant K for conversion into unit of travel 1 to 10 to 100 to 1000 1 to 10 to 100 to 1000 1 to 10 to 100 to 1000 None Reference For 1 m PLS set constant K to 10 For 5 m PLS set constant K to 50 The additional program is not required f...

Page 358: ...rocessing instruction Current position change flag Resetting ready Resetting servo on request Resetting ABS transmission counter at servo OFF Resetting checksum transmission counter at servo OFF Servo on output ABS interface start Setting retry flag Resetting retry counter Alarm reset output Error flag output Resetting ready Resetting servo on request Servo alarm To be continued Continued from pre...

Page 359: ...tting checksum transmission counter ABS transfer mode Saving ABS 32 bit data Clearing register 1 Reading x axis rotation direction parameter Masking rotation direction parameter Masking ABS data sign PLS processing command Reversing polarity of upper 16 bits Decrementing upper 16 bits by 1 Reversing polarity of lower 16 bits Lower 16 bits 0 D4 1 D4 ABS transfer mode initial setting ABS transfer mo...

Page 360: ...m error Reading 4 bits Masking 2 bits Adding 2 bits Right rotation of A0 2 bits Counting the number of checksum data Completion of reading checksum 2 bits Reading 4 bits Masking 2 bits Adding 2 bits Right rotation of A0 2 bits Adding checksum Counting the number of ABS data Completion of reading ABS 2 bits data Right rotation of A0 10 bits Masking sum check Sum check OK Sum check NG Sum check memo...

Page 361: ... Writing No 9003 data for Positioning start Switching start signal off on completion of positioning Continued from preceding page To be continued ABS 2 bits completion Checksum 2 bits completion ABS transfer mode Ready to send ABS data ABS 2 bits request ABS request Ready to send ABS data 10ms delay timer Checksum OK Note1 Checksum OK Change flag Positioning start Start com pletion BUSY Error dete...

Page 362: ...uest response 1s timer ABS data send ready response 1s timer ABS communication error ABS transfer retry start pulse Setting retry flag Retry counter Retry waiting timer 100ms Resetting retry flag Saving received shift data ABS communi cation error Servo on PB Continued from preceding page ABS transfer mode ABS transfer mode ABS request ABS transfer mode Ready to send ABS data ABS transfer NG ABS r...

Page 363: ...sition return Refer to the home position return program in the A1SD75 User s Manual Note that this program requires a program which outputs the clear CR Y35 after completion of home position return Add the following program K1 D12 K817 H0000 FROM M22 D12 K0016 WAND Y35 D12 K16 M22 16 Reading 1 axis home position return completion signal Masking home position return completion Home position return ...

Page 364: ...ss 500 in data register 1 Changing X axis home position address Note3 1 Changing X axis current value 1 Writing positioning data No 9003 Starting positioning Switching BUSY signal off to switch start signal off PC RUN Home position return mode ABS transfer mode Positioning completion Home position return start PB Clear signal ON timer request Data set type home position return request Clear signal...

Page 365: ... the servo on SON is turned on the servo motor must be at a stop Y31 X20 M Y31 Servo positioning completion ABS transfer mode Positioning completion ABS transfer mode i Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X21 M Y31 Servo zero speed ABS transfer mode Ze...

Page 366: ... K1 FROMP H0000 K155 D8 K1 DFROP H0000 K0072 D9 K1 DFROP H0000 K222 D9 K1 DTOP H0000 K1154 D3 K1 DTOP H0000 K1204 D3 K1 TO H0000 K1150 K9003 K1 TO H0000 K1200 K9003 K1 b Data set type home position return Arrange the data set type home position return programs given in Section 15 8 3 2 f in series to control two axes Refer to the X axis data set type home position return program and create the Y a...

Page 367: ...ting flag Requesting M100 A1SD75 normal flag A1SD75 normal M101 Initial error reset completion flag Error reset complete M102 All BUSY signal OFF flag All BUSY signal OFF internal relay M103 A1SD75 operable flag Operable D100 Flash ROM registration results Registration results D101 D102 D103 Axis error code Error code D104 D105 D106 Axis warning code Warning code Data register D107 D108 D109 Axis ...

Page 368: ...ed value is changed at the start of positioning data No 9003 Therefore the starting program for positioning data No 9003 19 is added 8 Y axis sequence program Y axis data set type home position return program The slot numbers and buffer addresses are changed as indicated by 20 9 Writing absolute position data to A1SD75 The A1SD75 allows the current position to be changed only when the ready RD of ...

Page 369: ...rvo configuration software Crick Diagnostics and Absolute Encoder Data to open the absolute position data display screen 1 Cricking Diagnostics in the menu opens the sub menu as shown below 2 By cricking Absolute Encoder Data in the sub menu the absolute encoder data display window appears 3 Crick the Close button to close the absolute encoder data display window ...

Page 370: ...gnal ABS bit 0 PF bit 1 ZSP is disconnected or connected to the SG terminal Correct the wiring 2 PC ladder program wrong Correct the ladder 3 Faulty PLC input module Change the input module ABS data check sum error Y4A Y12 ABS data sumcheck resulted in mismatch four times consecutively 4 Faulty printed board in the servo amplifier Change the amplifier 1 The servo is turned ON or the power supply i...

Page 371: ...ime out OFF ON OFF ON OFF ON 1s ABS transfer mode ABS request Send data ready ABS communication error The signal does not come ON NO YES b The time required for the ABS transfer mode signal to go OFF after it has been turned ON ABS transfer time is checked If the ABS transfer time is longer than 5s this is communication error occurs if the ABS time out warning AL E5 is generated at the servo ampli...

Page 372: ...OFF ON 1s ABS transfer mode ABS request Send data ready ABS communication error The signal does not go OFF NO YES 15 10 2 Error resetting conditions Always remove the cause of the error before resetting the error Output coil Name AD71 1PG Servo status Resetting condition ABS communication error Y49 Y11 Ready RD off Reset when servo on SON PB X36 signal turns off For AD71 Reset when servo on SON PB...

Page 373: ...15 66 15 ABSOLUTE POSITION DETECTION SYSTEM MEMO ...

Page 374: ... PG PP NP LG LBR EMG LSP TLA LSN 2 Speed control mode 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DO1 LG VDD SG P15R COM 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 COM SG SG SG CN1A CN1B LB LAR LA LZR LZ OP P15R LBR EMG LSP LSN LG VC 3 Torque control mode 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DO1 LG VDD SG P15R COM 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 COM ...

Page 375: ...d Position control Droop pulse Present position calculation ABS counter Within one revolution position low high Load inertia moment ratio Auto tuning section Cumulative feedback pulse Cumulative command pulses CMX CDV Differ ential Command pulse frequency Electronic gear Bus voltage PP NP Speed feedback Within one revolution ABS counter Command pulse Servo motor Absolute position detection encoder...

Page 376: ... J2S 20A MR J2S 20A1 HC UFS43 MR J2S 40A MR J2S 40A1 HC MFS43 MR J2S 40A MR J2S 40A1 HC UFS73 MR J2S 70A HC MFS73 MR J2S 70A HC LFS52 MR J2S 60A Version B3 or later HC SFS81 MR J2S 100A Version A1 or later HC LFS102 MR J2S 100A Version B3 or later HC SFS121 MR J2S 200A Version A1 or later HC LFS152 MR J2S 200A Version B3 or later HC SFS201 MR J2S 200A Version A1 or later HC LFS202 MR J2S 350A Vers...

Page 377: ...App 4 Appendix MEMO ...

Page 378: ... a Review of description for low voltage Section 3 5 Change in timing chart Section 3 5 3 Review of description Section 3 6 2 7 Review of connection Section 3 9 Review of POINT Section 3 9 3 b c Change in timing chart Section 3 9 3 d e Addition Section 5 1 2 2 Deletion of description as to parameter No 22 TC TLA Addition of parameter No 27 setting example Correction of parameter No 35 setting rang...

Page 379: ... POINT Section 15 8 1 1 b Change in b Coordinates when zero address is changed to other than 0 Section 15 8 2 1 b Review of connection diagram Section 15 9 Change of display screen Section 15 10 1 1 Deletion of Cause 5 of ABS checksum error Feb 2001 SH NA 030006 C Addition of MR J2S 500A 700A servo amplifiers Addition of HC KFS73 HC SFS502 HC SFS702 HC RFS353 HC RFS503 HC UFS502 HC UFS353 servo mo...

Page 380: ...Section 3 11 Overall reexamination Section 3 13 Addition Section 4 2 3 POINT sentence change Section 4 2 4 POINT sentence change Section 5 2 2 Addition of regenerative brake option to parameter No 0 Addition of CN1B pin 19 s function selection to parameter No 1 Modification made to the contents of parameter No 5 Reexamination of the contents of parameter No 23 Addition of AL 37 related sentences t...

Page 381: ...al figure change Section 3 13 3 Partial terminal box inside figure change Section 4 2 CAUTION sentence addition Section 5 1 2 2 Parameter No 0 Addition of The built in regenerative brake resistor is used to Regenerative brake option is not used Addition of FR CV to the setting of 01 in Selection of regenerative brake option Partial sentence deletion Parameter No 20 Addition of sentence to Slight v...

Page 382: ...103 to expression Section 10 2 2 Addition of Definition Cause and Action to AL 32 Section 12 5 Change of wiring length to 1m Section 13 1 1 4 Sentence reexamination Section 13 1 1 5 b c Regenerative brake option outline dimension drawing reexamination Section 13 1 9 2 a Reexamination of Windows trademarks Section 13 2 9 3 Reexamination of outline dimension drawings of HF3040A TM HF3050A TM HF3060A...

Page 383: ...ation Section 13 2 7 2 d Partial diagram change Section 13 2 7 2 e Partial diagram change Section 13 2 9 2 Partial Note deletion Section 13 2 9 3 Partial diagram change Section 15 7 4 Partial diagram reexamination Dec 2005 SH NA 030006 H Safety Instructions Sentence addition FOR MAXIMUM SAFETY Addition of sentence Section 1 5 Change of Note for power supply Section 1 8 Change of Note2 Chapter 2 Ad...

Page 384: ...f Note Section 13 1 1 5 b e change of outline drawing Section 13 1 2 2 Diagram addition of P1 terminal Reexamination of Note Section 13 1 3 2 Diagram addition of P1 terminal Reexamination of Note Section 13 1 4 2 Diagram addition of P1 terminal Reexamination of Note Section 13 1 10 2 Diagram addition of P1 terminal Reexamination of Note Section 13 1 10 5 Partial table change Section 13 2 7 2 d FR ...

Page 385: ...OKYO BLDG MARUNOUCHI TOKYO 100 8310 SH NA 030006 H 0512 MEE Printed in Japan Specifications subject to change without notice This Instruction Manual uses recycled paper MODEL MODEL CODE 1CW501 MR J2S A GIJUTU SIRYOU ...

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