Mitsubishi Electric Melservo-J2-JR SERIES Instruction Manual Download

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12.2.3 Relays

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12.2.4 Noise reduction techniques

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13. COMMUNICATION FUNCTIONS

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13.1 Configuration

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13.1.1 RS-422 configuration

･･････････････････････････････････････････････････････････････

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13.1.2 RS-232C configuration

････････････････････････････････････････････････････････････

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13.2 Communication Specifications

･････････････････････････････････････････････････････････

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13.2.1 Communication overview

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13.2.2 Parameter setting

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13.3 Protocol

･････････････････････････････････････････････････････････････････････････････

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13.4 Character Codes

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13.5 Error Codes

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13.6 Checksum

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13.7 Time-Out Operation

･･････････････････････････････････････････････････････････････････

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13.8 Retry Operation

･･････････････････････････････････････････････････････････････････････

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13.9 Initialization

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13.10 Communication Procedure Example

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13.11 Command and Data No. List

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13.11.1 Read commands

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13.11.2 Write commands

････････････････････････････････････････････････････････････････

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13.12 Detailed Explanations of Commands

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13.12.1 Data processing

････････････････････････････････････････････････････････････････

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13.12.2 Status display

･･････････････････････････････････････････････････････････････････

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13.12.3 Parameter

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13.12.4 External I/O pin statuses (DIO diagnosis)

･････････････････････････････････････････

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13.12.5 Disable/enable of external I/O signals (DIO)

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13.12.6 External input signal ON/OFF (Test operation)

････････････････････････････････････

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13.12.7 Test operation mode

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13.12.8 Output signal pin ON/OFF (DO forced output)

･････････････････････････････････････

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13.12.9 Alarm history

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13.12.10 Current alarm

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13.12.11 Other commands

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Summary of Contents for Melservo-J2-JR SERIES

Page 1: ...A5 HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 8310 SH NA 3200 B 9910 MEE Printed in Japan Specifications subject to change without notice General Purpose Interface MR J2 03A5 Servo Amplifier Instruction Manual B Servo Amplifier Instruction Manual B ...

Page 2: ...rdous 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...

Page 3: ...ed loaded or pinched Otherwise you may get an electric shock 2 To prevent fire note the following CAUTION y Do not install the servo amplifier servo motor and regenerative brake resistor on or near combustibles Otherwise a fire may cause y 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 3 To prevent injur...

Page 4: ...operate the servo amplifier and servo motor which has been damaged or has any parts missing y Provide adequate protection to prevent screws and other conductive matter oil and other combustible matter from entering the servo amplifier y Do not drop or strike servo amplifier or servo motor Isolate from all impact loads y Use the servo amplifier and servo motor under the following environmental cond...

Page 5: ... equipment correctly and securely Otherwise the servo motor may misoperate y Do not install a power capacitor surge absorber or radio noise filter between the servo motor and servo amplifier y Connect the output terminals U V W correctly Otherwise the servo motor will operate improperly y Do not connect AC power directly to the servo motor Otherwise a fault may occur y The surge absorbing diode in...

Page 6: ...ture 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 y 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 external brake ...

Page 7: ...n y To illustrate details the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards When the equipment is operated the covers and safety guards must be installed as specified Operation must be performed in accordance with this Instruction Manual ...

Page 8: ... installed To ensure ease of compliance with the EMC Directive Mitsubishi Electric prepared the EMC INSTALLATION GUIDELINES IB NA 67310 which provides servo amplifier installation control box making and other procedures Please contact your sales representative 2 PRECAUTIONS FOR COMPLIANCE The standard models of the servo amplifier and servo motor comply with the EN Standard In addition to the inst...

Page 9: ...in EN60204 y Ambient temperature 40 104 C F y Sheath PVC polyvinyl chloride y Installed on wall surface or open table tray 6 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 electrical equipment specificat...

Page 10: ...comply with the UL C UL Standard Unless otherwise specified the handling performance specifications etc of the UL C UL Standard compliant models are the same as those of the standard models When using 24VDC power supply options and auxiliary equipment use those which conform to the UL C UL Standard ...

Page 11: ... mode 3 5 3 2 Internal Connection Diagram of Servo Amplifier 3 6 3 3 I O Signals 3 7 3 3 1 Connectors and signal arrangements 3 7 3 3 2 Signal explanations 3 10 3 4 Detailed Description of the Signals 3 19 3 4 1 Position control mode 3 19 3 4 2 Speed control mode 3 24 3 4 3 Torque control mode 3 26 3 4 4 Position speed control change mode 3 29 3 4 5 Speed torque control change mode 3 31 3 4 6 Torq...

Page 12: ...opping pattern 5 21 5 2 4 Alarm history clear 5 21 6 DISPLAY AND OPERATION 6 1 to 6 15 6 1 Display Flowchart 6 1 6 2 Status Display 6 2 6 3 Diagnostic mode 6 4 6 4 Alarm mode 6 5 6 5 Parameter mode 6 6 6 6 External I O signal display 6 8 6 7 Output signal forced output DO forced output 6 11 6 8 Test operation mode 6 12 6 8 1 Mode change 6 12 6 8 2 Jog operation 6 13 6 8 3 Positioning operation 6 1...

Page 13: ...9 1 3 Torque control mode 9 5 9 2 When Alarm or Warning Has Occurred 9 6 9 2 1 Alarms and Warning list 9 6 9 2 2 Remedies for alarms 9 7 9 2 3 Remedies for Warnings 9 11 10 SPECIFICATIONS 10 1 to 10 4 10 1 Servo Amplifier Standard Specifications 10 1 10 2 Outline Dimension Drawings 10 2 10 2 1 Servo amplifiers 10 2 10 2 2 Connectors 10 3 11 CHARACTERISTICS 11 1 to 11 3 11 1 Overload Protection Cha...

Page 14: ...8 13 9 Initialization 13 9 13 10 Communication Procedure Example 13 9 13 11 Command and Data No List 13 10 13 11 1 Read commands 13 10 13 11 2 Write commands 13 11 13 12 Detailed Explanations of Commands 13 13 13 12 1 Data processing 13 13 13 12 2 Status display 13 15 13 12 3 Parameter 13 16 13 12 4 External I O pin statuses DIO diagnosis 13 18 13 12 5 Disable enable of external I O signals DIO 13...

Page 15: ... 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 16: ... use the General Purpose AC servo MR J2 03A5 for the first time Always purchase them and use the MR J2 03A5 safely Relevant manuals Manual Name Manual No MELSERVO J2 Jr Series Installation Guide IB NA 67426 MELSERVO Servo Motor Instruction Manual SH NA 3181 Ver C or later EMC Installation Guidelines IB NA 67310 ...

Page 17: ...e EN Standard x UL C UL Standard they can be used satisfactorily in various countries The MR J2 03A5 servo amplifier can be easily installed to a control box with a DIN rail The power supply electromagnetic brake and encoder of the servo motor can be wired easily with a single cable Using a personal computer where the Servo Configuration software has been installed you can make parameter setting s...

Page 18: ...input pulse P Parameter No 7 S pattern acceleration deceleration time constant Speed can be increased and decreased smoothly S Parameter No 13 Alarm history clear Alarm history is cleared P S T Parameter No 16 Restart after instantaneous power failure If the input power supply voltage had reduced to cause an alarm but has returned to normal the servo motor can be restarted by merely switching on t...

Page 19: ...sition control change mode 1 3 Model Code Definition 1 Rating plate POWER MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI AC SERVO MADE IN JAPAN MODEL MR J2 03A5 MITSUBISHI ELECTRIC CORPORATION 30W DC24V 2 3A POWER INPUT OUTPUT SERIAL AC SERVO TC300A034G55 PASSED Model Capacity Applicable power supply Rated output current Serial number 2 Model MR J2 03 A 5 Series name 24VDC power supply specification ...

Page 20: ...n of the servo motor Power input connector CNP1 Used to connect the input power supply control circuit power supply RS 422 Earth E terminal To conform to the EN Standard fit the supplied earth terminal for grounding Operation section Used to perform status display diagnostic alarm and parameter operations Chapter6 Section3 3 I O signal connector CN1B Used to connect digital I O signals Section3 3 ...

Page 21: ...nnect it to the earth E of the control box Circuit protector MITSUBISHI OPEN CN1A CN1B CNP1 CNP2 CNP3 MELSERVO To CNP2 To CNP3 Servo amplifier Servo Configuration software Personal computer Power leads Encoder cable Servo motor Junction terminal block Positioning unit speed controller Power supply 24VDC Main circuit power supply Relay Control power supply To CNP1 Earth E terminal To CN1A To CN1B M...

Page 22: ...o amplifier y Do not block the intake exhaust ports of the servo amplifier Otherwise a fault may occur y Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment y Do not install or operate a faulty servo amplifier y When the product has been stored for an extended period of time consult Mitsubishi 2 1 Environmental conditions Environment Conditions 0 to 55 ...

Page 23: ...op Bottom Wiring clearance Control box Control box Servo amplifier 2 Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions Control box 100mm 4 0 in or more 10mm 0 4 in or more 1mm 0 04 ...

Page 24: ... The way of clamping the cable must be fully examined so that flexing stress and cable s own weight stress are not applied to the cable connection 2 In any application where the servo motor moves the cables should be free from excessive stress For use in any application where the servo motor moves run the cables so that their flexing portions fall within the optional motor cable range Fix the moto...

Page 25: ...e DIN rail Put the upper catch on the DIN rail and push the unit until it clicks Wall DIN rail Upper catch Wall DIN rail 2 Removal from DIN rail 1 Pull down the hook 2 Pull it toward you 3 Lift and remove the unit Wall Hook 1 DIN rail Upper catch Wall DIN rail 2 3 DIN rail Wall ...

Page 26: ...may misoperate resulting in injury y Connect cables to correct terminals to prevent a burst fault etc y Ensure that polarity is correct Otherwise a burst damage etc may occur y 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 forced stop and other protective ci...

Page 27: ...o amplifier CN1B Note 8 Note1 CNP2 CNP3 PULSE F PULSE R CLEAR CLEAR COM READY COM INPS PG0 COM PG0 5V 3 Positioning unit AD75P A1SD75P 3 13 COM 3 VDD COM 9 TLA Note 9 CN1A RA Circuit protector Note 4 CN1B Note 4 7 Note 2 Zero speed Limiting torque Note 6 Trouble Note 4 7 Note 4 7 30m 98ft max Servo motor Forward rotation stroke end Forced stop Servo on Reset Proportion control Torque limit Reverse...

Page 28: ... protective circuits 3 The forced stop switch must be installed 4 CN1A and CN1B have the same shape Wrong connection of the connectors will lead to a fault 5 When starting operation always connect the forward reverse rotation stroke end signal LSN LSP with SG Normally closed contacts 6 Trouble ALM is connected with COM in normal alarm free condition 7 The pins with the same signal name are connect...

Page 29: ...ector Note 4 7 CN1B Note 4 Note 4 7 Analog speed command 10V Rated speed Upper limit setting Upper limit setting Circuit protector Speed Selection 1 24VDC power supply Forward rotation start Reverse rotation start Note 1 To prevent an electric shock fit the supplied earth terminal E to the servo amplifier and always connect it to the earth E of the control box Refer to section 3 9 2 Connect the di...

Page 30: ...6 Note 4 6 Note 4 6 Forward rotation selection Forced stop Servo on Reset Reverse rotation selection Note 3 Analog speed limit 0 to 10V max speed Analog torque command 8V max current Upper limit setting Upper limit setting 24VDC power supply Note 4 Note 5 Speed selection2 Note 1 To prevent an electric shock fit the supplied earth terminal E to the servo amplifier and always connect it to the earth...

Page 31: ...TLA P15R LG SD TLA P15R LG SD P15R LG SD 11 1 P S T 4 P15R P15R P15R P S T 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 LA LAR LBR LB LZR OP LZ LA LAR LBR LB LZR OP LZ COM COM COM 9 T CN1A P S COM COM 13 VDD VDD VDD 3 T Note CN1B COM CNP2 B2 3 B1 9 CNP2 U V W 2 7 8 1 E E Note Note Note Note Note Case Approx 4 ...

Page 32: ...nment 1 Signal arrangement Amplifier s internal wiring The connector frames are connected with the E earth terminal inside the servo amplifier 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 MITSUBISHI MELSERVO CN1A CN1B 5 1 RDP P24M 6 2 RDN P24G 7 3 SDP P24L 8 4 SDN TRE CNP1 B2 B1 5 1 MR MRR 6 2 P5 LG 11 12 SD 10 4 7 3 U W 8 9 E V CNP2 1 SD 2 ...

Page 33: ...BR LBR LBR LBR LBR Note7 9 18 0 INP INP SA SA SA INP Note7 9 19 0 RD RD RD RD RD RD CN1A 20 SG SG SG SG SG SG 1 LG LG LG LG LG LG 2 I VC VC VC VLA VLA VLA 3 VDD VDD VDD VDD VDD VDD Note10 4 0 DO1 DO1 DO1 DO1 DO1 DO1 Note8 5 I SON SON SON SON SON SON Note7 6 0 TLC TLC TLC TLC VLC VLC VLC TLC Note8 7 I LOP SP2 LOP SP2 LOP Note8 8 I PC PC ST1 Note4 ST1 ST1 RS2 Note4 RS2 RS2 PC Note8 9 I TL TL ST2 Not...

Page 34: ...rotation stroke end VLC Limiting speed LSN Reverse rotation stroke end RD Ready CR Clear ZSP Zero speed SP1 Speed selection 1 INP In position SP2 Speed selection 2 SA Speed reached PC Proportion control ALM Trouble ST1 Forward rotation start WNG Warning ST2 Reverse rotation start OP Encoder Z phase pulse open collector TL Torque limit selection MBR Electromagnetic brake interlock RES Reset LZ EMG ...

Page 35: ...arameter No 41 to switch this signal on keep terminals connected automatically in the servo amplifier DI 1 Reset RES CN1B 14 Alarm reset signal input terminal Disconnect RES SG for more than 50ms to reset the alarm Some alarms cannot be deactivated by the reset signal Refer to Section 9 2 The base circuit is shut off while RES SG are shorted DI 1 Forward reverse rotation stroke end signal input te...

Page 36: ...shorted 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 When the analog speed command VC is 0V starting the servo motor will not generate servo lock torque DI 1 Used to select any of the following servo motor torque generation directions Note Input signals RS2 RS1 Torque Generation D...

Page 37: ...1 Internal speed limit 1 parameter No 8 1 0 Internal speed limit 2 parameter No 9 Speed selection 1 SP1 CN1A 8 1 1 Internal speed limit 3 parameter No 10 Note 0 OFF SP1 SP2 SG open 1 ON SP1 SP2 SG shorted Position speed speed torque torque position control change mode As CN1B 7 acts as a control change signal the speed selected when the speed or torque control mode is selected is as follows x When...

Page 38: ...G SG to bring the servo motor to a forced stop state in which the servo is switched off and the dynamic brake is operated Connect EMG SG in the forced stop state to reset that state DI 1 Clear CR CN1A 8 Connect CR SG to clear the position control counter droop pulses on the leading edge of the signal The pulse width should be 10ms or more When the parameter No 42 setting is 1 the pulses are always...

Page 39: ...ction 3 4 3 The torque generated at 8V input can be changed using parameter No 26 Analog input Analog speed command VC Apply 0 to 10VDC across VC LG Speed set in parameter No 25 is provided at 10V Refer to 1 in Section 3 4 2 Analog input Analog speed limit VLA CN1B 2 Apply 0 to 10VDC across VLA LG Speed set in parameter No 25 is provided at 10V Refer to 3 in Section 3 4 3 Analog input Forward rota...

Page 40: ...ed reaches the value set to any of the internal speed limits 1 to 3 parameters No 8 to 10 or the analog speed limit VLA in the torque control mode They are disconnected when the servo on signal SON switches off DO 1 Limiting torque TLC CN1B 6 TLC SG are connected when the torque generated reaches the value set to the internal torque limit 1 parameter No 28 or analog torque limit TLA They are disco...

Page 41: ...8 Pin CN1A 19 Pin Alarm Display Name 8888 Watchdog A 11 Board error 1 A 12 Memory error 1 A 13 Clock error A 15 Memory error 2 A 17 Board error 2 A 18 Board error 3 A 37 Parameter error 0 0 0 A 8E RS 232C error 0 0 1 A 33 Overvoltage 0 1 0 A 10 Undervoltage A 50 Overload 1 0 1 1 A 51 Overload 2 A 24 Motor output ground fault 1 0 0 A 32 Overcurrent A 31 Overspeed A 35 Command pulse frequency alarm ...

Page 42: ... about 400µs For zeroing using this pulse set the creep speed to 100r min or less DO 2 Encoder A phase pulse Differential line driver LA LAR CN1A 6 CN1A 16 Encoder B phase pulse Differential line driver LB LBR CN1A 7 CN1A 17 Outputs pulses per servo motor revolution set in parameter No 27 in the differential line driver system The encoder B phase pulse lags the encoder A phase pulse by a phase ang...

Page 43: ...or power input OPC 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 Common terminal for input signals such as SON and EMG Pins are connected internally Internally connected with LG DC15V power supply P15R CN1A 4 CN1B 11 Outputs 15VDC to across P15R LG Available as power for TC TLA VC ...

Page 44: ... train A and B phase pulse trains are imported after they have been multiplied by 4 Pulse Train Form Forward Rotation Reverse Rotation Note 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 pulse train Reverse rotation pulse train...

Page 45: ... input waveform has been set to the negative logic and forward and reverse rotation pulse trains parameter No 21 has been set to 0010 The waveforms in the table in a 1 of this section are voltage waveforms of PP and NP based on SG Their relationships with transistor ON OFF are as follows ON OFF ON OFF ON OFF ON OFF OFF Forward rotation pulse train transistor Reverse rotation pulse train transistor...

Page 46: ...set to the negative logic and forward and reverse rotation pulse trains parameter No 21 has been set to 0010 For the differential line driver the waveforms in the table in a 1 of this section are as follows 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 ...

Page 47: ...en the applied voltage of the analog torque limit TLA and the torque limit value of the servo motor is shown below Generated torque limit values will vary about 5 relative to the voltage depending on products At the voltage of less than 0 05V generated torque may vary as it may not be limited sufficiently Therefore use this function at the voltage of 0 05V or more 2kΩ 1kΩ Servo amplifier Japan Res...

Page 48: ...imit TLA Note 0 TLA SG off open 1 TLA SG on short c Limiting torque TLC TLC SG are connected when the torque generated by the servo motor reaches the torque set to internal torque limit value 1 or analog torque limit 3 In position INP PF SG are connected when the number of droop pulses in the deviation counter falls within the preset in position range parameter No 5 INP SG may remain connected whe...

Page 49: ...tion CCW Reverse rotation CW The following table indicates the rotation direction according to forward rotation start ST1 and reverse rotation start ST2 combination Note External Input Signals 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 CC...

Page 50: ... Internal speed command 3 parameter No 10 Note 0 SP1 SP2 SG off open 1 SP1 SP2 SG on short The speed may be changed during rotation In this case the values set in parameters No 11 and 12 are used for acceleration deceleration When the speed has been specified under any internal speed command it does not vary due to the ambient temperature 2 Speed reached SA SA SG are connected when the servo motor...

Page 51: ...ry at the voltage of 0 05V to 0 05V 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 No torque No torque 0 1 CCW reverse rotation in driving mode forward ...

Page 52: ...d 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 motor speed reaches the speed limit value torque control may become unstable Make the set value more than 100r m smaller than the desired speed limit value 10 0 10 Rated speed Speed r min CCW direction CW direction VLA applied voltage V Forward...

Page 53: ...VLA Note External Input Signals SP2 SP1 Speed Command Value 0 0 Speed limit command VLA 0 1 Parameter No 8 1 0 Parameter No 9 1 1 Parameter No 10 Note 0 SP1 SP2 SG off open 1 SP1 SP2 SG on short When the internal speed commands 1 to 3 are used to command the speed the speed does not vary with the ambient temperature c Limiting speed VLC TLC SG are connected when the servo motor speed reaches the l...

Page 54: ...ol mode may be changed 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 be...

Page 55: ...valent LG VC P15R SG SP1 When a precision speed command is required refer to a 1 in section 3 4 2 b Speed selection 1 SP1 and speed command 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 command VC as indicated in the following table Note External Input Signals SP1 Speed Command Value 0 Analog speed command VC 1...

Page 56: ...control mode Note 0 LOP SG off open 1 LOP SG on short The control mode may be changed at any time A change timing chart is shown below 10V 0 ON OFF Torque control mode Servo motor speed Control change LOP Note Speed control mode Speed control mode Analog torque command TC Load torque Forward rotation in driving mode Note When the start signal ST1 x ST2 is switched off as soon as the mode is change...

Page 57: ...ed command is required refer to a 3 in section 3 4 3 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 SP1...

Page 58: ...eed status To ensure safety change control after 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...

Page 59: ... Precautions for alarm occurrence 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent A 32 overload 1 A 50 or overload 2 A 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 alarm and also allow abou...

Page 60: ... RA SM DI 1 CNP2 COM VDD ALM etc LG E CNP2 SD RDP RDN SDP SDN P24C CNP1 SG OPC PGxNG PPxNP Note For the open collector pulse train input Make the following connection for the differential line driver pulse train input Earth Servo motor Servo motor encoder LA etc LAR etc Open collector output 35mA or less Differential line driver output 35mA or less SON etc Analog input 10V max current 15VDC 10 30m...

Page 61: ...or open collector transistor Servo amplifier VDD R Approx 4 7kΩ SON etc Switch SG 24VDC For a transistor Approx 5mA TR COM P24L P24G V CES 1 0V I CEO 100µA 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 inrush current 100mA or less Servo a...

Page 62: ...n the open collector or differential line driver system a Open collector system 1 Interface Servo amplifier P24L Max input pulse frequency 200kpps Approx 1 2kΩ PP NP Approx 10mA SG SD VDD OPC P24G 24VDC 2 Conditions of the input pulse 0 9 0 1 tc tHL tc tLH tF tLH tHL 0 2µs tc 2µs tF 3µs PP NP ...

Page 63: ...t pulse frequency 500kpps Servo amplifier Am26LS31 2 Conditions of the input pulse 0 9 0 1 tc tHL tc tLH tF tLH tHL 0 1µs tc 0 7µs tF 3µs 4 Encoder pulse output DO 2 a Open collector system Interface Max output current 35mA Servo amplifier OP Servo amplifier 5 to 24VDC Photocoupler LG SD OP LG SD ...

Page 64: ...6LS32 or equivalent LA LB LZ LAR LBR LZR SD 100Ω High speed photocoupler Servo amplifier 2 Output pulse Servo motor CCW rotation LA LAR LB LBR LZ LZR T π 2 400µs or more LZ signal varies 3 8T on its leading edge Open OP Shorted 5 Analog input Input impedance 10 to 12kΩ Servo amplifier 15VDC P15R VC etc LG SD Approx 10kΩ Upper limit setting1kΩ 2kΩ ...

Page 65: ...A4 OFF RA3 ON RA3 RA4 RA4 P24M P24G P24L EMG SG CNP1 CN1B VDD COM ALM CN1B 1 2 3 15 10 3 13 18 RA6 OFF RA5 ON RA5 RA6 RA6 P24M P24G P24L EMG SG CNP1 CN1B VDD COM ALM CN1B Forced stop Servo amplifier Circuit protector Circuit protector Forced stop Servo amplifier Forced stop Circuit protector Servo amplifier Note 1 When using an electromagnetic brake determine the power supply by taking the rated c...

Page 66: ...s 2 Switch on the control circuit power supply P24L P24G simultaneously with the main circuit power supply or before switching on the main circuit power supply If the main circuit power supply is not on the display shows the corresponding warning However by switching on the main circuit power supply the warning disappears and the servo amplifier will operate properly 3 The servo amplifier can acce...

Page 67: ...s the servo forced stop warning A E6 During ordinary operation do not use the forced stop signal to alternate stop and run If the start signal is on or a pulse train is input during a forced stop the servo motor will rotate as soon as the warning is reset During a forced stop always shut off the run command Servo amplifier P24L VDD EMG SG Approx 4 7kΩ COM 4 CNP1 connector wiring The servo amplifie...

Page 68: ...haft in vertical lift applications Adjust Tb parameter No 33 to minimize a drop after the servo on signal is switched off Switch off the servo on signal after the servo motor has stopped Servo motor speed Electromagnetic brake CNP2 9 ON OFF Base circuit Invalid ON Valid OFF ON OFF Servo on SON Electromagnetic brake operation delay time 10ms Tb Coasting 0 r min 60ms 80ms b Emergency stop signal EMG...

Page 69: ... off When main circuit power switches off the undervoltage alarm A 10 occurs and the operation timing is as shown in c of this section e Control circuit power off 10ms ON OFF Electromagnetic brake Servo motor speed Control power P24L Coasting 3 Release of electromagnetic brake To release the electromagnetic brake when main circuit power is off use the output signal forced output refer to Section 6...

Page 70: ...ervo amplifier switches the power transistor on off to supply power to the servo motor Depending on the wiring and ground cablerouting the servo amplifier may be affected by the switching noise due to di dt and dv dt of the 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 P24M P2...

Page 71: ...JR M4 screw 3 10 Instructions for the 3M Connector When fabricating an encoder cable or the like securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell 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 72: ...e power input terminals P24M x P24L d The servo amplifier and servo motor are grounded securely e When stroke end limit switches are used the signals across LSP SG and LSN SG are on during operation f 24VDC or higher voltages are not applied to the pins of connectors CN1A and CN1B g SD and SG of connectors CN1A and CN1B is not shorted h The wiring cables are free from excessive force 2 Environment...

Page 73: ...ower control circuit power is switched on C Cumulative feedback pulses appears on the parameter unit 2 Test operation 1 Using jog operation in the test operation mode make sure that the servo motor operates Refer to Section 6 8 2 3 Parameter setting Set the parameters according to the structure and specifications of the machine Refer to Chapter 5 for the parameter definitions and to Sections 7 8 f...

Page 74: ...ntrol Performing operation automatically adjusts gains The optimum tuning results are provided by setting the response level appropriate for the machine in parameter No 2 6 Zeroing 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 8 2 for the servo motor equipped with electromag...

Page 75: ...on 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 a Switch on main circuit control power b Switch on the servo on signal SON short SON SG When placed in the servo on status the servo amplifier is ready to operate and the servo m...

Page 76: ...rvo motor is decelerated to a stop 4 2 4 Torque control mode 1 Power on a Switch off the servo on SON signal b When main circuit power control circuit power is switched on U torque command voltage appears on the parameter unit 2 Test operation Using jog operation in the test operation mode of the Parameter unit make sure that the servo motor operates Refer to Section 6 8 2 3 Parameter setting Set ...

Page 77: ... Stop In any of the following statuses the servo amplifier interrupts and stops the operation of the servo motor Refer to Section 3 8 2 for the servo motor equipped with electromagnetic brake 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 ...

Page 78: ...nd expansion parameters No 20 to 49 according to their safety aspects and frequencies of use In the factory setting condition the customer can change 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 Parameter No 19 Setting Operation Basic...

Page 79: ...ear Command pulse multiplying factor denominator P 1 5 INP In position range P 100 pulse 6 PG1 Position loop gain 1 P 145 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 mi...

Page 80: ...quence output P x S x T 0 ms 34 GD2 Ratio of load inertia moment to servo motor inertia moment P x S x T 3 0 0 1 times 35 PG2 Position loop gain 2 P 97 rad s 36 VG1 Speed loop gain 1 P x S 873 rad s 37 VG2 Speed loop gain 2 P x S 1144 rad s 38 VIC Speed integral compensation P x S 20 ms 39 VDC Speed differential compensation P x S 980 40 Spare 0 41 DIA Input signal automatic ON selection P x S x T...

Page 81: ... Speed 3 Speed and torque 4 Torque 5 Torque and position 0 0 0 0000 0000h to 0005h P x S x T Basic parameters 1 OP1 Function selection 1 Used to select the input signal filter and CN1B pin 19 s output signal Input signal filter If external input signal causes chattering due to noise etc input filter is used to suppress it 0 None 1 1 77 ms 2 3 55 ms 0 0 CN1B pin 19 s function selection 0 Zero Speed...

Page 82: ...uning selected for use of interpolation axis control etc in position control 1 Auto tuning for ordinary operation 2 No auto tuning 0104 0001h to 0215h P x S 3 CMX Electronic gear numerator Set the value within the range of 50 1 CDV CMX 50 If 100 1 CDV CMX 100 is exceeded a parameter error will occur 1 1 to 32767 P Basic parameters 4 CDV Always set the electronic gear in the servo off status to pre...

Page 83: ... position command Example When a command is given from a synchronizing detector synchronous operation can be started smoothly if started during line operation Synchronizing detector Start Servo amplifier Servo motor Without time constant setting Servo motor speed Start With time constant setting ON OFF t 3 ms 0 to 20000 P Internal speed command 1 Used to set speed 1 of internal speed commands S 8 ...

Page 84: ...ed acceleration deceleration time will be shorter Example Set 3000 3s to increase speed from 0r min to 1000r min in 1 second POINT y When configuring an external position loop set 0 or minimal values in parameters No 11 and 12 11 STA 0 12 STB Deceleration time constant Used to set the deceleration time required to reach zero speed from the rated speed in response to the analog speed command and in...

Page 85: ...on cannot be made 0 sta tion 0 to 31 P x S x T Basic parameters 16 BPS Communication baudrate selection alarm history clear Used to select the communication baudrate for use of the set up software and to clear the alarm history RS 422 RS 232C boudrate selection 0 9600 bps 1 19200 bps 2 4800 bps Alarm history clear 0 Invalid 1 Valid When alarm history clear is made valid the alarm history is cleare...

Page 86: ...in speed or position control mode Note 1 2 Status display at power on in corresponding control mode 0 Depends on the control mode 0000 0000h to 001Ch P x S x T Control Mode Position Position speed Speed Speed torque Torque Torque position Status Display at Power On Cumulative feedback pulses Cumulative feedback pulses servo motor speed Servo motor speed Servo motor speed analog torque command volt...

Page 87: ... switching on the start signal without resett ing the alarm Restart after instantaneous power failure Stop time servo lock selection The shaft can be servo locked to remain still at a stop in the speed control mode 0 Valid 1 Invalid Slight vibration suppression control Used to suppress vibration at a stop 0 Invalid 1 Valid 0 0000 0000h to 0111h P Expansion parameters 21 OP3 Function selection 3 Co...

Page 88: ...otor is decelerated to a stop according to parameter No 7 setting In the speed control mode the servo motor is decelerated to a stop according to parameter No 12 setting Set Value 0 1 2 Filtering Time ms 0 1 77 3 55 3 7 11 Set Value 0 1 2 Notch Frequency Hz Not used 1125 563 3 375 4 5 6 282 225 188 7 161 0 VC VLA voltage averaging Used to set the filtering time when the analog speed command VC vol...

Page 89: ...000 T 26 TLC Analog torque command maximum output Used to set the output torque at the analog torque command voltage TC 8V of 8V on the assumption that the maximum torque is 100 For example set 50 to output maximum torque 50 100 at the TC of 8V 100 0 to 1000 T 27 ENR Encoder output pulses Used to set the number of output pulses per encoder revolution output by the servo amplifier 4000 pulse 5 to 1...

Page 90: ...ad 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 is selected the result of auto tuning is auto matically set 70 0 1 times 0 to 1000 P x S x T 35 PG2 Position loop gain 2 Used to set the gain of the position loop Set this parameter to increase the position response to level load disturbance High...

Page 91: ...y external input 1 Switched on automatically in servo amplifier No need of external wiring Reverse rotation stroke end signal LSN input selection Forward rotation stroke end signal LSP input selection 0000 0000h to 0111h P x S P S S T T P Expansion parameters 42 DI1 Input signal selection 1 Used to assign the control mode changing signal input pins and to set the clear signal Control change signal...

Page 92: ...de are indicated below by their symbols 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 TL SP1 SP1 SP2 SP2 ST1 RS2 ST2 RS1 CR CR CR Note P Position control mode S Speed control mode T Torque control mode 0111 0000h to 0999h P x S x T Expansion parameters 44 DI3 Input signal selection 3 CN1B pin 14 This parameter is unavailable when parameter No 42 is set t...

Page 93: ...eter No 43 0 Position control mode Input signals of CN1B pin 7 selected Torque control mode Speed control mode 0770 0000h to 0999h P x S x T 47 DI6 Input signal selection 6 CN1B pin 8 This parameter is unavailable when parameter No 42 is set to assign the control change signal LOP to CN1B pin 8 Allows any input signal to be assigned to CN1B pin 8 The assignable signals and setting method are the s...

Page 94: ...me Watchdog Board error 1 Memory error 1 Clock error Memory error 2 Board error 2 Board error 3 Parameter error Serial communication error Overvoltage Undervoltage Overload 1 Overload 2 Motor output ground fault Overcurrent Overspeed Command pulse error Error excessive Encoder error 1 Encoder error 2 Alarm Display Note Alarm Code CN1B pin 19 0 0 0 0 1 CN1A pin 18 0 0 1 1 0 0 1 CN1A pin 19 0 1 1 1 ...

Page 95: ...wing setting examples are used to explain how to calculate the electronic gear a For motion in increments of 10µm per pulse Machine specifications Ballscrew lead Pb 10 mm Reduction ratio n 1 2 Servo motor resolution Pt 8192 pulses rev Servo motor 8192 pulse rev n NM NL Pb 10 mm n NL NM 1 2 CDV CMX l ο x S Pt l ο x Pb n Pt 10 10 3 x 10 2 1 8192 1000 16384 125 2048 Hence set 2048 to CMX and 125 to C...

Page 96: ...of AD75P Rated Servo Motor Speed 3000r min Input system Open collector Differential line driver Max input pulse frequency 200kpps 500kpps Feedback pulse revolution 8192pulse rev Servo amplifier Electronic gear CMX CDV 125 256 1 1 Command pulse frequency Note 1 200kpps 409 6kpps Number of pulses per servo motor revolution as viewed from AD75P 4000pulse rev 8192pulse rev AP 1 1 Note 2 AL 1 1 Note 2 ...

Page 97: ...nd voltage Note 1 6 Analog torque command voltage Note 2 7 Regenerative load ratio 8 Effective load ratio 9 Peak load ratio A Within one revolution position B ABS counter C Load inertia moment ratio 0 0 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 c...

Page 98: ...reset to make a stop 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...

Page 99: ...ive load ratio Effective load ratio Peak load ratio Within one revolution position pulse Multi revolution counter rev Load inertia moment ratio times Diagnosis Sequence External I O signal display Output signal 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 a...

Page 100: ... display shows the lower four digits of 13 data items such as the motor speed The following table lists display examples Displayed Data Item Status Servo amplifier display Forward rotation at 3000r min Motor speed Reverse rotation at 3000r min Lit Reverse rotation is indicated by the lit decimal points in the upper three digits Load inertia moment 15 5 times Value of 0 1 times is shown 11252pulse ...

Page 101: ...frequency of the position command input pulses is displayed The value displayed is not multiplied by the electronic gear When the servo motor is rotating in the reverse direction the decimal points in the upper 3 digits are lit 500 to 500 Analog speed command voltage Analog speed limit voltage F V 1 Torque control mode Analog speed limit VLA voltage is displayed 2 Speed control mode Analog speed c...

Page 102: ...1E is required for positioning operation This operation cannot be performed from the operation section of the servo amplifier Positioning operation can be performed once when there is no command from the external command device Test operation mode Motorless operation Without connection of the servo motor the servo amplifier provides output signals and displays the status as if the servo motor is r...

Page 103: ...ervoltage Indicates that the fourth alarm in the past is alarm 31 overspeed Indicates that there is no fifth alarm in the past Alarm history Indicates that there is no sixth alarm in the past Indicates no occurrence of alarm 37 parameter error Parameter error 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 The o...

Page 104: ...5 1 2 1 Operation example a 4 digit parameter The following example shows the operation procedure performed after power on to change the control mode parameter No 0 to the speed control mode UP DOWN Press MODE three times The parameter number is displayed Press or to change the number Press SET twice The set value of the specified parameter number flickers Press UP once During flickering the set v...

Page 105: ...ress MODE once Select parameter No 4 with UP DOWN Press SET once Press MODE once Fifth digit setting Press SET once The screen flickers Change the set value with UP DOWN Press SET once The set value is enterd Press UP or DOWN To the next parameter Lower 4 digits setting Press SET once 2 Expansion parameters To use the expansion parameters change the setting of parameter No 19 parameter write disab...

Page 106: ...nal display screen 2 Display definition CN1B 9 CN1B 8 CN1B 7 CN1A 14 CN1A 8 CN1B 4 CN1B 18 CN1B 14 CN1B 5 CN1B 17 CN1B 16 CN1B 15 CN1B 19 CN1B 6 CN1A 19 CN1A 18 Lit ON Extinguished OFF CNP2 9 Input signals Output signals 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 corresponding to t...

Page 107: ...tion 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 Set parameter No 45 to use CR 4 Set parameter No 47 to use PC 5 Set parameter No 48 to use TL 6 Set parameter No 49 to use WNG 7 Set parameters No 43 to 48 to change signals 8 Set parameter No 49 to output the alarm code ...

Page 108: ...gency stop EMG CN 1 B 15 Forced 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 B1 CNP 2 9 Electromagnetic brake 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 w...

Page 109: ...erformed in the servo off state SON signal off Operation Call the display screen shown after power on CN1A 14 CN1B 18 CN1B 4 CN1B 6 CN1B 19 CN1A 18 CN1A 19 CNP2 9 Press MODE once 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 singal The correspondences between segments and signals are as in the output signals of th...

Page 110: ...p EMG signal POINT y The Servo Configuration software is required to perform positioning operation 6 8 1 Mode change Call the display screen shown after power on Choose jog operation motor less operation in the following procedure Press MODE once When this screen appears jog feed can be performed Press UP three times Press SET for more than 2s Flickers in the test operation mode Press UP five time...

Page 111: ...e to stop If the communication cable is disconnected during jog operation performed by using the 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 with the UP or ...

Page 112: ...tial 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 keys is explained below Key Description Forward Press to start positioning operation CCW Reverse Press to start positioning operati...

Page 113: ...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 114: ...tor Inverter On the other hand the servo amplifier always detects the positions and speeds of the motor and machine using the servo motor encoder and exercises control to match the position and speed commands with the actual motor machine position and speed In the servo system adjustment is needed because M L Servo amplifier Load Encoder Servo motor 1 Response changes according to the inertia mome...

Page 115: ... level of the current loop is factory set to a high value and need not be adjusted If the motor is installed to the machine the response of the current loop will hardly vary 2 Speed loop Response will vary according to the inertia moment of the machine When the load inertia moment increases the response of the speed loop will reduce Use the speed loop gain VG2 to compensate for the reduction of th...

Page 116: ...section Command Virtual motor Virtual encoder Machine Motor Encoder Model section Auto tuning section The block diagram of the Servo Amplifier servo control section is shown above The current loop is omitted 1 Actual loop section A control loop designed to control the actual motor and acts to control the servo system stably in response to the load torque of the machine 2 Model section Acts to prov...

Page 117: ...nt of the load in real time T dt d J ω 7 1 J Inertia moment ω Angular speed T Torque Real time auto tuning is performed in the following procedure 1 When the motor makes acceleration deceleration load inertia moment JL is estimated in the above method to calculate the load inertia moment ratio GD2 2 Each gain PG1 VG1 PG2 VG2 VIC to the calculated load inertia moment ratio GD2 is changed according ...

Page 118: ...sponse setting Set machine selection setting to large friction Gear sound generated from machine Reduce gear sound Decrease response setting Note Settling time indicates time from zero command pulse to servo motor stop 7 3 2 Valid conditions POINT If the acceleration deceleration time is long or the motor speed used is only low speed the valid conditions of auto tuning are not satisfied Therefore ...

Page 119: ...s easily 2 Adjustment procedure a Adjustment 1 1 Execute auto tuning with the response setting of the level at which machine will not vibrate Set 0101 in parameter No 2 2 Set Not executed auto tuning in parameter No 2 3 Gradually decrease the speed integral compensation VIC parameter No 38 setting b Adjustment 2 1 Perform auto tuning with the response setting of slow response Set 0101 in parameter...

Page 120: ...n the value is set in this parameter the following parameters are set automatically When there is no machine resonance the value of each parameter is set to the ideal gain for the parameter No 34 value Parameter No Symbol Name No 6 PG1 Position loop gain 1 No 35 PG2 Position loop gain 2 No 36 VG1 Speed loop gain 1 No 37 VG2 Speed loop gain 2 No 38 VIC Speed integral compensation 3 Set parameter No...

Page 121: ... are set automatically When there is no machine resonance the value of each parameter is set to the ideal gain for the parameter No 34 value Parameter No Symbol Name No 6 PG1 Position loop gain 1 No 35 PG2 Position loop gain 2 No 36 VG1 Speed loop gain 1 No 37 VG2 Speed loop gain 2 No 38 VIC Speed integral compensation 3 Set parameter No 2 to 2 auto tuning not executed 4 Alternate a start and a st...

Page 122: ...r No 2 to make auto tuning invalid Make the parameter No 6 35 to 38 settings manually adjustable 5 Check the operating status and adjust the following parameter values Parameter No Symbol Name Description No 6 PG1 Position loop gain 1 No 35 PG2 Position loop gain 2 Higher setting shortens the settling time but is liable to cause overshooting No 36 VG1 Speed loop gain 1 No 37 VG2 Speed loop gain 2 ...

Page 123: ...1 to the minimum value of each axis to make the gains of all axes equal 7 5 Slight Vibration Suppression Control The slight vibration suppression control mode is used to reduce servo specific 1 pulse vibration at the time of a stop This mode produces an effect especially when the ratio of load inertia moment to servo motor inertia moment is small 2 to 5 times Note that when vibration is attributab...

Page 124: ...dic inspection according to operating conditions 2 Life The following parts must be changed periodically as listed below If any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions Part Name Life Guideline Smoothing capacitor 10 years Relay 100 000 times a Smoothing capacitor Affe...

Page 125: ...hen connectors CN1A and CN1B are disconnected Power supply of CNP1 cabling is shorted x LED is not lit x LED flickers Improved when connector CNP2 is disconnected 1 Power supply of encoder cabling is shorted 2 Encoder is faulty 1 Power on Alarm occurs Refer to Section 9 2 and remove cause Section 9 2 Alarm occurs Refer to Section 9 2 and remove cause Section 9 2 2 Switch on servo on signal Servo m...

Page 126: ...n adjustment fault Chapter 7 4 Gain adjustment Large load inertia moment causes the servo motor shaft to oscillate side to side Make gain adjustment in the following procedure 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 pul...

Page 127: ...lative command pulses 2 P x 4 No parameter CDV 3 No parameter CMX C cumulative command pulses electronic gear cumulative feedback pulses 3 C x l 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 counted Cause...

Page 128: ...l the status display and check the input voltage of the analog speed command 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 3 parameters No 8 to 10 Set value is 0 3 Switch on forward rotation start ST1 or reverse rotation start ST2 Servo motor do...

Page 129: ...s Refer to Section 9 2 and remove cause Section 9 2 2 Switch on servo on signal Servo motor shaft is not servo locked is free Check the display to see if the servo amplifier is ready to operate 1 Servo on signal is not input Wiring mistake 2 24VDC power is not supplied to COM Section 6 3 Call the status display and check the analog torque command Analog torque command is 0V Section 6 2 Call the ex...

Page 130: ...ON Press SET on current alarm screen Alarm reset RES signal A 10 0 1 0 Undervoltage A 11 0 0 0 Board error 1 A 12 0 0 0 Memory error 1 A 13 0 0 0 Clock error A 15 0 0 0 Memory error 2 A 16 1 1 0 Encoder error 1 A 17 0 0 0 Board error 2 A 18 0 0 0 Board error 3 A 20 1 1 0 Encoder error 2 A 24 1 0 0 Motor output ground fault A 31 1 0 1 Overspeed A 32 1 0 0 Overcurrent A 33 0 0 1 Overvoltage A 35 1 0...

Page 131: ...ay be used to refer to the cause Display Name Definition Cause Action 1 Power supply voltage is low 2 Power failed instantaneously for 15ms or longer 3 Shortage of power supply capacity caused the power supply voltage to drop at start etc 4 Power switched on within 5s after it had switched off Review the power supply A 10 Undervoltage Power supply voltage dropped to 20V or less 5 Faulty parts in t...

Page 132: ...n time constant 3 Servo system is instable to cause overshoot 1 Re set servo gain to proper value 2 If servo gain cannot be set to proper value 1 Reduce load inertia moment ratio or 2 Reexamine acceleration deceleration time constant 4 Electronic gear ratio is large parameters No 3 4 Set correctly A 31 Overspeed Speed has exceeded the instantaneous permissible speed 5 Encoder faulty Change the ser...

Page 133: ...vo motor that provides larger output 2 Servo system is instable and hunting 1 Repeat acceleration deceleration to execute auto tuning 2 Change auto tuning response setting 3 Set auto tuning to OFF and make gain adjustment manually 3 Machine struck something 1 Review operation pattern 2 Install limit switches 4 Wrong connection of servo motor Servo amplifier s output terminals U V W do not match se...

Page 134: ...der is faulty Checking method Change the servo motor 1 Acceleration deceleration time constant is too small Increase the acceleration deceleration time constant 2 Torque limit value parameter No 28 is too small Increase the torque limit value 3 Motor cannot be started due to torque shortage caused by power supply voltage drop 1 Review the power supply capacity 2 Use servo motor which provides larg...

Page 135: ...ad warning occurs operation may be continued but an alarm may take place or proper operation may not be performed If another warning A E6 or A E9 occurs the servo amplifier will go into a servo off status Eliminate the cause of the warning according to this section Use the optional Servo Configuration software to refer to the cause of warning Display Name Definition Cause Action A E1 Overload warn...

Page 136: ... factor Electronic gear A B A B 1 to 32767 1 50 A B 50 In position range setting 0 to 10000 pulse Error excessive 80 kpulse Position control mode Torque limit Parameter setting system Speed control range Analog speed command 1 1000 internal speed command 1 5000 Analog speed command input DC0 to 10V Speed fluctuation ratio 0 03 or less load fluctuation 0 to 100 0 02 or less power fluctuation 10 3 o...

Page 137: ...4 CNP1 CNP2 CNP3 Earth terminal Terminal screw M4 Tightening torque 1 24 N m 175 6 oz in 0 197 27 3 90 3 543 70 2 756 max 76 2 992 35 4 37 3 18 14 8 MITSUBISHI OPEN CN1A CN1B CNP1 CNP2 CNP3 MELSERVO 45 1 772 5 6 0 24 10 0 394 100 3 937 23 0 197 0 906 0 551 0 709 1 075 1 394 1 469 12 0 472 13 0 512 14 0 551 0 315 Earth terminal plate accessory Display setting section cover Rating plate mounting hol...

Page 138: ...0120 3000VE Shell kit 10320 52F0 008 Logo etc are indicated here 12 0 0 47 22 0 0 87 39 0 1 54 23 8 0 94 14 0 0 55 12 7 0 50 33 3 1 31 Unit mm Unit in Sumitomo 3M make 10 0 12 0 0 47 22 0 0 87 39 0 1 54 23 8 14 0 0 55 12 7 33 3 1 31 5 7 27 4 1 08 0 94 0 22 0 50 0 39 Model Connector 10120 3000VE Shell kit 10320 52A0 008 Unit mm Unit in Note Not available as an option The crimping tool is required f...

Page 139: ...1 039 21 0 0 827 B 1 0 047 5 4 0 213 3 0 118 0 335 0 248 0 421 0 772 0 457 0 118 2 7 0 106 0 165 Unit mm Unit in 1 5 0 059 Connector molex make Circuit number Pitch Layout diagrams clossified by the number of poles 4 poles 8 poles 12 poles 2 15 2 9 1 9 0 075 1 7 2 55 1 7 2 6 1 6 6 0 26 14 7 0 579 5 5 0 217 4 3 0 169 2 0 114 0 067 0 102 0 079 0 039 0 067 0 1 0 085 Applicable wire Core size AWG 18 t...

Page 140: ...med is above the electronic thermal relay protection curve shown below Overload 2 alarm A 51 occurs if the maximum current flew continuously for several seconds due to machine collision etc Use the equipment on the left hand side area of the continuous or broken line in the graph If load is applied at stop during servo lock 70 of the rated torque must not be exceeded HC AQ Series 1000 100 10 1 0 1...

Page 141: ...istance mm in Vo Machine rapid feedrate mm min in min JM Servo motor inertial moment kg x cm2 oz x in2 JL Load inertia moment converted into equivalent value on servo motor shaft kg x cm2 oz x in2 τ Brake time constant Fig 11 3 s te Delay time of control section Fig 11 2 s There is internal relay delay time of about 30ms 0 0 0005 0 001 0 0015 0 002 0 0025 0 100 400 700 1000 1300 1600 HC AQ0135 HC ...

Page 142: ...he MR JRCBL M H cable is shown below This graph gives calculated values Since they are not guaranteed values provide a little allowance for these values 1 108 4 7 10 20 40 70 100 200 Flexing life times Flexing radius mm 1 107 1 106 1 105 5 104 5 103 5 107 5 106 5 105 1 104 1 103 ...

Page 143: ... so can cause an electric shock CAUTION y Use the specified auxiliary equipment and options Unspecified ones may lead to a fault or fire 12 1 Options 12 1 1 Cables and connectors 1 Cable make up The following cables are used for connection with the servo motor and other models Operation panel Controller Personal computer CN1B CNP1 CNP2 CNP3 3 2 1 4 6 4 5 5 7 Servo amplifier CN1A Servo motor HC AQ ...

Page 144: ...ctor Hirose Electric Connector HIF3BA 20D 2 54R Servo amplifier side connector 3M or equivalent Connector 10120 6000EL Shell kit 10320 3210 000 4 Junction terminal block cable MR J2TBL05M Refer to section 12 1 2 For junction terminal block connection 5 Junction terminal block MR TB20 Refer to Section 12 1 2 Servo amplifier side connector Molex make Connector 5557 04R 210 Terminal 5556 Personal com...

Page 145: ...uired length is not found in the options fabricate the cable on the customer side Motor Cable Servo Motor Model Note 1 Model Use for EN UL Standard Note 2 Long flexing life Connector Set HC AQ0135D to HC AQ0335D MR JRCBL M H MR JRCNM Note 1 indicates the cable length 2 5 10 20 30 m 2 The standard cable has a long flexing life a Model explanation Model MR JRCBL M 2 5 10 20 30 2 6 5 5 16 4 10 32 8 2...

Page 146: ...his connection 11 5 3 9 2 7 8 1 6 12 10 4 11 5 3 9 2 7 8 1 6 12 10 4 LG P5 B2 B1 U V W E MR MRR SD LG P5 B2 B1 U V W E SD MR MRR 0 5mm 2 0 5mm 2 0 3mm 2 0 3mm 2 0 5mm 2 0 5mm 2 0 5mm 2 0 5mm 2 0 2mm 2 0 2mm 2 Blue Orange Yellow White Red White Black Green Brown White Servo motor side Connector 5559 12P 210 Terminal 5558 Servo amplifier side Connector 5557 12R 210 Terminal 5556 Blue Orange Yellow W...

Page 147: ...th FG securely 2 The optional communication cable is 3m 10 ft long When the cable is fabricated its maximum length is 15m 49 ft in offices of good environment with minimal noise b Outline drawing y MR JRPC98CBL3M 1 2 3 4 3m 9 8ft View A A View B B 13 25 14 1 y MR JRPCATCBL3M 1 2 3 4 3m 9 8ft View A A View B B 5 1 9 6 c Connection diagram 2 3 7 4 5 2 4 1 3 2 3 7 4 5 2 4 1 3 8 6 SD RD SG RS CS RXD T...

Page 148: ...itting refer to Section 12 2 4 2 b 2 Terminal labels Among the terminal block labels for the junction terminal block use the two for the 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 17 18 19 1 For CN1A 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 1...

Page 149: ... A10 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 CR Note Terminal Block Labels Junction Terminal Block Terminal No For CN1A For CN1B Pin No Pin No Plate Note The labels are designed for position control mode Since the signals change with parameter setting and control mode use the accessory signal seals to change the signal symbols Junction terminal block side connector Hirose Electric HIF38...

Page 150: ...read save print Others Automatic operation station setting help display Note 1 On some personal computers this software may not run properly 2 Minimum resolution changes with the processing speed of the personal computer 2 System configuration a Components To use this software the following components are required in addition to the servo amplifier and servo motor Model Description Personal comput...

Page 151: ...ifier Servo motor 2 When using RS 422 You can make multidrop connection of up to 32 axes Personal computer CNP1 CNP2 Servo amplifier Servo motor Servo motor Servo motor CNP1 CNP2 CNP1 CNP2 Servo amplifier Servo amplifier Axis 1 Axis 2 Axis 32 RS 232C RS 422 converter To RS 232C connector Note 1 Communication cable Note For cable connection refer to section 13 1 1 ...

Page 152: ...M P24G P24L The wires used assume that they are 600V vinyl wires and the wiring distance is 30m max If the wiring distance is over 30m choose the wire size in consideration of voltage drop 2 Wires for cables When fabricating a cable use the wire models given in the following table or equivalent Wire Model Core Size mm2 Number of Cores Core Insulation Sheath Outline d mm Note 1 Finishing OD mm Cabl...

Page 153: ...es produced by the servo amplifier noise suppression measures must be taken The measures will vary slightly with the routes of noise transmission 1 Noise reduction techniques a General reduction techniques x Avoid laying power lines input and output cables and signal cables side by side or do not bundle them together Separate power lines from signal cables x Use shielded twisted pair cables for co...

Page 154: ...and those transmitted through the power supply cables Noises produced by servo amplifier Noises transmitted in the air Noise radiated directly from servo amplifier Magnetic induction noise Static induction noise Noises transmitted through electric channels Noise radiated from the power supply cable Noise radiated from servo motor cable Noise transmitted through power supply cable Noise sneaking fr...

Page 155: ...een easily affected signal cables and the I O cables of the 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...

Page 156: ...veral cables in a bunch The clamp comes as a set with the earth plate Srip the cable sheath of athe clamped area cutter cable Cable clamp A B Cable Earth plate External conductor Clamp section diagram 40 1 57 x Outline drawing 2 φ5 0 20 hole installation hole Earth plate Clamp section diagram Note M4 screw 11 0 43 3 0 12 6 0 24 C A 6 22 0 87 17 5 0 69 35 1 38 35 1 38 L or less 10 0 39 30 1 18 B 0 ...

Page 157: ...1 CNP2 CNP3 MELSERVO MITSUBISHI OPEN CN1A CN1B CNP1 CNP2 CNP3 MELSERVO MITSUBISHI OPEN CN1A CN1B CNP1 CNP2 CNP3 MELSERVO Controller such as personal computer RS 232C RS 422 converter RS 422 Axis 1 Station 0 Unavailable as option To be prepared by customer To CNP1 Servo amplifier Axis 2 Station 1 To CNP1 Servo amplifier To CNP1 Servo amplifier 2 Cable connection diagram Wire as shown below Note 3 3...

Page 158: ...al computer MR CPCATCBL3M x MR CPC98CBL3M is available Refer to Section 12 1 1 Personal computer connector Note 2 15m max Note 1 Servo amplifier CNP3 connector 2 4 1 3 2 3 5 7 8 4 6 TXD RXD GND RTS CTS DSR DTR RXD TXD GND SD 2 3 7 4 5 SD RD SG RS CS D SUB25 socket for PC 9800 series CNP3 connector 2 RXD CNP3 connector 1 GND CNP3 connector 4 TXD CNP3 connector 1 GND D SUB9 socket Note 3 Note 1 Mole...

Page 159: ... which 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 4800 9600 19200 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 communicatio...

Page 160: ... bps Parameter No 16 2 RS 422 RS 232C serial interface selection Select the RS 422 or RS 232C communication standard RS 422 and RS 232C cannot be used together RS 422 RS 232C communication standard selection 0 RS 232C used 1 RS 422 used Parameter No 16 3 Communication delay time Set the time from when the servo amplifier slave station receives communication data to when it sends back data Set 0 to...

Page 161: ...se Error code A Negative response Error code other than A Servo side Slave station Controller side Master station Command Station number Station number 2 Transmission of data request from the controller to the servo S O H S T X E T X S T X E T X Controller side Master station Servo side Slave station 10 frames Command Data No Check sum Error code Data Check sum 6 frames data Station number Station...

Page 162: ...DC1 1 A Q 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 JIS8 unit codes are used...

Page 163: ... 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 13 6 Checksum Checksum range Check Checksum ra...

Page 164: ... 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 165: ...tion 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 Dat...

Page 166: ... inertia moment ratio 12 2 Parameter Command 0 5 Command Data No Description Frame Length 0 5 0 0 to 3 1 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 External input pin statuses 8 1 2 C 0 External output pin statuses 8 4 Alarm history ...

Page 167: ...display data value and processing information at alarm occurrence load inertia moment ratio 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 13 11 2 Write commands 1 Status display Command 8 1 Command Data No Description Setting Range Frame Length 8 1 0 0 Status display d...

Page 168: ...nalog input signals and pulse train 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 x A 0 Command Data No Description Setting Range Frame Length 9 2 0 0 Input signal for test operation 8 9 2 A 0 Forced output from signal pin 8 Command Data No Description Setting Range Frame Length A 0 1 0 ...

Page 169: ...om 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 di...

Page 170: ...s transferred in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit 2 Second least siginificant digit 3 Third least siginificant digit 4 Forth least siginificant digit 5 Fifth least siginificant 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 ...

Page 171: ...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 command ...

Page 172: ...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 173: ...ified If it is not specified data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position Write the 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 th...

Page 174: ... 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 175: ...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 176: ...nd command 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 19 27 4 12 20 28 5 PC 13 21 29 6 RES 14 22 30 7 CR 15 23 31 ...

Page 177: ...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 178: ...ration data Item Command Data No Data Speed A 0 1 0 Write the speed r min in hexadecimal Acceleration decelerati on time constant A 0 1 1 Write the acceleration deceleration time constant ms in hexadecimal Moving distance A 0 1 3 Write the moving distance pulse in hexadecimal b Start Turn on the external input signals SON and ST1 ST2 by using command 9 2 data No 0 0 Item Command Data No Data Forwa...

Page 179: ...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 External ...

Page 180: ...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 13 11 1 b Reply The alarm occurrence time is transferred in decimal Hexadec...

Page 181: ...ommand 3 5 and any of data No 8 0 to 8 E corresponding to the status display item to be read Refer to Section 13 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 po...

Page 182: ...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 For example data 000186A0 is 100000 pulse in th...

Page 183: ...eration of common line connection Section 3 6 2 4 a Addition of maximum output current Section 3 7 3 4 Addition Section 4 2 2 7 Addition of description for the servo motor equipped with electromagnetic brake Section 4 2 3 6 Addition of description for the servo motor equipped with electromagnetic brake Section 4 2 4 6 Addition of description for the servo motor equipped with electromagnetic brake ...

Page 184: ...of description related to load during a stop Section 12 2 1 2 Addition of finishing OD Changes made to the core insulation sheath outline d of J14B1180 Changes made to the number of cores of UL20276AWG28 Section 12 2 4 1 c Figure correction Section 13 1 1 Corrections made to the outline drawing and connection diagram Section 13 1 2 2 Corrections made to the connection diagram Section 13 12 1 Recon...

Page 185: ...A5 HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 8310 SH NA 3200 B 9910 MEE Printed in Japan Specifications subject to change without notice General Purpose Interface MR J2 03A5 Servo Amplifier Instruction Manual B Servo Amplifier Instruction Manual B ...

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