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6. GENERAL GAIN ADJUSTMENT

6. GENERAL GAIN ADJUSTMENT

6.1 Different adjustment methods

6.1.1 Adjustment on a MELSERVO-J2M

The gain adjustment in this section can be made on MELSERVO-J2M. For gain adjustment, first execute
auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1
and manual mode 2 in this order.

(1) Gain adjustment mode explanation

Gain adjustment

mode

DRU parameter

No. 8 setting

Estimation of load

inertia moment ratio

Automatically set parameters

Manually set parameters

Auto tuning mode 1
(initial value)

0001

Always estimated

GD2 (DRU parameter No. 12)
PG1 (DRU parameter No. 13)
VG1 (DRU parameter No. 14)
PG2 (DRU parameter No. 15)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)

RSP (DRU parameter No. 9)

Auto tuning mode 2

0003

PG1 (DRU parameter No. 13)
VG1 (DRU parameter No. 14)
PG2 (DRU parameter No. 15)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)

GD2 (DRU parameter No. 12)
RSP (DRU parameter No. 9)

Manual mode 1

0004

VG1 (DRU parameter No. 14)
PG2 (DRU parameter No. 15)

GD2 (DRU parameter No. 12)
PG1 (DRU parameter No. 13)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)

Manual mode 2

0002

Fixed to parameter
No. 12 value

GD2 (DRU parameter No. 12)
PG1 (DRU parameter No. 13)
VG1 (DRU parameter No. 14)
PG2 (DRU parameter No. 15)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)

Interpolation mode

0000

Always estimated

GD2 (DRU parameter No. 12)
PG2 (DRU parameter No. 15)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)

PG1 (DRU parameter No. 13)
VG1 (DRU parameter No. 14)

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Summary of Contents for MELSERVO-J2M series

Page 1: ...www dadehpardazan ir 88594014 15 General Purpose AC Servo MODEL MR J2M P8B MR J2M DU MR J2M BU SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET Compatible J2M Series G ...

Page 2: ...ﮐﺘﻮر ﺣﻔﺎﻇﺘﯽ ﻫﺎي رﻟﻪ ﮔﯿﺮي اﻧﺪازه ﻫﺎي ﺳﯿﺴﺘﻢ ﭘﺸﺘ ﺧﺪﻣﺎت اراﺋﻪ اﯾﻠﯿﺎ ﻫﻮﺷﻤﻨﺪ ﭘﺮدازان داده ﺷﺮﮐﺖ ﮐﻨﻨﺪه ﺗﺎﻣﯿﻦ و اي ﺣﺮﻓﻪ ﯿﺒﺎﻧﯽ ﺗﺠﻬﯿﺰات Mitsubishi Electric آﻣﻮزﺷﯽ ﻫﺎي دوره ﺑﺮﮔﺰاري PLC HMI Servo Sensor Inverter Industrial Network ﺻﻨﻌﺘﯽ اﺗﻮﻣﺎﺳﯿﻮن ﭘﺮوژﻫﺎي اﻧﺠﺎم ﺻﻨﻌﺘﯽ اﺗﻮﻣﺎﺳﯿﻮن ادوات ﮐﻠﯿﻪ ﺗﺨﺼﺼﯽ ﺗﻌﻤﯿﺮات ﺗﻤﺎس ﻫﺎي ﺗﻠﻔﻦ 15 88594014 ﻓﮑﺲ 88594013 وب ﺳﺎﯾﺖ www dphi ir www indus ir ...

Page 3: ...ions 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 done and wh...

Page 4: ...o amplifier is charged and you may get an electric shock 2 To prevent fire note the following CAUTION Do not install the base unit servo motor and regenerative brake resistor on or near combustibles Otherwise a fire may cause When each unit has become faulty switch off the main base unit power side Continuous flow of a large current may cause a fire When a regenerative brake resistor is used use a...

Page 5: ...al conditions Conditions Environment Each unit 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 freezing During operation 90 RH or less non condensing 80 RH or less non condensing Ambient humidity In storage 90 RH or less ...

Page 6: ...etic contactor etc intervene U Drive unit V W U V W Servo Motor Do not connect AC power directly to the servo motor Otherwise a fault may occur The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in the specified direction Otherwise the forced stop and other protective circuits may not operate Interface unit Control output signal VIN SG VIN SG RA ...

Page 7: ...chanical 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 ext...

Page 8: ...lace the electrolytic capacitor every 10 years when used in general environment Please consult our sales representative 7 General instruction To illustrate details the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards When the equipment is operated the covers and safety guards must be installed as specified Operation must be performed in acco...

Page 9: ... installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsafe functions in the system EEP ROM life The number of write times to the EEP ROM which stores parameter settings etc is limited to 100 000 If the total number of the following operations exceeds 100 000 the servo amplifier and or converter unit may fail when the EEP ROM reac...

Page 10: ...s requires the EMC filters to be used with the servo incorporated machines and equipment to comply with the EMC directive For specific EMC directive conforming methods refer to the EMC Installation Guidelines IB NA 67310 2 Low voltage directive The low voltage directive applies also to MELSERVO J2M Hence they are designed to comply with the low voltage directive MELSERVO J2M is certified by TUV th...

Page 11: ... PE terminals of the base unit must be connected to the corresponding earth terminals d The protective earth PE of the servo motor is connected to the protective earth of the base unit via the screw which fastens the drive unit to the base unit When fixing the drive unit to the base unit therefore tighten the accessory screw securely 6 Auxiliary equipment and options a The no fuse breaker and magn...

Page 12: ... compliant products 6 Attachment of a servo motor For the flange size of the machine side where the servo motor is installed refer to CONFORMANCE WITH UL C UL STANDARD in the Servo Motor Instruction Manual 7 About wiring protection For installation in United States branch circuit protection must be provided in accordance with the National Electrical Code and any applicable local codes For installa...

Page 13: ...WIRING 3 1 to 3 28 3 1 Connection example of control signal system 3 2 3 2 I O signals of interface unit 3 4 3 2 1 Connectors and signal arrangements 3 4 3 2 2 Signal explanations 3 5 3 2 3 Interfaces 3 6 3 3 Signals and wiring for extension IO unit 3 9 3 3 1 Connection example 3 9 3 3 2 Connectors and signal configurations 3 11 3 3 3 Output signal explanations 3 12 3 4 Signals and wiring for base...

Page 14: ... GENERAL GAIN ADJUSTMENT 6 1 to 6 12 6 1 Different adjustment methods 6 1 6 1 1 Adjustment on a MELSERVO J2M 6 1 6 1 2 Adjustment using MR Configurator servo configuration software 6 3 6 2 Auto tuning 6 4 6 2 1 Auto tuning mode 6 4 6 2 2 Auto tuning mode operation 6 5 6 2 3 Adjustment procedure by auto tuning 6 6 6 2 4 Response level setting in auto tuning mode 6 7 6 3 Manual mode 1 simple manual ...

Page 15: ...ristics 11 4 11 4 Encoder cable flexing life 11 6 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 to 12 36 12 1 Options 12 1 12 1 1 Regenerative brake options 12 1 12 1 2 Cables and connectors 12 8 12 1 3 Maintenance junction card MR J2CN3TM 12 21 12 1 4 MR Configurator servo configurations software 12 23 12 2 Auxiliary equipment 12 25 12 2 1 Recommended wires 12 25 12 2 2 No fuse breakers fuses magnetic ...

Page 16: ...or Instruction Manual is introduced here for your reference Note that the contents of the Servo Motor Instruction Manual are not included in this 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 17: ...ng the axis number of the drive unit using the MR Configurator servo configuration software you can select the unit to communicate with without changing the cabling The real time auto tuning function automatically adjusts the servo gains according to a machine The MELSERVO J2M series supports as standard the absolute position encoders which have 131072 pulses rev resolution ensuring control as acc...

Page 18: ...r 3 channels Regenerative brake option Regener ative TR Drive unit Dynamic brake Servo motor Inrush current suppression circuit Current detector Overcurrent protection Current detection Base amplifier Actual position control Actual speed control Current control Model position control Model speed control Virtual encoder Virtual servo motor Drive unit Encoder Drive unit Dynamic brake Servo motor Enc...

Page 19: ...t off regenerative fault protection undervoltage instantaneous power failure protection kg 1 1 1 3 1 5 Mass lb 2 4 2 9 3 3 Note The control circuit power supply is recorded to the interface unit 2 Drive unit Model MR J2M 10DU MR J2M 20DU MR J2M 40DU MR J2M 70DU Voltage frequency 270 to 311VDC Power supply Permissible voltage fluctuation 230 to 342VDC Control system Sine wave PWM control current co...

Page 20: ...o is switched off and the dynamic brake is operated Section 3 2 2 Electromagnetic brake output In the servo off or alarm status this signal is disconnected When an alarm occurs they are disconnected independently of the base circuit status It is possible to use it to excite an electromagnetic brake Section 3 2 2 Analog monitor Servo status is output in terms of voltage in real time Section 5 2 3 3...

Page 21: ...rial number Rating plate Rating plate b Model code 100 200 400 Rated output 10 20 40 MR J2M DU Symbol Capacity of applied servo motor 70 750 2 Interface unit a Rating plate Model Input capacity Applicable power supply Output voltage current Serial number Rating plate MITSUBISHI MADE IN JAPAN MODEL MITSUBISHI ELECTRIC CORPORATION AC SERVO PASSED POWER OUTPUT SERIAL A5 TC3 AAAAG52 MR J2M P8B 75W 2PH...

Page 22: ...ode 6 1920 4 8 1600 2400 3200 1280 2560 MR J2M BU Symbol 4 6 8 Number of slots Maximum servo motor connection capacity W Continuous capacity W 1 6 Combination with servo motor The following table lists combinations of drive units and servo motors The same combinations apply to the models with electromagnetic brakes and the models with reduction gears Servo motor Drive unit HC KFS HC MFS HC UFS MR ...

Page 23: ...e unit Display Indicates operating status or alarm CN1A Bus cable connector For connection of servo system controller or preceding axis servo amplifier CN3 For connection of personal computer RS 232C Outputs analog monitor Pushbutton switches Used to change status indication or set IFU parameters Mounting screw Display setting cover CN1B Bus cable connector For connection of subsequent axis servo ...

Page 24: ... Control circuit power input connector CNP1A Regenerative brake option connector CNP3 Main circuit power input connector CON1 CON2 Interface unit connectors CON3B Second slot connector CON3D Fourth slot connector CON4 Option slot connector CON5 Battery unit connector CON3C Third slot connector CON3A First slot connector ...

Page 25: ...on 12 1 1 Options and auxiliary equipment Cables Section 12 2 1 Power factor improving reactor Section 12 2 3 3 phase 200V to 230VAC Note 1 phase 200V to 230VAC power supply No fuse breaker NFB or fuse Magnetic contactor MC Power factor improving reactor FR BAL MR Configurator servo configuration software Personal computer Power supply lead Encoder cable To CNP1A To CN1A To CN1B Servo system contr...

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Page 27: ...t Otherwise a fault may occur Do not subject each unit to drop impact or shock loads as they are precision equipment Do not install or operate a faulty unit 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 2 1 Environmental conditions The following environ...

Page 28: ...1 57inch or more 40mm 1 57inch or more 2 Installation of two or more MELSERVO J2M When installing two units vertically heat generated by the lower unit influences the ambient temperature of the upper unit Suppress temperature rises in the control box so that the temperature between the upper and lower units satisfies the environmental conditions Also provide adequate clearances between the units o...

Page 29: ...om outside to make the internal pressure higher than the external pressure to prevent such materials from entering the control box 2 4 Cable stress 1 The way of clamping the cable must be fully examined so that flexing stress and cable s own mass stress are not applied to the cable connection 2 For use in any application where the servo motor moves fix the cables encoder power supply brake supplie...

Page 30: ...unit MR J2M 40DU or less The following example gives installation of the drive unit to the base unit The same also applies to the interface unit Sectional view Drive unit Base unit Wall Catch Positioning hole 1 1 Hook the catch of the drive unit in the positioning hole of the base unit Sectional view 2 Drive unit Base unit Wall 2 Using the catch hooked in the positioning hole as a support push the...

Page 31: ...en the drive unit to the base unit POINT Securely tighten the drive unit fixing screw Sectional view Wall 3 Drive unit MR J2M 70DU When using the MR J2M 70DU install it on two slots of the base unit The slot number of this drive unit is that of the left hand side slot of the two occupied slots when they are viewed from the front of the base unit ...

Page 32: ...ervo amplifier and CN1B should connected with the bus cable connected to the subsequent axis servo amplifier or with the termination connector MR A TM j Check that the encoder cable and servo motor power cable connected to the drive unit are connected to the same servo motor properly 2 Axis number a Check that the axis numbers of the servo system controller match the axis number settings of the co...

Page 33: ...y get burnt or a parts may damaged During operation never touch the rotating parts of the servo motor Doing so can cause injury Connect the servo motor with a machine after confirming that the servo motor operates properly alone 1 Power on Switching on the main circuit power control circuit power places the interface unit display in the scroll status as shown below In the absolute position detecti...

Page 34: ...is ready to operate and the servo motor is locked 5 Home position return Always perform home position return before starting positioning operation 6 Stop If any of the following situations occurs MELSERVO J2M suspends the running of the servo motor and brings it to a stop When the servo motor is equipped with an electromagnetic brake refer to Section 3 7 Operation command Stopping condition Servo ...

Page 35: ...be set independently of the slot number where the drive unit has been installed The axis numbers of the drive units installed to the slots are factory set as listed below IFU Parameter No Name Initial Value Note Definition 11 1 slot axis number selection 0000 Axis 1 12 2 slot axis number selection 0001 Axis 2 13 3 slot axis number selection 0002 Axis 3 14 4 slot axis number selection 0003 Axis 4 1...

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Page 37: ... 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 forced stop and other protective circuits Interface unit Control output signal VIN SG VIN SG RA RA Interface unit Control output signal Use a noise filt...

Page 38: ... 7 Forced stop Servo system controller Bus cable Option Note 10 13 Cable clamp Option Note 9 MR Configurator servo configuration software Note 4 Personal computer 15m 49 2ft or less Note 5 CN3 Note 5 CN1A Note 5 CN1B Plate Note 2 6 10k 10k 10k 2m 6 56ft or less Note 8 Analog monitor Max 1mA Reading in both directions Note 11 12 13 Termination connector MR A TM Base unit Slot 1 Note 5 CN2 Note 5 Dr...

Page 39: ...osed contacts By setting 0001 in DRU parameter No 23 of the drive unit the forced stop EM1 can be made invalid 8 When connecting the personal computer together with analog monitor 1 2 3 use the maintenance junction card MR J2CN3TM Refer to Section 12 1 3 9 Use MRZJW3 SETUP151E 10 Use the bus cable at the overall distance of 30m 98 4ft or less In addition to improve noise immunity it is recommended...

Page 40: ... MO2 EM1 LG MBR 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 CN3 CN1A CN1B RD LG LG RD TD TD LG EMG BT LG RD LG LG RD TD TD LG EMG BT EMG LG MO3 EMG Interface unit The connector frames are connected with the PE earth terminal inside the base unit Cable side connector Connector Model Maker CN1A CN1B CN3 1 Soldering type Connector 10120 3000VE...

Page 41: ...ector Pin No Function Application I O Division Electromagnetic brake interlock MBR CN3 13 MBR SG are disconnected when a forced stop is made valid an alarm occurs in the interface unit or drive unit or the servo switches off With IFU parameter No 10 choose the axis number of the drive unit that will use this signal DO 1 Analog monitor 1 MO1 CN3 4 Used to output the data set in IFU parameter No 3 t...

Page 42: ...ws the power supply and its common line MR LG SD SG VIN DI 1 RA TXD RXD RS 232 MRR LG SD M E LG SD SG RA MBR Interface unit 24VDC SON etc Base unit Drive unit Extension IO unit Ground 24VDC LAR etc LA etc Differential line driver output 35mA max Servo motor Servo motor encoder Analog monitor INP etc MBR MO1 MO2 MO3 ...

Page 43: ... DI 1 Give a signal with a relay or open collector transistor VCES 1 0V I CE0 100 A Interface unit R Approx 4 7k 24VDC 200mA or more VIN EM1 SG Switch For transistor Approx 5mA TR b 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 curre...

Page 44: ...IGNALS AND WIRING 2 Lamp load VIN R SG MBR 24VDC 10 Interface unit c Analog output Output voltage 4V Max output current 0 5mA Resolution 10bit A SD Interface unit MO1 MO2 M03 10k 1mA meter which deflects unidirectionally or bidirectionally LG ...

Page 45: ...rox 4 7k Approx 4 7k Note 2 CN4A Note 1 Note 2 CN4A 13 38 plate Encoder A phase pulse 1 Differential line driver system Encoder B phase pulse 1 Differential line driver system Encoder Z phase pulse 1 Differential line driver system Encoder A phase pulse 2 Differential line driver system Encoder B phase pulse 2 Differential line driver system Encoder Z phase pulse 2 Differential line driver system ...

Page 46: ...Differential line driver system Encoder Z phase pulse 6 Differential line driver system Encoder A phase pulse 7 Differential line driver system Encoder B phase pulse 7 Differential line driver system Encoder Z phase pulse 7 Differential line driver system Encoder A phase pulse 8 Differential line driver system Encoder B phase pulse 8 Differential line driver system Encoder Z phase pulse 8 Differen...

Page 47: ...48 LB2 46 LA3 44 LZ3 42 LB4 40 LG 38 VIN 36 34 32 30 28 26 LBR1 24 LAR2 22 LZR2 20 LBR3 18 LAR4 16 LZR4 14 SG 12 10 8 6 4 2 LAR1 25 LZR1 23 LBR2 21 LAR3 19 LZR3 17 LBR4 15 LG 13 VIN 11 9 7 5 3 1 CN4B LB5 49 LA6 47 LZ6 45 LB7 43 LA8 41 LZ8 39 SG 37 35 33 31 29 27 LA5 50 LZ5 48 LB6 46 LA7 44 LZ7 42 LB8 40 LG 38 VIN 36 34 32 30 28 26 LBR5 24 LAR6 22 LZR6 20 LBR7 18 LAR8 16 LZR8 14 SG 12 10 8 6 4 2 LA...

Page 48: ...4 CN4A 41 Encoder A phase pulse 2 LA2 LAR2 Encoder A phase pulse 4 LAR4 CN4A 16 Encoder B phase pulse 2 LB2 LBR2 LB4 CN4A 40 Encoder Z phase pulse 2 LZ2 LZR2 Encoder B phase pulse 4 LBR4 CN4A 15 Encoder pulse outputs for slot 3 LZ4 CN4A 39 Signal Symbol Encoder Z phase pulse 4 LZR4 CN4A 14 Encoder A phase pulse 3 LA3 LAR3 LA5 CN4B 50 Encoder B phase pulse 3 LB3 LBR3 Encoder A phase pulse 5 LAR5 CN...

Page 49: ...ock 8 MBR8 CN4A 35 MBR1 Electromagnetic brake interlock signal for axis 1 MBR2 Electromagnetic brake interlock signal for axis 2 MBR3 Electromagnetic brake interlock signal for axis 3 MBR4 Electromagnetic brake interlock signal for axis 4 MBR5 Electromagnetic brake interlock signal for axis 5 MBR6 Electromagnetic brake interlock signal for axis 6 MBR7 Electromagnetic brake interlock signal for axi...

Page 50: ...n example of power line circuit Wire the power supply main circuit as shown below so that power is shut off and the servo on command turned off as soon as an alarm occurs a servo forced stop is made valid or a controller forced stop is made valid A no fuse breaker NFB must be used with the input cables of the power supply 1 For 3 phase 200 to 230VAC power supply EM1 VIN MC SK NFB MC SG 1 L1 L2 L3 ...

Page 51: ...ON MC Note 1 Alarm RA1 Controller forced stop RA2 Forced stop Note 2 Power supply 1 phase 200 to 230VAC Forced stop 24VDC MELSERVO J2M CNP1B Note 1 Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side 2 For 1 phase 200 to 230VAC connect the power supply to L1 L2 and leave L3 open ...

Page 52: ...pe Y type The connector frames are connected to the PE earth terminal of the base unit CNP1B CNP3 Cable side connector Connector Model Maker CNP1A Housing 1 178128 3 X type Contact 917511 2 max sheath OD 2 8 mm 353717 2 max sheath OD 3 4 mm Note CNP1B Housing 2 178128 3 Y type Contact 917511 2 max sheath OD 2 8 mm 353717 2 max sheath OD 3 4 mm Note CNP3 Housing 1 179958 3 Contact 316041 2 Tyco Ele...

Page 53: ... and L3 with three phase 200 to 230VAC 50 60Hz power 2 When using a signal phase power supply Supply L1 and L2 with signal phase 200 to 230VAC 50 60Hz power 1 L11 2 L21 CNP1B 3 Control circuit power Supply L11 and L21 with single phase 200 to 230VAC 50 60Hz power 1 N 2 P CNP1A 3 C Regenerative brake option Connect the regenerative brake option across P C Keep N open Refer to Section 12 1 1 Protect...

Page 54: ... accept the servo on command within 4s the main circuit power supply is switched on Refer to paragraph 2 in this section 2 Timing chart 4s ON OFF ON OFF ON OFF 10ms 100ms Base circuit Servo on command from controller SON accepted Main circuit Control circuit power 100ms 3 Forced stop CAUTION Install an emergency stop circuit externally to ensure that operation can be stopped and power shut off imm...

Page 55: ...for the electromagnetic brake should not be used as the 24VDC power supply for interface Always use the power supply for electromagnetic brake only 3 5 2 Connection diagram The following table lists wiring methods according to the servo motor types Use the connection diagram which conforms to the servo motor used For cables required for wiring refer to Section 12 2 1 For encoder cable connection r...

Page 56: ...sing 5557 04R 210 Terminal 5556PBT3L 2 Servo motor HC KFS HC MFS HC UFS3000r min series 2 4 1 3 4 Power supply connector Molex Without electromagnetic brake 5557 04R 210 receptacle 5556PBTL Female terminal With electromagnetic brake 5557 06R 210 receptacle 5556PBTL Female terminal Encoder 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...

Page 57: ...urs Remove cause of trouble 50ms or more 30ms or more NO Brake operation Brake operation Power on Power off Note Note Switch off the main circuit power as soon as an alarm occurs 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 overload 2 A 51 or multi axis overload A 53 alarm after its occu...

Page 58: ...tions such as the power supply capacity and operation delay time of the electromagnetic brake Note the following when the servo motor equipped with electromagnetic brake is used 1 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 2 The brake will operate when the power 24VDC s...

Page 59: ...ctromagnetic brake interlock 7 MBR7 CN4B 34 Electromagnetic brake interlock signal for axis 7 Electromagnetic brake interlock 8 MBR8 CN4B 35 Electromagnetic brake interlock signal for axis 8 a Electromagnetic brake interlock MBR This signal is output from the CN3 connector of the interface unit This signal allows you to select the axis number of the drive unit to be used with IFU parameter No 10 A...

Page 60: ... in a vertical lift application or the like set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop 100ms 120ms Tb ON OFF 0 r min ON OFF Servo motor speed Base circuit Servo on command from controller Invalid ON Valid OFF Coasting Electromagnetic brake operation delay time Electromagnetic brake interlock MBR MBR1 to MBR8 b Forced stop command from controller or...

Page 61: ...rake Control circuit Note 15 to 100ms Electromagnetic brake operation delay time Note Changes with the operating status power OFF Electromagnetic brake interlock MBR MBR1 to MBR8 e Only main circuit power supply off control circuit power supply remains on 10ms ON OFF Servo motor speed Base circuit Invalid ON Valid OFF Trouble ALM No ON Yes OFF Main circuit power supply Dynamic brake Dynamic brake ...

Page 62: ...B NA 67310 W U U W CN2 M V L11 L21 L1 L2 L3 MC CN1A CN2 FR BAL CNP2 U V W CNP2 U V W M V NFB Control box Servo motor Power supply 3 phase 200 to 230VAC Note 4 1 phase 200 to 230VAC Encoder Servo motor Base unit Encoder Note 3 Note 3 Drive unit Drive unit Interface unit Note 1 Protective earth PE 3 Ensure to connect it to PE terminal of the drive unit Do not connect it directly to the protective ea...

Page 63: ...oder 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 ...

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Page 65: ...ar In the initial status the indication is in the automatic scroll mode Pressing the SET button switches the automatic scroll mode to the fixed mode In the fixed mode pressing the UP or DOWN button displays the status of the subsequent axis drive unit If an alarm warning occurs in the interface unit the alarm warning number of the interface unit appears Refer to Section 4 1 2 Automatic scroll butt...

Page 66: ...troller power to switch ON Servo system controller power ON Initial data communication with servo system controller Interface unit current alarm indication When alarm occurs alarm code appears Ready OFF servo OFF Ready ON servo OFF Ready ON Servo ON Ordinary operation Servo system controller power OFF Servo system controller power ON At interface unit alarm occurrence 2s later To drive unit status...

Page 67: ... was received Note 2 A Alarm Warning The alarm No warning No that occurred is displayed Refer to Section 9 1 T b T c T d Note 3 Test operation mode It is a state of the test operation mode with the MR Configurator servo configuration software JOG operation positioning operation programmed operation DO forced output motor less operation Note 1 denotes the slot number of the base unit and the axis n...

Page 68: ...ower on Press the MODE button for more than 2s to change the display before starting operation Press the MODE UP or DOWN button once to move to the next screen UP DOWN MODE button Diagnosis Basic IFU parameters Alarm Status display Regenerative load ratio Bus voltage V Peak bus voltage V External I O signal display Output signal forced output Software version low Software version high Current alar...

Page 69: ...age 270V Peak bus voltage 350V 2 Status display list The following table lists the servo statuses that may be shown Refer to Appendix 1 for the measurement point Name Symbol Unit Description Display range Regenerative load ratio L The ratio of regenerative power to permissible regenerative power is displayed in 0 to 100 Bus voltage Pn V The voltage across P N of the main circuit converter is displ...

Page 70: ...om the servo system controller is present or not 1 Forced stop command from servo system controller Absent On Present Off 2 Forced stop EM1 ON On OFF Off 3 Electromagnetic brake interlock MBR ON On OFF Off Output signal forced output The digital output signal can be forced on off For more information refer to section 4 2 6 Software version low Indicates the version of the software Software version...

Page 71: ...st Alarm history Indicates that there is no sixth alarm in the past Indicates no occurrence of parameter error 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...

Page 72: ... communication baudrate IFU parameter No 0 to 38400bps Using the MODE button show the basic 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 Baudrate 38400bps UP DOWN To shift to the next parameter ...

Page 73: ...Call the display screen shown after power on Using the MODE button show the diagnostic screen CN3 13 Press UP once Press SET for more than 2s Turns on off the signal under the lit LED Always lit Indicates whether the output signal is ON or OFF The signals are the same as the output signals of the external I O signal display On ON Off OFF Pressing MODE once moves the lit LED to the left Press UP on...

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Page 75: ...ervo system controller the DRU parameter No 40 setting need not be changed In this drive unit the parameters are classified into the basic DRU parameters No 1 to 11 adjustment DRU parameters No 12 to 26 and expansion DRU parameters No 27 to 40 according to their safety aspects and frequencies of use The values of the basic DRU parameters may be set changed by the customer but those of the adjustme...

Page 76: ...s 14 VG1 Speed control gain 1 177 rad s 15 PG2 Position control gain 2 35 rad s 16 VG2 Speed control gain 2 817 rad s 17 VIC Speed integral compensation 48 ms 18 NCH Machine resonance suppression filter 1 Notch filter 0000 19 FFC Feed forward gain 0 20 INP In position range 100 pulse 21 MBR Electromagnetic brake sequence output 0 ms 22 For manufacturer setting 0001 23 OP1 Optional function 1 0000 ...

Page 77: ...load inertia moment to Servo motor inertia moment 2 7 0 times 53 PG2B Position control gain 2 changing ratio 100 54 VG2B Speed control gain 2 changing ratio 100 55 VICB Speed integral compensation changing ratio 100 56 0000 57 0000 58 0000 59 For manufacturer setting 0000 60 OPC Optional function C 0000 61 NH2 Machine resonance suppression filter 2 0000 62 0000 63 400 64 100 65 1 66 1 67 0 68 0 69...

Page 78: ...ing may cause the regenerative brake option to burn If the regenerative brake option selected is not for use with the drive unit parameter error A 37 occurs 2 REG 0000 Refer to name and function column 3 0080 4 0000 5 For automatic setting by servo system controller Automatically set from the servo system controller 1 Feedback pulse number Set the number of pulses per revolution in the controller ...

Page 79: ...d function column Basic DRU parameters 8 ATU Auto tuning Used to select the gain adjustment mode of auto tuning Gain adjustment mode selection For details refer to Section 6 1 1 Set value Gain adjustment mode 0 Description 1 4 Simple manual adjustment 2 Manual adjustment of all gains Interpolation mode Fixes position control gain 1 parameter No 13 Auto tuning mode 1 Fixes the load inertia moment r...

Page 80: ...ftware the torque limit value on the servo system controller side is made valid 300 0 to 500 Basic DRU parameters 11 TLN Reverse rotation torque limit Assume that the rated torque is 100 Used to limit the torque in the forward rotation driving mode and forward rotation regenerative mode In other than the test operation mode on the MR Configurator servo configuration software the torque limit value...

Page 81: ...f auto tuning is automatically used 817 rad s 20 to 20000 17 VIC Speed integral compensation Used to set the constant of integral compensation When auto tuning mode 1 2 and interpolation mode is selected the result of auto tuning is automatically used 48 ms 1 to 1000 18 NCH Machine resonance suppression filter 1 Notch filter Used to select the machine resonance suppression filter Refer to Section ...

Page 82: ...stop function invalid Servo forced stop selection 0 Valid Use the forced stop EM1 1 Invalid Do not use the forced stop EM1 Automatically switched on internally 0 0 Encoder cable selection 0 2 wire type when MR JCCBL M L H is used 1 4 wire type when MR JC4CBL M H is used 0000 Refer to name and function column Adjustment DRU parameters 24 OP2 Optional function 2 Used to select slight vibration suppr...

Page 83: ...n of machine resonance is stopped Adaptive vibration suppression control sensitivity selection Used to select the sensitivity of machine resonance detection 0 Normal 1 Large sensitivity Hz 0000 Refer to name and function column Adjustment DRU parameters 26 For manufacturer setting Do not change this value by any means 0 27 0 28 0 29 For manufacturer setting Do not change this value by any means 00...

Page 84: ...pansion DRU parameters 38 ENR Used to set the encoder pulses A phase B phase output by the enhancing IO unit Set the value 4 times greater than the A phase and B phase pulses You can use DRU parameter No 33 to choose the output pulse setting or output division ratio setting The number of A phase and B phase pulses actually output is 1 4 times greater than the preset number of pulses The maximum ou...

Page 85: ...vo configuration software Reference 0000 initial value Write DRU parameter No 1 to 39 DRU parameter No 1 to 11 40 Reference 000A Write DRU parameter No 1 to 39 DRU parameter No 40 Reference DRU parameter No 1 to 40 000C Write DRU parameter No 1 to 39 DRU parameter No 1 to 11 40 Reference 000E Write DRU parameter No 1 to 39 DRU parameter No 1 to 40 Reference DRU parameter No 1 to 40 100E Write DRU ...

Page 86: ...hanging condition item Refer to Section 7 5 10 kpps pulse r min 0 to 9999 51 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 49 and 50 Refer to Section 7 5 1 ms 0 to 100 52 GD2B Ratio of load inertia moment to servo motor inertia moment 2 Used to set the ratio of load inertia moment to servo motor inert...

Page 87: ...ilter 2 Used to selection the machine resonance suppression filter Refer to Section 7 2 2 3 0 0 1 40dB 14dB 8dB 4dB Notch frequency selection Set 00 when you have set adaptive vibration suppression control to be valid or held parameter No 25 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 3...

Page 88: ...ARAMETERS Class No Symbol Name and function Initial value Unit Setting range 62 0000 63 400 64 100 65 1 66 1 67 0 68 0 69 0 70 0 71 0 72 0 73 0 74 0 Expansion DRU parameters 2 75 For manufacturer setting Do not change this value by any means 0 ...

Page 89: ... make that parameter setting valid The parameter is set when communication between the servo system controller and servo amplifier is established b is displayed After that power the servo amplifier off once and then on again 1 Item list Classifi cation No Symbol Name Initial Value Unit Customer setting 0 BPS Serial communication baudrate selection alarm history clear 0000 1 SIC Serial communicatio...

Page 90: ...is made valid the alarm history is cleared at next power on After the alarm history is cleared the setting is automatically made invalid reset to 0 Serial communication response delay time 0 Invalid 1 Valid reply sent after delay time of 800 s or more 0000 Refer to name and function column 0 1 SIC Serial communication time out selection Set the time out period of the communication protocol in s un...

Page 91: ...er of channel 1 Choose the axis number output to analog monitor 1 Axis number set value Selecting 0 disables output 0000 Refer to name and function column Basic IFU parameters 4 MD2 Analog monitor 2 output Choose the signal to be output to analog monitor 2 0 0 Analog monitor 2 selection 0 Servo motor speed 4V max Servo motor speed 1 Torque 4V max Torque 2 Servo motor speed 4V max Servo motor speed...

Page 92: ...7 Droop pulses 4V 2048pulse 8 Droop pulses 4V 8192pulse 9 Droop pulses 4V 32768pulse A Droop pulses 4V 131072pulse B Bus voltage 4V 400V C In position 4V ON D Ready 4V ON E Trouble 4V ON Axis number of channel 3 Choose the axis number output to analog monitor 3 Axis number set value Selecting 0 disables output 0000 Refer to name and function column 6 MO1 Analog monitor 1 offset Used to set the off...

Page 93: ...2CPU SV13 SSCNET0 8ms 1 to 8 axes SV22 SSCNET0 8ms 1 to 4 axes SSCNET1 7ms 5 to 8 axes The communication cycle of motion controller can be changed using the parameter In the case of MR J2M initialization of servo amplifier MR J2M LED indication Ab or AC will not be completed if the communication cycle settings are different between the motion controller and servo amplifier MR J2M Basic IFU paramet...

Page 94: ... to 0007h 15 SL5 Slot 5 axis number selection Choose the axis number of the drive unit connected to the fifth slot of the base unit Refer to Section 2 8 Axis number set value 1 In the initial setting the fifth axis is set to the fifth slot 0004 0000 to 0007h 16 SL6 Slot 6 axis number selection Choose the axis number of the drive unit connected to the sixth slot of the base unit Refer to Section 2 ...

Page 95: ...ters No 6 to 8 can be used to set the offset voltages to the analog output voltages The setting range is between 999 and 999mV IFU parameter No Description Setting range mV 6 Used to set the offset voltage for the analog monitor 1 7 Used to set the offset voltage for the analog monitor 2 8 Used to set the offset voltage for the analog monitor 3 999 to 999 2 Settings The three channels are all fact...

Page 96: ...e CCW direction CW direction 4 Current command 4 V 0 4 V Max current command Max current command CCW direction CW direction B Bus voltage 4 V 0 400 V 5 Speed command 4 V 0 4 V CCW direction Max speed Max speed CW direction C In position OFF 4 V 0 ON 6 Droop pulses 4V 128pulse 4 V 128 pulse 0 4 V 128 pulse CCW direction CW direction D Ready OFF 4 V 0 ON 7 Droop pulses 4V 2048pulse 4 V 2048 pulse 0 ...

Page 97: ...lock diagram PWM M Current control Speed control Current command Position control Droop pulse Differ ential Bus voltage Speed command Command pulse Current feedback Position feedback Current encoder Servo Motor Encoder Torque Differ ential Speed command Servo motor speed ...

Page 98: ... the personal computer 2 Test operation mode a Jog operation Jog operation can be performed without using the servo system controller Use this operation with the forced stop reset This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not Exercise control on the jog operation screen of the MR Configurator servo configurati...

Page 99: ...n Control Start Click Start button Stop Click Reset button d Motorless operation POINT Motor less operation may be used with the MR Configurator servo configuration software Usually however use motor less operation which is available by making the servo system controller parameter setting Without connecting the servo motor output signals or status displays can be provided in response to the servo ...

Page 100: ...ibly independently of the servo status Use this function for output signal wiring check etc Exercise control on the DO forced output screen of the MR Configurator servo configuration software 3 Configuration Configuration should be as in Section 3 1 Always install a forced stop switch to enable a stop at occurrence of an alarm ...

Page 101: ...er No 13 VG1 DRU parameter No 14 PG2 DRU parameter No 15 VG2 DRU parameter No 16 VIC DRU parameter No 17 RSP DRU parameter No 9 Auto tuning mode 2 0003 PG1 DRU parameter No 13 VG1 DRU parameter No 14 PG2 DRU parameter No 15 VG2 DRU parameter No 16 VIC DRU parameter No 17 GD2 DRU parameter No 12 RSP DRU parameter No 9 Manual mode 1 0004 VG1 DRU parameter No 14 PG2 DRU parameter No 15 GD2 DRU parame...

Page 102: ... the conditions of auto tuning mode 1 are not met and the load inertia moment ratio could not be estimated properly for example This mode permits adjustment easily with three gains if you were not satisfied with auto tuning results END Interpolation made for 2 or more axes START Operation Auto tuning mode 2 OK Manual mode 1 OK Manual mode 2 OK OK No No Yes No Yes No Yes No Yes Auto tuning mode 1 O...

Page 103: ... resonance frequency and determine the notch frequency of the machine resonance suppression filter You can automatically set the optimum gains in response to the machine characteristic This simple adjustment is suitable for a machine which has large machine resonance and does not require much settling time Gain search Executing gain search under to and fro positioning command measures settling cha...

Page 104: ...formed 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 not more than 100 times The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance ...

Page 105: ... the load inertia moment ratio is already known or if estimation cannot be made properly chose the auto tuning mode 2 DRU parameter No 8 0003 to stop the estimation of the load inertia moment ratio Switch in above diagram turned off and set the load inertia moment ratio DRU parameter No 12 manually From the preset load inertia moment ratio DRU parameter No 12 value and response level DRU parameter...

Page 106: ... adjustment 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 perfo...

Page 107: ...bration suppression control DRU parameter No 25 or machine resonance suppression filter DRU parameter No 18 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to Section 7 2 7 3 for adaptive vibration suppression control and machine resonance suppression filter DRU parameter No 9 Response level setting Machine characterist...

Page 108: ...o suppress machine resonance Refer to Section 7 2 7 3 1 For speed control a Parameters The following parameters are used for gain adjustment DRU parameter No Abbreviation Name 12 GD2 Ratio of load inertia moment to servo motor inertia moment 16 VG2 Speed control gain 2 17 VIC Speed integral compensation b Adjustment procedure Step Operation Description 1 Set an estimated value to the ratio of load...

Page 109: ...Parameters The following parameters are used for gain adjustment DRU parameter No Abbreviation Name 12 GD2 Ratio of load inertia moment to servo motor inertia moment 13 PG1 Position control gain 1 16 VG2 Speed control gain 2 17 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 moment...

Page 110: ... vibrate The actual 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 DRU parameter No 17 To eliminate stationary deviation against a command the speed control loop is under proportional integral control For the ...

Page 111: ...ode 1 3 Check the values of position control gain 1 DRU parameter No 13 and speed control gain 1 DRU parameter No 14 Check the upper setting limits 4 Choose the interpolation mode DRU parameter No 8 0000 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 position control gain 1 the value identical to the position loo...

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Page 113: ...nction block diagram Speed control Encoder Current command Low pass filter Machine resonance suppression filter 1 Adaptive vibration suppression control 00 or 1 2 0 0 1 00 except Servo motor DRU parameter No 18 DRU parameter No 25 DRU parameter No 25 7 2 Machine resonance suppression filter 1 Function The machine resonance suppression filter is a filter function notch filter which decreases the ga...

Page 114: ...tting Frequency Setting Frequency Setting Frequency DRU parameter No 18 Notch frequency selection Notch depth selection Setting Depth Gain Deep 40dB Shallow 4dB 14dB 8dB POINT If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower ones in order The optimum notch frequency is set at the point where vibration is minimal A deeper notch has a higher effect o...

Page 115: ... Notch depth Notch depth Notch frequency Notch frequency Frequency Frequency When machine resonance is large and frequency is low When machine resonance is small and frequency is high POINT The machine resonance frequency which adaptive vibration suppression control can respond to is about 150 to 500Hz Adaptive vibration suppression control has no effect on the resonance frequency outside this ran...

Page 116: ...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 7 4 Low pass filter 1 Function When a ballscrew or the like is used resonance level of high frequency may occur as the response of the servo system is increased To prevent this the low pass filter is fact...

Page 117: ... 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 7 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 DRU parameter No 49 and gain changing condition CDS DRU parameter No 50 Valid GD2...

Page 118: ...Control parameters before changing 52 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 53 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 54 VG2B Speed control gain 2 changing ratio Used to se...

Page 119: ...s follows Position control gain 2 Position control gain 2 Position 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 DRU parameter No 49 Used to set the gain changing condition Choo...

Page 120: ...l compensation 20 ms 52 GD2B Ratio of load inertia moment to servo motor inertia moment 2 100 0 1 times 53 PG2B Position control gain 2 changing ratio 70 54 VG2B Speed control gain 2 changing ratio 133 55 VICB Speed integral compensation changing ratio 250 49 CDP Gain changing selection 0001 Control command from controller 51 CDT Gain changing time constant 100 ms b Changing operation OFF ON OFF G...

Page 121: ...ent 2 100 0 1 times 53 PG2B Position control gain 2 changing ratio 70 54 VG2B Speed control gain 2 changing ratio 133 55 VICB Speed integral compensation changing ratio 250 49 CDP Gain changing selection 0003 Changed by droop pulses 50 CDS Gain changing condition 50 pulse 51 CDT Gain changing time constant 100 ms b Changing operation CDT 100ms 0 Droop pulses pulses Change of each gain CDS CDS Befo...

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Page 123: ...ediately even when it has 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 forced Stop times 100 000times Cooling fan 10 000 to 30 000hours 2 to 3 years Absolute position battery unit Refer ...

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Page 125: ...ed refer to Section 9 2 or 9 3 and take the appropriate action After its cause has been removed the alarm can be deactivated in any of the methods marked in the alarm deactivation column When an alarm warning occurs the interface unit display shows the corresponding unit and alarm number 7 F 1 2 3 4 5 6 8 Interface unit display Drive unit axis number Alarm warning number Symbol Definition Slot Int...

Page 126: ...device overheat Note 1 Note 1 A 46 Servo motor overheat Note 1 Note 1 A 50 Overload 1 Note 1 Note 1 A 51 Overload 2 Note 1 Note 1 A 52 Error excessive A 53 Multiple axis overload A 54 Drive unit alarm Note 2 Note 2 A 78 Option slot fault A 79 Option slot loading error A 8A Serial communication time out A 8E Serial communication error Alarms A 88 Watchdog A 92 Open battery cable warning A 96 Home p...

Page 127: ...larm 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 in the Indication field denotes the slot number of the base unit and the axis number of the drive unit Display IFU DRU Name Definition Cause Action 1 Power supply voltage is low 2 There was an instantaneous...

Page 128: ...ty parts in the interface unit or drive unit Checking method Alarm A 19 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables Change the interface unit or drive unit A 1A Servo motor combination error Wrong combination of drive unit and servo motor Wrong combination of drive unit and servo motor connected Use correct combination FA 1B Axis set...

Page 129: ...olute position detection system 3 Super capacitor of the absolute position encoder is not charged After leaving the alarm occurring for a few minutes switch power off then on again Always make home position setting again 1 Mismatch between used regenerative brake option and DRU parameter No 2 setting Set correctly 2 Regenerative brake option is not connected Connect correctly 3 High duty operation...

Page 130: ...he regenerative brake option is used the DRU parameter No 2 setting is 00 not used Make correct setting 3 Regenerative brake option is open or disconnected 1 Change lead 2 Connect correctly 4 Regenerative transistor faulty Change drive unit 5 Wire breakage of regenerative brake option For wire breakage of regenerative brake option change regenerative brake option FA 33 Overvoltage Converter bus vo...

Page 131: ... is reviewed A 45 Main circuit device overheat Main circuit device overheat 3 Air cooling fan of drive unit stops 1 Change the drive unit or cooling fan 2 Reduce ambient temperature 1 Ambient temperature of servo motor is over 40 Review environment so that ambient temperature is 0 to 40 2 Servo motor is overloaded 1 Reduce load 2 Review operation pattern 3 Use servo motor that provides larger outp...

Page 132: ...kips or returns midway Change the servo motor 1 Acceleration deceleration time constant is too small Increase the acceleration deceleration time constant 2 Torque limit value 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 larger output 4 Position co...

Page 133: ...he interface unit for the one compatible with the extension IO unit 3 Extension IO unit is faulty Change the extension IO unit FA 78 Option slot fault Extension IO unit is faulty 4 Base unit is faulty Change the base unit FA 79 Option slot loading error Extension IO unit is connected improperly Extension IO unit is disconnected Switch power off and reinsert the extension IO unit 1 Communication ca...

Page 134: ... setting warning Home position return could not be made in the precise position 3 Creep speed high Reduce creep speed FA 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 FA E0 Excessive regenerative warning There is a possibility that regenerative power may exceed permissib...

Page 135: ... PLATE RATING PLATE Unit mm Unit in C N 1 B C N 1 A C N 3 CON5 C N P 1 A C N P 2 C N 2 MELSERVO ALM SON C N P 2 C N 2 MELSERVO ALM SON C N P 2 C N 2 MITSUBISHI ELECTRIC MELSERVO ALM SON C N P 2 C N 2 MELSERVO ALM SON C N P 2 C N 2 MELSERVO ALM SON C N P 2 C N 2 MELSERVO ALM SON C N P 2 C N 2 MELSERVO ALM SON C N P 2 C N 2 MELSERVO ALM SON C N P 1 B C N P 3 86 3 39 140 5 51 CON4 6 0 24 338 13 31 35...

Page 136: ...0 24 6 0 24 6 0 24 27 1 06 86 3 39 140 5 51 27 1 06 28 1 10 32 1 26 2 6 0 24 mounting hole CNP1A CNP1B 2 0 08 Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in Connector layout Mounting screw M5 Tightening torque 3 24 N m 28 7 lb in 10 2 2 Interface unit MR J2M P8B MITSUBISHI MELSERV MR J2M J2M C N 3 CHARGE C N 1 B C N 1 A 1 0 04 130 5 12 8 5 0 34 Approx 70 2 76 130 5 12 6 5 0 26 25 0 98 5 0 ...

Page 137: ...8 130 5 12 120 4 72 Mass 0 4kg 0 88lb NAME PLATE NAME PLATE Unit mm Unit in Connector layout Mounting screw M4 Tightening torque 1 5 N m 13 3 lb in 2 MR J2M 70DU MITSUBISHI C N 2 C N P 2 MITSUBISHI MELSERVO SON ALM NAME PLATE Connector layout mounting hole Unit mm Unit in Mass 0 7kg 1 54lb 30 1 18 60 2 36 1 0 04 130 5 12 138 5 5 47 130 4 72 120 4 72 6 5 0 26 2 5 0 2 5 0 20 5 0 20 2 4 V 1 3 U W CNP...

Page 138: ... 45 130 4 72 6 5 0 26 5 0 20 120 4 72 5 0 20 2 4 5 0 18 mounting hole NAME PLATE 5 0 20 Mounting screw M4 Tightening torque 1 5 N m 13 3 lb in 10 2 5 Battery unit MR J2M BT C N 1 C 2 4 5 0 18 mounting hole Mass 0 3kg 0 66lb Unit mm Unit in 25 0 89 1 0 04 130 5 12 Approx 70 2 76 120 4 72 130 5 45 6 5 0 26 NAME PLATE 5 0 20 120 4 72 5 0 20 5 0 20 Mounting screw M4 Tightening torque 1 5 N m 13 3 lb i...

Page 139: ... in Logo etc are indicated here 22 0 0 87 39 0 1 54 23 8 0 98 33 3 1 31 14 0 0 55 12 7 0 50 12 0 0 47 10 0 0 39 b Threaded type Model Connector 10120 3000VE Shell kit 10320 52A0 008 Note This is not available as option and should be user prepared Logo etc are indicated here Unit mm Unit in 22 0 0 87 39 0 1 54 23 8 0 94 5 7 0 22 33 3 1 31 14 0 0 55 12 7 0 50 12 0 0 47 10 0 0 39 27 4 1 08 ...

Page 140: ...14 15 10 6 10 OUTLINE DRAWINGS c Insulation displacement type Model Connector 10120 6000EL Shell kit 10320 3210 000 2 0 5 0 02 33 0 1 3 42 0 1 65 29 7 1 17 20 9 0 82 11 5 6 7 0 26 Unit mm Unit in Logo etc are indicated here 0 45 ...

Page 141: ...Unit mm Unit in 41 1 1 62 39 0 1 54 23 8 0 94 52 4 2 06 18 0 0 71 12 7 0 50 17 0 0 67 46 5 1 83 14 0 0 55 b Threaded type Model Connector 10150 3000VE Shell kit 10350 52A0 008 Note This is not available as option and should be user prepared 14 0 0 55 41 1 1 62 39 0 1 54 23 8 0 94 18 0 0 71 52 4 2 06 12 7 0 50 46 5 1 83 17 0 0 67 5 2 0 21 Unit mm Unit in Logo etc are indicated here ...

Page 142: ... 8 mm 353717 2 max sheath OD 3 4 mm Applicable tool 91560 1 for 917511 2 937315 1 for 353717 2 AMP 0 3 3 2 1 X 5 08 0 2 29 7 0 12 7 15 0 28 16 3 0 06 22 8 0 90 6 55 0 26 19 24 0 76 Unit mm Unit in 4 CNP3 connector Tyco Electronics Model Housing 1 179958 3 Contact 316041 2 Applicable tool 234171 1 1 0 5 Y 3 2 AMP 10 16 0 4 45 29 1 79 33 92 1 33 9 8 0 39 29 1 14 21 2 0 84 Unit mm Unit in ...

Page 143: ...umber Pitch Layout diagrams classified by the number of poles 4 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 to 24 5556 PBTL AWG28 5556 PBT2L Sheath OD 3 1mm 0 122 in max Strip length 3 0 to 3 5 mm 0 118 to 0 138 in Terminal Model 5556 OMIN 1 2 0 047 Unit mm Unit in Exclusive too...

Page 144: ...R E14LPA5 26 HDR E26MG1 HDR E26LPA5 Wire straightening tool FHAT 0029 Insulation displacement tool FHPT 0004C Note Not available from us and to be supplied by the customer 21 0 83 17 0 67 5 6 0 22 25 10 8 0 0 39 0 98 0 32 Model Connector HDR E14MG1 Connector case HDR E14LPA5 25 8 1 02 21 8 0 86 25 10 8 0 6 7 0 24 0 28 0 39 0 98 0 32 Model Connector HDR E26MG1 Connector case HDR E26LPA5 Unit mm Uni...

Page 145: ...d it is recommended to use the machine so that the unbalanced torque is 70 or less of the rated torque The overload protection characteristic is about 20 lower than that of the MELSERVO J2 Super series However operation at the 100 continuous rating can be performed 1000 100 10 1 0 1 0 50 150 200 250 300 Operation time s 100 During servo lock During rotation Note Load ratio a MR J2M 10DU to MR J2M ...

Page 146: ... Note 2 Generated heat W Area required for heat dissipation Unit Servo motor Note 1 Power supply capacity kVA At rated torque At servo off m2 ft2 HC KFS053 13 0 3 11 6 0 2 2 16 HC MFS053 13 0 3 11 6 0 2 2 16 MR J2M 10DU HC UFS13 0 3 11 6 0 2 2 16 HC KFS23 0 5 14 6 0 3 3 24 HC MFS23 0 5 14 6 0 3 3 24 MR J2M 20DU HC UFS23 0 5 14 6 0 3 3 24 HC KFS43 0 9 20 6 0 4 4 32 MR J2M 40DU HC MFS43 0 9 20 6 0 4...

Page 147: ...erated in the enclosure Refer to Table 11 1 for heat generated by the drive unit 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 ...

Page 148: ...h the servo motor and machine operation speeds Refer to Fig 11 4 V0 Time constant Forced stop EM1 OFF ON Machine speed te Time Fig 11 3 Dynamic brake operation diagram Lmax 60 V0 JL JM te 1 11 2 Lmax Maximum coasting distance mm in Vo Machine 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 ...

Page 149: ...d r min Time constant s 0 0 01 0 02 0 03 0 04 0 05 0 06 50 500 1000 1500 2000 2500 3000 0 43 23 0 07 13 73 c HC UFS3000r min series Fig 11 4 Dynamic brake time constant Use the dynamic brake at the load inertia moment indicated in the following table If the load inertia moment is higher than this value the built in dynamic brake may burn If there is a possibility that the load inertia moment may e...

Page 150: ...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 a b Flexing life times 4 7 10 20 40 70 100 200 Flexing radius mm a Long flexing life encoder cable MR JCCBL M H b Standard encoder cable MR JCCBL M L ...

Page 151: ...t MR RB032 40 MR RB14 26 MR RB34 26 MR RB54 26 MR J2M BU4 MR J2M BU6 MR J2M BU8 30 100 300 500 2 Selection of regenerative brake option a Simple judgment of regenerative brake option necessity The MELSERVO J2M series does not contain a regenerative brake resistor Check whether the regenerative brake option is needed or not in the following method 1 Requirements The drive units mounted to the same ...

Page 152: ...ing expression 8 axes 1 42 kg cm2 11 36 kg cm2 Hence Maximum total of 3000r min equivalent load inertia moments 9 75 11 36 kg cm2 The regenerative brake option is unnecessary 2 67 6 5 6 57 1 26 0 61 0 65 2 52 1 38 2 59 0 59 2 52 2 67 1 38 6 5 HC KFS13 HC KFS23 HC KFS43 HC KFS13 HC MFS13 HC MFS23 HC KFS13 HC KFS43 0 084 0 42 0 67 0 084 0 03 0 088 0 084 0 67 1 3 2 1 2 0 0 8 0 9 2 5 0 4 5 83 1 384 2 ...

Page 153: ...10 4 No 1 Tpsa2 TU TF E5 2 0 1047 No T5 Tpsa2 6 T6 TU TF E6 0 1047 No T6 t3 7 T7 JL JM 9 55 104 No 1 Tpsd2 TU TF E7 2 0 1047 No T7 Tpsd2 From the calculation results in 1 to 8 find the absolute value Es of the sum total of negative energies 2 Losses of servo motor and drive unit in regenerative mode The following table lists the efficiencies and other data of the servo motor and drive unit in the ...

Page 154: ...egenerative ES ES 3 ES 4 ES EC ER ER PR W ER tf Calculate the total of energies at each timing Only when the total is negative timings 3 4 in the example use the following expression for calculation Energy total ER regenerative energy ES absolute value C charging total EC If the subtraction results are negative at all timings the regenerative brake option is not needed From the total of ER s whose...

Page 155: ...r wiring use flame resistant cables and keep them clear of the regenerative brake option body Always use twisted cables of max 5m 16 4ft length for connection with the base unit The G3 and G4 terminals act as a thermal sensor G3 G4 are disconnected when the regenerative brake option overheats abnormally DRU parameter No 2 Selection of regenerative 00 Not used 06 MR RB34 07 MR RB54 10 MR RB032 12 M...

Page 156: ...0 79 LD 1 6 0 06 LC G3 G4 P C Unit mm in 6 0 24 mounting hole MR RB TE1 Terminal block G4 G3 C P Terminal screw M3 Tightening torque 3 2 N m 28 32 lb in Mounting screw Screw size M5 Tightening torque 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 RB14 40 1 57 15 0 59 169 6 69 149 5 87 1 1 2 4 ...

Page 157: ... Regenerative Brake Option Mass kg lb MR RB34 2 9 6 393 c MR RB54 Tightening torque 5 4 N m 47 79 lb in Terminal block G4 G3 C P Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in Unit mm in 49 1 93 82 5 3 25 200 7 87 223 8 78 2 3 0 09 108 4 25 120 4 73 12 0 47 7 0 28 Approx 30 1 18 8 0 32 12 5 0 49 350 13 78 162 5 6 39 133 5 24 82 5 3 25 162 5 6 39 7 14 slot Fan mounting screw 2 M3 screw On o...

Page 158: ...generative brake option To control circuit power supply To main circuit power supply 16 Extension IO unit MR J2M D01 CNP1A CNP1B Battery unit MR J2M BT Personal computer 11 1 2 3 Note The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected Refer to the following table and choose the bus cable CN4A CN4B 5 MR J2M P8B MR J2S B MR J2 03B5 QD75M...

Page 159: ...00EL Shell kit 10320 3210 000 3M or equivalent 6 Bus cable MR J2HBUS M A Refer to 4 in this section Connector 10120 6000EL Shell kit 10320 3210 000 3M or equivalent Connector 10120 6000EL Shell kit 10320 3210 000 3M or equivalent 7 Bus cable MR J2HBUS M Refer to 4 in this section Connector PCR S20FS Case PCR LS20LA1 Honda Tsushin Connector 10120 3000EL Shell kit 10320 52F0 008 3M or equivalent 8 C...

Page 160: ...9958 3 5 pcs Contact 316041 2 20 pcs Tyco Electronics For CNP3 Housing 51030 0230 Terminal 50083 8160 Molex Connector 10120 3000VE Shell kit 10320 52F0 008 3M or equivalent 17 Battery cable MR J2MBTCBL M Connector HDR E14MG1 Shell kit HDR E14LPA5 Honda Tsushin Connector 10120 6000EL Shell kit 10320 3210 000 3M or equivalent Note 18 Bus cable Q172J2BCBL M B Refer to 4 in this section Socket HCN2 2 ...

Page 161: ...able tubing Generally use the encoder cable available as our options If the required length is not found in the options fabricate the cable on the customer side a MR JCCBL M L H 1 Model explanation L H 2 5 10 20 2 6 56 5 16 4 10 32 8 20 65 6 Symbol Specifications Standard flexing life Long flexing life Symbol Cable length m ft Model MR JCCBL M 2 Connection diagram The signal assignment of the enco...

Page 162: ...hen fabricating an encoder cable use the recommended wires given in Section 12 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 less than 30m 98 4ft length including the length of the encoder cable supplied to the servo motor When the ...

Page 163: ...ction 3 5 3 Drive unit Encoder connector Encoder cable supplied to servo motor Servo motor Encoder Encoder cable option or fabricated CN2 1 2 3 4 5 6 7 8 9 MR MRR BAT MD MDR P5 LG SHD CNT 30cm 0 98ft Drive unit Encoder cable supplied to servo motor Servo motor Encoder Encoder connector 1 172169 9 Tyco Electronics 50m 164 0ft max P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 18 P5 LG MD 6 LG...

Page 164: ...r cable of up to 50m 164 0ft length When the encoder cable is to be fabricated by the customer the wiring of MD and MDR is not required Refer to Chapter 3 of the servo motor instruction manual and choose the encode side connector according to the servo motor installation environment Drive unit side 3M 19 11 20 12 18 2 P5 LG P5 LG P5 LG 7 17 9 1 MR MRR BAT LG SD 8 1 2 3 7 9 6 5 4 6 16 MD MDR Note A...

Page 165: ...on diagram Half pitch 20 pins D SUB9 pins 3 2 5 7 8 6 4 TXD RXD GND RTS CTS DSR DTR FG RXD LG TXD LG Interface unit 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 communica...

Page 166: ... 2 1 and fabricate it in accordance with the connection diagram shown in this section The overall distance of the bus cable on the same bus is 30m 98 4ft a MR J2HBUS M A 1 Model definition Model MR J2HBUS M A 05 Cable Length m ft 5 Symbol 0 5 1 64 5 16 4 1 3 28 1 2 Connection diagram MR J2HBUS M A PCR S20FS Connector PCR LS20LA1 Case 10120 6000EL Connector 10320 3210 000 Shell kit SD LG LG RD RD T...

Page 167: ...0 5 1 64 1 3 28 5 5 16 4 Cable Length m ft Symbol 2 Connection diagram MR J2HBUS M 10120 6000EL Connector 10320 3210 000 Shell kit 10120 6000EL Connector 10320 3210 000 Shell kit 1 11 2 12 3 13 4 14 5 15 Plate 6 16 7 17 8 18 9 19 10 20 1 11 2 12 3 13 4 14 5 15 Plate 6 16 7 17 8 18 9 19 10 20 LG RD LG RD TD TD LG LG EMG EMG BAT SD ...

Page 168: ...tor 10320 3210 000 Shell kit Shell 8 2 9 3 10 6 13 4 TD1 TD1 LG LG RD RD LG BT EMG EMG SD 1 RD Plate 12 1 11 4 14 5 9 7 17 RD LG LG TD TD LG BT EMG EMG SD 2 11 Q172J2BCBL M HDR E14MG1 Connector HDR E14 LPA5 Connectorcase 10120 6000EL Connector 10320 3210 000 Shell kit Shell 8 2 9 3 10 6 13 4 TD1 TD1 LG LG RD RD LG BT EMG EMG SD 1 RD Plate 12 1 11 4 14 5 9 7 17 RD LG LG TD TD LG BT EMG EMG SD 2 11 ...

Page 169: ...RD Plate 12 1 11 4 14 5 9 7 17 RD LG LG TD TD LG BT EMG EMG SD 2 19 RD Plate 12 1 11 4 14 5 9 7 17 RD LG LG TD TD LG BT EMG EMG SD 2 RD Plate 12 1 11 4 14 5 9 7 17 RD LG LG TD TD LG BT EMG EMG SD 2 RD Plate 12 1 11 4 14 5 9 7 17 RD LG LG TD TD LG BT EMG EMG SD 2 17 5 18 TD2 TD2 RD2 RD2 4 20 9 22 8 21 12 TD3 TD3 LG LG RD3 RD3 EMG34 EMG34 7 25 Shell 23 11 24 TD4 TD4 RD4 RD4 SD 10 SSCNET1 Line SSCNET...

Page 170: ... and fabricate as in the connection diagram shown in this section a Definition of model Model MR J2MBTCBL M Symbol Cable Length L m ft 0 3 0 1 1 3 28 03 1 b Outline drawing L 1 10 20 11 c Connection diagram 1 1 2 LG BAT LG BAT SD Base unit side Housing 51030 0230 Terminal 50083 8160 Battery unit side Connector 10120 3000VE Shell kit 10320 52F0 008 Plate 9 ...

Page 171: ...10k 13 MBR RA CN3C 8 20 3 SG EM1 VIN Plate Interface unit Bus cable MR J2HBUS M Maintenance junction card MR J2CN3TM Communication cable Monitor output Max 1mA Reading in both directions Analog monitor output 1 Analog monitor output 2 2 Connection diagram 2 20 1 3 4 5 6 7 8 9 10 12 11 13 14 15 16 17 18 19 20 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 2 1 3 4 5 6 7 8 9 10 12 11 13 14 15 16 17 ...

Page 172: ...n ir 88594014 15 12 22 12 OPTIONS AND AUXILIARY EQUIPMENT 3 Outline drawing 3 0 12 41 5 1 63 75 2 95 88 3 47 100 3 94 MR J2CN3TM CN3A CN3B CN3C A1 B1 A6 B6 TE1 Unit mm Unit in Mass 110g 0 24Ib 2 5 3 0 21 mounting hole ...

Page 173: ...ta read save print Others Automatic operation help display 2 System configuration a Components To use this software the following components are required in addition to MELSERVO J2M 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 Proc...

Page 174: ...zan ir 88594014 15 12 24 12 OPTIONS AND AUXILIARY EQUIPMENT b Configuration diagram BU IFU Personal computer CN3 CN2 To RS 232C connector Communication cable Servo motor DRU First axis DRU Eighth axis Servo motor CN2 ...

Page 175: ... 5 Electromagnetic brake lead 2 Control circuit power supply lead Regenerative brake option Motor Electro magnetic brake Encoder Base unit Drive unit Earth 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 consideration of voltage drop The servo motor ...

Page 176: ...2 0 38 6 1 UL20276 AWG 28 7pair CREAM Battery unit cable MR J2MBATCBL M 0 3 1 0 98 3 28 0 3 2 1 pairs 12 0 18 63 1 5 5 1 MVVS IP 0 3mm2 Note 1 d is as shown below d Conductor Insulation sheath 2 Purchased from Toa Electric Industry 3 Standard OD Max OD is about 10 greater 12 2 2 No fuse breakers fuses magnetic contactors Always use one no fuse breaker and one magnetic contactor with one drive unit...

Page 177: ...w size Terminal screw size Mass kg lb 300W max FR BAL 0 4K 135 5 31 120 4 72 115 4 53 59 2 32 45 1 77 2 5 0 0 098 0 7 5 0 29 M4 M3 5 2 0 4 4 More than 300W to 450W max FR BAL 0 75K 135 5 31 120 4 72 115 4 53 69 2 72 57 2 24 2 5 0 0 098 0 7 5 0 29 M4 M3 5 2 8 6 17 More than 450W to 750W max FR BAL 1 5K 160 6 30 145 5 71 140 5 51 71 2 79 55 2 17 2 5 0 0 098 0 7 5 0 29 M4 M3 5 3 7 8 16 More than 750W...

Page 178: ...8 0 03 4 7 1 0 0 19 0 04 Example ERZV10D221 Matsushita Electric Industry TNR 10V221K Nippon Chemi con Outline drawing mm in ERZ C10DK221 12 2 6 Noise reduction techniques Noises are classified into external noises which enter MELSERVO J2M to cause it to malfunction and those radiated by MELSERVO J2M to cause peripheral devices to malfunction Since MELSERVO J2M is an electronic device which handles...

Page 179: ...tion Noises produced by MELSERVO J2M are classified into those radiated from the cables connected to MELSERVO J2M 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 MELSERVO J2M Noises transmitted i...

Page 180: ... the I O cables of MELSERVO J2M 3 Avoid laying the power lines I O cables of MELSERVO J2M 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 MELSERVO J2M system noises produced by MELSERVO J2M may be transmitted back t...

Page 181: ... 12 4 0 16 18 1 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 H...

Page 182: ...69 35 1 38 35 1 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 183: ...ing 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 Base unit Line noise filter NFB L3 L1 L2 Example 1 Number of turns 4 Power supply L1 L2 L3 Base unit Line noise filter MC NFB MC FR BSF01 4 5 0 18 110 4 33 95 0 5 3 74 0 02 22 5 0 89 65 2 56 65 2 56 33 1 3 2 5 0 20 11 25 0 5 ...

Page 184: ...e reduction techniques NV SP NV SW NV CP NV CW NV HW 1 M MELSERVO J2M Noise filter NV Ig1 Ign Iga Ig2 Igm Cable Cable General models BV C1 NFB NV L 3 Ig1 Leakage current on the electric channel from the leakage current breaker to the input terminals of the base unit Found from Fig 12 1 Ig2 Leakage current on the electric channel from the output terminals of the drive unit to the servo motor Found ...

Page 185: ...kg lb MR J2M BU4 MR J2M BU6 MR J2M BU8 SF1253 57 1 37 3 02 2 Connection example NFB L1 L2 L3 L11 L21 L1 L2 L3 LINE LOAD EMC filter Base unit Note 2 Power supply Note 1 Note 1 Connect when the power supply has earth 2 Connect a 1 phase 200 to 230VAC power supply to L1 L2 and keep L3 open L1 L2 L3 3 Outline drawing 23 0 0 906 LABEL LINE LOAD 168 0 6 614 L1 L2 L3 L1 L2 L3 209 5 8 248 LINE input side ...

Page 186: ...www dadehpardazan ir 88594014 15 12 36 12 OPTIONS AND AUXILIARY EQUIPMENT MEMO ...

Page 187: ...her the servo system controller power is on or off Therefore once home position return is made at the time of machine installation home position return is not needed when power is switched on thereafter If a power failure or a fault occurs restoration is easy Also the absolute position data which is battery backed by the super capacitor in the encoder can be retained within the specified period cu...

Page 188: ...ote 2 Battery backup time Approx 10 000 hours battery life with power off Note 3 Data holding time during battery replacement 2 hours at delivery 1 hour in 5 years after delivery Battery storage period 5 years from date of manufacture Note 1 Maximum speed available when the shaft is rotated by external force at the time of power failure or the like 2 Time to hold data by a battery with power off I...

Page 189: ...absolute position data with MR Configurator servo configuration software Choose Diagnostics and Absolute Encoder Data to open the absolute position data display screen 1 Click Diagnostics in the menu and click Absolute Encoder Data in the menu 2 Clicking Absolute Encoder Data displays the following window 3 Click the Close button to close the window ...

Page 190: ...www dadehpardazan ir 88594014 15 13 4 13 ABSOLUTE POSITION DETECTION SYSTEM MEMO ...

Page 191: ...d pulse frequency Cumulative command pulses PP NP Droop pulses Servo motor speed Bus voltage Command pulses Electronic gear Position control Speed control Current control Servo motor Cumulative feedback pulses Auto tuning section Speed feedback Absolute position encoder Differentiation Within one revolution position ABS counter Current position calculation Within one revolution position ABS counte...

Page 192: ...ply Section 3 7 3 Overall modification Section 3 8 Addition of the case with 1 phase 200 to 230VAC power supply Section 5 1 2 1 Reexamination of sentence for parameter No 12 Modification to parameter No 19 Addition of POINT to parameter No 38 Section 9 2 Reexamination of sentence for investigation method Section 10 2 Outline drawing modification Section 10 2 2 Outline drawing modification Section ...

Page 193: ...8 and A 79 Section 9 2 Addition of A 78 and A 79 Section 10 3 3 Addition of contact 353717 2 Addition of applicable tool 937315 1 Section 11 1 Layout change Addition of Note Section 12 1 1 1 Addition of sentence Deletion of Note Section 12 1 1 4 Addition of terminal block terminal screw and tightening torque Section 12 1 2 1 Addition of encoder cable MR JC4CBL M H Section 12 1 2 2 a Addition of PO...

Page 194: ...dition of IFU parameter No 9 and POINT Section 9 2 Reexamination of A 52 content Section 12 1 1 3 Partial reexamination of sentence Section 12 1 1 4 Reexamination of outline drawing Section 12 1 4 2 a Reexamination of content Section 12 2 6 2 d Modification of FR BSF01 outline drawing Section 12 2 6 2 e Reexamination of connection diagram Section 13 2 1 Addition of POINT Feb 2005 SH NA 030012 F Se...

Page 195: ... parameter No FA E9 Section 10 2 Addition of mounting screw and tightening torque Section 11 1 Reexamination of CAUTION sentence Chapter 12 WARNING sentence partial change Section 12 1 1 4 b Reexamination of outline dimension drawing Section 12 1 4 2 Partial reexamination of table value Section 12 2 6 2 d Reexamination of outline dimension drawing of FR BSF01 Section 12 2 6 2 c Sentence addition C...

Page 196: ...an ir 88594014 15 HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 SH NA 030012 G 0510 MEE Printed in Japan Specifications subject to change without notice This Instruction Manual uses recycled paper MODEL MODEL CODE ...

Page 197: ...ﮐﺘﻮر ﺣﻔﺎﻇﺘﯽ ﻫﺎي رﻟﻪ ﮔﯿﺮي اﻧﺪازه ﻫﺎي ﺳﯿﺴﺘﻢ ﭘﺸﺘ ﺧﺪﻣﺎت اراﺋﻪ اﯾﻠﯿﺎ ﻫﻮﺷﻤﻨﺪ ﭘﺮدازان داده ﺷﺮﮐﺖ ﮐﻨﻨﺪه ﺗﺎﻣﯿﻦ و اي ﺣﺮﻓﻪ ﯿﺒﺎﻧﯽ ﺗﺠﻬﯿﺰات Mitsubishi Electric آﻣﻮزﺷﯽ ﻫﺎي دوره ﺑﺮﮔﺰاري PLC HMI Servo Sensor Inverter Industrial Network ﺻﻨﻌﺘﯽ اﺗﻮﻣﺎﺳﯿﻮن ﭘﺮوژﻫﺎي اﻧﺠﺎم ﺻﻨﻌﺘﯽ اﺗﻮﻣﺎﺳﯿﻮن ادوات ﮐﻠﯿﻪ ﺗﺨﺼﺼﯽ ﺗﻌﻤﯿﺮات ﺗﻤﺎس ﻫﺎي ﺗﻠﻔﻦ 15 88594014 ﻓﮑﺲ 88594013 وب ﺳﺎﯾﺖ www dphi ir www indus ir ...

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