Mitsubishi Electric MELSERVO MR-J2 C Series Instruction Manual Download Page 86

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4. OPERATION

(a) Absolute value command system

1) Positioning in the same direction

In position (INP)

OFF

Rough match
(CPO)

OFF

Forward rotation
start (ST1)

OFF

Point table

Servo motor
speed

Speed
(bn)

Speed
(bn 1)

Speed(bn 2)

Position data

(an)

Position data

(an 1)

Position data

(an 2)

Acceleration time constant (c)

Deceleration time constant (d)

No.n

Point Table

No.

Position Data

[ 10

STM

Servo motor

Speed [r/min]

Acceleration Time Constant

[ms]

Deceleration Time Constant

[ms]

Dwell Time

[ms] (Note 1)

Auxiliary

Function

n 1

an 1

bn 1

Invalid

n 2

an 2

bn 2

Invalid

0 (Note 2)

Note: 1. Always set "0".

2. Always set "0" to the auxiliary function of the last point table among the consecutive point tables.

2) Positioning changed in direction midway

In position (INP)

OFF

Rough match
(CPO)

OFF

Forward rotation
start (ST1)

OFF

Point table

Servo motor
speed

Speed
(bn)

Speed
(bn 1)

Position data

(an)

Position data

(an 1)

Acceleration time constant (c)

Deceleration time constant (d)

No.n

Acceleration time
constant (c)

Point Table

No.

Position Data

[ 10

STM

Servo motor

Speed [r/min]

Acceleration Time Constant

[ms]

Deceleration Time Constant

[ms]

Dwell Time

[ms] (Note 1)

Auxiliary

Function

n 1

an 1

bn 1

Invalid

0 (Note 2)

Note: 1. Always set "0".

2. Always set "0" to the auxiliary function of the last point table among the consecutive point tables.

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Summary of Contents for MELSERVO MR-J2 C Series

Page 1: ...ce This Instruction Manual uses recycled paper MODEL MR J2 C SERVO AMPLIFIER INSTRUCTION MANUAL Built In Positioning Function MR J2 C Servo Amplifier Instruction Manual 1CW923 MODEL CODE MODEL F F J2 Series MR J2 C INSTRUCTION HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 Downloaded from ManualsNet com search engine ...

Page 2: ...g 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 what must be do...

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

Page 4: ... amplifier Do not drop or strike servo amplifier or servo motor Isolate from all impact loads When you keep or use it please fulfill the following environmental conditions Conditions Environment Servo Amplifier Servo Motor 0 to 55 non freezing 0 to 40 non freezing Operation 32 to 131 non freezing 32 to 104 non freezing 20 to 65 non freezing 15 to 70 non freezing Ambient temperature Storage 4 to 14...

Page 5: ...d securely Otherwise the servo motor may misoperate Do not install a power capacitor surge absorber or radio noise filter FR BIF option between the servo motor and servo amplifier Connect the output terminals U V W correctly Otherwise the servo motor will operate improperly Connect the servo motor power terminal U V W to the servo motor power input terminal U V W directly Do not let a magnetic con...

Page 6: ... amplifier Use the servo amplifier with the specified servo motor The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking For such reasons as service life and mechanical 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...

Page 7: ... manufactured to be incorporated in a device or system used in purposes related to human life Before using the products for special purposes such as nuclear power electric power aerospace medicine passenger movement vehicles or under water relays contact Mitsubishi These products have been manufactured under strict quality control However when installing the product where major accidents or losses...

Page 8: ...een approved by TUV third party evaluation organization which confirmed that it complies with the Low Voltage Directive 3 Machinery Directive Since the servo amplifiers are not machines they need not comply with this directive 2 PRECAUTIONS FOR COMPLIANCE Use the standard model of servo amplifier and the EN Standard compliant model of HC MF HA FF or the standard model of HC SF HC RF HC UF In addit...

Page 9: ...Insulating tube Cable b When the servo motor has a power supply lead use a fixed terminal block to connect it with the servo amplifier Do not connect cables directly Terminal block c Use the servo motor side power connector which complies with the EN Standard The EN Standard compliant power connector sets are available from us as options 7 Auxiliary equipment and options a The no fuse breaker and ...

Page 10: ...and auxiliary equipment Use products which conform to the UL C UL Standard 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 Elec...

Page 11: ...A 10 MEMO Downloaded from ManualsNet com search engine ...

Page 12: ...arrangements 3 5 3 3 2 Signal explanations 3 6 3 3 3 Additional function devices 3 9 3 4 Detailed description of the signals 3 12 3 4 1 Forward rotation start reverse rotation start temporary stop restart 3 12 3 4 2 Rough match in position 3 12 3 4 3 Override 3 13 3 4 4 Torque limit 3 14 3 5 Alarm occurrence timing chart 3 16 3 6 Interfaces 3 17 3 7 Input power supply circuit 3 20 3 7 1 Connection...

Page 13: ...e position ignorance servo on position defined as home position 4 29 4 4 7 Home position return automatic return function 4 30 4 5 Absolute position detection system 4 31 4 6 Serial communication operation 4 33 4 6 1 Positioning operation in accordance with point tables 4 33 4 6 2 Positioning operation 4 34 4 6 3 Multidrop system 4 34 4 6 4 Group designation 4 35 5 PARAMETERS 5 1 to 5 18 5 1 Param...

Page 14: ...32C configuration 8 2 8 2 Communication specifications 8 3 8 2 1 Parameter setting 8 3 8 3 Protocol 8 4 8 4 Character codes 8 6 8 5 Error codes 8 7 8 6 Checksum 8 7 8 7 Time out operation 8 8 8 8 Retry operation 8 8 8 9 Initialization 8 9 8 10 Communication procedure example 8 9 8 11 Command and data No list 8 10 8 11 1 Read commands 8 10 8 11 2 Write commands 8 13 8 12 Detailed explanations of co...

Page 15: ... axes 9 10 9 5 Slight vibration suppression control 9 10 10 INSPECTION 10 1 to 10 2 11 TROUBLESHOOTING 11 1 to 11 10 11 1 Trouble at start up 11 1 11 2 When alarm or warning has occurred 11 2 11 2 1 Alarms and warning list 11 2 11 2 2 Remedies for alarms 11 3 11 2 3 Remedies for warnings 11 8 12 SPECIFICATIONS 12 1 to 12 8 12 1 Servo amplifier standard specifications 12 1 12 2 Outline dimension dr...

Page 16: ...14 20 14 2 Auxiliary equipment 14 21 14 2 1 Recommended wires 14 21 14 2 2 No fuse breakers fuses magnetic contactors 14 23 14 2 3 Power factor improving reactors 14 23 14 2 4 Relays 14 24 14 2 5 Surge absorbers 14 24 14 2 6 Noise reduction techniques 14 25 14 2 7 Leakage current breaker 14 31 14 2 8 EMC filter 14 33 14 2 9 Setting potentiometers for analog inputs 14 34 Downloaded from ManualsNet ...

Page 17: ...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 METHOD FOR DESIGN Downloaded from ManualsNet com search engine ...

Page 18: ...oints of point tables as standard and they can be increased up to 15 points by using the optional set up software You can choose a configuration suitable for your purpose e g simple positioning system using external I O signals DI O operation using DI O and RS 422 serial communication or multi drop operation using RS 422 serial communication All servo motors are equipped with an absolute position ...

Page 19: ...ent protection Current detection Encoder Dynamic brake Current detector Regener ative brake transistor CHARGE lamp RA DS W V U W V U SM Control power supply MR J2 200C or more Fan Electro magne tic brake Servo motor D C P Regenerative brake option NFB Power supply 3 phase 200 to 230VAC or single phase 230VAC MC L1 L2 L11 L21 CON1 MR BAT Optional battery for absolute position A D CN1A CN1B Servo on...

Page 20: ...o motor speed 0 to max speed r min Acceleration time constant 0 to 20000 ms Deceleration time constant 0 to 20000 ms Dwell time 0 to 20000 ms Auxiliary function 0 1 0 1 point automatic operation 1 Automatic continuous operation 1 Operation using external input signals a Description The following configuration example assumes that external input signals are used to control all signals devices The I...

Page 21: ...ation start ST1 or reverse rotation start ST2 through the external I O Use this system when position data speed setting or the host personal computer or the like is used to change the parameter values for example b Configuration 1 One servo amplifier is connected with the personal computer by RS 232C Servo amplifier External I O signals Power supply Servo motor RS 232C Set up Software Personal com...

Page 22: ...ication system Servo amplifier axis 1 External I O signals Power supply Servo motor RS 422 Set up Software Personal computer CN1A CN1B CN2 CN3 Servo amplifier axis 2 External I O signals Servo motor CN1A CN1B CN2 CN3 RS 232C RS 232C RS 422 converter to be prepared by the customer To the next axis RS 422 Power supply Downloaded from ManualsNet com search engine ...

Page 23: ...h communication Also you can set each point table choose the point table and change or set parameter values for example Up to 32 axes may be controlled b Configuration 1 One servo amplifier is connected with the personal computer by RS 232C Servo amplifier External I O signals Power supply Servo motor RS 232C Set up Software Personal computer CN1A CN1B CN2 CN3 Downloaded from ManualsNet com search...

Page 24: ...ication system Servo amplifier axis 1 External I O signals Power supply Servo motor RS 422 Set up Software Personal computer CN1A CN1B CN2 CN3 Servo amplifier axis 2 External I O signals Servo motor CN1A CN1B CN2 CN3 RS 232C RS 232C RS 422 converter to be prepared by the customer To the next axis RS 422 Power supply Downloaded from ManualsNet com search engine ...

Page 25: ...rouble ALM CN1B 18 Forward rotation start ST1 CN1B 8 Ready RD CN1B 19 Reverse rotation start ST2 CN1B 9 Electromagnetic brake interlock MBR Automatic manual selection MDO CN1B 7 Position range output POT Point table No selection 1 DI0 CN1B 5 Warning output WNG Point table No selection 2 DI1 CN1B 14 Battery warning output BWNG Point table No selection 3 DI2 Limiting torque TLC Point table No select...

Page 26: ...r value allows the machine to be moved at any multiplication ratio to the moving distance using the servo amplifier Section 5 2 1 Real time auto tuning The servo gain is automatically adjusted to the optimum value at each start stop Section 9 4 Manual gain adjustment The gain is manually adjustable if the gain could not be adjusted to the ideal value by real time auto tuning Section 9 2 S pattern ...

Page 27: ... Name plate 1 4 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors The same combinations apply to the models with electromagnetic brakes the models with reduction gears the EN Standard compliant models and the UL C UL Standard compliant models Servo Motors HC SF Note HC UF Note Servo Amplifier HC MF HA FF 1000r min 2000r min 3000r min HC RF 200...

Page 28: ...r data Name plate Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Connector for connection of the servo motor encoder Main circuit terminal block TE1 Used to connect the input power supply and servo motor Protective earth PE terminal Ground terminal Section4 5 Operation section Used to perform status display diag...

Page 29: ... 422 RS232C and output analog monitor data Name plate Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Connector for connection of the servo motor encoder Main circuit terminal block TE1 Used to connect the input power supply and servo motor Protective earth PE terminal Ground terminal Section4 5 Operation section...

Page 30: ...er hook 2 places Front cover socket 2 places 2 1 1 Hold down the removing knob 1 Insert the front cover hooks into the front cover sockets of the servo amplifier 2 Pull the front cover toward you 2 Press the front cover against the servo amplifier until the removing knob clicks Downloaded from ManualsNet com search engine ...

Page 31: ...ower supply or 1 phase 230VAC power supply No fuse breaker NFB or fuse Magnetic contactor MC To CN2 To CN3 To CN1B To CN1A L1 L2 L21 L11 Protective earth PE terminal Servo motor Personal computer U V W Servo configuration software MRZJW3 SETUP71E Servo amplifier Regenerative brake option D P C CHARGE Control circuit terminal block Note1 Encoder cable Note1 Power supply lead L3 Note 1 The HA FF UE ...

Page 32: ...l display Section 14 2 1 Section 14 1 6 Section 14 1 5 Power factor improving reactor FR BAL 3 phase 200V to 230VAC power supply No fuse breaker NFB or fuse Magnetic contactor MC To CN2 To CN3 To CN1B To CN1A L1 L2 L3 L21 L11 Servo amplifier Regenerative brake option P C U V W Personal computer Servo configuration software MRZJW3 SETUP71E Power factor improving reactor Section 14 2 3 Junction term...

Page 33: ...1 16 1 FUNCTIONS AND CONFIGURATION MEMO Downloaded from ManualsNet com search engine ...

Page 34: ...amplifier Otherwise a fault may occur Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment Do not install or operate a faulty servo amplifier When the product has been stored for an extended period of time consult Mitsubishi When treating the servo amplifier be careful about the edged parts such as the corners of the servo amplifier 2 1 Environmental con...

Page 35: ...y occur Leave specified clearances between the servo amplifier and control box inside walls or other equipment 1 Installation of one servo amplifier Control box Control box 10mm 0 4 in or more 10mm 0 4 in or more 40mm 1 6 in or more 40mm 1 6 in or more Wiring clearance 70mm 2 8 in Servo amplifier Up Down Downloaded from ManualsNet com search engine ...

Page 36: ...so that the servo amplifier is not affected Install the servo amplifier on a perpendicular wall in the correct vertical direction 2 3 Keep out foreign materials 1 When installing the unit in a control box prevent drill chips and wire fragments from entering the servo amplifier 2 Prevent oil water metallic dust etc from entering the servo amplifier through openings in the control box or a fan insta...

Page 37: ...s Use the optional encoder cable within the flexing life range Use the power supply and brake wiring cables within the flexing life of the cables 3 Avoid any probability that the cable sheath might be cut by sharp chips rubbed by a machine corner or stamped by workers or vehicles 4 The flexing lives of the cables are shown below In actuality provide a little allowance for these values For installa...

Page 38: ...ed 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 EMG and other protective circuits Control output signal Servo amplifier RA RA Servo amplifier COM 24VDC Control output signal COM 24VDC Use a noise filter etc to minimize the influence of electromagnetic interference which may be giv...

Page 39: ...L11 L3 L2 L1 10k 2m 78 74inch max Upper limit setting W V U Servo amplifier 9 RA1 20 SG Communication cable Available as option or to be fabricated CN3 TE1 TE2 When connecting the external regenerative brake option always disconnect the jumper from across P D SM COM Note 1 Note 2 5 CN2 Note 8 Servo motor Servo on Forward rotation stroke end Reverse rotation stroke end Automatic manual selection Po...

Page 40: ...eration always connect the forward reverse rotation stroke end LSN LSP with SG Normally closed contacts 7 Trouble ALM is connected with COM in normal alarm free condition 8 The connection method changes with the servo motor series Refer to Section 3 3 9 The pins with the same signal name are connected in the servo amplifier 10 A single phase 230V power supply may be used with the servo amplifier o...

Page 41: ... generator MR HDP01 SG OPC SG 5V A B LG 5V Analog input 10V max current TLA VC etc LG SD Isolated SG 15VDC 10 30mA P15R Servo motor Ground MR MRR Servo motor encoder CN2 Single phase 100 to 200VAC MO1 MO2 LG SDP SDN RDP RDN LG SD CN3 TXD TXD RXD RXD LG E L1 L2 ALM etc RA CN1A CN1B SM DO 1 Analog monitor output Dl 1 Downloaded from ManualsNet com search engine ...

Page 42: ...G LG RDP SDP TXD MO2 P5 LG LG RDN SDN 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 CPO INP LG VDD TLA DI1 LSP SG P15R COM SON LSN 1 3 5 7 9 11 12 13 14 15 16 17 18 19 20 LG PP COM OPC 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 MDP LG MDR P5 LG MRR RD ALM DI0 MDO ST2 VC ST1 SG ZP SG P5 LG P5 BAT MR LG MITSUBISHI MELSERVO J2 CN2 CN3 CN1A CN1B The connector frames are connected with the...

Page 43: ...ue DOG SG are opened 1 DOG SG are shorted Proximity dog DOG 8 DI 1 Home position return completion ZP 18 ZP SG are connected on completion of home position return In the absolute position system ZP SG are connected when the servo amplifier is ready to operate but are disconnected if 1 SON SG are opened 2 EMG SG are opened 3 RES SG are shorted 4 Alarm occurs 5 Limit switch opens 6 Home position ret...

Page 44: ...ake it servo locked Set 1 in parameter No 22 to make a slow stop Refer to Section 5 2 5 DI 1 Note Input signals Operation LSP LSN CCW direction CW direction 1 1 0 1 1 0 0 0 Reverse rotation stroke end LSN 17 Note 0 LSP LSN SG off open 1 SP LSN SG on short DI 1 1 In the case of the absolute value command system When ST1 SG are shorted in the automatic operation mode positioning is executed once on ...

Page 45: ...se circuit is off Switching the servo on connects CPO SG DO 1 In position INP 6 INP SG are connected when the number of droop pulses is in the preset in position range The in position range can be changed using parameter No 6 When the in position range is increased INP SG may be kept connected during low speed rotation Switching the servo on connects INP SG DO 1 Trouble ALM 18 ALM SG are disconnec...

Page 46: ...ne in parameter No 16 Monitor common LG 1 3 11 13 Monitoring common for control common Ground SD Plate Connect the external conductor of the shield cable 3 3 3 Additional function devices By using the Set up Software you can assign the signals given in this section to the pins of connectors CN1A and CN1B in addition to the signals in Section 3 3 2 1 Pins which accept different signals Pin Type Con...

Page 47: ...sitioning completion stop switching on the proportion control PC upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift When the shaft is to be locked for a long time switch on the proportion control signal and torque control TL at the same time to make the torque less than the rated by the analog torque limit TLA DI 1 Reset RES Disconnect RES...

Page 48: ...ces Device Name Symbol Description I O Division No assigned function No function is assigned Electromagnetic brake interlock MBR Used to output the interlock signal for electromagnetic brake MBR SG are disconnected at servo off or alarm occurrence DO 1 Position range POT POT SG are connected when the actual current position is within the parameter set range The output is open when home position re...

Page 49: ...max 3ms max 5ms or longer Servo motor speed Forward rotation start ST1 or reverse rotation start ST2 Temporary stop Restart STP 3 When a programmable controller is used the ON time of the forward rotation start ST1 reverse rotation start ST2 or temporary stop restart STP should be 5ms or longer to prevent a malfunction 4 During operation the forward rotation start ST1 or reverse rotation start ST2...

Page 50: ...the input voltage and the ratio of actual speed to preset speed Override selection OVR OVR SG VC LG Servo amplifier Override VC Override VC application voltage Ratio of actual speed to preset speed 10 10 200 0 V 0 100 SD 10 to 10V 2 Override selection OVR Used to make the override VC valid or invalid Servo amplifier Override selection OVR Override Override VC 10 to 10V Motor Using the override sel...

Page 51: ...imits torque on the assumption that the maximum torque of the servo motor is 100 1 Internal torque limits 1 2 Use parameter No 28 and 29 to set the internal torque limit values The following graph shows the torque relative to the setting Max torque 0 0 100 Torque limit value Torque 2 Analog torque limit TLA By applying a voltage 0 to 10V to the analog torque limit TLA terminal limit values can be ...

Page 52: ...rameter No 76 Parameter No 29 TLA Parameter No 29 TLA Note 0 TL TL2 SG off open 1 TL TL2 SG on short 4 External torque limit offset parameter No 26 Using parameter No 26 the offset voltage can be set relative to the input voltage of the analog torque limit TLA The setting is between 999 to 999mV 5 Selection of rotation direction for torque limit execution parameter No 20 Using parameter No 20 the ...

Page 53: ... occurs 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 all...

Page 54: ...mA or more SON etc SG Switch Servo amplifier COM R Approx 4 7k VDD Do not connect VDD COM Note This also applies to the use of the external power supply 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Provide a diode D for an inductive load or an inrush current suppressing resister R for a lamp load Permissible current 40mA or less inrush current 100mA or less 1 Inductiv...

Page 55: ... amplifier ALM etc COM SG 27VDC or less R Do not connect VDD COM 3 Analog input Upper limit setting 2k 15VDC P15R VC etc LG SD 2k Input inpedance 10 to 12k Servo amplifier Approx 10k 4 Analog output MO1 MO2 LG SD A Servo amplifier Output 10V Max 1mA Reading in one or both directions 1mA meter 10k Downloaded from ManualsNet com search engine ...

Page 56: ...ided For use of internal power supply For use of external power supply 24VDC SON etc SG Switch Servo amplifier COM VDD R Approx 4 7k Approx 5mA TR Note For a transistor VCES 1 0V ICEO 100 A 24VDC 200mA or more SON etc SG Switch Servo amplifier COM R Approx 4 7k Note This also applies to the use of the external power supply Downloaded from ManualsNet com search engine ...

Page 57: ...regenerative brake resistor causing a fire 3 7 1 Connection example Wire the power supply and main circuit as shown below so that the servo on SON turns off as soon as alarm occurrence is detected and power is shut off A no fuse breaker NFB must be used with the input cables of the power supply 1 For 3 phase 200 to 230VAC power supply RA OFF ON MC MC SK NFB MC L1 L2 L3 L11 L21 EMG SON SG VDD COM A...

Page 58: ...For 1 phase 230VAC power supply RA OFF ON MC MC SK NFB MC L1 L2 L3 L11 L21 EMG SON SG VDD COM ALM RA Power supply 1 phase 230VAC Forced stop Servo on Servo amplifier Trouble Forced stop Downloaded from ManualsNet com search engine ...

Page 59: ... HC SF52 53 U V W Servo motor output Connect to the servo motor power supply terminals U V W During power on do not open or close the motor power line Otherwise a malfunction or faulty may occur L11 L21 Control circuit power supply Control circuit power input terminals Supply L11 and L21 with single phase 200 230VAC 50 60Hz power P C D Regenerative brake option C and D Servo amplifier built in reg...

Page 60: ...n circuit power supply the warning disappears and the servo amplifier will operate properly 3 The servo amplifier can accept the servo on SON about 1 second after the main circuit power supply is switched on Therefore when SON is switched on simultaneously with the three phase power supply the base circuit will switch on in about 1 second and the ready RD will switch on in further about 20ms makin...

Page 61: ...top switch across EMG SG By disconnecting EMG SG the dynamic brake is operated to bring the servo motor to a sudden stop At this time the display shows the servo forced stop warning A E6 During ordinary operation do not use the external forced stop EMG to alternate stop and run The servo amplifier life may be shortened Also if the forward rotation start ST1 or reverse rotation start ST2 is on duri...

Page 62: ...or and whether or not the servo motor has the electromagnetic brake Perform wiring in accordance with this section 1 Wind an insulation tape around the connection several times For the EN Standard compliant model connect via a fixed terminal block Wind insulation tape three or four times Servo amplifier side Servo motor side 2 For grounding connect the earth cable of the servo motor to the protect...

Page 63: ...ervo on SON switches off or by trouble ALM Encoder cable U Red V White W Black Green Motor Servo motor Note2 Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake 3 For the HA FF series connect the ground cable to the earth terminal...

Page 64: ...e 0 3m 11 81inch With connector 172169 9 AMP Power supply lead Red U phase White V phase Black W phase Green Earth 4 AWG19 0 3m 11 81inch With end insulated round crimping terminal 1 25 4 Brake cable 2 0 32 0 3m 11 81inch With end insulated round crimping terminal 1 25 4 MR 1 2 3 MRR BAT MD 4 5 6 MDR P5 7 8 9 LG SHD Encoder connector signal arrangement 2 HA FF series Encoder connector signal arran...

Page 65: ...er connector Power supply connector Brake connector Connector Servo Motor For power supply For encoder For brake HA FF053C B UE to HA FF63C B UE CE05 2A14S 2PD B MS3102A20 29 MS3102E10SL 4P Power supply connector signal arrangement CE05 2A14S 2PD B Encoder connector signal arrangement MS3102A20 29P Brake connector signal arrangement MS3102E10SL 4P Pin Signal Pin Signal Pin Signal Pin Signal A U A ...

Page 66: ...de HC UF202 B CE05 2A24 10PD B MS3102A20 29P MS3102A10SL 4P Pin A B C D E F G H Signal U V W Note B2 Earth Key A B C D E F G H Note B1 Note Supply electromagnetic brake power 24VDC There is no polarity CE05 2A22 23PD B Power supply connector signal arrangement Pin A B C D E F G U V W CE05 2A24 10PD B Key A B C D E F G Signal Earth Note B1 Note B2 Note Supply electromagnetic brake power 24VDC There...

Page 67: ...pped with electromagnetic brake is used 1 In the device setting of the Servo Configuration software make the electromagnetic brake interlock MBR available 2 Do not share the 24VDC interface power supply between the interface and electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake 3 The brake will operate when the power 24VDC switches off 4 While the...

Page 68: ...ke operation delay time and during which the load will not drop Servo motor speed Electromagnetic brake interlock MBR ON OFF Base circuit Invalid ON Valid OFF ON OFF Servo on SON Electromagnetic brake operation delay time Tb Coasting 0 r min 80ms 80ms b Forced stop EMG ON OFF Servo motor speed Electromagnetic brake interlock MBR ON OFF Base circuit Invalid ON Valid OFF Forced stop EMG 10ms 180ms 1...

Page 69: ...ol circuit power Note 15 to 100ms 10ms 10ms or less Electromagnetic brake operation delay time Note Changes with the operating status e Only main circuit power supply off control circuit power supply remains on Servo motor speed ON OFF Base circuit Electromagnetic brake interlock MBR Invalid ON Valid OFF Trouble ALM No ON Yes OFF ON OFF Main circuit power supply Dynamic brake Dynamic brake Electro...

Page 70: ...t 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 Control box Servo amplifier L1 L2 L3 L11 L21 CN1A CN1B Line filter NFB MC Protective earth PE CN2 U V W Outer box Servo motor Ensure to connect it to PE terminal of the servo amplifier Do not connect it directly ...

Page 71: ... Insert the core of the cable into the opening and tighten the screw with a flat blade screwdriver so that the cable does not come off Tightening torque 0 3 to 0 4N m 2 7 to 3 5 lb in Before inserting the cable into the opening make sure that the screw of the terminal is fully loose When using a cable of 1 5mm2 or less two cables may be inserted into one opening To loosen To tighten Opening Contro...

Page 72: ...t 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 Downloaded from ManualsNet com search engine ...

Page 73: ...3 36 3 SIGNALS AND WIRING MEMO Downloaded from ManualsNet com search engine ...

Page 74: ...l of the servo amplifier e When the regenerative brake option is used the lead has been removed across D P of the control circuit terminal block Also twisted cables are used for its wiring f When stroke end limit switches are used the signals across LSP SG and LSN SG are on during operation g 24VDC or higher voltages are not applied to the pins of connectors CN1A and CN1B h SD and SG of connectors...

Page 75: ...r startup reference a single machine structure will be described Refer to this section and start up the machine safely 1 Machine conditions Point table No 1 Servo motor HC MF8192pulse rev Servo motor speed Ballscrew PB 10mm 0 39inch Reduction ratio 1 n 1 2 Servo amplifier Regenerative brake option MR RB032 Ta Tb 0r min V Position data P 20000mm 787 40inch Speed V 2500r min Acceleration time consta...

Page 76: ...selection 20 Absolute value command system MR RB032 regenerative brake option is used No 1 Feeding function selection 10 When forward rotation start ST1 is valid address is incremented in CCW direction Since command resolution is 10 times feed length multiplication factor of 10 times is selected No 2 Function selection 1 Absolute position detection system 1 No 4 Electronic gear numerator CMX 8192 ...

Page 77: ...n Set the input signals as listed below and switch on the forward rotation start ST1 to execute automatic operation in accordance with point table No 1 Device Name Symbol ON OFF Description Automatic manual selection MD0 ON Automatic operation mode is selected Servo on SON ON Servo is switched on Forward rotation stroke end LSP ON Forward rotation side limit switch is turned on Reverse rotation st...

Page 78: ...d system a Absolute value command system As position data set the target address to be reached Setting range 999999 to 999999 10STM m STM feed length multiplication parameter No 1 Position data setting range 10 m 999999 999999 STM b Incremental value command system As position data set the moving distance from the current address to the target address Setting range 0 to 999999 10STM m STM feed len...

Page 79: ...20000 ms Set the dwell time Set 0 in the auxiliary function to make the dwell time invalid Set 1 in the auxiliary function and 0 in the dwell time to perform continuous operation When the dwell time is set the position command of the selected point table is completed and after the set dwell time has elapsed the position command of the next point table is started Auxiliary function 0 1 Set the auxi...

Page 80: ...tion parameter No 0 Select the absolute value command system or incremental value command system Parameter No 0 Setting Positioning System 0 Absolute value command 1 Incremental value command b ST1 coordinate system selection parameter No 1 Choose the servo motor rotation direction at the time when the forward rotation start ST1 or reverse rotation start ST2 is switched on 1 Absolute value command...

Page 81: ...2 ON Parameter No 1 ST2 ON CCW CW ST1 ON 0 Parameter No 1 1 c Feed length multiplication parameter No 1 Set the feed length multiplication factor STM of position data 1 Absolute value command Parameter No 1 Setting Position Data Input Range mm 0 999 999 to 999 999 1 9999 99 to 9999 99 2 99999 9 to 99999 9 3 999999 to 999999 2 Incremental value command system Parameter No 1 Setting Position Data In...

Page 82: ...osition Data 10STM m Servo motor Speed r min Acceleration Time Constant ms Deceleration Time Constant ms Dwell Time ms Auxiliary Function 1 2000 3000 200 150 0 0 2 100 1500 250 200 0 0 3 500 200 150 250 0 0 14 15000 1800 200 250 0 0 15 12000 2500 200 250 0 0 2 Operation Choose the point table using DI0 to DI3 and short ST1 SG to perform positioning to the position data under the conditions of the ...

Page 83: ...me ms Auxiliary Function 1 2000 3000 200 150 0 0 2 100 1500 250 200 0 0 3 500 200 150 250 0 0 14 15000 1800 200 250 0 0 15 12000 2500 200 250 0 0 2 Operation Choose the point table using DI0 to DI3 and short ST1 SG to make a motion in the forward rotation direction over the distance of the position data under the conditions of the preset speed acceleration time constant and deceleration time const...

Page 84: ... CPO Servo motor speed Forward rotation start ST1 Reverse rotation start ST2 Point table No No 1 No 2 Point table No 1 Point table No 2 5ms or more 3ms or less Note Reverse rotation start ST2 is invalid for absolute value command system ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Forward rotation Reverse rotation 0r min Note Downloaded from ManualsNet com search engine ...

Page 85: ...ed at start and the position data and acceleration and deceleration time constants of the subsequent point tables are made invalid By setting 1 to the auxiliary function of up to point table No 14 operation can be performed at a maximum of 15 speeds Set 0 to the auxiliary function of the last point table When performing varied speed operation always set 0 to the dwell time If 1 or more is set auto...

Page 86: ...te 1 Always set 0 2 Always set 0 to the auxiliary function of the last point table among the consecutive point tables 2 Positioning changed in direction midway In position INP ON OFF Rough match CPO ON OFF Forward rotation start ST1 ON OFF Point table Servo motor speed Speed bn Speed bn 1 Position data an Position data an 1 Acceleration time constant c Deceleration time constant d No n 0 Accelerat...

Page 87: ...ne point table and performing operation operation can be performed in accordance with consecutive point tables Set the period from a stop to the next start in the dwell time of the point table By setting 1 to the auxiliary function of up to point table No 14 S pattern acceleration deceleration time constant automatic continuous positioning operation can be performed in accordance with a maximum of...

Page 88: ...position INP Rough match CPO Forward rotation start ST1 or reverse rotation start ST2 Point Table No Dwell Time ms Note 1 Auxiliary Function n an 1 n 1 an 1 1 n 2 Invalid 0 Note 2 Note 1 Always set 1 or more 2 Always set 0 to the auxiliary function of the last point table among the consecutive point tables Downloaded from ManualsNet com search engine ...

Page 89: ...put is ignored during home position return and jog operation a When the servo motor is rotating ON OFF Temporary stop PUS ON OFF ON OFF Point table Servo motor speed Deceleration time constant in point table No n No n 0 Positioning completion INP OFF Rough match CPO OFF ON ON Acceleration time constant in point table No n Remaining distance Temporary stop restart STP Forward rotation start ST1 or ...

Page 90: ...servo motor Acceleration deceleration time constant Point table No 1 Use the acceleration deceleration time constants in point table No 1 2 Servo motor rotation direction Servo Motor Rotation Direction Parameter No 1 Setting Forward Rotation Start ST1 ON Reverse Rotation Start ST2 ON 0 CCW rotation CW rotation 1 CW rotation CCW rotation ST1 ON CCW CW ST2 ON ST2 ON CCW CW ST1 ON Parameter No 1 0 Pa...

Page 91: ...n MDO In position INP Rough match CPO 80ms Servo motor speed Forward rotation start ST1 Reverse rotation start ST2 Forward rotation jog Reverse rotation jog ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Forward rotation Reverse rotation ON OFF ON OFF 0r min Downloaded from ManualsNet com search engine ...

Page 92: ...this section Servo motor rotation direction Parameter No 1 Refer to 2 in this section 2 Servo motor rotation direction Servo Motor Rotation Direction Parameter No 1 Setting Manual pulse generator Forward rotation Manual pulse generator Reverse rotation 0 CCW rotation CW rotation 1 CW rotation CCW rotation Forward rotation CCW CW 3 Manual pulse generator multiplication a Using the parameter for set...

Page 93: ...ss TP1 Pulse Generator Multiplication 1 across TP0 Multiplication Ratio of Servo Motor Rotation to Manual Pulse Generator Rotation Moving Distance 0 0 Parameter No 1 setting valid 0 1 1 time 1 m 1 0 10 times 10 m 1 1 100 times 100 m Note 0 Open across TP1 TP0 SG 1 Shorted across TP1 TP0 SG 4 Operation Turn the manual pulse generator to rotate the servo motor For the rotation direction of servo mot...

Page 94: ...en made over the home position shift distance starting from the Z phase signal is defined as a home position Note General home position return method using a proximity dog Repeatability of home position return is excellent and the machine is less burdened Used when the width of the proximity dog can be set greater than the deceleration distance of the servo motor Count type home position return Wi...

Page 95: ...tion of home position return Set 0 to start home position return in the direction in which the address is incremented from the current position or 1 to start home position return in the direction in which the address is decremented 3 Choose the polarity at which the proximity dog is detected Set 0 to detect the dog when the proximity dog device across DOG SG is opened or 1 to detect the dog when t...

Page 96: ...ut polarity Parameter No 8 Refer to 3 in this section and choose dog input polarity Home position return speed Parameter No 9 Set speed until detection of dog Creep speed Parameter No 10 Set speed after detection of dog Home position shift distance Parameter No 11 Set when shifting the home position starting at the first Z phase signal after passage of proximity dog rear end Home position return a...

Page 97: ...less The address on completion of home position return is the value automatically set in parameter No 42 home position return position data 4 Adjustment In dog type home position return adjust to ensure that the Z phase signal is generated during dog detection Locate the rear end of the proximity dog DOG at approximately the center of two consecutive Z phase signals The position where the Z phase ...

Page 98: ...No selection 2 DI1 Open DI1 SG OFF Count type home position return Parameter No 8 1 Count type home position return is selected Home position return direction Parameter No 8 Refer to 3 in this section and choose home position return direction Dog input polarity Parameter No 8 Refer to 3 in this section and choose dog input polarity Home position return speed Parameter No 9 Set speed until detectio...

Page 99: ...eter No 11 Home position address Parameter No 42 Home position return speed Parameter No 9 Point table No 1 Acceleration time constant Home position Creep speed Parameter No 10 Point table No 1 Deceleration time constant Moving distance after proximity dog Parameter No 43 Reverse rotation start ST2 ON OFF The address on completion of home position return is the value automatically set in parameter...

Page 100: ...No 8 2 Data setting type home position return is selected Home position return position data Parameter No 42 Set the current position at home position return completion 2 Timing chart In position INP Rough match CPO Home position return completion ZP Servo motor speed Forward rotation start ST1 Reverse rotation start ST2 ON OFF ON OFF ON OFF ON OFF ON OFF 5ms or less Home position address Paramete...

Page 101: ... to when home position return data is obtained to output home position return completion ZP Stopper type home position return torque limit Parameter No 45 Set the servo motor torque limit value for execution of stopper type home position return Home position return acceleration time constant Point table No 1 Use the acceleration time constant of point table No 1 Home position return position data ...

Page 102: ... 2 DI1 Open DI1 SG OFF Home position ignorance Parameter No 8 4 Home position ignorance is selected Home position return position data Parameter No 42 Set the current position at home position return completion 2 Timing chart In position INP Rough match CPO Home position return completion ZP Servo motor speed ON OFF ON OFF ON OFF Home position address Parameter No 42 ON OFF Automatic manual mode s...

Page 103: ...imity dog Home position return direction At a start a motion is made in the home position return direction and an automatic return is made on detection of the limit switch The motion stops past the front end of the proximity dog and home position return is resumed at that position If the proximity dog cannot be detected the motion stops on detection of the opposite limit switch and A 90 occurs Lim...

Page 104: ...BAT or A6BAT Maximum revolution range Home position 32767 rev Note 1 Maximum speed at power failure 500r min Note 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 rotate...

Page 105: ...O MR BAT Servo amplifier Point table No selection DI0 to DI3 etc I O circuit Position data speed data current position read Home position return data EEP ROM memory Backup at power off Battery Current position LS Speed detection 1X Detection of position within one revolution Servo motor Within one revolution counter High speed serial communication Speed control Position control 1 pulse rev Cumulat...

Page 106: ...hapter 8 for full information on the connection and transferred data between the controller and servo amplifier 4 6 1 Positioning operation in accordance with point tables By selecting the point table No and switching on the forward rotation start ST1 or reverse rotation start ST2 using the communication function positioning operation in accordance with point tables can be started 1 Selection of p...

Page 107: ... 9 2 6 0 7 Forward rotation start ST1 ON 9 2 6 0 8 Forward rotation start ST1 OFF 9 2 6 0 4 6 3 Multidrop system The RS 422 communication function can be used to operate several servo amplifiers on the same bus In this case set the station numbers to the servo amplifiers to determine the destination servo amplifier of the currently transmitted data Use parameter No 15 to set the station numbers Al...

Page 108: ...TSUBISHI CHARGE MITSUBISHI CHARGE MITSUBISHI CHARGE MITSUBISHI Group d Group c To CN3 Group a Controller Axis 1 Station 0 Axis 2 Station 1 Axis 3 Station 2 Axis 4 Station 3 Axis 5 Station 4 Group b To CN3 To CN3 To CN3 To CN3 For cable connection diagram refer to Section 8 1 1 Axis 6 Station 5 To CN3 Axis 7 Station 6 To CN3 Axis 8 Station 7 To CN3 Axis 9 Station 8 To CN3 Axis 10 Station 9 To CN3 S...

Page 109: ...d rotation start ST1 ON 9 2 6 0 3 Forward rotation start ST1 OFF 9 2 6 0 4 Selection of point table No 1 of group b 9 2 6 0 5 Forward rotation start ST1 ON 9 2 6 0 6 Forward rotation start ST1 OFF 9 2 6 0 7 Selection of point table No 1 of group c 9 2 6 0 8 Forward rotation start ST1 ON 9 2 6 0 9 Forward rotation start ST1 OFF 9 2 6 0 10 Selection of point table No 1 of group d 9 2 6 0 11 Forward ...

Page 110: ...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 The following table lists the parameters whose values are made valid for reference write by setting parameter No 19 Operation can be perfor...

Page 111: ... 0102 4 CMX Electronic gear numerator 1 5 CDV Electronic gear denominator 1 6 INP In position range 100 pulse 7 PG1 Position loop gain 1 36 rad s 8 ZTY Home position return type 0010 9 ZRF Home position return speed 500 r min 10 CRF Creep speed 10 r min 11 ZST Home position shift distance 0 m 12 CRP Rough match output range 0 10STM m 13 JOG Jog speed 100 r min 14 STC S pattern acceleration deceler...

Page 112: ...ertia moment 70 0 1 times 35 PG2 Position loop gain 2 30 rad s 36 VG1 Speed loop gain 1 216 rad s 37 VG2 Speed loop gain 2 714 rad s 38 VIC Speed integral compensation 20 ms 39 VDC Speed differential compensation 980 40 0 41 For manufacturer setting 0 42 ZPS Home position return position data 0 10STM m 43 DCT Moving distance after proximity dog 1000 10STM m 44 ZTM Stopper type home position return...

Page 113: ...remented in CW direction When 1 is set pressing the start switch for test operation starts rotation in the reverse direction Feed length multiplication factor STM 0 1 time 1 10 times 2 100 times 3 1000 times Manual pulse generator multiplication factor 0 1 time 1 10 times 2 100 times Servo on SON off forced stop EMG off follow up for absolute value command in incremental system 0 Invalid 1 Valid N...

Page 114: ... large 0 Ordinary machine 1 Machine with large friction 0 Set value 1 Response level Low response 2 3 Middle response 4 5 High response Decrease the set value if the machine hunts or generates large gear sound Increase the set value to improve performance e g shorten the settling time Auto tuning selection 0 Auto tuning for use of interpolation axis control or the like under position control For s...

Page 115: ...rmissible speed Section 4 4 10 CRF Creep speed Used to set the creep speed after proximity dog detection 10 r min 0 to permissible speed Section 4 4 11 ZST Home position shift distance Used to set the shift distance starting at the Z phase pulse detection position inside the encoder 0 m 0 to 65535 Section 4 4 12 CRP Rough match output range Used to set the command remaining distance range where th...

Page 116: ... s 1 Valid reply sent in 400 s or more 0000 Refer to Name and function column Section 8 2 2 Basic parameters 17 MOD Analog monitor output Used to select the signals to be output to the analog monitor 1 MO2 and analog monitor 2 MO2 Setting 0 Analog Monitor 2 MO2 Servo motor speed 8V max speed 1 Torque 8V max torque 2 Servo motor speed 8V max speed 3 Torque 8V max torque 4 Current command 8V max cur...

Page 117: ...osition D ABS counter E Load inertia moment Alarm history clear 0 Invalid not cleared 1 Valid cleared When alarm history clear 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 0 0000 Refer to Name and function column Section 7 2 Section 7 2 Section 5 2 6 Parameter write inhibit Used to select the ref...

Page 118: ...ion 4 Used to select stop processing at forward rotation stroke end LSP reverse rotation stroke end LSN off and choose the machine resonance suppression filter Processing of base circuit performed when reset RES device is valid 0 Base circuit not switched off 1 Base circuit switched off Set value 0 Machine Resonance Frequency Hz Not used 1 563 2 1125 Stopping method used when forward rotation stro...

Page 119: ...cturer setting Must not be change 0 28 TL1 Internal torque limit 1 Used to limit servo motor torque on the assumption that the maximum torque is 100 When 0 is set torque is not produced 100 0 to 100 Section 3 4 4 29 TL2 Internal torque limit 2 Used to limit servo motor torque on the assumption that the maximum torque is 100 When 0 is set torque is not produced Made valid by switching on the intern...

Page 120: ...y or large backlash Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning is selected the result of auto tuning is automatically set 714 rad s 20 to 8000 Chapter 9 38 VIC Speed integral compensation Used to set the integral time constant of the speed loop When auto tuning is selected the result of auto tuning is automatically set 20 ms 1 to 1...

Page 121: ...r 3 digits Parameter No 49 Parameter No 48 0 10STM m 999999 to 999999 Section 5 2 8 50 51 LPP Position range output address Used to set the address increment side position range output address Set the same sign to parameters No 50 and 51 Setting of different signs will result in a parameter error Set address Upper 3 digits Lower 3 digits Parameter No 51 Parameter No 50 0 10STM m 999999 to 999999 5...

Page 122: ...istance The following examples are used to explain how to calculate the electronic gear value POINT The following specification symbols are needed for electronic gear calculation Pb Ballscrew lead mm n Reduction ratio Pt Servo motor resolution pulse rev S Travel per servo motor revolution mm rev a Ballscrew setting example Machine specifications Ballscrew lead Pb 10 mm Reduction ratio n 1 2 Servo ...

Page 123: ...oint table No 4 Cumulative feedback pulses 5 Servo motor speed 6 Droop pulses 7 Override 8 Torque limit voltage 9 Regenerative load ratio A Effective load ratio B Peak load ratio C Within one revolution position D ABS counter E Load inertia moment ratio 5 2 3 S pattern acceleration deceleration In servo operation linear acceleration deceleration is usually made By setting the S pattern acceleratio...

Page 124: ... V Max torque 0 Max torque 8 V Driving in CW direction Driving in CCW direction 7 Droop pulses 10V 2048pulse 10 V 0 2048 pulse 10 V CCW direction CW direction 2048 pulse 2 Servo motor speed 8 V Max speed 0 Max speed CCW direction CW direction 8 Droop pulses 10V 8192pulse 10 V 0 8192 pulse 10 V CCW direction CW direction 8192 pulse 3 Torque 8 V Max torque 0 Max torque Driving in CCW direction Drivi...

Page 125: ...red e g when there is an allowance from the limit switch installation position to the permissible moving range of the machine a slow stop may be selected by changing the parameter No 22 setting Parameter No 22 setting Description 0 initial value Droop pulses are reset to make a stop Sudden stop 1 Droop pulses are drawn out to make a slow stop Slow stop 5 2 6 Alarm history clear The alarm history c...

Page 126: ...ition INP Command pulse Actual servo motor speed 5 2 8 Software limit A limit stop using a software limit is made as in stroke end operation When a motion goes beyond the setting range the motor is stopped and servo locked This function is made valid at power on but made invalid during home position return This function is made invalid when the software limit setting is the same as the software li...

Page 127: ...5 18 5 PARAMETERS MEMO Downloaded from ManualsNet com search engine ...

Page 128: ...version of Windows 95 Windows 98 Windows Me Windows NT Workstation 4 0 Windows 2000 Professional Windows XP Professional or Windows XP Home Edition operates Processor Pentium 133MHz or more Windows 95 Windows 98 Windows NT Workstation 4 0 Windows 2000 Professional Pentium 150MHz or more Windows Me Pentium 300MHz or more Windows XP Professional Windows XP Home Edition Memory 16MB or more Windows 95...

Page 129: ... U V W b For use of RS 422 Up to 32 axes may be multidropped Personal computer Communication cable To RS 232C connector Servo amplifier Servo motor CN3 CN2 Servo amplifier Servo motor CN3 CN2 Servo amplifier Servo motor CN3 CN2 Axis 32 Axis 2 Axis 1 RS 232C RS 422 Note 1 converter Note Refer to Section 8 1 1 for cable connections Downloaded from ManualsNet com search engine ...

Page 130: ...on number setting Choose the station number in the combo box and click the Station Settings button to set the station number POINT This setting should be the same as the station number which has been set in the parameter in the servo amplifier used for communication 2 Closing of the station setting window Click the Close button to close the window Downloaded from ManualsNet com search engine ...

Page 131: ...appears a b c d e f g j i h 1 Parameter value write a Click the parameter whose setting was changed and press the Write button to write the new parameter setting to the servo amplifier 2 Parameter value verify b Click the Verify button to verify all parameter values being displayed and the parameter values of the servo amplifier Downloaded from ManualsNet com search engine ...

Page 132: ...fault button to show the initial value of each parameter 8 Parameter value change h i Choose the parameter to be changed enter a new value into the Parameter value input field and press the enter key or Enter Data button 9 Parameter data file read Used to read and display the parameter values stored in the file Use the file selection window to read 10 Parameter value storage Used to store all para...

Page 133: ...e following window appears a f b d i e h g c 1 Point table data write a Click the point table data changed and press the Write button to write the new point table data to the servo amplifier 2 Point table data verify b Click the Verify button to verify all data being displayed and the data of the servo amplifier Downloaded from ManualsNet com search engine ...

Page 134: ...en The blocks after the chosen point table No are shifted up one by one 7 Point table data change g h Click the data to be changed enter a new value into the Setting input field and press the enter key or Enter Data button 8 Point table data file read Used to read and display the point table data stored in the file Use the File menu on the menu bar to read 9 Point table data storage Used to store ...

Page 135: ...above choices are made the following window appears a e b d f g c 1 Function assignment batch read a Click the Read All button to read and display from the servo amplifier the pins which have been assigned functions 2 Function assignment batch write b Click the Write All button to write to the servo amplifier the pins which have been assigned functions Downloaded from ManualsNet com search engine ...

Page 136: ... assigned a function and the setting is changed to automatic on that pin becomes empty c Automatic assignment of empty pin Double click the function name field to assign the function to the currently empty pin automatically Double click it again to cancel the assignment When there is no empty pin no assignment is made 6 CN1A 19 selection g Select whether the CN1A 19 pin is used as an input or outp...

Page 137: ...plifier s front panel Otherwise the set values are made invalid The servo motor will not operate if the forced stop EMG forward rotation stroke end LSP and reverse rotation stroke end LSN are off Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn off across these signals and SG Refer to Section 6 6 Hold down the Forward or Re...

Page 138: ... enter key 3 Servo motor start c d Hold down the Forward button to rotate the servo motor in the forward rotation direction Hold down the Reverse button to rotate the servo motor in the reverse rotation direction 4 Servo motor stop Release the Forward or Reverse button to stop the rotation of the servo motor 5 Jog operation window closing e Click the Close button to cancel the jog operation mode a...

Page 139: ...ervo amplifier s front panel Otherwise the set values are made invalid Click the Forward or Reverse button to start and rotate the servo motor by the preset moving distance and then stop Click Test on the menu bar and click Positioning on the menu When the above choices are made the following window appears e f g b a c d Downloaded from ManualsNet com search engine ...

Page 140: ...ut field and press the enter key 4 Servo motor start d e Click the Forward button to rotate the servo motor in the forward rotation direction Click the Reverse button to rotate the servo motor in the reverse rotation direction 5 Temporary stop of servo motor f Click the Pause button to stop the servo motor temporarily Click the Forward and Reverse buttons to resume rotation 6 Positioning operation...

Page 141: ...ntroller PC can be checked without connection of a servo motor Click Test on the menu bar and click Operation w o Motor on the menu When the above choices are made the following window appears a b 1 Execution of motor less operation a Click Start to perform motor less operation 2 Termination of motor less operation b Click Close to close the window 3 Cancel of motor less operation To cancel motor ...

Page 142: ...and click Forced Output on the menu When the above choices are made the following window appears a b c 1 Signal ON OFF setting a b Choose the signal name or pin number and click the ON or OFF button to write the corresponding signal status to the servo amplifier 2 DO forced output window closing c Click the Close button to cancel the DO forced output mode and close the window Downloaded from Manua...

Page 143: ...No input field and press the enter key 2 Servo motor start b Click the Start button to rotate the servo motor 3 Temporary stop of servo motor c Press the Pause button to stop the servo motor temporarily Click the Start button to resume rotation 4 Servo motor stop d Click the Pause button again during a temporary stop of the servo motor to clear the remaining moving distance 5 Single step feed wind...

Page 144: ...llowing window appears 1 Alarm history display The most recent six alarms are displayed The smaller numbers indicate newer alarms 2 Alarm history clear Click the Clear button to clear the alarm history stored in the servo amplifier 3 Closing of alarm history window Click the Close button to close the window Downloaded from ManualsNet com search engine ...

Page 145: ...6 18 6 SERVO CONFIGURATION SOFTWARE MEMO Downloaded from ManualsNet com search engine ...

Page 146: ...meter No 19 parameter write disable Regenerative load ratio Effective load ratio Peak load ratio ABS counter rev Load inertia moment ratio times Status display Sequence Software version L Software version H Diagnosis Current alarm Parameter error No Point table error No Alarm Point table No 1 Point table Point table No 2 Point table No 14 Point table No 15 Parameter No 0 Basic parameters Parameter...

Page 147: ...al digital display MR DP60 allows the statuses of 15 items to be shown in up to six digits For the usage and parameter setting method refer to Section 5 2 2 The following table lists display examples Displayed Data Item Status Servo amplifier display MR DP60 Forward rotation at 2500r min Servo motor speed Reverse rotation at 3000r min Lit Reverse rotation is indicated by the lit decimal points in ...

Page 148: ...setting is displayed 100 is displayed when override is invalid Cannot be displayed 0 to 200 Analog torque limit voltage V The voltage of the analog torque limit TLA is displayed Cannot be displayed 0 00 to 10 00 Regenerative load ratio L The ratio of regenerative power to permissible regenerative power is displayed in 0 to 100 0 to 100 Effective load ratio J The continuous effective load torque is...

Page 149: ...t alarm Indicates the occurrence of alarm 33 overvoltage Flickers at occurrence of the alarm Indicates no occurrence of alarm 37 parameter error Parameter error No Indicates that the data of parameter No 1 is faulty Indicates no occurrence of point table error Point table error No Indicates that the data of parameter No 1 is faulty Function at occurrence of an alarm 1 Any mode screen display the c...

Page 150: ...e and auxiliary function 1 Point table mode setting screen sequence Press SET in the point table mode The following screen appears Press UP or DOWN to move to the next screen Target position Servo motor speed Acceleration time constant Deceleration time constant Dwell time Auxiliary function UP DOWN Downloaded from ManualsNet com search engine ...

Page 151: ...five times Press UP or DOWN to choose point table No 1 The setting can be changed during flickering Use UP or DOWN to change the setting Press SET to enter the value Press UP once The setting of the specified point table No flickers The point table No appears Press UP or DOWN after completion of the setting to return to the setting item screen Further press UP and DOWN together to return to the po...

Page 152: ...ckers Enter the setting Setting of upper 3 digits Press SET once Press MODE once Press SET once Press UP or DOWN to change the setting Press SET once Press SET once Press MODE three times Press UP or DOWN to choose point table No 1 Press UP or DOWN after completion of the setting to return to the setting item screen Further press UP and DOWN together to return to the point table No display screen ...

Page 153: ...e performed after power on to change the home position setting method Parameter No 8 into the data setting type Press four times Select parameter No 8 with UP DOWN or MODE The parameter number is displayed UP DOWN or Press to change the number SET Press twice The set value of the specified parameter number flickers UP Press twice During flickering the set value can be changed UP DOWN or Use SET Pr...

Page 154: ...ess once Select parameter No 5 with UP DOWN or MODE SET Press once Press once MODE SET Press once The screen flickers UP DOWN or with Change the set value SET Press once SET Press once The set value is entered When changing the parameter No 5 setting change its set value then switch power off once and switch it on again to make the new value valid 2 Expansion parameters To use the expansion parame...

Page 155: ...7 10 7 DISPLAY AND OPERATION MEMO Downloaded from ManualsNet com search engine ...

Page 156: ...puter RS 232C RS 422 converter Servo amplifier Servo amplifier To CN3 Axis 1 Station 0 Axis 2 Station 1 Axis 32 Station 31 Unavailable as option To be prepared by customer Servo amplifier To CN3 To CN3 2 Cable connection diagram Wire as shown below RDP RDN SDP SDN GND GND 5 15 9 19 11 1 10 RDP RDN SDP SDN LG LG TRE SD 5 15 9 19 11 1 10 RDP RDN SDP SDN LG LG TRE SD 5 15 9 19 11 1 10 RDP RDN SDP SDN...

Page 157: ...LG RXD LG FG Personal computer connector D SUB9 socket Note 4 Note 3 15m 590 55inch max Note 1 Servo amplifier CN3 connector Plate D SUB25 pin for PC 98 compatible controller TXD RXD GND RTS CTS DSR DTR 3 2 5 7 8 6 4 TXD LG RXD LG CN3 connector 2 CN3 connector 1 CN3 connector 12 CN3 connector 11 SD RD SG RS CS 2 3 7 4 5 Note 2 Note 1 Connector set MR J2CN1 3M Connector 1020 3000VE Shell kit 10320 ...

Page 158: ...em LSB MSB 0 1 2 3 4 5 7 6 Start Parity Stop Next start 1 frame 11 bits Data 8 2 1 Parameter setting When the RS 422 RS 232C communication function is used to operate the servo choose the communica tion specifications with parameter No 16 After setting the values of these parameters they are made valid by switching power off once then on again 1 Communication baudrate Choose the communication spee...

Page 159: ...tor Setting Description 0 No time out check 1 to 60 Time out check period setting Check period setting S 8 3 Protocol POINT Whether station number setting will be made or not must be selected if the RS 232C communication function is used Since up to 32 axes may be connected to the bus add a station number or group to the command data No etc to determine the destination servo amplifier of data comm...

Page 160: ...smission 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 Servo side 10 frames Command Data No Check sum Error code Data Check sum 6 frames data Station number or group Station number or group 3 Recovery of communication status by time out E O T or Controller side Servo side EOT causes the servo to return to the receive neutral status Data 4 frames Dat...

Page 161: ... 1 5 5 E U e u 0 1 1 0 6 6 F V f v 0 1 1 1 7 7 G W g w 1 0 0 0 8 8 H X h x 1 0 0 1 9 9 I Y i y 1 0 1 0 10 J Z j z 1 0 1 1 11 K k 1 1 0 0 12 L l 1 1 0 1 13 M m 1 1 1 0 14 N n 1 1 1 1 15 O _ o DEL 3 Station numbers You may set 32 station numbers from station 0 to station 31 and the ASCII codes are used to specify the stations Station number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ASCII code 0 1 2 3 4 ...

Page 162: ...mitted 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 8 6 Checksum The checksum is sent as a ASCII coded hexadecimal code ...

Page 163: ...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 Message Message Communication error C...

Page 164: ...ifier of station 0 Data Item Value Description Station number 0 Servo amplifier station 0 Command 05 Read command Data No 02 Parameter No 2 Checksum 30H 30H 35H 02H 30H 32H 03H FCH 0 2 STX ETX 5 0 Yes No Yes No No No Yes Yes Yes No 0 0 5 0 2 0 Axis No Command Data No Data Start Data make up Checksum calculation and addition Addition of SOH to make up transmission data Data transmission Data receiv...

Page 165: ... 0 1 8 9 Regenerative load ratio 12 0 1 8 A Effective load ratio 12 0 1 8 B Peak load ratio 12 0 1 8 C Within one revolution position 12 0 1 8 D ABS counter 12 0 1 8 E Status display data value and processing information Load inertia moment ratio 12 2 Parameter Command 0 5 Command Data No Description Frame Length 0 5 0 0 to 3 5 Current value of each parameter Decimal number of data No corresponds ...

Page 166: ... past 8 5 Current alarm Command 0 2 3 5 Command Data No Description Frame Length 0 2 0 0 Current alarm number 4 Command Data No Description Status Display Item Frame Length 3 5 8 0 Current position 12 3 5 8 1 Command position 12 3 5 8 2 Command remaining distance 12 3 5 8 3 Point table No 12 3 5 8 4 Cumulative feedback pulses 12 3 5 8 5 Servo motor speed 12 3 5 8 6 Droop pulses 12 3 5 8 7 Override...

Page 167: ...mmand Data No Description Frame Length 5 8 0 1 to 0 F Deceleration time constant read The decimal equivalent of the data No value hexadecimal corresponds to the Point table No 8 10 Point table dwell time Command 6 0 Command Data No Description Frame Length 6 0 0 1 to 0 F Dwell time read The decimal equivalent of the data No value hexadecimal corresponds to the Point table No 8 11 Point table auxil...

Page 168: ...er of data No corresponds to the parameter number Depends on the parameter 8 3 External I O signal Command 9 2 Command Data No Description Setting Range Frame Length 9 2 6 0 Communication input device signal Refer to Section 8 12 5 8 4 Alarm history Command 8 2 Command Data No Description Setting Range Frame Length 8 2 2 0 Alarm history clear 1EA5 4 5 Current alarm Command 8 2 Command Data No Desc...

Page 169: ...al corresponds to the Point table No 0 to 20000 8 9 Point table deceleration time constant Command C 8 Command Data No Description Setting Range Frame Length C 8 0 1 to 0 F Deceleration time constant write The decimal equivalent of the data No value hexadecimal corresponds to the Point table No 0 to 20000 8 10 Point table dwell time Command C A Command Data No Description Setting Range Frame Lengt...

Page 170: ...verted from a hexadecimal number to a decimal number and a decimal point is provided from the decimal point information For the display type of 1 eight character data is used as is How to process receive data 003000000929 to show the status is explained here by way of example Receive data is as follows 0 0 Data 32 bits long represented in hexadecimal Data conversion into display type is required D...

Page 171: ...a 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 How to process set data to the value of 15 5 is explained here by way of example Since the decimal point position is the second digit the decimal point data is 2 As the data to be transmitted is a hexadecimal number the deci...

Page 172: ...ired Display type 0 Conversion into decimal required 1 Used unchanged in hexadecimal 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 immediately after re...

Page 173: ...t 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 disable 0 Enable disable information changes according...

Page 174: ...within the upper lower limit value range given in Section 5 1 2 Read the parameter data to be written confirm the decimal point position and create transmission data to prevent error occurrence On completion of write read the same parameter data to verify that data has been written correctly Command Data No Set Data 8 4 0 0 to 3 5 See below Data is transferred in hexadecimal Decimal point position...

Page 175: ...orque limit selection TL 13 23 Override selection OVR 4 Internal torque limit selection TL2 14 24 Temporary stop restart STP 5 Proportion control selection PC 15 25 Manual pulse generator multiplication 1 TP0 6 Reset RES 16 Forced stop EMG 26 Manual pulse generator multiplication 2 TP1 7 17 Automatic manual selection MDO 27 8 18 Proximity dog DOG 28 9 19 Point table No selection 1 DI0 29 2 Externa...

Page 176: ...No selection 4 DI3 3 External torque limit selection TL 13 23 Override selection OVR 4 Internal torque limit selection TL2 14 24 Temporary stop restart STP 5 Proportion control selection PC 15 25 Manual pulse generator multiplication 1 TP0 6 Reset RES 16 Forced stop EMG 26 Manual pulse generator multiplication 2 TP1 7 17 Automatic manual selection MDO 27 8 18 Proximity dog DOG 28 9 19 Point table ...

Page 177: ... that device ON every time Each input device can be switched on off However when the device to be switched off exists in the external input signal also switch off that input signal Send command 9 2 data No 6 0 and data Command Data No Set Data 9 2 6 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 Name bit Signal Name bit Signa...

Page 178: ...e 0032 means A 32 and 00FF A _ 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 8 11 1 b Reply The alarm occurrence time is ...

Page 179: ...No is transferred in decimal For example 0032 means A 32 and 00FF A _ no alarm 2 Read of the status display at alarm occurrence Read the status display data at alarm occurrence When the data No corresponding to the status display item is transmitted the data value and data processing information are sent back a Transmission Send command 3 5 and any of data No 8 0 to 8 E corresponding to the status...

Page 180: ...l 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 3 Current alarm clear As by the entry of the RES reset the servo amplifier alarm to make the servo amplifier ready to operate After removing the cause of the alarm reset the alarm with no command entered Transmission Command Data No Data 8 2 0 0 1EA5 Do...

Page 181: ...alid when power is switched on again after write Read enable disable 0 Read enable 1 Read disable 0 When the enable disable setting is read disable ignore the data part and process it as unreadable 2 Speed data read Read the speed data of the point table a Transmission Transmit command 5 0 and any of data No 0 1 to 0 F corresponding to the point table to be read Refer to Section 8 11 1 b Reply The...

Page 182: ... the enable disable setting is read disable ignore the data part and process it as unreadable 4 Deceleration time constant read Read the deceleration time constant of the point table a Transmission Transmit command 5 8 and any of data No 0 1 to 0 F corresponding to the point table to be read Refer to Section 8 11 1 b Reply The slave station sends back the deceleration time constant of the requeste...

Page 183: ...disable setting is read disable ignore the data part and process it as unreadable 6 Auxiliary function read Read the auxiliary function of the point table a Transmission Transmit command 6 4 and any of data No 0 1 to 0 F corresponding to the point table to be read Refer to Section 8 11 1 b Reply The slave station sends back the auxiliary function of the requested point table 0 Hexadecimal data Dis...

Page 184: ...data frequently once or more within one hour do not write it to the EEP ROM Write mode 0 EEP ROM RAM write 1 RAM write 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 6 Lower sixth digit 8 Speed data write Write the speed data of the point table Transmit command C 6 any of data No 0 1 to 0 F correspondi...

Page 185: ...plifier When changing data frequently once or more within one hour do not write it to the EEP ROM 10 Deceleration time constant write Write the deceleration time constant of the point table Transmit command C 8 any of data No 0 1 to 0 F corresponding to the point table to be written to and the data Refer to Section 8 11 2 Command Data No Data C 8 0 1 to 0 F See below 0 Hexadecimal data Write mode ...

Page 186: ...nging data frequently once or more within one hour do not write it to the EEP ROM 12 Auxiliary function write Write the auxiliary function of the point table Transmit command C B any of data No 0 1 to 0 F corresponding to the point table to be written to and the data Refer to Section 8 11 2 Command Data No Data C B 0 1 to 0 F See below 0 Hexadecimal data Write mode 0 EEP ROM RAM write 1 RAM write ...

Page 187: ...Group d 5 Group e 6 Group f Response command enable Set whether data can be sent back or not in response to the read command of the master station 0 Response disable Data cannot be set back 1 Response enable Data can be set back 2 Group setting read Read the set group designation value from the slave station a Transmission Transmit command 1 F and data No 0 0 Command Data No 1 F 0 0 b Reply The sl...

Page 188: ...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 the command unit 3 Software ...

Page 189: ...8 34 8 COMMUNICATION FUNCTIONS MEMO Downloaded from ManualsNet com search engine ...

Page 190: ...d 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 level changes according to the inertia moment of the machine 2 Vib...

Page 191: ... 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 192: ...1 VG1 PG2 VG2 VIC JM ENC OP4 L JM ENC Actual loop Command Virtual motor Virtual encoder Machine Motor Encoder Notch filter Model section Auto tuning section 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 provide the ideal operation values to the current loop ...

Page 193: ... 9 1 J Inertia moment 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 to the response level set in parameter N...

Page 194: ...el setting Set machine selection setting to large friction Gear sound generated from machine Reduce gear sound Decrease response level setting Note Settling time indicates time from zero command pulse to servo motor stop 9 3 2 Valid conditions POINT If the acceleration deceleration time is long or the servo motor speed used is only low speed the valid conditions of auto tuning are not satisfied Th...

Page 195: ...rocedure a Adjustment 1 1 Execute auto tuning with the response level setting of the level at which machine will not vibrate Set 0101 in parameter No 3 2 Set Not executed parameter No 3 2 by the auto tuning selection 3 Gradually decrease the speed integral compensation VIC parameter No 38 setting b Adjustment 2 1 Perform auto tuning with the response level setting of slow response Set 0101 in para...

Page 196: ...et 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 load inertia moment ratio parameter No 34 value Parameter No Symbol Name 7 PG1 Position loop gain 1 35 PG2 Position loop gain 2 36 VG1 Speed loop gain 1 37 VG2 Speed loop gain 2 38 VIC Speed integral compensation 3 Set not executed para...

Page 197: ...ance the value of each parameter is set to the ideal gain for the load inertia moment ratio parameter No 34 value Parameter No Symbol Name 7 PG1 Position loop gain 1 35 PG2 Position loop gain 2 36 VG1 Speed loop gain 1 37 VG2 Speed loop gain 2 38 VIC Speed integral compensation 3 Set not executed parameter No 3 2 by the auto tuning selection 4 Alternate a start and a stop several times and check w...

Page 198: ...uted parameter No 3 2 by the auto tuning selection Make the parameter No 7 35 to 38 settings manually adjustable 5 Check the operating status and adjust the following parameter values Parameter No Symbol Name Description 7 PG1 Position loop gain 1 35 PG2 Position loop gain 2 Higher setting shortens the settling time but is liable to cause overshooting 36 VG1 Speed loop gain 1 37 VG2 Speed loop gai...

Page 199: ...of each axis to make the gains of all axes equal 9 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 attributable to looseness such as...

Page 200: ...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 100 000 times Cooling fan 10 000 to 30 000hours 2 to 3 years Servo amplifier Absolute position battery Refer to Section 4 5 a Smoothing cap...

Page 201: ...10 2 10 INSPECTION MEMO Downloaded from ManualsNet com search engine ...

Page 202: ...efer to Section 11 2 and remove cause Section 11 2 2 Switch on servo on SON 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 SON is not input Wiring mistake 2 24VDC power is not supplied to COM Section 7 3 Rotation ripples speed fluctuations are large at low speed Make gain adjustment in the following procedure 1 Increase ...

Page 203: ...r 2 A 24 Main circuit error A 25 Absolute position erase A 30 Regenerative error Note Note A 31 Overspeed A 32 Overcurrent A 33 Overvoltage A 35 Command pulse frequency error A 37 Parameter error A 46 Servo motor overheat Note Note A 50 Overload 1 Note Note A 51 Overload 2 Note Note A 52 Error excessive A 61 Operation alarm A 8A Serial communication time out A 8E Serial communication error Alarms ...

Page 204: ...or is stopped by the dynamic brake At this time the display shows the corresponding alarm number Remove the cause of the alarm in accordance with this section The optional Servo Configuration Software may be used to refer to the cause Display Name Definition Cause Action 1 Power supply voltage is low 2 Power failed instantaneously for 60ms or longer 3 Shortage of power supply capacity caused the p...

Page 205: ...on after disconnection of all cables but the control circuit power supply cables Change the servo amplifier 1 Encoder connector CN2 disconnected Connect correctly 2 Encoder fault Change the servo motor A 20 Encoder error 2 Communication error occurred between encoder and servo amplifier 3 Encoder cable faulty wire breakage or short Repair or change the cable 1 Power input wires and servo motor out...

Page 206: ...ption A 30 Regenerative alarm Cooling fan stop MR J2 200C 350C 6 Unusual overheat due to cooling fan stop 1 Change the servo amplifier or cooling fan 2 Reduce ambient temperature 1 Input command pulse frequency exceeded the permissible instantaneous speed frequency Set command pulses correctly 2 Small acceleration deceleration time constant caused overshoot to be large Increase acceleration decele...

Page 207: ...ive brake option not used with servo amplifier was selected in parameter No 0 Set parameter No 0 correctly A 37 Parameter error Parameter or point table setting is wrong 3 Point table data is in error Set the point table data correctly 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 operati...

Page 208: ...method When the servo motor shaft is rotated with the servo off the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips 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 parameter No 28 is too small Increase the torque li...

Page 209: ...ume operation by switching power of the servo amplifier OFF ON repeatedly The servo amplifier and servo motor may become faulty If the power of the servo amplifier is switched OFF ON during the alarms allow more than 30 minutes for cooling before resuming operation Excessive regenerative warning A E0 Overload warning 1 A E1 If servo forced stop warning A E6 occurs the servo off status is establish...

Page 210: ...ay exceed permissible regenerative power of built in regenerative brake resistor or regenerative brake option Regenerative power increased to 85 or more of permissible regenerative power of built in regenerative brake resistor or regenerative brake option Checking method Call the status display and check regenerative load ratio 1 Reduce frequency of positioning 2 Change regenerative brake option f...

Page 211: ...11 10 11 TROUBLESHOOTING MEMO Downloaded from ManualsNet com search engine ...

Page 212: ...on deceleration time constant is set in parameter No 14 Command system Position data input System Signed absolute value command incremental value command Point table Point table number input position data input system Positioning operation is performed once in accordance with the position and speed commands Automatic operation mode Automatic continuous operation Varied speed operation 2 to 15 spee...

Page 213: ...less non condensing 20 to 65 non freezing Storage temperature 4 to 149 non freezing Storage humidity 90 RH or less non condensing Ambient Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Altitude Max 1000m 3280ft above sea level 5 9 m s2 0 6G or less Environment Vibration 19 4 ft s2 or less kg 0 7 0 7 1 1 1 1 1 7 1 7 2 0 2 0 Weight lb 1 5 1 5 2 4 2 4 3 75 3 7...

Page 214: ...C N 2 E N C C N 3 Unit in Terminal layout Terminal cover open Name plate PE terminal 0 79 6 0 24 Variable Dimensions Servo Amplifier Model A B Weight kg lb MR J2 10C MR J2 20C 50 1 97 6 0 24 0 7 1 54 MR J2 40C MR J2 60C 70 2 76 22 0 87 1 1 2 43 TE1 L1 U L2 V L3 W TE2 Front D C P L21 L11 PE terminals Terminal screw M4 0 7 Tightening torque 1 2 N m 10 lb in Tightening torque 0 3 to 0 4 N m 2 7 to 3 ...

Page 215: ...t Terminal cover open 6 0 24 mounting hole 168 6 61 156 6 14 6 0 24 6 0 24 42 1 65 22 0 87 6 0 24 PE terminal 6 0 24 0 87 Servo Amplifier Model Weight kg lb MR J2 70C MR J2 100C 1 7 3 75 TE1 L1 U L2 V L3 W Terminal screw M4 0 7 Tightening torque 1 2 N m 10 lb in TE2 Front D C P N L21 L11 Tightening torque 0 3 to 0 4 N m 2 7 to 3 5 oz in PE terminals Terminal screw M4 0 7 Tightening torque 1 2 N m ...

Page 216: ... screw Unit mm Unit in TE2 PE terminal 0 24 0 24 Servo Amplifier Model Weight kg lb MR J2 200C MR J2 350C 2 0 4 41 TE1 L1 L2 L3 U V W L11 L21 D P C N Terminal screw M4 0 7 Tightening torque 1 2 N m 10 lb in Terminal screw M4 0 7 Tightening torque 1 2 N m 10 lb in TE2 PE terminals Terminal screw M4 0 7 Tightening torque 1 2 N m 10 lb in Downloaded from ManualsNet com search engine ...

Page 217: ... 3 1 31 b Threaded type Unit mm Unit in 10 0 12 0 22 0 39 0 23 8 14 0 12 7 33 3 5 7 27 4 1 31 0 50 0 22 0 94 1 54 0 39 0 87 0 55 1 08 0 47 Model Connector 10120 3000VE Shell kit 10320 52A0 008 Note Not optional c Insulation displacement type Model Connector 10120 6000EL Shell kit 10320 3210 000 Unit mm Unit in 42 0 1 65 11 5 0 45 6 7 0 26 20 9 0 82 2 0 5 0 02 29 7 1 17 Logo etc are indicated here ...

Page 218: ...Unit in Fitting fixing screw G E max diameter of cable used Type A 1 B 1 C 0 25 D 1 E F Reference G DE C1 J6 S6 34 5 1 36 19 0 75 24 99 0 98 33 1 30 6 0 24 18 0 71 4 40 DE C2 J9 46 1 81 21 0 83 47 04 1 85 55 2 17 10 0 39 20 0 79 M2 6 Downloaded from ManualsNet com search engine ...

Page 219: ...12 8 12 SPECIFICATIONS MEMO Downloaded from ManualsNet com search engine ...

Page 220: ...o use the machine so that the unbalanced torque is 70 or less of the rated torque 1 MR J2 10C to MR J2 100C 1000 100 10 1 0 1 0 50 150 200 250 300 a FH MF series HA FF series 300W or more HC SF series HC UF series Note Load ratio Operation time s During rotation During stop 100 Fig 13 1 Electronic Thermal Relay Protection Characteristics 1000 100 10 1 0 1 0 50 100 150 200 250 300 b HA FF series 20...

Page 221: ...lectronic Thermal Relay Protection Characteristics 3 Note If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a servo motor stop status servo lock status or in a 30r min or less low speed operation status the servo amplifier may fail even when the electronic thermal relay protection is not activated Downloaded from ManualsNet com search ...

Page 222: ...5 5 4 MR J2 10C HC UF13 0 3 25 15 0 5 5 4 HC MF23 0 5 25 15 0 5 5 4 HA FF23 0 5 25 15 0 5 5 4 MR J2 20C HC UF23 0 5 25 15 0 5 5 4 HC MF43 0 9 35 15 0 7 7 5 HA FF33 0 7 35 15 0 7 7 5 HA FF43 0 9 35 15 0 7 7 5 MR J2 40C HC UF43 0 9 35 15 0 7 7 5 HA FF63 1 1 40 15 0 8 8 6 HC SF52 1 0 40 15 0 8 8 6 MR J2 60C HC SF53 1 0 40 15 1 0 10 8 HC UF72 73 1 3 50 15 1 0 10 8 HC MF 70C HC MF73 1 3 50 15 1 0 10 8 ...

Page 223: ...1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the enclosure is directly installed on an insulated wall that extra amount must be added to the enclosure s surface area The required heat dissipation area will vary wit the conditions in the enclosure If convection in the enclosure is poor and heat builds up effective heat dissipation will not b...

Page 224: ...6 and Table 13 2 V0 Time constant Emergency stop EMG OFF ON Machine speed te Time Fig 13 5 Dynamic Brake Operation Diagram Lmax 60 Vo JL JM te 1 13 2 L max 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 oz in2 Brake time constant Fig 13 6 Table 13...

Page 225: ...min Series 0 0 02 0 04 0 06 0 08 0 1 0 12 50 500 1000 1500 2000 2500 3000 0 203 353 53 103 153 Speed r min Time constant s d HC SF3000r min Series 0 0 002 0 004 0 006 0 008 0 01 0 012 0 014 0 016 0 018 0 500 1000 1500 2000 2500 3000 103 153 203 Speed r min Time constant s e HC RF Series 500 1000 1500 2000 0 0 0 01 0 02 0 03 0 04 0 05 0 06 0 07 0 08 0 09 0 1 72 202 152 Time constant s Speed r min f...

Page 226: ...tsubishi Servo Amplifier Load Inertia Moment Ratio times MR J2 10C to MR J2 200C 30 MR J2 350C 16 13 4 Encoder cable flexing life The flexing life of the cables is shown below This graph calculated values Since they are not guaranteed values provide a little allowance for these values 1 107 5 107 1 108 5 106 1 106 5 105 1 105 5 104 1 104 5 103 1 103 a b Flexing life times 4 0 16 7 0 28 10 0 39 20 ...

Page 227: ...13 8 13 CHARACTERISTICS MEMO Downloaded from ManualsNet com search engine ...

Page 228: ...0 500 MR J2 350C 100 300 500 Note Always install a cooling fan 2 Selection of the regenerative brake option a Simple selection method In horizontal motion applications select the regenerative brake option as described below When the servo motor is run without load in the regenerative mode from the running speed to a stop the permissible duty is as indicated in the standard specifications Section 5...

Page 229: ...E4 0 No regeneration 5 T5 JL JM 9 55 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 JL JM 9 55 104 No T7 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 servo amplifier in regenerative mode The following table lists the efficiencies and other data...

Page 230: ... No 0 according to the option to be used The regenerative brake option will generate heat of about 100 C Fully examine heat dissipation installation position used cables etc before installing the option For wiring use fire retarding 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 servo amplifier The G3 and G...

Page 231: ... 9 0 5 1 1 MR RB12 100 40 40 1 57 15 0 59 169 6 69 149 5 87 1 1 2 4 2 MR RB32 MR RB30 3 MR RB50 79 7 05 150 5 91 125 4 92 Terminal block 7 0 28 10 0 39 3 2 0 13 318 12 52 17 0 67 90 3 54 100 3 94 Unit mm in Unit mm in 7 14 slot 7 0 28 12 0 47 116 4 57 128 5 04 17 0 67 200 7 87 2 3 0 09 350 13 78 325 12 80 Terminal block Weight Weight Regenerative Brake Option Regenerative Power W Resistance kg lb ...

Page 232: ...ervo motor and other models Those indicated by broken lines in the figure are not options Servo amplifier HC FF UE HC SF HC RF HC UF 2000r min HC MF HC MF UE HA FF HC UF 3000r min CN1A CN1B CN2 CN3 Operation panel Controller Personal computer 14 15 1 2 3 4 5 6 7 8 9 10 10 11 11 12 13 16 17 18 19 Downloaded from ManualsNet com search engine ...

Page 233: ...er to 2 in this section Long flexing life IP20 Connector 10120 3000VE Shell kit 10320 52F0 008 3M or equivalent Plug MS3106A20 29S D190 Cable clamp CE3057 12A 3 D265 Back shell CE02 20BS S DDK 5 IP65 compliant encoder cable MR ENCBL M H Refer to 2 in this section Long flexing life IP65 compliant Not oil proof Connector 10120 3000VE Shell kit 10320 52F0 008 3M or equivalent Housing 1 172161 9 Pin 1...

Page 234: ... Shell kit 10320 3210 000 3M or equivalent Connector DE 25PF N Case DB C2 J9 JAE 14 Communication cable MR CPC98CBL3M Refer to 3 in this section For connection with PC 98 personal computer Connector 10120 6000EL Shell kit 10320 3210 000 3M or equivalent Connector DE 9SF N Case DB C1 J6 S6 JAE 15 Communication cable MR CPCATCBL3M Refer to 3 in this section For connection with PC AT compatible perso...

Page 235: ...ot found in the options fabricate the cable on the customer side a MR JCCBL M L MR JCCBL M H These encoder cables are used with the HC KFS HC MFS HC UFS3000r min series servo motors 1 Model explanation L H 2 5 10 20 30 2 6 56 5 16 4 10 32 8 20 65 6 30 98 4 40 50 40 131 2 50 164 0 Symbol Specifications Standard flexing life Long flexing life Symbol Note Cable length m ft Note MR JCCBL M H has no 40...

Page 236: ... use the recommended wires given in Section 14 2 1 and the MR J2CNM connector set for encoder cable fabrication and fabricate an encoder cable as shown in the following wiring diagram Referring to this wiring diagram you can fabricate an encoder cable of up to 50m 164 0ft length including the length of the encoder cable supplied to the servo motor When the encoder cable is to be fabricated by the ...

Page 237: ...5 10 20 30 Long flexing life Symbol Cable length m ft Model MR ENCBL M H 40 50 Note MR JHSCBL M L has no 40 131 2 and 50m 164 0ft sizes 2 6 56 5 16 4 10 32 8 20 65 6 30 98 4 40 131 2 50 164 0 2 Connection diagram For the pin assignment on the servo amplifier side refer to Section 3 3 1 CN2 A B C D E F G H J K L M A B C MR D MRR E F BAT G LG H J K L M N SHD P R LG S P5 T Servo amplifier 50m 164 0ft...

Page 238: ... 18 2 7 17 9 1 S R C D F N G P5 LG P5 LG P5 LG MR MRR BAT LG SD 19 11 20 12 18 2 7 17 9 1 S R C D F N G Note1 This wiring is required for use in the absolute position detection system This wiring is not needed for use in the incremental system 2 AWG28 can be used for 5m 16 4ft or less When fabricating an encoder cable use the recommended wires given in Section 14 2 1 and the MR J2CNS connector set...

Page 239: ...ield with FG securely 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 Connection diagram 2 3 7 4 5 SD RD SG RS CS FG RXD LG TXD LG Servo amplifier side Half pitch 20 pins Plate 2 1 12 11 MR CPC98CBL3M Personal computer side D SUB25 pins Note Half pitch 20 pins D SUB9 pins 3 2 5 7 8 6 4 ...

Page 240: ...e cable clamp fitting refer to Section 14 2 6 2 c 2 Terminal labels The junction terminal block is supplied with terminal block labels which indicate signal assignment Among these labels use the two for MR J2 C When changing the input signals on the Servo Configuration Software refer to Section 14 1 2 3 and Section 3 2 2 and apply the accessory signal seals to the labels 0 1 2 3 4 5 6 7 8 9 10 11 ...

Page 241: ... 3M 10 B1 0 A1 11 B2 1 A2 12 B3 2 A3 13 B4 3 A4 14 B5 4 A5 15 B6 5 A6 16 B7 6 A7 17 B8 7 A8 18 B9 8 A9 19 B10 9 A10 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Junction terminal block terminal No For CN1A For CN1B Pin No Pin No Plate LG P15R COM SG SD RD VC ZP LSN NP PP OPC NG PG INP DOG ST1 ST2 CPO SON LSP LG VDD DIO SG P15R TLA COM DI1 ALM SD MDO 10120 6000EL connector 10320 3210 000 shel...

Page 242: ...EMGO Communication cable Maintenance junction card MR J2CN3TM Analog monitor 2 output Analog monitor 1 output Servo amplifier Not used Bus cable MR J2HBUS M 2 Connection diagram 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 1 3 4 5 10 13 14 15 19 Shell 20 LG LG MO1 MO2 B5 B6 A5 A6 TE1 CN3A VDD COM EM1 DI MBR EMGO SG PE A1 A2 A3 A4 B4 B3 B2 B1 Not used 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17...

Page 243: ... 0 24Ib 4 Bus cable MR J2HBUS M 10120 6000EL connector 10320 3210 000 shell kit MR J2HBUS05M MR J2HBUS1M MR J2HBUS5M 1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20 1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20 10120 6000EL connector 10320 3210 000 shell kit Plate Plate 05 1 5 0 5 1 64 1 3 28 5 16 4 Symbol Cable length m ft Model MR J2HBUS M Downloaded from ManualsNet com search engine ...

Page 244: ...cation Communication commands Commands dedicated to MELSERVO Operating temperature humidity range 0 to 60 90 RH or less non condensing Storage temperature range 5 to 70 2 Connection example Power supply 200 to 230VAC Servo amplifier NFB RDN SDP SDN LG SD RDP 5 15 9 19 1 CN3 Plate External digital display MR DP60 L1 L2 TXD TXD RXD LG RXD L1 L2 L3 L11 L21 3 Terminal arrangement Signal Description L1...

Page 245: ... mm in Inside mounting 2 5 0 20 Square hole 95 3 74 150 5 91 20 0 79 5 Outline dimension drawing 7 5 MITSUBISHI 7 5 150 5 91 165 6 50 MR DP60 TB1 TB2 29 1 14 29 1 14 58 2 28 4 43 1 69 38 1 50 48 1 89 Unit mm in 2 4 5 0 18 mounting hole 2 6 5 0 26 depth 1 0 04 0 30 0 30 0 16 Downloaded from ManualsNet com search engine ...

Page 246: ...eed Instantaneous max 600r min ordinary 200r min Operating temperature range 10 to 60 Storage temperature range 30 to 80 2 Connection example Use an external power supply to supply power to the manual pulse generator B PP SG NP SD 3 10 2 CN1A OV A SV 5 GND OPC 11 CN1B VDD 3 Manual pulse generator MR HDP01 External power supply Servo amplifier Plate 3 Terminal arrangement Signal Name Description 5 ...

Page 247: ...g 8 89 7 6 0 299 12V 0V A B 5V to MANUAL TYPE SERIALNO 50 1 969 70 2 756 60 2 362 80 3 15 3 6 0 142 16 20 27 0 Packing t2 0 Unit mm in 3 M4 stud L10 P C D 72 equally divided M3 6 may only be used 0 63 0 787 1 063 0 35 14 1 7 Battery MR BAT A6BAT Use the battery to build an absolute position detection system Downloaded from ManualsNet com search engine ...

Page 248: ...d 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 alphabets a b c in the table correspond to the crimping terminals Table 14 2 used to wire the servo amplifier For connection with the terminal block TE2 of the MR J2 100C or less refer to Section 3 7 The servo motor side connection method depends on the type a...

Page 249: ...88 7 2 Note 2 A14B2343 6P MR JCCBL M H 10 to 50 32 8 to 164 0 2 14 7 pairs 40 0 08 105 0 88 8 0 Note 2 A14B0238 7P 2 5 6 56 16 4 0 08 8 4 pairs 7 0 127 222 0 38 4 7 UL20276 AWG 28 4pair BLAK MR JHSCBL M L 10 to 30 32 8 to 98 4 0 3 12 6 pairs 12 0 18 62 1 2 8 2 UL20276 AWG 22 6pair BLAK 2 5 6 56 16 4 0 2 8 4 pairs 40 0 08 105 0 88 6 5 Note 2 A14B2339 4P MR JHSCBL M H 10 to 50 32 8 to 164 0 2 12 6 p...

Page 250: ...tly lower than 90 In addition it reduces the higher harmonic of input side When using power factor improving reactors for two servo amplifiers or more be sure to connect a power factor improving reactor to each servo amplifier 3 phase 200 to 230VAC or 3 phase 380 to 480VAC NFB FR BAL Servo amplifier MR J2 C R S T X Y Z L1 L2 L3 MC 1 phase 200v to 230VAC NFB FR BAL Servo amplifier MR J2 C R S T X Y...

Page 251: ...rber is required for the electromagnetic brake Use the following surge absorber or equivalent Insulate the wiring as shown in the diagram Maximum rating Permissible circuit voltage Surge immunity Energy immunity Rated power Maximum limit voltage Static capacity reference value Varistor voltage rating range V1mA AC Vma DC V A J W A V pF V 140 180 Note 500 time 5 0 4 25 360 300 220 198 to 242 Note 1...

Page 252: ...Avoid laying power lines input cables and signal cables side by side or do not bundle them together Separate power lines from signal cables Use shielded twisted pair cables for connection with the encoder and for control signal transmission and connect the shield to the SD terminal Ground the servo amplifier servo motor etc together at one point refer to Section 3 6 b Reduction techniques for exte...

Page 253: ...d 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 from...

Page 254: ...es 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 noises produced by the servo a...

Page 255: ...e 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 RA Diode c Cable clamp fitting AERSBAN SET Generally the earth of the shielded cable may only be connected to the connector s SD terminal However the effect can be increased by direct...

Page 256: ... 38 35 1 38 L or less 10 0 39 30 1 18 B 0 3 0 01 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 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 Downloaded from ManualsNet com search engine ...

Page 257: ...n the output side the number of turns must be four or less Do not wind the grounding wire together with the 3 phase wires The filter effect will decrease Use a separate wire for grounding Example 2 Two filters are used Total number of turns 4 Power supply Servo amplifier Line noise filter NFB L3 L1 L2 Example 1 Number of turns 4 Power supply NFB L1 L2 L3 Servo amplifier Line noise filter FR BLF MR...

Page 258: ...3 Ig1 Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier Found from Fig 14 1 Ig2 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 14 1 Ign Leakage current when a filter is connected to the input side 4 4mA per one FR BIF Iga Leakage current of the servo ampl...

Page 259: ...gned for suppressing harmonics surges Find the terms of Equation 14 2 from the diagram Ig1 20 1000 5 0 1 mA Ig2 20 1000 5 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in Equation 14 2 Ig 10 0 1 0 0 1 1 0 1 0 1 4 mA According to the result of calculation use a leakage current breaker having the rated sensitivity current Ig of 4 mA or more A leakage current breaker having Ig of 15...

Page 260: ... L3 LINE LOAD 3 phase 200 to 230V AC 1 phase 230VAC or 1 phase 100 to120VAC EMC filter Servo amplifier Note 1 Power supply Note 2 Note 1 For 1 phase 230VAC power supply connect the power supply to L1 L2 and leave L3 open L1 L2 L3 2 Connect when the power supply has earth 3 Outline drawing 23 0 0 906 LABEL LINE LOAD 168 0 6 614 L1 L2 L3 L1 L2 L3 149 5 5 886 LINE input side LOAD output side 140 0 5 ...

Page 261: ...9 2 5 0 10 1 6 0 06 Unit mm in Panel hole machining diagram 12 0 47 10 0 37 hole 3 6 0 14 hole Unit mm in 2 Multi revolution type Position meter RRS10M202 Japan Resistor make Analog dial 23M Japan Resistor make Rated power Resistance Resistance tolerance Dielectric strength for 1 minute Insulation resistance Mechanical rotary angle Rotary torque 10 1W 2k 10 700V A C 1000M or more 3600 0 100g cm or...

Page 262: ...agram modification Section 8 1 1 2 Cable connection diagram modification Section 8 2 2 Parameter setting added Section 8 12 Detailed Explanation of Commands changed Section 8 12 3 2 Sentences added to Parameter write Chapter 9 All pages changed Section 11 2 1 Alarm deactivation added to Alarm and warning list Section 11 2 2 Deletion of deactivation using alarm reset RES Section 11 2 3 Sentences ad...

Page 263: ...o sentence in figure Section 8 12 8 7 Change to sentence in figure Section 8 12 10 3 Software version added Section 11 2 2 A 20 contents added A 24 contents changed Section 13 3 Sentence changed Section 14 1 1 2 b 1 Table changed Section 14 1 1 3 Text added diagram modified note added Section 14 1 2 1 Diagram changed Section 14 1 2 2 Contents changed Section 14 2 1 Contents changed Section 14 2 2 ...

Page 264: ...Section 4 4 4 1 Position data for home position return changed Section 4 4 4 2 ST2 in diagram modified Section 4 4 5 1 Position data for home position return changed Section 4 4 5 2 ST2 in diagram modified Section 4 4 6 1 Position data for home position return changed Section 4 5 CAUTION added Section 5 2 1 POINT changed Section 5 2 4 Sentence changed Section 6 2 1 Personal computer in table chang...

Page 265: ...ce This Instruction Manual uses recycled paper MODEL MR J2 C SERVO AMPLIFIER INSTRUCTION MANUAL Built In Positioning Function MR J2 C Servo Amplifier Instruction Manual 1CW923 MODEL CODE MODEL F F J2 Series MR J2 C INSTRUCTION HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 Downloaded from ManualsNet com search engine ...

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Mitsubishi Electric MELSERVO MR-J2 C Series, Instruction Manual

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