Mitsubishi Electric MR-J2-03B5 Instruction Manual Download Page 20

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1. FUNCTIONS AND CONFIGURATION

1.7 Servo system with auxiliary equipment

WARNING

To prevent an electric shock, fit the supplied earth terminal (E) to the servo

amplifier (refer to (2), Section 3.7) and always connect it to the earth (E) of the

control box.

Circuit
protector

MITSUBISHI

OPEN

CN1A

CN1B

CNP1

CNP2

CNP3

MELSERVO

To CNP2

To CNP3

Servo amplifier

Personal
computer

Power leads

Encoder
cable

Servo motor

Power supply

24VDC

Main circuit power supply

Relay

Control circuit power supply

To CNP1

Earth (E) terminal

Motor cable

To CN1B

To CN1A

Servo system

controller

preceding axis
servo amplifier

Subsequent axis

servo amplifier

Servo
configuration
software
(MRZJW3-
SETUP81E)

Summary of Contents for MR-J2-03B5

Page 1: ...General Purpose AC Servo MODEL MR J2 03B5 SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET Compatible B J2 Jr Series ...

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

Page 3: ... 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 3 To prevent injury note the follow CAUTION Only the voltage specified in the Instruction Manua...

Page 4: ...the servo amplifier and servo motor which has been damaged or has any parts missing Provide adequate protection to prevent screws and other conductive matter oil and other combustible matter from entering the servo 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 Env...

Page 5: ...e load Otherwise the shaft may break When the equipment has been stored for an extended period of time consult Mitsubishi 2 Wiring CAUTION Wire the equipment correctly and securely Otherwise the servo motor may misoperate Do not install a power capacitor surge absorber or radio noise filter between the servo motor and servo amplifier Connect the output terminals U V W correctly Otherwise the servo...

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

Page 7: ...gned or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this produ...

Page 8: ...en in the EMC Installation Guidelines 2 Low voltage directive The low voltage directive applies also to servo units alone Hence they are designed to comply with the low voltage directive This servo is certified by TUV third party assessment organization to comply with the low voltage directive 3 Machine directive Not being machines the servo amplifiers need not comply with this directive 2 PRECAUT...

Page 9: ...les described in Section 11 2 1 meet the following requirements To meet the other requirements follow Table 5 and Appendix C in EN60204 1 Ambient temperature 40 104 Sheath PVC polyvinyl chloride Installed on wall surface or open table tray 6 Performing EMC tests When EMC tests are run on a machine device into which the servo amplifier has been installed it must conform to the electromagnetic compa...

Page 10: ...uction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General Purpose AC servo MR J2 03B5 for the first time Always purchase them and use the MR J2 03B5 safely Also read the manual of the servo system controller 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 Man...

Page 11: ...A 10 MEMO ...

Page 12: ... to 3 18 3 1 Connection example of control signal system 3 2 3 2 I O signals 3 4 3 2 1 Connectors and signal arrangements 3 4 3 2 2 Signal explanations 3 5 3 3 Alarm occurrence timing chart 3 6 3 4 Interfaces 3 7 3 4 1 Common line 3 7 3 4 2 Detailed description of the interfaces 3 8 3 5 Input power supply circuit 3 9 3 5 1 Connection example 3 9 3 5 2 Explanation of signals 3 10 3 5 3 Power on seq...

Page 13: ... 1 When machine rigidity is low 6 6 6 4 2 When the machine vibrates due to machine resonance frequency 6 7 6 4 3 Load inertia moment is 20 or more times 6 8 6 4 4 When shortening the settling time 6 9 6 4 5 When the same gain is used for two or more axes 6 10 6 5 Slight vibration suppression control 6 10 7 INSPECTION 7 1 to 7 2 8 TROUBLESHOOTING 8 1 to 8 8 8 1 Alarms and warning list 8 1 8 2 Remed...

Page 14: ...ns 11 1 11 1 1 Cables and connectors 11 1 11 1 2 Servo configurations software 11 12 11 2 Auxiliary equipment 11 13 11 2 1 Recommended wires 11 13 11 2 2 Circuit protector 11 15 11 2 3 Relays 11 15 11 2 4 Noise reduction techniques 11 15 11 2 5 Snubber unit 11 19 ...

Page 15: ...4 MEMO ...

Page 16: ... the servo amplifier control system are compatible with those of the MR J2 B As the standard models comply with the EN Standard UL C UL Standard they can be used satisfactorily in various countries The MR J2 03B5 servo amplifier can be easily installed to a control box with a DIN rail The power supply electromagnetic brake and encoder of the servo motor can be wired easily with a single cable The ...

Page 17: ...bient Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Altitude Max 1000m 3280ft above sea level m s2 5 9 or less Environment Vibration ft s2 19 4 or less kg 0 2 Weight lb 0 44 Note To comply with the low voltage directive use a reinforced insulation stabilizing power supply 1 3 Function list The following table lists the functions of this servo For details o...

Page 18: ...0W DC24V POWER INPUT OUTPUT SERIAL AC SERVO T3 AAAAG52 PASSED 2 Model MR J2 03 5 Series name 24VDC power supply specification SSCNET Compatible Rated output 30 W Rating plate B 1 5 Combination with servo motor The HC AQ series servo motors can be used The same combinations apply to the servo motors provided with electromagnetic brakes and reduction gears Servo amplifier Servo motor HC AQ0135D HC A...

Page 19: ...vo motor connector CNP2 Connector for connection of the servo motor Power input connector CNP1 Used to connect the input power supply control circuit power supply digital input signals Earth E terminal To conform to the EN Standard fit the supplied earth terminal for grounding Section 3 2 Bus cable connector CN1B Used to connect the subsequent axis servo amplifier or termination connector MR A TM ...

Page 20: ...e control box Circuit protector MITSUBISHI OPEN CN1A CN1B CNP1 CNP2 CNP3 MELSERVO To CNP2 To CNP3 Servo amplifier Personal computer Power leads Encoder cable Servo motor Power supply 24VDC Main circuit power supply Relay Control circuit power supply To CNP1 Earth E terminal Motor cable To CN1B To CN1A Servo system controller or preceding axis servo amplifier Subsequent axis servo amplifier Servo c...

Page 21: ...1 6 1 FUNCTIONS AND CONFIGURATION MEMO ...

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

Page 23: ...cur Leave specified clearances between the servo amplifier and control box inside walls or other equipment 1 Installation of one servo amplifier 70mm 2 8 in MITSUBISHI OPEN CN1A CN1B CNP1 CNP2 CNP3 MELSERVO 10mm 0 4 in or more 40mm 1 6 in or more 10mm 0 4 in or more 40mm 1 6 in or more Top Bottom Wiring clearance Control box Control box Servo amplifier ...

Page 24: ...40mm 1 6 in or more 3 Others 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 installed on the cei...

Page 25: ...x the optional motor cable or the power supply and brake wiring cables Use the optional motor cable within the flexing life flexing life range Use the power supply and brake wiring cables within the flexing life of the cables 3 Avoid any probability that the cable sheath might be cut by sharp chips rubbed by a machine corner or stamped by workers or vehicles 4 For installation on a machine where t...

Page 26: ...e DIN rail Put the upper catch on the DIN rail and push the unit until it clicks Wall DIN rail Upper catch Wall DIN rail 2 Removal from DIN rail 1 Pull down the hook 2 Pull it toward you 3 Lift and remove the unit Wall Hook 1 DIN rail Upper catch Wall DIN rail 2 3 DIN rail Wall ...

Page 27: ...2 6 2 INSTALLATION MEMO ...

Page 28: ...aded heavily or pinched Otherwise you may get an electric shock CAUTION Wire the equipment correctly and securely Otherwise the servo motor may misoperate resulting in injury Connect cables to correct terminals to prevent a burst fault etc Ensure that polarity is correct Otherwise a burst damage etc may occur Use a noise filter etc to minimize the influence of electromagnetic interference which ma...

Page 29: ...B5 Note 3 CN1A CN1B CS1 Setting 0 CN1A CN1B CN1A CN1B CN1A CN1B CS1 CS1 CS1 n 1 to 8 Note 6 Note 7 Note 8 MR A TM Servo system controller RA 24VDC power supply 1 2 3 4 EM1 Note 1 Circuit protector CNP1 P24M P24G P24L CNP1 Note 2 4 Forced stop Note 10 Servo configuration software Personal computer Note 5 9 Bus cable Option Cable clamp Option 15m 49 2ft or less CNP3 CNP2 Note 3 MR J2 03B5 2 axis Set...

Page 30: ...noise immunity it is recommended to use a cable clamp and data line filters three or four filters connected in series near the connector outlet 6 The wiring of the second and subsequent axes is omitted 7 Up to eight axes n 1 to 8 may be connected The MR J2S B MR J2 03B5 servo amplifier may be connected on the same bus 8 Always insert the termination connector MR A TM into CN1B of the servo amplifi...

Page 31: ...12 13 14 15 16 17 18 19 20 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 MITSUBISHI MELSERVO CN1A CN1B 5 1 P24M 6 2 P24G 7 3 P24L 8 4 EM1 CNP1 B2 B1 5 1 MR MRR 6 2 P5 LG 11 12 SD 10 4 7 3 U W 8 9 E V CNP2 1 SD 2 TXD LG 3 RXD 4 CNP3 CNP1 CNP3 CNP2 RD TD LG EMG LG BT RD TD LG LG EMG RD TD LG EMG LG BT RD TD LG LG EMG The connector frames are connected with the E earth terminal inside the servo ...

Page 32: ...it power supply digital input signals CNP2 Motor connector Used for connection with the servo motor CNP3 Communication connector Used for connection with the personal computer CNP21 Electromagnetic brake contact connector Disconnect B1A B1B to make the electromagnetic brake effective Make up a circuit which will switch off main circuit power and make the electromagnetic brake effective as soon as ...

Page 33: ... ON OFF Reset command from controller ON OFF Trouble 1sec Alarm occurs Remove cause of trouble Power off Power on Instantaneous power failure alarm 15 to 40msec or more Servo motor shaft operation Base circuit on Base circuit on Base circuit on Coasting Coasting Coasting Note 1 Main circuit control circuit NO YES NO YES NO Note 3 Dynamic brake Note 2 Dynamic brake power supply 1 Overcurrent overlo...

Page 34: ...gram shows the power supply and its common line To conform to the EMC directive refer to the EMC Installation Guide lines IB NA 67310 CNP1 P24G P24L EM1 DI CN1A CN1B SD MRR MR LG SD CNP2 CN1 Servo amplifier 24VDC Isolated RD TD EMG RD TD EMG Servo motor SM Servo motor encoder ...

Page 35: ... refer to I O Division in the table indicated in Sections 3 2 2 Refer to this section and connect the interfaces with the external equipment Digital input interface DI 1 Give a signal with a relay or open collector transistor R Approx EM1 Switch TR P24L P24G For a transistor Approx 5mA V CES 1 0V I CEO 100 A 4 7k Servo amplifier ...

Page 36: ...power supply 3 5 1 Connection example Wire the power supply and main circuits as shown below so that the servo on signal also turns off as soon as power is switched off at detection of alarm occurrence When using an electromagnetic brake determine the power supply by taking the rated current value of the electromagnetic brake into consideration 1 2 3 4 OFF ON RA1 EM1 CNP1 CNP1 1 2 3 4 RA2 OFF ON R...

Page 37: ... to switch off the relay as soon as an alarm occurs 2 Switch on the control circuit power supply L11 L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply If the main circuit power supply is not on the display shows the corresponding warning However by switching on the main circuit power supply the warning disappears and the servo amplifier will...

Page 38: ...connecting EM1 SG the dynamic brake is operated to bring the servo motor to a stop At this time the display shows the servo forced stop warning E6 During ordinary operation do not use forced stop EM1 to alternate stop and run The service life of the servo amplifier may be shortened 24VDC P24L Servo amplifier Approx 4 7k EM1 P24G 4 CNP1 connector wiring The servo amplifier is packed with the follow...

Page 39: ...he brake will operate when the forced stop switch on 2 Switch off the servo on command after the servo motor has stopped 1 Connection diagram Configure up a circuit which switches off main circuit power and makes the electromagnetic brake effective as soon as EM1 SG are disconnected at a forced stop For connection use the optional MR JRBRCBL M H electromagnetic braked servo motor cable and MR JRBR...

Page 40: ...ake operation delay time to prevent a drop Servo motor speed Electromagnetic brake CNP2 9 ON OFF Base circuit Invalid ON Valid OFF ON OFF Servo on command from controller Electromagnetic brake operation delay time Tb Coasting 0 r min 60ms 80ms b Emergency stop command from controller or forced stop EM1 ON OFF Servo motor speed Electromagnetic brake CNP2 9 ON OFF Base circuit Invalid ON Valid OFF E...

Page 41: ...ic brake Electromagnetic brake Electromagnetic brake operation delay time Electromagnetic brake 10ms d Main circuit power off When main circuit power switches off the undervoltage alarm 10 occurs and the operation timing is as shown in c of this section e Control circuit power off POINT When the control circuit power is switched off the dynamic brake is not operated 20ms ON OFF Electromagnetic bra...

Page 42: ...the wiring and ground cablerouting the servo amplifier may be affected by the switching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Note To reduce the influence of external noise we recommend you to ground the bus cable near the controller...

Page 43: ... 16 3 SIGNALS AND WIRING 2 Fitting of earth E terminal AERSBAN JR As shown below fit the earth E terminal to the bottom or top of the servo amplifier Positioning boss Earth E terminal AERSBAN JR M4 screw ...

Page 44: ...nector securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell External conductor Sheath External conductor Pull back the external conductor to cover the sheath Sheath Core Strip the sheath Screw Screw Ground plate Cable ...

Page 45: ... in a single communication system the system will not operate properly The control axes may be set independently of the bus cable connection sequence Set the switch to F when executing the test operation mode using servo configuration software Axis select switch CS1 1 C B A 9 8 7 6 5 4 3 2 0 F E D No Description 0 Axis 1 1 Axis 2 2 Axis 3 3 Axis 4 4 Axis 5 5 Axis 6 6 Axis 7 7 Axis 8 8 Not used 9 N...

Page 46: ... CN1A and CN1B are not shorted g The wiring cables are free from excessive force h CN1A should be connected with the bus cable connected to the servo system controller or preceding axis servo amplifier and CN1B should connected with the bus cable connected to the subsequent axis servo amplifier or with the termination connector MR A TM 2 Axis number The axis number setting of CS1 should be the sam...

Page 47: ...operly alone 1 Power on When the main and control circuit power supplies are switched on the servo status appears on the servo amplifier display Refer to Section 4 3 for the displayed data 2 Parameter setting Set the parameters according to the structure and specifications of the machine Refer to Chapter 5 for the parameter definitions Parameter setting example Parameter No Name Setting Descriptio...

Page 48: ...uit is shut off and the dynamic brake operates to bring the servo motor to stop The controller emergency stop warning E7 occurs Main circuit power supply off The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop Control circuit power supply off The base circuit is shut off and the servo motor coasts Alarm occurrence The base circuit is shut off and the dynami...

Page 49: ...r servo system controller power to switch ON Servo system controller power ON When alarm occurs alarm code appears Ready ON Ready OFF servo OFF Ready ON servo OFF Servo ON Ordinary operation Servo system controller power OFF Ready ON servo ON Note Note Note Servo system controller power ON During emergency stop and forced stop Emergency stop and forced stop reset or Note The right hand segments of...

Page 50: ...rom the servo system controller were received AE Initialize completion Initial data communication with the servo system controller was completed Note 1 b Ready OFF The ready off signal from the servo system controller was received Note 1 d Servo ON The ready off signal from the servo system controller was received Note 1 C Servo OFF The ready off signal from the servo system controller was receive...

Page 51: ... screen of the Servo configuration software 1 Operation pattern Item Initial value Setting range Speed r min 200 0 to max speed Acceleration deceleration time constant ms 1000 1 to 20000 2 Operation method Operation Screen control Forward rotation start Press Forward G button Reverse rotation start Press Reverse R button Stop Press Stop O button b Positioning operation Positioning operation can be...

Page 52: ...tion software Usually however use motor less operation which is available by making the servo system controller parameter setting Without connecting the servo motor output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running This operation may be used to check the servo system controller sequence Use this operation...

Page 53: ...umber and operation is performed by the servo system controller the test operation mode screen is displayed on the personal computer but no function is performed 3 Switch servo amplifier power on When initialization is over the display shows the following screen Decimal point flickers 4 Perform operation with the personal computer b Motor less operation 1 Switch off the servo amplifier 2 Perform m...

Page 54: ...ed into the basic parameters No 1 to 11 adjustment parameters No 12 to 26 and expansion parameters No 27 to 40 according to their safety aspects and frequencies of use The values of the basic parameters may be set changed by the customer but those of the adjustment and expansion parameters cannot When in depth adjustment such as gain adjustment is required change the parameter No 40 value to make ...

Page 55: ...ance suppression filter Notch filter 0 19 FFC Feed forward gain 0 20 INP In position range 100 pulse 21 MBR Electromagnetic brake sequence output 0 ms 22 For manufacturer setting 0001 23 OP1 Optional function 1 0000 24 OP2 Optional function 2 0000 25 0000 Adjustment parameters 26 0000 27 0 mV 28 0 mV 29 For manufacturer setting 0001 30 ZSP Zero speed 50 r min 31 ERZ Error excessive alarm level 80 ...

Page 56: ... POL Rotation direction selection Used to select the rotation direction of the servo motor 0 Forward rotation CCW with the increase of the positioning address 1 Reverse rotation CW with the increase of the positioning address CCW CW 0 0 1 Basic parameters 8 ATU Auto tuning Used to select the auto tuning Auto tuning selection 0 0 0 0 Auto tuning for use of interpolation axis control or the like und...

Page 57: ...torque is 100 Used to limit the torque in the forward rotation driving mode and forward rotation regenerative mode 300 0 to 500 12 GD2 Ratio of load inertia to servo motor inertia load inertia ratio Used to set the ratio of the load inertia inertia moment to the inertia moment of the servo motor shaft When auto tuning is selected the result of auto tuning is automatically used 30 0 1 times 0 to 10...

Page 58: ...vel but is liable to generate vibration and or noise When auto tuning is selected the result of auto tuning is automatically used 1144 rad s 20 to 8000 17 VIC Speed integral compensation Used to set the constant of integral compensation When auto tuning is selected the result of auto tuning is automatically used 20 ms 1 to 1000 18 NCH Machine resonance suppression filter Notch filter Used to selec...

Page 59: ...rnally 0 0 0 0000 0000 to 0001h 24 OP2 Optional function 2 Used to select slight vibration suppression control and motor less operation Slight vibration suppression control selection Refer to Section 6 5 Made valid when auto tuning selection is set to 0002 in parameter No 8 Used to suppress vibration at a stop 0 Invalid 1 Valid Motor less operation selection 0 Invalid 1 Makes motor less operation ...

Page 60: ...is value by any means 0000 34 VPI PI PID control switch over position droop Used to set the position droop value number of pulses at which PI control is switched over to PID control Set 0001 in parameter No 32 to make this function valid 0 pulse 0 to 50000 35 For manufacturer setting Don t change this value by any means 0 36 VDC Speed differential compensation Used to set the differential compensa...

Page 61: ...5 8 5 PARAMETERS MEMO ...

Page 62: ...tor Inverter On the other hand the servo amplifier always detects the positions and speeds of the motor and machine using the servo motor encoder and exercises control to match the position and speed commands with the actual motor machine position and speed In the servo system adjustment is needed because M L Servo amplifier Load Encoder Servo motor 1 Response changes according to the inertia mome...

Page 63: ... 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 64: ...e current loop is omitted PG1 VG1 PG2 VG2 VIC JM ENC L JM ENC Command Actual loop section Virtual motor Virtual encoder Machine Motor Encoder Model section Auto tuning section Notch filter 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 opera...

Page 65: ...ent of the load in real time J dt d T 6 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 ...

Page 66: ...overshoot Decrease response setting Set machine selection setting to large friction Gear sound generated from machine Reduce gear sound Decrease response setting Note Settling time indicates time from zero command pulse to servo motor stop 6 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 a...

Page 67: ...ment 1 1 Execute auto tuning with the response selection of the level at which machine will not vibrate Set parameter No 8 to 0001 and parameter No 9 to 0003 or less 2 Set Not executed parameter No 8 0002 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 selection of low response Set ...

Page 68: ...n approximate value When the value is set in this parameter the following parameters are set automatically When there is no machine resonance the value of each parameter is set to the ideal gain for the load inertia moment ratio parameter No 12 value Parameter No Symbol Name 13 PG1 Position loop gain 1 15 PG2 Position loop gain 2 14 VG1 Speed loop gain 1 16 VG2 Speed loop gain 2 17 VIC Speed integ...

Page 69: ... 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 12 value Parameter No Symbol Name 13 PG1 Position loop gain 1 15 PG2 Position loop gain 2 14 VG1 Speed loop gain 1 16 VG2 Speed loop gain 2 17 VIC Speed integral compensation 3 Set not executed parameter No 8 to 0002 ...

Page 70: ... 4 Set not executed parameter No 8 0002 by the auto tuning selection Make the parameter No 13 to 17 settings manually adjustable 5 Check the operating status and adjust the following parameter values Parameter No Symbol Name Description 13 PG1 Position loop gain 1 15 PG2 Position loop gain 2 Higher setting shortens the settling time but is liable to cause overshooting 14 VG1 Speed loop gain 1 16 V...

Page 71: ...tion loop gain 1 to the minimum value of each axis to make the gains of all axes equal 6 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 vibratio...

Page 72: ...itions 2 Life The following parts must be changed periodically as listed below If any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions Part name Life guideline Smoothing capacitor 10 years Relay Number of power on and number of emergency stop times 100 000 times a Smoothing ca...

Page 73: ...7 2 7 INSPECTION MEMO ...

Page 74: ...emory error 1 13 Clock error 15 Memory error 2 16 Encoder error 1 17 Board error 2 20 Encoder error 2 24 Main circuit error 31 Overspeed 32 Overcurrent 33 Overvoltage 34 CRC error 35 Command frequency error 36 Transfer error 37 Parameter error 50 Overload 1 Note Note Note 51 Overload 2 Note Note Note 52 Error excessive 8E Serial communication error Alarms 88 Watchdog E1 Overload warning E4 Paramet...

Page 75: ...rake is operated to stop the servomotor At this time the display indicates the alarm No The servo motor comes to a stop Remove the cause of the alarm in accordance with this section The optional servo configuration software may be used to refer to the cause Display Name Definition Cause Action 1 Power supply voltage is low 2 There was an instantaneous control circuit power failure of 40ms or longe...

Page 76: ...ed Connect correctly 2 Encoder fault Change the servo motor 20 Encoder error 2 Communication error occurred between encoder and servo amplifier 3 Motor cable faulty Wire breakage or shorted Repair or change the cable 1 Sheathes of servo motor power cables deteriorated resulting in ground fault Change the cable 24 Main circuit error Ground fault occurred at the servo motor outputs U V and W phases ...

Page 77: ... termination connector 34 CRC error Bus cable is faulty 5 The same No exists in the servo amplifier side axis setting Set correctly 1 Command given is greater than the maximum speed of the servo motor Review operation program 2 Noise entered bus cable Take action against noise 35 Command frequency error Input frequency of command pulse is too high 3 Servo system controller failure Change the servo...

Page 78: ...ervo 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 Machine struck something 1 Review operation pattern 2 Install limit switches 2 Wrong connection of servo motor Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W Connect correctly 3 Servo system...

Page 79: ...ething 1 Review operation pattern 2 Install limit switches 7 Encoder faulty Change the servo motor 52 Error excessive Droop pulse value of the deviation counter exceeded the parameter No 31 setting value initial value 80k pulse 8 Wrong connection of servo motor Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W Connect correctly 1 Communication cable fault Op...

Page 80: ...may occur Load increased to 85 or more of overload alarm 1 or 2 occurrence level Cause checking method Refer to 50 51 Refer to 50 51 E4 Parameter warning Parameter outside setting range Parameter value set from servo system controller is outside setting range Set it correctly E6 Servo forced stop warning EM1 P24G are open External forced stop was made valid EM1 P24G opened Ensure safety and deacti...

Page 81: ...8 8 8 TROUBLESHOOTING MEMO ...

Page 82: ...CNP2 CNP3 Earth terminal 0 197 27 3 90 3 543 70 2 756 max 76 2 992 35 4 37 3 18 14 8 MITSUBISHI OPEN CN1A CN1B CNP1 CNP2 CNP3 MELSERVO 45 1 772 5 6 0 24 10 0 394 100 3 937 23 0 197 0 906 0 551 0 709 1 075 1 394 1 469 12 0 472 13 0 512 14 0 551 0 315 Earth terminal plate accessory Display setting section cover Rating plate mounting hole Note Note One connector 5557 08R and 10 terminals 5556 for CNP...

Page 83: ... 33 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 This is not available as option and should be user prepared 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...

Page 84: ... in 1 5 0 059 Connector molex Circuit number Pitch Layout diagrams classified by the number of poles 4 poles 8 poles 12 poles 2 15 2 9 1 9 0 075 1 7 2 55 1 7 2 6 1 6 6 0 26 14 7 0 579 5 5 0 217 4 3 0 169 2 0 114 0 067 0 102 0 079 0 039 0 067 0 1 0 085 Applicable wire Core size AWG 18 to 24 5556 PBTL AWG28 5556 PBT2L Sheath OD 3 1mm 0 122 in max Strip length 3 0 to 3 5 mm 0 118 to 0 138 in Terminal...

Page 85: ...06 HONDA 10 4 0 409 1 9 20 6 0 811 12 2 PCR LS20LA1W PCR LS20LA1 Unit mm Unit in 23 0 0 906 0 039 1 0 039 0 075 1 0 039 1 0 039 0 48 0 48 RS RS Note Model Number of Pins Connector Case Crimping terminal PCR S20FS soldering type 20 PCR S20F insulation displacement type PCR LS20LA1 PCR LS20LA1W FHAT 002A Note PCR S20F and PCR LS20LA1W are not options and are to be supplied by the customer ...

Page 86: ...ed by the customer 21 0 83 17 0 67 5 6 0 22 25 10 8 0 0 39 0 98 0 32 Model Connector HDR E14MG1 Connector case HDR E14LPA5 25 8 1 02 21 8 0 86 25 10 8 0 6 7 0 24 0 28 0 39 0 98 0 32 Model Connector HDR E26MG1 Connector case HDR E26LPA5 Unit mm Unit in 4 Communication cable connector Japan Aviation Electronics Industry C D Fitting fixing screwG E max diameter of cable used F A B Unit mm Unit in Typ...

Page 87: ...9 6 9 OUTLINE DIMENSION DRAWINGS MEMO ...

Page 88: ... side area of the continuous or broken line in the graph In a machine like the one for vertical lift application where unbalanced torque will be produced it is recommended to use the machine so that the unbalanced torque is 70 or less of the rated torque 1000 100 10 1 0 1 0 50 150 200 250 300 Note Load ratio 100 Operation time s During stop During rotation Note If the servo motor is stopped or low...

Page 89: ...chine speed te Time Fig 10 2 Dynamic brake operation diagram Lmax 60 V0 JL JM te 1 10 1 Lmax Maximum coasting distance mm in Vo Machine rapid feedrate mm min in min JM Servo motor inertial moment kg cm2 oz in2 JL Load inertia moment converted into equivalent value on servo motor shaft kg cm2 oz in2 Brake time constant s te Delay time of control section s There is processing delay time of about 3 5...

Page 90: ... moment may exceed the value contact Mitsubishi Servo amplifier Load inertia moment ratio times MR J2 03B5 100 10 3 Motor cable flexing life The flexing life of the MR JRCBL M H cables is shown below This graph calculated values Since they are not guaranteed values provide a little allowance for these values 1 108 4 7 10 20 40 70 100 200 Flexing life times Flexing radius mm 1 107 1 106 1 105 5 104...

Page 91: ...10 4 10 CHARACTERISTICS MEMO ...

Page 92: ... in the diagram are not options Motion controller or A1SD75M AD75M Note Bus cable CNP3 CN1A CN1B CNP1 CNP2 CNP3 CN1A CN1B CNP1 CNP2 Servo amplifier Note Bus cable Servo amplifier 12 Termination connector Servo motor HC AQ 5 EM1 6 9 7 8 Note Connector set Personal computer 10 11 Note The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected Re...

Page 93: ...10320 52F0 008 3M Qty 2 each Connector 5557 12R 210 Terminal 5556 molex Connector 5559 12P 210 Terminal 5558 molex 5 Motor cable MR JRCBL M H Refer to 2 in this section IP20 Connector 5557 12R 210 Terminal 5556 molex Connector 5559 12P 210 Terminal 5558 molex 6 Motor cable connector set MR JRCNM IP20 Connector 5557 12R 210 Terminal 5556 molex Connector 5559 02P 210 Terminal 5558 molex Connector 55...

Page 94: ...SF N Case DE C1 J6 S6 Japan Aviation Electronics 11 Communication cable Refer to 3 in this section For connection with PC AT compatible personal computer 12 Termination connector MR A TM Connector HDR E14MG1 Shell kit HDR E14LPA5 Honda Tsushin Connector 10120 6000EL Shell kit 10320 3210 000 3M or equivalent 13 Bus cable Q172J2BCBL M Refer to 4 in this section Connector HDR E26MG1 Shell kit HDR E26...

Page 95: ...ire to the connector pin insulate and protect the connection portion using heat shrinkable tubing Generally use the encoder cable available as our options If the required length is not found in the options fabricate the cable on the customer side Motor Cable Servo Motor Note 1 Model Use for EN UL Standard Note 2 Long flexing life Connector Set HC AQ0135D to HC AQ0335D MR JRCBL M H MR JRCNM Note 1 ...

Page 96: ...r this connection 11 5 3 9 2 7 8 1 6 12 10 4 11 5 3 9 2 7 8 1 6 12 10 4 LG P5 B2 B1 U V W E MR MRR SD LG P5 B2 B1 U V W E SD MR MRR 0 5mm 2 0 5mm 2 0 3mm 2 0 3mm 2 0 5mm 2 0 5mm 2 0 5mm 2 0 5mm 2 0 2mm 2 0 2mm 2 Blue Orange Yellow White Red White Black Green Brown White Servo motor side Connector 5559 12P 210 Terminal 5558 Servo amplifier side Connector 5557 12R 210 Terminal 5556 Blue Orange Yello...

Page 97: ...B1180 given in Section 11 2 1 and follow the connection diagram shown below A cable of up to 30m 98 4ft may be fabricated for this connection The electromagnetic brake contact cable length is up to 10m 32 8ft 11 LG 5 P5 3 B2 9 B1 2 U 7 V 8 W 1 E 6 MR 12 MRR 10 4 SD 11 5 3 9 2 7 8 1 6 12 10 4 LG P5 B2 B1 U V W E MR MRR SD B1B 1 B1A 2 Blue Orange Yellow White Red White Black Green Brown White Blue O...

Page 98: ...with FG securely 2 The optional communication cable is 3m 9 8ft long When the cable is fabricated its maximum length is 15m 49 2ft in offices of good environment with minimal noise b Outline drawing MR JRPC98CBL3M 1 2 3 4 3m 9 8ft View A A View B B 13 25 14 1 MR JRPCATCBL3M 1 2 3 4 3m 9 8ft View A A View B B 5 1 9 6 c Connection diagram 2 3 7 4 5 2 4 1 3 2 3 7 4 5 2 4 1 3 8 6 SD RD SG RS CS RXD TX...

Page 99: ...e it in accordance with the connection diagram shown in this section The overall distance of the bus cable on the same bus is 30m 98 4ft a MR J2HBUS M A 1 Model definition Model MR J2HBUS M A 05 Cable Length m ft 5 Symbol 0 5 1 64 5 16 4 1 3 28 1 2 Connection diagram MR J2HBUS M A PCR S20FS Connector PCR LS20LA1 Case 10120 6000EL Connector 10320 3210 000 Shell kit SD LG LG RD RD TD TD LG LG EMG EM...

Page 100: ... 5 16 4 Cable Length m ft Symbol 2 Connection diagram MR J2HBUS M 10120 6000EL Connector 10320 3210 000 Shell kit 10120 6000EL Connector 10320 3210 000 Shell kit 1 11 2 12 3 13 4 14 5 15 Plate 6 16 7 17 8 18 9 19 10 20 1 11 2 12 3 13 4 14 5 15 Plate 6 16 7 17 8 18 9 19 10 20 LG RD LG RD TD TD LG LG EMG EMG BAT SD ...

Page 101: ... Connector case 10120 6000EL Connector 10320 3210 000 Shell kit Shell 8 2 9 3 10 6 13 4 TD1 TD1 LG LG RD RD LG BT EMG EMG SD 1 RD Plate 12 1 11 4 14 5 9 7 17 RD LG LG TD TD LG BT EMG EMG SD 2 11 Q172J2BCBL M d Q173J2B CBL M 1 Model definition 05 Cable Length m ft 5 Symbol 0 5 1 64 5 16 4 1 3 28 1 Model Q173J2B CBL M No SSCNET Line Number 3 Symbol SSCNET1 Line SSCNET3 Line SSCNET2 Line 2 SSCNET4 Li...

Page 102: ...4 14 5 9 7 17 RD LG LG TD TD LG BT EMG EMG SD 2 19 RD Plate 12 1 11 4 14 5 9 7 17 RD LG LG TD TD LG BT EMG EMG SD 2 RD Plate 12 1 11 4 14 5 9 7 17 RD LG LG TD TD LG BT EMG EMG SD 2 RD Plate 12 1 11 4 14 5 9 7 17 RD LG LG TD TD LG BT EMG EMG SD 2 17 5 18 TD2 TD2 RD2 RD2 4 20 9 22 8 21 12 TD3 TD3 LG LG RD3 RD3 EMG34 EMG34 7 25 Shell 23 11 24 TD4 TD4 RD4 RD4 SD 10 SSCNET1 Line SSCNET2 Line SSCNET3 Li...

Page 103: ...nced function Machine analyzer gain search machine simulation File operation Data read save print Others Automatic operation help display 2 System configuration a Components To use this software the following components are required in addition to the servo amplifier and servo motor Model Note 1 Description Note 2 Personal computer Which contains a 80386 or higher CPU and on which Windows 3 1 95 E...

Page 104: ...ires used for wiring Use the wires given in this section or equivalent Servo amplifier CNP2 CNP1 PE 24VDC power supply AWG18 or AWG20 For the wire designed for motor cable refer to 2 in this section AWG18 or AWG20 Servo motor P24M P24G P24L The wires used assume that they are 600V vinyl wires and the wiring distance is 30m 98 4ft max If the wiring distance is over 30m 98 4ft choose the wire size i...

Page 105: ...14B1180 0 2 2 1 pairs 40 0 08 Note 4 105 or less 0 08 10 5 0 3 2 1 pairs 3 20 0 08 Note 4 71 9 or less 1 3 10 5 2 to 30 6 56 to 98 4 0 5 6 3 pairs 3 33 0 08 Note 4 43 5 or less 1 53 10 5 Note 2 J14B1180 Motor cable MR JRBRCBL M H 0 2 0 66 0 5 1 Single wire 20 0 18 36 7 2 6 2 6 UL1015 AWG 20 MR JRPC98CBL3M Communi cation canble MR JRPCATCBL3M 3 9 84 0 08 6 3 pairs 7 0 127 222 or less 0 38 4 6 UL202...

Page 106: ...on Since the servo amplifier is an electronic device which handles small signals the following general noise reduction techniques are required Also the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies If peripheral devices malfunction due to noises produced by the servo amplifier noise suppression measures must be taken The measures will vary slightly...

Page 107: ...the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits input and output circuits those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables and those transmitted through the power supply cables Noises produced by servo amplifier Noises transmitted in the a...

Page 108: ...les 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 amplifier may be tr...

Page 109: ...several cables in a bunch The clamp comes as a set with the earth plate Strip the cable sheath of the clamped area cutter cable Cable clamp A B Cable Earth plate External conductor Clamp section diagram 40 1 57 Outline drawing Earth plate Clamp section diagram Note M4 screw 11 0 43 3 0 12 6 0 24 C A 6 22 0 87 17 5 0 69 35 1 38 35 1 38 L or less 10 0 39 30 1 18 7 0 28 24 0 0 2 Note Screw hole for g...

Page 110: ...omagnetic brake Refer to Section 3 6 1 for the connection method Spark quencher for control equipment Model SQ13150BF Nisshin Seigyo Kiko Operating Voltage ACV Electrostatic Capacitance F 20 Resistance Value 20 Resistor Rated Power W 150 0 3 150 0 5 4 3 hole 1 1 Heat resistant vinyl wire 0 5mm2 red 9 0 35 300 11 81 20 0 79 4 0 16 5 0 17 34 1 34 1 29 1 14 1 22 0 87 11 0 43 1 1 Unit mm Unit in ...

Page 111: ...11 20 11 OPTIONS AND AUXILIARY EQUIPMENT MEMO ...

Page 112: ...ange Section 3 5 Partial CAUTION sentence addition Section 3 6 3 c POINT addition Section 3 6 3 e POINT addition Section 4 1 1 d Text change Section 5 2 1 Parameter No 1 to 6 reexamination Note 2 addition Parameter No 25 reexamination Section 5 2 2 Parameter No 1 to 6 reexamination Parameter No 19 text change Parameter No 25 reexamination Chapter 7 Partial table reexamination Section 8 1 Partial t...

Page 113: ... OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 8310 SH NA 030005 B 0305 MEE Printed in Japan Specifications subject to change without notice This Instruction Manual uses recycled paper MODEL MODEL CODE ...

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