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Mitsubishi Electric MR-J2S-*A series, Instruction Manual

The Mitsubishi Electric MR-J2S-*A series instruction manual is available for free download from our website. This comprehensive manual provides detailed guidance on operating and maintaining the Mitsubishi Electric MR-J2S-*A series product. Gain full access to the manual today at manualshive.com, ensuring optimal usage of this state-of-the-art product.

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A -  6

(6) Maintenance, inspection and parts replacement

 CAUTION

With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is

recommended to replace the electrolytic capacitor every 10 years when used in general environment.

Please consult our sales representative.

(7) Disposal

 CAUTION

Dispose of the product as general industrial waste.

(8) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn

without covers and safety guards. When the equipment is operated, the covers and safety guards must be

installed as specified. Operation must be performed in accordance with this Instruction Manual.

Summary of Contents for MR-J2S-*A series

Page 1: ...land biuro rgbelektronika pl 48 71 325 15 05 www rgbautomatyka pl www rgbelektronika pl DATASHEET www rgbautomatyka pl www rgbelektronika pl OTHER SYMBOLS MR J2S 200A MRJ2S200A MRJ2S 200A MRJ2S 200A MR J2S200A MR J2S 200A MR J2S 200A MR J2S200A MR J2S 200A MR J2S 200A MITSUBISHI ELECTRIC ...

Page 2: ...ed with a wide variety of tools and having several testing stands at their disposal are a guarantee of the highest quality service OUR SERVICES ENCODERS SERVO DRIVERS LINEAR ENCODERS SERVO AMPLIFIERS CNC MACHINES MOTORS POWER SUPPLIERS OPERATOR PANELS CNC CONTROLS INDUSTRIAL COMPUTERS PLC SYSTEMS Repair this product with RGB ELEKTRONIKA ORDER A DIAGNOSIS Buy this product at RGB AUTOMATYKA BUY ...

Page 3: ...MELSERVO Servo Amplifiers and Motors Instruction Manual MR J2S 쏔A INDUSTRIAL AUTOMATION Art no 138918 2001 02 15 Version C ...

Page 4: ...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 5: ...generative 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 switch main power off Otherwise a regenerative brake transistor fault or the like may overheat the regenerative bra...

Page 6: ...ng the servo amplifier Do not drop or strike servo amplifier or servo motor Isolate from all impact loads Use the servo amplifier and servo motor under the following environmental conditions Conditions Environment Servo amplifier Servo motor 0 to 55 non freezing 0 to 40 non freezing Ambient temperature 32 to 131 non freezing 32 to 104 non freezing Ambient humidity 90 RH or less non condensing 80 R...

Page 7: ...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 Do not connect AC power directly to the servo motor Otherwise a fault may occur The surge absorbing diode installed on the DC output sig...

Page 8: ...a timing belt the electromagnetic brake may not hold the motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention Configure the electromagn...

Page 9: ...general environment Please consult our sales representative 7 Disposal CAUTION Dispose of the product as general industrial waste 8 General instruction To illustrate details the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards When the equipment is operated the covers and safety guards must be installed as specified Operation must be perform...

Page 10: ...d by TUV third party assessment organization to comply with the EMC directive in the conforming methods of 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 Ma...

Page 11: ...ontrol box b Do not connect two ground cables to the same protective earth PE terminal Always connect the cables to the terminals one to one PE terminals PE terminals c If a leakage current breaker is used to prevent an electric shock the protective earth PE terminals of the servo amplifier must be connected to the corresponding earth terminals 6 Wiring a The cables to be connected to the terminal...

Page 12: ...0 104 Sheath PVC polyvinyl chloride Installed on wall surface or open table tray c Use the EMC filter for noise reduction The radio noise filter FR BIF is not required 8 Performing EMC tests When EMC tests are run on a machine device into which the servo amplifier has been installed it must conform to the electromagnetic compatibility immunity emission standards after it has satisfied the operatin...

Page 13: ...circuit the servo amplifier conforms to the above circuit 4 Capacitor discharge time The capacitor discharge time is as listed below To ensure safety do not touch the charging section for 10 minutes after power off Servo amplifier Discharge time min MR J2S 10A 1 20A 1 1 MR J2S 40A 1 60A 2 MR J2S 70A to 350A 3 MR J2S 500A 700A 5 5 Options and auxiliary equipment Use UL C UL standard compliant produ...

Page 14: ...ontrol mode 3 2 3 1 2 Speed control mode 3 6 3 1 3 Torque control mode 3 8 3 2 Internal connection diagram of servo amplifier 3 10 3 3 I O signals 3 11 3 3 1 Connectors and signal arrangements 3 11 3 3 2 Signal explanations 3 14 3 4 Detailed description of the signals 3 23 3 4 1 Position control mode 3 23 3 4 2 Speed control mode 3 28 3 4 3 Torque control mode 3 30 3 4 4 Position speed control cha...

Page 15: ...meter write inhibit 5 1 5 1 2 Lists 5 2 5 2 Detailed description 5 25 5 2 1 Electronic gear 5 25 5 2 2 Analog output 5 29 5 2 3 Using forward reverse rotation stroke end to change the stopping pattern 5 32 5 2 4 Alarm history clear 5 32 5 2 5 Position smoothing 5 33 6 DISPLAY AND OPERATION 6 1 to 6 16 6 1 Display flowchart 6 1 6 2 Status display 6 2 6 2 1 Display examples 6 2 6 2 2 Status display ...

Page 16: ...e level setting 7 11 7 5 2 Auto tuning selection 7 11 8 SPECIAL ADJUSTMENT FUNCTIONS 8 1 to 8 10 8 1 Function block diagram 8 1 8 2 Machine resonance suppression filter 8 1 8 3 Adaptive vibration suppression control 8 3 8 4 Low pass filter 8 4 8 5 Gain changing function 8 5 8 5 1 Applications 8 5 8 5 2 Function block diagram 8 5 8 5 3 Parameters 8 6 8 5 4 Gain changing operation 8 8 9 INSPECTION 9...

Page 17: ...13 2 1 Recommended wires 13 26 13 2 2 No fuse breakers fuses magnetic contactors 13 28 13 2 3 Power factor improving reactors 13 28 13 2 4 Relays 13 29 13 2 5 Surge absorbers 13 29 13 2 6 Noise reduction techniques 13 29 13 2 7 Leakage current breaker 13 35 13 2 8 EMC filter 13 37 14 COMMUNICATION FUNCTIONS 14 1 to 14 28 14 1 Configuration 14 1 14 1 1 RS 422 configuration 14 1 14 1 2 RS 232C confi...

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

Page 19: ... introduced here for your reference Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual 1 INTRODUCTION 2 INSTALLATION 3 CONNECTORS USED FOR SERVO MOTOR WIRING 4 INSPECTION 5 SPECIFICATIONS 6 CHARACTERISTICS 7 OUTLINE DIMENSION DRAWINGS 8 CALCULATION METHODS FOR DESIGNING ...

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

Page 21: ...tc RS 232C CN3 RS 422 D A Analog 2 channels RS 422 RS 232C Controller To other servo amplifier E2 I F Servo amplifier Analog monitor 2 channels Model position control Model speed control Pulse input Model position Actual position control Actual speed control Current control Model torque Virtual motor Virtual encoder CN2 MR BAT Optional battery for absolute position U V W U V W SM E1 Regenerative b...

Page 22: ... 10000 pulse command pulse unit Error excessive 10 revolutions Position control mode Torque limit Set by parameter setting or external analog input 0 to 10VDC maximum torque Speed control range Analog speed command 1 2000 internal speed command 1 5000 Analog speed command input 0 to 10VDC Rated speed Speed fluctuation ratio 0 01 or less load fluctuation 0 to 100 0 or less power fluctuation 10 0 2 ...

Page 23: ... Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration P S T Section 8 3 Low pass filter Suppresses high frequency resonance which occurs as servo system response is increased P S T Section 8 4 Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply connecting a servo configuration soft...

Page 24: ... Section 6 6 Output signal DO forced output Output signal can be forced on off independently of the servo status Use this function for output signal wiring check etc P S T Section 6 7 Automatic VC offset Voltage is automatically offset to stop the servo motor if it does not come to a stop at the analog speed command VC or analog speed limit VLA of 0V S T Section 6 3 Test operation mode Servo motor...

Page 25: ...700A Rating plate Rating plate 1 6 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 and the models with reduction gears Servo motors HC SFS HC UFS Servo amplifier HC KFS HC MFS 1000r min 2000r min 3000r min HC RFS 2000r min 3000r min MR J2S 10A 1 053 13 053 13 13 MR J2S 20A...

Page 26: ... 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 Section15 3 Operation section Used to p...

Page 27: ...S 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 Section15 3 Operation secti...

Page 28: ... signal connector CN1A Used to connect digital I O signals Section3 3 Section3 3 I O signal connector CN1B Used to connect digital I O signals Section3 3 Section13 1 2 Chapter14 Communication connector CN3 Used to connect a command device RS 422 RS232C and output analog monitor data Encoder connector CN2 Connector for connection of the servo motor encoder Section3 3 Section13 1 4 Charge lamp Lit t...

Page 29: ...O signal connector CN1A Used to connect digital I O signals Section3 3 I O signal connector CN1B Used to connect digital I O signals Section3 3 Communication connector CN3 Used to connect a command device RS 422 RS232C and output analog monitor data Section3 3 Section13 1 4 Chapter14 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Con...

Page 30: ... the front cover sockets of the servo amplifier 2 Press the front cover against the servo amplifier until the removing knob clicks 1 Hold down the removing knob 2 Pull the front cover toward you 2 For MR J2S 500A Front cover socket 2 places Removal of the front cover Reinstallation of the front cover 1 Insert the front cover hooks into the front cover sockets of the servo amplifier 2 Press the fro...

Page 31: ...t cover 1 Insert the two front cover hooks at the bottom into the sockets of the servo amplifier 2 Press the front cover against the servo amplifier until the removing knob clicks 1 Push the removing knob A or B and put you finger into the front hole of the front cover 2 Pull the front cover toward you A 2 B 2 1 Front cover hook 2 places ...

Page 32: ...computer U V W Servo configuration software MRZJW3 SETUP121E Servo amplifier Regenerative brake option D P C CHARGE Options and auxiliary equipment No fuse breaker Magnetic contactor Servo configuration software Regenerative brake option Refer to Section 13 2 2 Section 13 2 2 Section 13 1 8 Section 13 1 1 Control circuit terminal block Note1 Encoder cable Options and auxiliary equipment Refer to C...

Page 33: ...mplifier Regenerative brake option D P C CHARGE Options and auxiliary equipment No fuse breaker Magnetic contactor Servo configuration software Regenerative brake option Refer to Section 13 2 2 Section 13 2 2 Section 13 1 8 Section 13 1 1 Control circuit terminal block Note Encoder cable Note The HC SFS HC RFS series have cannon connectors Options and auxiliary equipment Refer to Cables Section 13...

Page 34: ... L1 L2 L3 L21 L11 Servo amplifier Regenerative brake option P C U V W Options and auxiliary equipment No fuse breaker Magnetic contactor Servo configuration software Regenerative brake option Refer to Section 13 2 2 Section 13 2 2 Section 13 1 8 Section 13 1 1 Options and auxiliary equipment Refer to Personal computer Servo configuration software MRZJW3 SETUP121E Cables Section 13 2 1 Command devi...

Page 35: ...tion 13 1 1 Options and auxiliary equipment Refer to Cables Section 13 2 1 Power factor improving reactor Section 13 2 3 3 phase 200V to 230VAC power supply No fuse breaker NFB or fuse Magnetic contactor MC Power factor improving reactor FA BAL Servo amplifier L1 L2 L3 C P Regenerative brake option L11 L21 U V W To CN1B To CN3 To CN2 Personal computer Servo configuration software MRZJW3 SETUP121E ...

Page 36: ... 13 1 1 Options and auxiliary equipment Refer to Cables Section 13 2 1 Power factor improving reactor Section 13 2 3 3 phase 200V to 230VAC power supply No fuse breaker NFB or fuse Magnetic contactor MC Power factor improving reactor FA BAL L1 L2 L3 U Regenerative brake option C P Servo amplifier To CN1A To CN1B To CN3 To CN2 Personal computer Servo configuration software MRZJW3 SETUP121E L11 L21 ...

Page 37: ...1 18 1 FUNCTIONS AND CONFIGURATION MEMO ...

Page 38: ...ering 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 Conditions 0 ...

Page 39: ... Otherwise a fault may occur Leave specified clearances between the servo amplifier and control box inside walls or other equipment 1 Installation of one servo amplifier Control box Control box 10mm 0 4 in or more 10mm 0 4 in or more 40mm 1 6 in or more Servo amplifier 40mm 1 6 in or more Wiring clearance 70mm 2 8 in Top Bottom ...

Page 40: ...ke option install them with full consideration of heat generation so that the servo amplifier is not affected Install the servo amplifier on a perpendicular wall in the correct vertical direction 2 3 Keep out foreign materials 1 When installing the unit in a control box prevent drill chips and wire fragments from entering the servo amplifier 2 Prevent oil water metallic dust etc from entering the ...

Page 41: ...in any application where the servo motor moves run the cables so that their flexing portions fall within the optional encoder cable range Fix the encoder cable and power cable of the servo motor 3 Avoid any probability that the cable sheath might be cut by sharp chips rubbed by a machine corner or stamped by workers or vehicles 4 For installation on a machine where the servo motor will move the fl...

Page 42: ... Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction Otherwise the signal is not output due to a fault disabling the emergency stop and other protective circuits Control output signal COM DC24V Servo amplifier RA RA Servo Amplifier COM 24VDC Control output ...

Page 43: ...oportion control Torque limit selection Note 6 Forward rotation stroke end Reverse rotation stroke end Upper limit setting Analog torque limit Note 11 Servo configuration software Personal computer 10V max torque Note 10 2m 6 5ft max 10m 32ft max 2m 6 5ft max Note 8 Communication cable Servo amplifier Note 4 9 Note 4 CN1A CN1B 1 2 12 11 14 13 7 17 8 18 5 6 9 19 16 15 3 Note 12 Note 2 5 Note 7 Trou...

Page 44: ...ration always connect the emergency stop signal EMG and forward reverse rotation stroke end signal LSN LSP with SG Normally closed contacts 7 Trouble ALM is connected with COM in normal alarm free condition When this signal is switched off at occurrence of an alarm the output of the controller should be stopped by the sequence program 8 When connecting the personal computer together with monitor o...

Page 45: ...e 10 10m 32ft max Servo amplifier Note 4 9 CN1A Note 4 CN1B Note 12 Note 7 Note 2 5 Trouble Zero speed Limiting torque Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Note 4 9 Note 4 9 Plate Plate Note 3 6 Emergency stop Servo on Reset Proportion control Torque limit selection Note 6 Forward rotation ...

Page 46: ... operation always connect the emergency stop signal EMG and forward reverse rotation stroke end signal LSN LSP with SG Normally closed contacts 7 Trouble ALM is connected with COM in normal alarm free condition When this signal is switched off at occurrence of an alarm the output of the controller should be stopped by the sequence program 8 When connecting the personal computer together with monit...

Page 47: ...election 2 10m 32ft max Upper limit setting Note 10 Analog torque limit 10V max torque Upper limit setting Analog speed command 10V rated speed 2m 6 5ft max Plate Plate Note 11 Servo configuration software Personal computer Note 4 9 CN1B Note 4 Note 12 Note 7 Trouble Zero speed Limiting torque Note 2 5 Note 4 9 Note 4 9 Speed reached Ready Control common Encoder Z phase pulse open collector Encode...

Page 48: ... max If it exceeds 80mA supply interface power from external Refer to Section 3 6 2 6 When starting operation always connect the emergency stop signal EMG and forward reverse rotation stroke end signal LSN LSP with SG Normally closed contacts 7 Trouble ALM is connected with COM in normal alarm free condition 8 When connecting the personal computer together with monitor outputs 1 2 use the maintena...

Page 49: ...rotation start Reverse rotation start Speed selection 2 Upper limit setting Analog speed limit 0 to 10V rated speed Upper limit setting Analog torque command 8V max torque Note 9 Servo configuration software Personal computer Note 7 Communication cable 2m 6 5ft max Plate Plate Note 7 Monitor output Max 1mA Reading in both directions 10k 10k 2m 6 5ft max Note 4 8 Note 1 Control common Encoder Z pha...

Page 50: ...nnection of the connectors will lead to a fault 5 The sum of currents that flow in the external relays should be 80mA max If it exceeds 80mA supply interface power from external Refer to Section 3 6 2 6 Trouble ALM is connected with COM in normal alarm free condition 7 When connecting the personal computer together with monitor outputs 1 2 use the maintenance junction card MR J2CN3TM Refer to Sect...

Page 51: ...D PG PP NG NP SD 11 13 3 12 2 VC VLA 2 TLA TC 12 P15R LG SD TLA P15R LG SD TLA P15R LG SD P15R LG SD 11 1 4 P15R P S T P S T INP SA 18 RD RD RD 19 TLC TLC VLC 6 ALM ALM ALM 18 ZSP ZSP ZSP 19 DO1 4 DO1 DO1 6 16 17 7 15 14 5 LA LAR LBR LB LZR OP LZ COM COM COM 9 T CN1A COM VDD CN1B 4 MO1 14 2 MO2 TXD CN3 12 RXD 9 SDP 19 SDN 5 RDP 15 RDN PE DC24V Servo amplifier Note Approx 4 7k Note Approx 4 7k Appr...

Page 52: ...Signal arrangement 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 RXD MO1 TRE LG LG RDP SDP TXD MO2 P5 LG LG RDN SDN 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 MD LG MDR P5 LG MRR P5 LG P5 BAT MR LG MITSUBISHI MELSERVO J2 CN2 CN3 CN1A CN1B The connector frames are connected with the PE...

Page 53: ...15 O LZR LZR LZR LZR LZR LZR 16 O LAR LAR LAR LAR LAR LAR 17 O LBR LBR LBR LBR LBR LBR 18 O INP INP SA SA SA INP No 49 19 O RD RD RD RD RD RD No 49 CN1A 20 SG SG SG SG SG SG 1 LG LG LG LG LG LG 2 I VC VC VC VLA VLA VLA 3 VDD VDD VDD VDD VDD VDD Note 4 4 O DO1 DO1 DO1 DO1 DO1 DO1 5 I SON SON SON SON SON SON No 43 to 48 6 O TLC TLC TLC TLC VLC VLC VLC TLC No 49 7 I LOP SP2 LOP SP2 LOP No 43 to 48 8 ...

Page 54: ...on 2 ALM Trouble PC Proportion control WNG Warning ST1 Forward rotation start BWNG Battery warning ST2 Reverse rotation start OP Encoder Z phase pulse open collector TL Torque limit selection MBR Electromagnetic brake interlock RES Reset LZ EMG Forced stop LZR Encoder Z phase pulse differential line driver LOP Control change LA VC Analog speed command LAR Encoder A phase pulse differential line dr...

Page 55: ...servo off Set 1 in parameter No 41 to switch this signal on keep terminals connected automatically in the servo amplifier DI 1 Reset RES CN1B 14 Disconnect RES SG for more than 50ms to reset the alarm Some alarms cannot be deactivated by the reset signal Refer to Section 10 2 Shorting RES SG in an alarm free status shuts off the base circuit The base circuit is not shut off when 1 is set in parame...

Page 56: ...ng direction Forward rotation start ST1 CN1B 8 0 0 Stop servo lock 0 1 CCW 1 0 CW 1 1 Stop servo lock Reverse rotation start ST2 CN1B 9 Note 0 ST1 ST2 SG off open 1 ST1 ST2 SG on short If both ST1 and ST2 are switched on or off during operation the servo motor will be decelerated to a stop according to the parameter No 12 setting and servo locked DI 1 Used to select any of the following servo moto...

Page 57: ...ernal speed command 6 parameter No 74 When speed selection SP3 is made valid 1 1 1 Internal speed command 7 parameter No 75 Note 0 SP1 SP2 SP3 SG off open 1 SP1 SP2 SP3 SG on short Torque control mode Used to select the limit speed for operation When using SP3 make it usable by making the setting of parameter No 43 to 48 Note Input signals Setting of parameter No 43 to 48 SP3 SP2 SP1 Speed limit 0...

Page 58: ...f and the dynamic brake is operated Connect EMG SG in the emergency stop state to reset that state DI 1 Clear CR CN1A 8 Connect CR SG to clear the position control counter droop pulses on its leading edge The pulse width should be 10ms or more When the parameter No 42 setting is 1 the pulses are always cleared while CR SG are connected DI 1 Electronic gear selection 1 CM1 When using CM1 and CM2 ma...

Page 59: ...terminal of the power supply to TLA Maximum torque is generated at 10V Refer to 5 in Section 3 4 1 Resolution 10bit Analog input Analog torque command TC CN1B 12 Used to control torque in the full servo motor output torque range Apply 0 to 8VDC across TC LG Maximum torque is generated at 8V Refer to 1 in Section 3 4 3 The torque generated at 8V input can be changed using parameter No 26 Analog inp...

Page 60: ...en the servo on signal SON switches off DO 1 Limiting torque TLC CN1B 6 TLC SG are connected when the torque generated reaches the value set to the internal torque limit 1 parameter No 28 or analog torque limit TLA They are disconnected when the servo on signal SON switches off DO 1 Zero speed ZSP CN1B 19 ZSP SG are connected when the servo motor speed is zero speed 50r min or less Zero speed can ...

Page 61: ...emory error 2 AL 17 Board error AL 19 Memory error 3 AL 37 Parameter error AL 8A Serial communication timeout 0 0 0 AL 8E Serial communication error AL 30 Regenerative error 0 0 1 AL 33 Overvoltage 0 1 0 AL 10 Undervoltage AL 45 Main circuit device AL 46 Servo motor overheat AL 50 Overload 1 0 1 1 AL 51 Overload 2 AL 24 Main circuit error 1 0 0 AL 32 Overcurrent AL 31 Overspeed AL 35 Command pulse...

Page 62: ... B phase pulses can be changed using parameter No 54 DO 2 Encoder Z phase pulse Differential line driver LZ LZR CN1A 5 CN1A 15 The same signal as OP is output in the differential line driver system DO 2 Analog monitor 1 MO1 CN3 4 Used to output the data set in parameter No 17 to across MO1 LG in terms of voltage Resolution 10 bits Analog output Analog monitor 2 MO2 CN3 14 Used to output the data s...

Page 63: ...ply 24VDC 10 Open collector power input OPC CN1A 11 When inputting a pulse train in the open collector system supply this terminal with the positive power of 24VDC Digital I F common SG CN1A 10 20 CN1B 10 20 Common terminal for input signals such as SON and EMG Pins are connected internally Separated from LG 15VDC power supply P15R CN1A 4 CN1B 11 Outputs 15VDC to across P15R LG Available as power ...

Page 64: ...timing of importing a pulse train A and B phase pulse trains are imported after they have been multiplied by 4 Pulse train form Forward rotation command Reverse rotation command Parameter No 21 Command pulse train Forward rotation pulse train Reverse rotation pulse train PP NP 0010 Pulse train sign PP NP L H 0011 Negative logic A phase pulse train B phase pulse train PP NP 0012 Forward rotation pu...

Page 65: ... the negative logic and forward and reverse rotation pulse trains parameter No 21 has been set to 0010 The waveforms in the table in a 1 of this section are voltage waveforms of PP and NP based on SG Their relationships with transistor ON OFF are as follows ON OFF ON OFF ON OFF ON OFF Forward rotation pulse train transistor Reverse rotation pulse train transistor ON OFF Forward rotation command Re...

Page 66: ... and forward and reverse rotation pulse trains parameter No 21 has been set to 0010 For the differential line driver the waveforms in the table in a 1 of this section are as follows The waveforms of PP PG NP and NG are based on that of the ground of the differential line driver PP PG NP NG Forward rotation pulse train Reverse rotation pulse train Forward rotation command Reverse rotation command ...

Page 67: ...eady RD ON OFF Yes No 80ms or less 10ms or less 10ms or less ON OFF 4 Electronic gear switching The combination of CM1 SG and CM2 SG gives you a choice of four different electronic gear numerators set in the parameters As soon as CM1 CM2 is turned ON or OFF the denominator of the electronic gear changes Therefore if any shock occurs at this change use position smoothing parameter No 7 to relieve s...

Page 68: ... application voltage V b Torque limit value selection Choose the torque limit made valid by the internal torque limit value 1 parameter No 28 using the external torque limit selection TL or the torque limit made valid by the analog torque limit TLA as indicated below When internal torque limit selection TL1 is made usable by parameter No 43 to 48 internal torque limit 2 parameter No 76 can be sele...

Page 69: ...ollowing table indicates the rotation direction according to forward rotation start ST1 and reverse rotation start ST2 combination Note External input signals Rotation direction Analog speed command VC ST2 ST1 Polarity 0V Polarity Internal speed commands 0 0 Stop Servo lock Stop Servo lock Stop Servo lock Stop Servo lock 0 1 CCW CW CCW 1 0 CW Stop No servo lock CCW CW 1 1 Stop Servo lock Stop Serv...

Page 70: ...ue 0 0 0 Analog speed command VC 0 0 1 Internal speed command 1 parameter No 8 0 1 0 Internal speed command 2 parameter No 9 0 1 1 Internal speed command 3 parameter No 10 1 0 0 Internal speed command 4 parameter No 72 1 0 1 Internal speed command 5 parameter No 73 1 1 0 Internal speed command 6 parameter No 74 1 1 1 Internal speed command 7 parameter No 75 Note 0 SP1 SP2 SP3 SG off open 1 SP1 SP2...

Page 71: ...t value In such a case increase the speed limit value The following table indicates the torque generation directions determined by the forward rotation selection RS1 and reverse rotation selection RS2 when the analog torque command TC is used Note External input signals Rotation direction Torque control command TC RS2 RS1 Polarity 0V Polarity 0 0 Torque is not generated Torque is not generated 0 1...

Page 72: ...pplied voltage of the analog speed limit VLA A relationship between the analog speed limit VLA applied voltage and the servo motor speed is shown below When the motor speed reaches the speed limit value torque control may become unstable Make the set value more than 100r m greater than the desired speed limit value 10 0 10 Rated speed Speed r min CCW direction CW direction VLA applied voltage V Fo...

Page 73: ...status 1 1 Internal speed command 3 parameter No 10 0 0 0 Analog speed command VLA 0 0 1 Internal speed command 1 parameter No 8 0 1 0 Internal speed command 2 parameter No 9 0 1 1 Internal speed command 3 parameter No 10 1 0 0 Internal speed command 4 parameter No 72 1 0 1 Internal speed command 5 parameter No 73 1 1 0 Internal speed command 6 parameter No 74 When speed selection SP3 is made vali...

Page 74: ...ol mode may be changed in the zero speed status To ensure safety change control after the servo motor has stopped When position control mode is changed to speed control mode droop pulses are reset If the signal has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown be...

Page 75: ...S10 or equivalent SP1 SG P15R VC LG SD Servo amplifier 2k 2k b Speed selection 1 SP1 and speed command value Use speed selection 1 SP1 to select between the speed set by the internal speed command 1 and the speed set by the analog speed command VC as indicated in the following table Note External input signals SP1 Speed command value 0 Analog speed command VC 1 Internal speed command 1 parameter N...

Page 76: ... control mode Note 0 LOP SG off open 1 LOP SG on short The control mode may be changed at any time A change timing chart is shown below 10V 0 ON OFF Torque control mode Servo motor speed Control change LOP Note Speed control mode Speed control mode Analog torque command TC Load torque Forward rotation in driving mode Note When the start signal ST1 ST2 is switched off as soon as the mode is changed...

Page 77: ...mplifier 2k 2k b Speed selection 1 SP1 and speed limit value Use speed selection 1 SP1 to select between the speed set by the internal speed command 1 and the speed set by the analog speed limit VLA as indicated in the following table Note External input signals SP1 Speed command value 0 Analog speed limit VLA 1 Internal speed limit 1 parameter No 8 Note 0 SP1 SG off open 1 SP1 SG on short When th...

Page 78: ...hange control after the servo motor has stopped When position control mode is changed to torque control mode droop pulses are reset If the signal has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown below 0V 10V ON OFF ON OFF Servo motor speed Zero speed ZSP Control...

Page 79: ... then on to reset the overcurrent AL 32 overload 1 AL 50 or overload 2 AL 51 alarm after its occurrence without removing its cause the servo amplifier and servo motor may become faulty due to temperature rise Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation 2 Regenerative alarm If operation is repeated by switching control circuit power o...

Page 80: ...M etc LG SD RDP RDN SDP SDN LG CN3 RA CN2 SD MO1 MO2 LG SG TXD RXD RS 232C RS 422 Note Analog input 10V max current Servo motor Ground SD LG Servo motor encoder Isolated 15VDC 10 30mA LA etc Analog monitor output SON etc PP NP LG Note For the open collection pulse train input Make the following connection for the different line driver pulse train input Differential line driver output 35mA max LAR ...

Page 81: ...V I CEO 100 A Switch COM SG Switch SON etc 24VDC 200mA or more Servo amplifier R Approx 4 7 VDD 24VDC Do not connect VDD COM Note This also applies to the use of the external power supply 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Provide a diode D for an inductive load or an inrush current suppressing resister R for a lamp load Permissible current 40mA or less inru...

Page 82: ...ulse train signal in the open collector or differential line driver system a Open collector system 1 Interface For use of internal power supply For use of external power supply VDD OPC PP NP SG SD Servo amplifier Max input pulse frequency 200kpps About 1 2k 24VDC OPC PP NP SG SD 24VDC Servo amplifier Max input pulse frequency 200kpps About 1 2k VDD 24VDC Do not connect VDD OPC 2 Conditions of the ...

Page 83: ... 500kpps Servo amplifier Am26LS31 or equivalent About 100 2 Conditions of the input pulse 0 9 PP PG tc tHL tc tLH tF tLH tHL 0 1 s tc 1 s tF 3 s NP NG 0 1 4 Encoder pulse output DO 2 a Open collector system Interface Servo amplifier OP 5 to 24VDC Photocoupler SD Max output current 35mA LG Servo amplifier OP SD LG ...

Page 84: ...tocoupler 150 100 2 Output pulse Servo motor CCW rotation LA LAR LB LBR LZ LZR T 2 400 s or more OP LZ signal varies 3 8T on its leading edge 5 Analog input Input impedance 10 to 12k Upper limit setting 2k 15VDC P15R VC etc LG SD 2k Servo amplifier Approx 10k 6 Analog output Output voltage 10V Max 1mA Max output current Resolution 10bit MO1 MO2 LG SD A Servo amplifier Reading in one or both direct...

Page 85: ...e output cannot be provided For use of internal power supply For use of external power supply SG COM 24VDC VDD TR R Approx 4 7 SON etc Note For a transistor Approx 5mA VCES 1 0V ICEO 100 A Switch Servo amplifier SG COM 24VDC 200mA or more R Approx 4 7 SON etc Switch Servo amplifier Note This also applies to the use of the external power supply ...

Page 86: ...e may overheat the 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 signal 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 L2...

Page 87: ...se 100 to 120VAC power supply RA OFF ON MC MC SK NFB MC L1 L2 L3 L11 L21 EMG SON SG VDD COM ALM RA Power supply 1 phase 100 to 120VAC or 1 phase 230VAC Emergency stop Servo on Note Servo amplifier Trouble Emergency stop Note Not provided for 1 phase 100 to 120VAC ...

Page 88: ... 60Hz L11 L21 L11 L21 Control circuit power supply P C D Regenerative brake option 1 MR J2S 350A or less Wiring is factory connected across P D servo amplifier built in regenerative brake resistor When using the regenerative brake option always remove the wiring from across P D and connect the regenerative brake option across P C 2 MR J2S 500A or more Wiring is factory connected across P C servo a...

Page 89: ...the ready signal RD will switch on in further about 20ms making the servo amplifier ready to operate Refer to paragraph 2 in this section 4 When the reset signal RES is switched on the base circuit is shut off and the servo motor shaft coasts 2 Timing chart 20ms 20ms 20ms 10ms 10ms 10ms 10ms 10ms 60ms 60ms SON accepted 1 to 2s ON OFF ON OFF ON OFF ON OFF ON OFF power supply Base circuit Servo on S...

Page 90: ... to the protective earth PE terminal of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box Do not connect them directly to the protective earth of the control panel Servo amplifier Servo motor PE terminal Control box 2 Do not share the 24VDC interface power supply between the interface and electromagnetic brake Always us...

Page 91: ...C EMG CN2 Note 1 Encoder Electro magnetic brake To be shut off when servo on signal switches off or by alarm signal Encoder cable Motor Servo motor Note2 U V W Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake HC SFS81 B HC SFS5...

Page 92: ... receptacle 5556PBTL Female terminal Encoder cable 0 3m Power supply lead 4 AWG19 0 3m With connector 1 172169 9 AMP make 1 2 3 4 1 2 5 4 3 6 1 2 3 5 6 Power supply connector 5557 04R 210 Pin Signal Lead wire color Earth Red U V W White Black Green yellow Power supply connector 5557 06R 210 Pin Signal Lead wire color Red White Black Green yellow Earth U V W MR 1 2 3 MRR BAT MD 4 5 6 MDR P5 7 8 9 L...

Page 93: ...er connector DOWN UP Brake connector Power supply connector Motor plate Opposite side HC UFS202 B to 502 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 24VDC without 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 24VDC wi...

Page 94: ...the motor shaft vertical lift applications 1 Set 1 in parameter No 1 to make the electromagnetic brake interlock signal MBR valid Note that this will make the zero speed signal ZSP unavailable 2 Do not share the 24VDC interface power supply between the interface and electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake 3 The brake will operate when th...

Page 95: ...o about the same as the electromagnetic brake operation delay time to prevent a drop Servo motor speed Electromagnetic brake MBR ON OFF Base circuit Invalid ON Valid OFF ON OFF Servo on SON Electromagnetic brake operation delay time Tb Coasting 0 r min 60ms 80ms b Emergency stop signal EMG ON OFF Servo motor speed Electromagnetic brake interlock MBR ON OFF Base circuit Invalid ON Valid OFF Emergen...

Page 96: ...magnetic brake Control circuit power Note 15 to 100ms 10ms 10ms or less Electromagnetic brake operation delay time Note Changes with the operating status Note 2 e Only main circuit power supply off control circuit power supply remains on Servo motor speed ON OFF Base circuit Electromagnetic brake interlock MBR Invalid ON Valid OFF Trouble ALM No ON Yes OFF ON OFF Main circuit power supply Dynamic ...

Page 97: ...e transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Control box Servo amplifier L1 L2 L3 L11 L21 CN1A CN1B Line filter NFB MC Protective earth PE CN2 U V W Outer box Servo motor Ensure to connect it to PE terminal of the servo amplifier Do not connect it directly to the protective...

Page 98: ...ct fault Cable size 0 2 to 2 5mm2 Alternatively a bar terminal may be used to put the wires together Phoenix contact make Bar terminal for 1 cable Bar terminal ferrule with insulation sleeve Bar terminal for 2 cable Twin ferrule with insulation sleeve Cable size Bar terminal type mm2 AWG For 1 cable For 2 cables Crimping tool 0 25 24 Al0 25 6YE Al0 25 8YE 0 5 20 Al0 5 6WH Al0 5 8WH 0 75 18 Al0 75 ...

Page 99: ...y be inserted into one opening To loosen To tighten Opening Control circuit terminal block Cable Flat blade screwdriver Tip thickness 0 4 to 0 6mm Overall width 2 5 to 3 5mm 3 12 Instructions for the 3M connector When fabricating an encoder cable or the like securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell ...

Page 100: ... J2S 350A or less the lead has been removed from across D P of the control circuit terminal block and twisted cables are used for its wiring 2 For the MR J2S 500A or more the lead has been removed from across P C of the servo amplifier built in regenerative brake resistor and twisted cables are used for its wiring f When stroke end limit switches are used the signals across LSP SG and LSN SG are o...

Page 101: ...coder The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then switching power off once and on again Also in the absolute position detection system if power is switched on at the servo motor speed of 500r min or higher position mismatch may occur due to external force or the like Power must therefore be switched on when the servo motor is at a stop 2 Test ope...

Page 102: ...timum tuning results are provided by setting the response level appropriate for the machine in parameter No 2 Refer to chapter 7 6 Home position return Make home position return as required 7 Stop In any of the following statuses the servo amplifier interrupts and stops the operation of the servo motor Refer to Section 3 9 2 for the servo motor equipped with electromagnetic brake Note that the sto...

Page 103: ... constant 500 Set 500ms 13 S pattern acceleration deceleration time constant 0 Not used After setting the above parameters switch power off once Then switch power on again to make the set parameter values valid 4 Servo on Switch the servo on in the following procedure 1 Switch on main circuit control power supply 2 Switch on the servo on signal SON short SON SG When placed in the servo on status t...

Page 104: ...nstant of zero 4 2 4 Torque control mode 1 Power on 1 Switch off the servo on SON signal 2 When main circuit power control circuit power is switched on the display shows U torque command voltage and in two second later shows data 2 Test operation Using jog operation in the test operation mode make sure that the servo motor operates Refer to Section 6 8 2 3 Parameter setting Set the parameters acco...

Page 105: ... Section 3 9 2 for the servo motor equipped with electromagnetic brake a Servo on SON OFF The base circuit is shut off and the servo motor coasts b Alarm occurrence When an alarm occurs the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop c Emergency stop EMG OFF The base circuit is shut off and the dynamic brake is operated to bring the servo mo...

Page 106: ...the basic parameter values but cannot change the expansion parameter values When fine adjustment e g gain adjustment is required change the parameter No 19 setting to make the expansion parameters write enabled The following table indicates the parameters which are enabled for reference and write by the setting of parameter No 19 Operation can be performed for the parameters marked Parameter No 19...

Page 107: ...osition range P 100 pulse 6 PG1 Position loop gain 1 P 35 rad s 7 PST Position command acceleration deceleration time constant Smoothing P 3 ms Internal speed command 1 S 100 r min 8 SC1 Internal speed limit 1 T 100 r min Internal speed command 2 S 500 r min 9 SC2 Internal speed limit 2 T 500 r min Internal speed command 3 S 1000 r min 10 SC3 Internal speed limit 3 T 1000 r min 11 STA Acceleration...

Page 108: ...T 0 mV 32 MO2 Analog monitor 2 offset P S T 0 mV 33 MBR Electromagnetic brake sequence output P S T 100 ms 34 GD2 Ratio of load inertia moment to servo motor inertia moment P S 70 0 1 times 35 PG2 Position loop gain 2 P 35 rad s 36 VG1 Speed loop gain 1 P S 177 rad s 37 VG2 Speed loop gain 2 P S 817 rad s 38 VIC Speed integral compensation P S 48 ms 39 VDC Speed differential compensation P S 980 4...

Page 109: ...atio P S 100 64 VICB Speed integral compensation changing ratio P S 100 65 CDP Gain changing selection P S 0000 66 CDS Gain changing condition P S 10 Note3 67 CDT Gain changing time constant P S 1 ms 68 For manufacturer setting 0 69 CMX2 Command pulse multiplying factor numerator 2 P 1 70 CMX3 Command pulse multiplying factor numerator 3 P 1 71 CMX4 Command pulse multiplying factor numerator 4 P 1...

Page 110: ...he regenerative brake option selected is not for use with the servo amplifier parameter error AL 37 occurs 0 STY 0000 Refer to Name and function column P S T Basic parameters 1 OP1 Function selection 1 Used to select the input signal filter pin CN1B 19 function and absolute position detection system Input signal filter If external input signal causes chattering due to noise etc input filter is use...

Page 111: ...160Hz D 200Hz E 240Hz F 300Hz Set value Gain adjustment mode 0 Description 1 3 Simple manual adjustment 4 Manual adjustment of all gains Interpolation mode Fixes position control gain 1 parameter No 6 Auto tuning mode 1 Fixes the load inertia moment ratio set in parameter No 34 Response level setting can be changed Manual mode 1 Manual mode 2 2 Auto tuning mode 2 Ordinary auto tuning 0 0 0105 Refe...

Page 112: ...ilter in response to the position command You can use parameter No 55 to choose the primary delay or linear acceleration deceleration control system When you choose linear acceleration deceleration the setting range is 0 to 10ms Setting of longer than 10ms is recognized as 10ms POINT 7 PST When you have chosen linear acceleration deceleration do not select control selection parameter No 0 and rest...

Page 113: ...tion time constant Used to set the deceleration time required to reach 0r min from the rated speed in response to the analog speed command and internal speed commands 1 to 7 0 ms 0 to 20000 S T Basic parameters 13 STC S pattern acceleration deceleration time constant Used to smooth start stop of the servo motor Set the time of the arc part for S pattern acceleration deceleration STA Acceleration t...

Page 114: ...ot be made 0 sta tion 0 to 31 P S T Basic parameters 16 BPS Serial communication function selection alarm history clear Used to select the serial communication baudrate select various communication conditions and clear the alarm history Serial baudrate selection 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps Alarm history clear 0 Invalid 1 Valid When alarm history clear is made valid the alarm his...

Page 115: ... 0 Analog monitor output selection Servo motor speed 8V max speed 1 Torque 8V max torque 2 Motor speed 8V max speed 3 Torque 8V max torque 4 Current command 8V max current command 5 Command pulse frequency 10V 500kpulse s 6 Droop pulses 10V 128 pulses 7 Droop pulses 10V 2048 pulses 8 Droop pulses 10V 8192 pulses 9 Droop pulses 10V 32768 pulses A Droop pulses 10V 131072 pulses 0 0 B Bus voltage 8V ...

Page 116: ...sition high D ABS counter E Load inertia moment ratio F Bus voltage In speed control mode Analog speed limit voltage in torque control mode In torque control mode Analog torque limit voltage in speed or position control mode Note 1 2 Status display at power on in corresponding control mode 0 Depends on the control mode 0 0 0000 Refer to Name and function column P S T Control Mode Position Position...

Page 117: ...OP2 0000 Refer to Name and function column S Expansion parameters 1 Function selection 2 Used to select restart after instantaneous power failure servo lock at a stop in speed control mode and slight vibration suppression control 0 Invalid 1 Valid If the input power supply voltage had reduced in the speed control mode to stop the servo motor due to the undervoltage alarm AL 10 but the supply volta...

Page 118: ... function column P 22 OP4 0000 P S Expansion parameters 1 Function selection 4 Used to select stop processing at LSP LSN signal off and choose VC VLA voltage averaging How to make a stop when LSP LSN signal is valid Refer to Section 5 2 3 0 Sudden stop 1 Slow stop Set value 0 1 2 Filtering time ms 0 0 444 0 888 3 1 777 VC VLA voltage averaging Used to set the filtering time when the analog speed c...

Page 119: ...n the A phase or B phase pulses You can use parameter No 54 to choose the output pulse setting or output division ratio setting The number of A B phase pulses actually output is 1 4 times greater than the preset number of pulses The maximum output frequency is 1 3Mpps after multiplication by 4 Use this parameter within this range For output pulse designation Set 0 initial value in parameter No 54 ...

Page 120: ...rlock signal MBR and the base drive circuit is shut off 100 ms 0 to 1000 P S T 34 GD2 Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment When auto tuning mode 1 and interpolation mode is selected the result of auto tuning is automatically used Refer to section 7 1 1 In this case it varies between 0 and...

Page 121: ...input 1 Switched on automatically in servo amplifier No need of external wiring Reverse rotation stroke end signal LSN input selection Forward rotation stroke end signal LSP input selection 0 0000 Refer to Name and function column P S P S S T T P Expansion parameters 1 42 DI1 Input signal selection 1 Used to assign the control mode changing signal input pins and to set the clear signal Control cha...

Page 122: ...ignal will be invalid Set value Note Control mode P S T 0 1 2 3 4 5 6 7 8 9 SON SON SON RES RES RES PC PC TL TL SP1 SP1 SP2 SP2 ST1 RS2 ST2 RS1 CR CR CR A SP3 SP3 B C D TL1 TL1 E CDP CDP CM1 CM2 TL1 CDP Note P Position control mode S Speed control mode T Torque control mode 0111 Refer to Name and function column P S T Expansion parameters 1 44 DI3 Input signal selection 3 CN1B 14 Allows any input ...

Page 123: ...I6 Input signal selection 6 CN1B 8 Allows any input signal to be assigned to CN1B pin 8 The assignable signals and setting method are the same as in input signal selection 2 parameter No 43 Position control mode Input signals of CN1B pin 8 selected Torque control mode Speed control mode 0 This parameter is unavailable when parameter No 42 is set to assign the control change signal LOP to CN1B pin ...

Page 124: ...uency error Error excessive Encoder error 1 Encoder error 2 Alarm display Note Alarm code CN1B pin 19 0 0 0 0 1 CN1A pin 18 0 0 1 1 0 1 CN1A pin 19 1 1 0 1 0 1 0 Set value Connector pin No Note 0 Pin SG off open 1 Pin SG on short Setting of warning WNG output Select the connector pin to output warning The old signal before selection will be unavailable AL 19 Memory error 3 AL 37 Parameter error AL...

Page 125: ... station numbers 1 No station numbers 0000 Refer to Name and function column P S T Expansion parameters 2 54 OP9 Function selection 9 Use to select the command pulse rotation direction encoder output pulse direction and encoder pulse output setting 0 0 1 CCW CW CW CCW Servo motor rotation direction changing Changes the servo motor rotation direction for the input pulse train Set value Servo motor ...

Page 126: ...otch frequency selection Set 00 when you have set adaptive vibration suppression control to be valid or held parameter No 60 1 or 2 00 01 02 03 04 05 06 07 Setting value Frequency Invalid 4500 2250 1500 1125 900 750 642 9 08 09 0A 0B 0C 0D 0E 0F 562 5 500 450 409 1 375 346 2 321 4 300 Frequency 10 11 12 13 14 15 16 17 281 3 264 7 250 236 8 225 214 3 204 5 195 7 Frequency 18 19 1A 1B 1C 1D 1E 1F 18...

Page 127: ...ction of machine resonance is stopped Adaptive vibration suppression control sensitivity selection Used to set the sensitivity of machine resonance detection 0 Normal 1 Large sensitivity Hz 0000 Refer to Name and function column P S T 61 GD2B Ratio of load inertia moment to servo motor inertia moment 2 Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is...

Page 128: ... Section 8 3 10 kpps pulse r min 10 to 9999 P S 67 CDT Gain changing time constant Used to set the time constant at which the gains will change in response to the conditions set in parameters No 65 and 66 Refer to Section 8 3 1 ms 0 to 100 P S 68 For manufacturer setting Must not be changed 0 69 CMX2 Command pulse multiplying factor numerator 2 Used to set the multiplier for the command pulse Sett...

Page 129: ...o in stanta neous permi ssible speed T Internal speed command 7 Used to set speed 7 of internal speed commands S 75 SC7 Internal speed limit 7 Used to set speed 7 of internal speed limits 800 r min 0 to in stanta neous permi ssible speed T 76 TL2 Internal torque limit 2 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100 When 0 is set torque is not produ...

Page 130: ...r No 4 Parameter No 3 Electronic gear Feedback pulse CMX CDV Deviation counter Motor Encoder Input pulse train The following setting examples are used to explain how to calculate the electronic gear POINT The following specification symbols are required to calculate the electronic gear Pb Ballscrew lead mm n Reduction ratio Pt Servo motor resolution pulses rev 0 Travel per command pulse mm pulse S...

Page 131: ...n the above example causes the table to rotate only 26214 450 36000 1 131072 4 64 360 359 995 Therefore indexing cannot be done in the same position on the table 2 Instructions for reduction The calculated value before reduction must be as near as possible to the calculated value after reduction In the case of 1 b in this section an error will be smaller if reduction is made to provide no fraction...

Page 132: ...e Servo amplifier AP75P Servo motor Electronic gear The resolution of the servo motor is 131072 pulses rev For example the pulse command needed to rotate the servo motor is as follows Servo motor speed r min Required pulse command 2000 131072 2000 60 4369066 pulse s 3000 131072 3000 60 6553600 pulse s For the AD75P the maximum value of the pulse command that may be output is 200kpulse s in the ope...

Page 133: ...speed 3000r min 2000r min Input system Open collector Differential line driver Open collector Differential line driver Max input pulse frequency kpulse s 200 500 200 500 Feedback pulse revolution pulse rev 131072 131072 Servo amplifier Electronic gear CMX CDV 4096 125 2048 125 8192 375 4096 375 Command pulse frequency kpulse s Note 200 400 200 400 Number of pulses per servo motor revolution as vie...

Page 134: ... 17 Analog monitor ch1 output selection Signal output to across MO1 LG Analog monitor ch2 output selection Signal output to across MO2 LG Parameter No 17 0 0 Parameters No 31 and 32 can be used to set the offset voltages to the analog output voltages The setting range is between 999 and 999mV Parameter No Description Setting range mV 31 Used to set the offset voltage for the analog monitor ch1 out...

Page 135: ... pulses 10V 2048pulse 10 V 0 2048 pulse 10 V CCW direction CW direction 2048 pulse 2 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 CW direction Driving in CCW direction 9 Droop pulses 10V 32768pulse 10 V 0 32768 pulse 10 V CCW direction CW dir...

Page 136: ... PWM M Current control Speed control Current command Position control Droop pulse Differ ential Command pulse frequency Bus voltage Speed command Command pulse Current feedback Position feedback Motor speed Current encoder Servo Motor Encoder Torque ...

Page 137: ...o 1 Slow stop Position control mode The motor is decelerated to a stop in accordance with the parameter No 7 value Speed control mode The motor is decelerated to a stop in accordance with the parameter No 12 value 5 2 4 Alarm history clear The servo amplifier stores one current alarm and five past alarms from when its power is switched on first To control alarms which will occur during operation c...

Page 138: ... delay or linear acceleration deceleration in parameter No 55 according to the machine used 1 For step input Command 3t t t Time t Input position command Position command after filtering for primary delay Position command after filtering for linear acceleration deceleration Position command acceleration deceleration time constant parameter No 7 2 For trapezoidal input Command Time t 3t t 3t t Inpu...

Page 139: ...5 34 5 PARAMETERS MEMO ...

Page 140: ...ignal forced output Test operation Jog feed Test operation Positioning operation Test operation Motor less operation Software version L Software version H Automatic VC offset Current alarm Last alarm Second alarm in past Third alarm in past Fourth alarm in past Fifth alarm in past Sixth alarm in past Parameter error No Parameter No 0 Parameter No 1 Parameter No 18 Parameter No 19 Parameter No 20 P...

Page 141: ... of the status display selected in parameter No 18 has been shown for 2 s The servo amplifier display shows the lower five digits of 16 data items such as the motor speed 6 2 1 Display examples The following table lists display examples Displayed data Item Status Servo amplifier display Forward rotation at 3000r min Motor speed Reverse rotation at 3000r min Reverse rotation is indicated by Load in...

Page 142: ...tual value Press the SET button to reset the display value to zero When the servo motor is rotating in the reverse direction the decimal points in the upper four digits are lit 99999 to 99999 Command pulse frequency n kpps The frequency of the position command input pulses is displayed The value displayed is not multiplied by the electronic gear CMX CDV 800 to 800 Analog speed command voltage Anal...

Page 143: ...ated ratio of the load inertia moment to the servo motor shaft inertia moment is displayed 0 0 to 300 0 Bus voltage Pn V The voltage across P N of the main circuit converter is displayed 0 to 450 6 2 3 Changing the status display screen The status display item of the servo amplifier display shown at power on can be changed by changing the parameter No 18 settings The item displayed in the initial ...

Page 144: ...when there is no command from the external command device Motorless operation Without connection of the servo motor the servo amplifier provides output signals and displays the status as if the servo motor is running actually in response to the external input signal For details refer to section 6 8 4 Test operation mode Machine analyzer operation Merely connecting the servo amplifier allows the re...

Page 145: ...l MELSERVO Servo Motor Instruction Manual Motor type Press the SET button to show the motor type ID of the servo motor currently connected For indication details refer to the optional MELSERVO Servo Motor Instruction Manual Encoder Press the SET button to show the encoder ID of the servo motor currently connected For indication details refer to the optional MELSERVO Servo Motor Instruction Manual ...

Page 146: ...ast Alarm history Indicates that there is no sixth alarm in the past Indicates no occurrence of parameter error AL 37 Parameter error Indicates that the data of parameter No 1 is faulty Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 The other screen is visible during occurrence of an alarm At this time the decimal point in the fourth digit flickers 3 For any ala...

Page 147: ...ic parameter screen The set value of the specified parameter number flickers UP DOWN The parameter number is displayed Press or to change the number Press SET twice Press UP once During flickering the set value can be changed Use or Press SET to enter 2 Speed control mode UP DOWN To shift to the next parameter press the UP DOWN button When changing the parameter No 0 setting change its set value t...

Page 148: ...xternal I O signal display screen 2 Display definition CN1B 7 CN1B 9 CN1B 8 CN1A 14 CN1A 8 CN1B 4 CN1B 18 CN1B 14 CN1B 5 CN1B 17 CN1B 16 CN1B 19 CN1B 6 CN1A 19 CN1A 18 Lit ON Extinguished OFF Input signals Output signals CN1B 15 Always lit The 7 segment LED shown above indicates ON OFF Each segment at top indicates the input signal and each segment at bottom indicates the output signal The signals...

Page 149: ...ALM ALM ALM ALM ALM No 49 CN1B 19 O ZSP ZSP ZSP ZSP ZSP ZSP No 1 49 Note 1 I Input signal O Output signal 2 P Position control mode S Speed control mode T Torque control mode P S Position speed control change mode S T Speed torque control change mode T P Torque position control change mode 3 The signal of CN1A 18 is always output b Symbol and signal names Symbol Signal name Symbol Signal name SON ...

Page 150: ...7 External emergency stop LSP CN 1 B 16 Forward rotation stroke end Lit ON Extinguished OFF RD CN 1 A 19 Ready SA CN 1 A 18 Limiting speed ZSP CN 1 B 19 Zero speed TLC CN 1 B 6 Limiting torque DO1 CN 1 B 4 Limiting speed ALM CN 1 B 18 Trouble OP CN 1 A 14 Encoder Z phase pulse Input signals Output signals SP2 CN 1 B 7 Speed selection 2 ST1 CN 1 B 8 For ward rotation start ST2 CN 1 B 9 Reverse rota...

Page 151: ...ormed in the servo off state SON signal off Operation Call the display screen shown after power on Using the MODE button show the diagnostic screen Press UP twice Press SET for more than 2 seconds Switch on off the signal below the lit segment Indicates the ON OFF of the output signal The correspondences between segments and signals are as in the output signals of the external I O signal display L...

Page 152: ...r choosing Incremental system in parameter No 1 The servo configuration software is required to perform positioning operation Test operation cannot be performed if the servo on SON signal is not turned OFF 6 8 1 Mode change Call the display screen shown after power on Choose jog operation motor less operation in the following procedure Using the MODE button show the diagnostic screen When this scr...

Page 153: ...e to stop If the communication cable is disconnected during jog operation performed by using the servo configuration software the servo motor will be decelerated to a stop 2 Status display You can confirm the servo status during jog operation Pressing the MODE button in the jog operation ready status calls the status display screen With this screen being shown perform jog operation with the UP or ...

Page 154: ...ial conditions and setting ranges for operation are listed below Item Initial setting Setting range Travel distance pulse 10000 0 to 9999999 Speed r min 200 0 to instantaneous permissible speed Acceleration deceleration time constant ms 1000 0 to 50000 How to use the keys is explained below Key Description Forward Press to start positioning operation CCW Reverse Press to start positioning operatio...

Page 155: ...ou can confirm the servo status during motor less operation Pressing the MODE button in the motor less operation ready status calls the status display screen With this screen being shown perform motor less operation Every time you press the MODE button the next status display screen appears and on completion of a screen cycle pressing that button returns to the motor less operation ready status sc...

Page 156: ...1 initial value 010 Always estimated PG1 parameter No 6 GD2 parameter No 34 PG2 parameter No 35 VG1 parameter No 36 VG2 parameter No 37 VIC parameter No 38 Response level setting of parameter No 2 Auto tuning mode 2 020 PG1 parameter No 6 PG2 parameter No 35 VG1 parameter No 36 VG2 parameter No 37 VIC parameter No 38 GD2 parameter No 34 Response level setting of parameter No 2 Manual mode 1 030 PG...

Page 157: ...lifier with the servo configuration software which operates on a personal computer Function Description Adjustment Machine analyzer With the machine and servo motor coupled the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response You can grasp the machine resonance frequency and deter...

Page 158: ...ormed properly if the following conditions are not satisfied Time to reach 2000r min is the acceleration deceleration time constant of 5s or less Speed is 150r min or higher The ratio of load inertia moment to motor inertia moment is not more than 100 times The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance torque ...

Page 159: ... the status display screen of the servo amplifier display section If the value of the load inertia moment ratio is already known or if estimation cannot be made properly chose the auto tuning mode 2 parameter No 2 2 to stop the estimation of the load inertia moment ratio Switch in above diagram turned off and set the load inertia moment ratio parameter No 34 manually From the preset load inertia m...

Page 160: ... is as follows 1 Basic procedure END Yes No Yes No No Yes Auto tuning adjustment Acceleration deceleration repeated Load inertia moment ratio estimation value stable Auto tuning conditions not satisfied Estimation of load inertia moment ratio is difficult Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performa...

Page 161: ...on control parameter No 60 or machine resonance suppression filter parameter No 58 59 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to Section 8 1 for adaptive vibration suppression control and machine resonance suppression filter 7 0 1 0 Parameter No 2 Response level setting Auto tuning selection Machine characterist...

Page 162: ...chine resonance Refer to Section 8 1 1 For speed control a Parameters The following parameters are used for gain adjustment Parameter No Abbreviation Name 34 GD2 Ratio of load inertia moment to servo motor inertia moment 37 VG2 Speed control gain 2 38 VIC Speed integral compensation b Adjustment procedure Step Operation Description 1 Set an estimated value to the ratio of load inertia moment to se...

Page 163: ...rol a Parameters The following parameters are used for gain adjustment Parameter No Abbreviation Name 6 PG1 Position control gain 1 34 GD2 Ratio of load inertia moment to servo motor inertia moment 37 VG2 Speed control gain 2 38 VIC Speed integral compensation b Adjustment procedure Step Operation Description 1 Set an estimated value to the ratio of load inertia moment to servo motor inertia momen...

Page 164: ... response frequency of the speed loop is as indicated in the following expression Speed loop response frequency Hz Speed control gain 2 setting 1 ratio of load inertia moment to servo motor inertia moment 2 2 3 Speed integral compensation parameter No 38 To eliminate stationary deviation against a command the speed control loop is under proportional integral control For the speed integral compensa...

Page 165: ...ition control gain 1 parameter No 6 and speed control gain 1 parameter No 36 Check the upper setting limits 4 Set the interpolation mode parameter No 2 000 Select the interpolation mode 5 Using the position control gain 1 value checked in step 3 as the guideline of the upper limit set in PG1 the value identical to the position loop gain of the axis to be interpolated Set position control gain 1 6 ...

Page 166: ... 160Hz D 200Hz E 240Hz F 300Hz Note that because of a slight difference in gain adjustment pattern response may not be the same if the resonance frequency is set to the same value 7 5 2 Auto tuning selection The MELSERVO J2 Super series has an addition of the load inertia moment ratio fixing mode It also has the addition of the manual mode 1 which permits manual adjustment with three parameters 1 ...

Page 167: ...7 12 7 GENERAL GAIN ADJUSTMENT MEMO ...

Page 168: ... resonance of the mechanical system 8 1 Function block diagram Speed control Machine resonance suppression filter 2 Encoder Current command Low pass filter Parameter No 58 Parameter No 60 Parameter No 59 Parameter No 60 Machine resonance suppression filter 1 Adaptive vibration suppression control 00 or 1 2 0 00 0 1 00 except 00 except Servo motor 8 2 Machine resonance suppression filter 1 Function...

Page 169: ...a too deep notch 2 Parameters a Machine resonance suppression filter 1 parameter No 58 Set the notch frequency and notch depth of the machine resonance suppression filter 1 parameter No 58 When you have made adaptive vibration suppression control selection parameter No 60 valid or held make the machine resonance suppression filter 1 invalid parameter No 58 0000 0 3 1 2 0 14dB 8dB 00 01 02 03 04 05...

Page 170: ...acteristics frequency depth are set automatically you need not be conscious of the resonance frequency of a mechanical system Also while adaptive vibration suppression control is valid the servo amplifier always detects machine resonance and if the resonance frequency changes it changes the filter characteristics in response to that frequency Mechanical system response Mechanical system response M...

Page 171: ... being used as an initial value Setting the adaptive vibration suppression control sensitivity can change the sensitivity of detecting machine resonance Setting of large sensitivity detects smaller machine resonance and generates a filter to suppress machine vibration However since a phase delay will also increase the response of the servo system may not increase 8 4 Low pass filter 1 Function Whe...

Page 172: ...al to ensure stability of the servo system since the load inertia moment ratio varies greatly during a stop e g a large load is mounted on a carrier 8 5 2 Function block diagram The valid control gains PG2 VG2 VIC and GD2 of the actual loop are changed according to the conditions selected by gain changing selection CDP parameter No 65 and gain changing condition CDS parameter No 66 Valid GD2 value...

Page 173: ...ore changing 61 GD2B Ratio of load inertia moment to servo motor inertia moment 2 0 1 times Used to set the ratio of load inertia moment to servo motor inertia moment after changing 62 PG2B Position control gain 2 changing ratio Used to set the ratio of the after changing position control gain 2 to position control gain 2 63 VG2B Speed control gain 2 changing ratio Used to set the ratio of the aft...

Page 174: ...ol gain 2 changing ratio 100 180rad s Speed control gain 2 Speed control gain 2 Speed control gain 2 changing ratio 100 3000rad s Speed integral compensation Speed integral compensation Speed integral compensation changing ratio 100 16ms 4 Gain changing selection parameter No 65 Used to set the gain changing condition Choose the changing condition in the first digit If you set 1 here you can use t...

Page 175: ...s 61 GD2B Ratio of load inertia moment to servo motor inertia moment 2 100 0 1 times 62 PG2B Position control gain 2 changing ratio 70 63 VG2B Speed control gain 2 changing ratio 133 64 VICB Speed integral compensation changing ratio 250 65 CDP Gain changing selection 0001 Changed by ON OFF of pin CN1A 8 67 CDT Gain changing time constant 100 ms b Changing operation OFF ON OFF Gain changing CDP Ch...

Page 176: ... 62 PG2B Position control gain 2 changing ratio 70 63 VG2B Speed control gain 2 changing ratio 133 64 VICB Speed integral compensation changing ratio 250 65 CDP Gain changing selection 0003 Changed by droop pulses 66 CDS Gain changing condition 50 pulse 67 CDT Gain changing time constant 100 ms b Changing operation CDT 100ms 0 Droop pulses pulses Change of each gain CDS CDS Before changing gain Af...

Page 177: ...8 10 8 SPECIAL ADJUSTMENT FUNCTIONS MEMO ...

Page 178: ...s not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please contact your sales representative Part name Life guideline Smoothing capacitor 10 years Relay Number of power on and number of emergency stop times 100 000 times Cooling fan 10 000 to 30 000hours 2 to 3 years Servo amplifier Absolute position battery Refer to Sectio...

Page 179: ...9 2 9 INSPECTION MEMO ...

Page 180: ...r cabling is shorted 2 Encoder is faulty LED is not lit LED flickers Improved when connector CN3 is disconnected Power supply of CN3 cabling is shorted 1 Power on Alarm occurs Refer to Section 10 2 and remove cause Section 10 2 Alarm occurs Refer to Section 10 2 and remove cause Section 10 2 2 Switch on servo on signal Servo motor shaft is not servo locked is free 1 Check the display to see if the...

Page 181: ... complete auto tuning Gain adjustment fault Chapter 7 4 Gain adjustment Large load inertia moment causes the servo motor shaft to oscillate side to side If the servo motor may be run with safety repeat acceleration and deceleration several times to complete auto tuning Gain adjustment fault Chapter 7 5 Cyclic operation Position shift occurs Confirm the cumulative command pulses cumulative feedback...

Page 182: ... cumulative command pulses 2 CMX parameter No 3 CDV parameter No 4 P C cumulative command pulses electronic gear cumulative feedback pulses 3 C M cumulative feedback pulses travel per pulse machine position Check for a position shift in the following sequence 1 When Q P Noise entered the pulse train signal wiring between positioning unit and servo amplifier causing pulses to be miss counted Cause ...

Page 183: ... 6 Call the status display and check the input voltage of the analog speed command VC Analog speed command is 0V Section 6 2 Call the external I O signal display and check the ON OFF status of the input signal LSP LSN ST1 or ST2 is off Section 6 6 Check the internal speed commands 1 to 7 parameters No 8 to 10 72 to 75 Set value is 0 Check the internal torque limit 1 parameter No 28 Torque limit le...

Page 184: ...emove cause Section 10 2 2 Switch on servo on signal Servo motor shaft is free Call the external I O signal display and check the ON OFF status of the input signal 1 Servo on signal is not input Wiring mistake 2 24VDC power is not supplied to COM Section 6 6 Call the status display and check the analog torque command TC Analog torque command is 0V Section 6 2 Call the external I O signal display a...

Page 185: ...L 13 0 0 0 Clock error AL 15 0 0 0 Memory error 2 AL 16 1 1 0 Encoder error 1 AL 17 0 0 0 Board error AL 19 0 0 0 Memory error 3 AL 1A 1 1 0 Motor combination error AL 20 1 1 0 Encoder error 2 AL 24 1 0 0 Main circuit error AL 25 1 1 0 Absolute position erase AL 30 0 0 1 Regenerative error AL 31 1 0 1 Overspeed AL 32 1 0 0 Overcurrent AL 33 0 0 1 Overvoltage AL 35 1 0 1 Command pulse frequency err...

Page 186: ...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 power failure of 60ms or longer 3 Shortage of power supply capacity caused the power supply voltage to drop at start etc 4 Power was restored after the bus voltage had dropped to 200VDC Main circuit power sw...

Page 187: ...ng again 2 Battery voltage low Absolute position data in error 3 Battery cable or battery is faulty Change battery Always make home position setting again AL 25 Absolute position erase Power was switched on for the first time in the absolute position detection system 4 Super capacitor of the absolute position encoder is not charged After leaving the alarm occurring for a few minutes switch power o...

Page 188: ...rvo amplifier 2 Transistor IPM of the servo amplifier faulty Checking method Alarm AL 32 occurs if power is switched on after U V and W are disconnected Change the servo amplifier 3 Ground fault occurred in servo amplifier output phases U V and W Correct the wiring 4 External noise caused the overcurrent detection circuit to misoperate Take noise suppression measures 1 Lead of built in regenerativ...

Page 189: ...emperature is 0 to 40 2 Servo motor is overloaded 1 Reduce load 2 Review operation pattern 3 Use servo motor that provides larger output AL 46 Servo motor overheat Servo motor temperature rise actuated the thermal protector 3 Thermal protector in encoder is faulty Change servo motor 1 Servo amplifier is used in excess of its continuous output current 1 Reduce load 2 Review operation pattern 3 Use ...

Page 190: ... the power supply capacity 2 Use servo motor which provides larger output 4 Position control gain 1 parameter No 6 value is small Increase set value and adjust to ensure proper operation 5 Servo motor shaft was rotated by external force 1 When torque is limited increase the limit value 2 Reduce load 3 Use servo motor that provides larger output 6 Machine struck something 1 Review operation pattern...

Page 191: ...ve warning There is a possibility that regenerative power may 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 fr...

Page 192: ...Variable dimensions Servo amplifier A B Weight kg lb MR J2S 10A 1 MR J2S 20A 1 50 1 97 6 0 24 0 7 1 54 MR J2S 40A 1 MR J2S 60A 70 2 76 22 0 87 1 1 2 43 Note This data applies to the 3 phase 200 to 230VAC and 1 phase 230VAC power supply models TE2 Front D C P L21 L11 Tightening torque 0 5 to 0 6 N m 70 8 to 85 0 oz in FRONT MSTB2 5 5 ST 5 08 Phoenix Contact make PE terminals Terminal screw M4 Tight...

Page 193: ...rminal layout Terminal cover open 6 0 24 mounting hole 168 6 61 156 6 14 6 0 24 6 0 24 42 1 65 22 0 87 6 0 24 PE terminal 6 0 24 0 87 Servo amplifier Weight kg lb MR J2S 70A MR J2S 100A 1 7 3 75 TE1 L1 U V W Terminal screw M4 Tightening torque 1 24 N m 175 6 oz in TE2 FRONT MSTB2 5 6 ST 5 08 Phoenix Contact make D C P N Tightening torque 0 5 to 0 6 N m 70 8 to 85 0 oz in PE terminals Terminal scre...

Page 194: ...minal layout TE1 Unit mm Unit in TE2 PE terminal 0 24 0 24 Fan air orientation Servo amplifier Weight kg lb MR J2S 200A MR J2S 350A 2 0 4 41 TE1 L1 L2 L3 U V W L11 L21 D P C N Terminal screw M4 Tightening torque 1 24 N m 175 6 oz in Terminal screw M4 Tightening torque 1 24 N m 175 6 oz in TE2 PE terminals Terminal screw M4 Tightening torque 1 24 N m 175 6 oz in ...

Page 195: ... P 70 2 76 6 20 0 79 200 7 87 0 19 5 Terminal layout N P Fan Fan Fan air orientation MITSUBISHI MITSUBISHI Servo amplifier Weight kg lb MR J2S 500A 4 9 10 8 TE1 TE2 L11 L21 N L1 L2 L3 C P U V W Terminal screw M4 Tightening torque 1 2 N m 169 9 oz in PE terminals Built in regenerative brake resistor lead terminal fixing screw Terminal screw M4 Tightening torque 1 2 N m 169 9 oz in Terminal screw M3...

Page 196: ...it mm Unit in 20 0 79 350 13 8 335 13 2 7 5 0 5 6 0 24 Fan air orientation Fan MITSUBISHI OPEN MITSUBISHI OPEN Servo amplifier Weight kg lb MR J2S 700A 7 2 15 9 L1 L2 L3 TE1 TE2 N P C L11 L21 W V U Terminal screw M4 Tightening torque 1 2 N m 169 9 oz in Terminal screw M3 5 Tightening torque 1 0 N m 141 6 oz in Terminal screw M4 Tightening torque 1 2 N m 169 9 oz in Built in regenerative brake resi...

Page 197: ...0 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 8...

Page 198: ...8 0 48 RS Model Number of Pins Connector Case PCR S20FS soldering type 20 PCR S20F insulation displacement type PCR LS20LA1 PCR LS20LA1W Crimping terminal FHAT 002A Note PCR S20F and PCR LS20LA1W are not options and are to be supplied by the customer 3 Communication cable connector Japan Aviation Electronics Industry C D F A B Unit mm Unit in Fitting fixing screw G E max diameter of cable used Typ...

Page 199: ...11 8 11 OUTLINE DIMENSION DRAWINGS MEMO ...

Page 200: ...t on the left hand 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 1 MR J2S 10A to MR J2S 100A 1000 100 10 1 0 1 0 50 150 200 250 300 HC KFS series HC MFS series HC SFS series HC UFS series Load...

Page 201: ...2S 500A MR J2S 700A 0 50 100 150 200 250 300 1 10 100 1000 10000 Load ratio HC SFS series HC RFS series HC UFS series Operation time s During rotation During servo lock Fig 12 3 Electronic thermal relay protection characteristics 3 ...

Page 202: ... 5 25 15 0 5 5 4 HC MFS23 0 5 25 15 0 5 5 4 MR J2S 20A 1 HC UFS23 0 5 25 15 0 5 5 4 HC KFS43 0 9 35 15 0 7 7 5 HC MFS43 0 9 35 15 0 7 7 5 MR J2S 40A 1 HC UFS43 0 9 35 15 0 7 7 5 HC SFS52 1 0 40 15 0 8 8 6 MR J2S 60A HC SFS53 1 0 40 15 0 8 8 6 HC KFS73 1 3 50 15 1 0 10 8 HC MFS73 1 3 50 15 1 0 10 8 MR J2S 70A HC UFS72 73 1 3 50 15 1 0 10 8 HC SFS81 1 5 50 15 1 0 10 8 MR J2S 100A HC SFS102 103 1 7 5...

Page 203: ...sure Refer to Table 12 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the enclosure is directly installed on an insulated wall that extra amount must be added to the enclosure s surface area The required heat dissipation area will vary wit the conditions in the enclosure If convection in the enclosure is poor and heat builds up effective heat...

Page 204: ...ne operation speeds Refer to Fig 12 5 V0 Time constant Emergency stop EMG OFF ON Machine speed te Time Fig 12 5 Dynamic brake operation diagram Lmax 60 V0 JL JM te 1 12 2 Lmax Maximum coasting distance mm in Vo Machine rapid feedrate mm min in min JM Servo motor inertial moment kg cm2 oz in2 JL Load inertia moment converted into equivalent value on servo motor shaft kg cm2 oz in2 Brake time consta...

Page 205: ...2000 352 202 702 102 152 502 52 c HC SFS1000r min series d HC SFS2000r 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 Speed r min Time constant s 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 153 503 103 353 203 e HC SFS3000r min series f HC RFS series Time constant s Speed r min 352...

Page 206: ...R J2S 10A to MR J2S 200A MR J2S 10A1 to MR J2S 40A1 30 MR J2S 350A 16 MR J2S 500A MR J2S 700A 15 12 4 Encoder cable flexing life The flexing life of the cables is shown below This graph calculated values Since they are not guaranteed values provide a little allowance for these values 1 107 5 107 1 108 5 106 1 106 5 105 1 105 5 104 1 104 5 103 1 103 a b Flexing life times 4 7 10 20 40 70 100 200 Fl...

Page 207: ...12 8 12 CHARACTERISTICS MEMO ...

Page 208: ... 500 MR J2S 350A 100 300 500 MR J2S 500A 130 300 500 MR J2S 700A 170 300 500 Note This value is the regenerative power of the resistor and is not the rated power 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 ru...

Page 209: ...1 4 8 T4 TU E4 0 No regeneration 5 T5 JL JM 9 55 10 4 N0 1 Tpsa2 TU TF E5 2 0 1047 N0 T5 Tpsa2 6 T6 TU TF E6 0 1047 N0 T6 t3 7 T7 JL JM 9 55 104 N0 1 Tpsd2 TU TF E7 2 0 1047 N0 T7 Tpsd2 Sum total of regenerative energies Sum total of negative energies in 1 to 8 b Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo mo...

Page 210: ...ake option ER J Es Ec Calculate the power consumption of the regenerative brake option on the basis of single cycle operation period tf s to select the necessary regenerative brake option PR W ER tf 13 1 3 Connection of the regenerative brake option Set parameter No 2 according to the open to be used Parameter No 0 Selection of regenerative 0 Not used 2 MR RB032 3 MR RB12 4 MR RB32 5 MR RB30 6 MR ...

Page 211: ...switch off the magnetic contactor MC when abnormal heating occurs Note 5m 16 4 ft max G3 G4 Thermal protector terminals Abnormal heating will dis connect G3 G4 D P P C G3 G4 C Always remove the lead from across P D b MR J2S 500A MR J2S 700A Always remove the wiring across P C of the servo amplifier built in regenerative brake resistor and fit the regenerative brake option across P C P P C G3 Note ...

Page 212: ...unting method Accessory screw For MR J2S 500A For MR J2S 700A Accessory screw Accessory screw For the MR RB51 install the cooling fan as shown 82 5 40 1 58 82 5 133 Fan installation screw hole dimensions 2 M3 screw hole for fan installation Depth 10 or less Screw hole already machined Recommended fan Toyo Denki s TL396A or equivalent Fan Terminal block Thermal relay Installation surface Horizontal...

Page 213: ... 119 4 69 99 3 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 b MR RB32 MR RB30 MR RB31 c MR RB50 MR RB51 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 Regenera...

Page 214: ...istor and is connected to the bus across P N of the servo amplifier As compared to the MR RB regenerative brake option the brake unit can return larger power Hence use the this brake unit when the MR RB cannot provide sufficient regenerative brake capability 1 Selection Brake unit Resistor unit Permissible Continuous Power kw Max Instantaneous Current kw Applicable Servo Amplifier FR BU 15K FR BR ...

Page 215: ... PR PR P P N P N Servo amplifier Servo amplifier Brake unit Resistor unit 5m 16 404ft or less 5m 16 404ft or less 10m 32 808ft or less 10m 32 808ft or less Brake unit Twist Twist Resistor unit 3 Outside dimensions a Brake unit FR BU Unit mm in D K F BA B E AA A C E EE F K Note Control circuit terminals Main circuit terminals Operation display Note Ventilation ports are provided in both side faces ...

Page 216: ...BR 15K 170 6 693 100 3 937 450 17 717 432 17 008 410 16 142 220 8 661 6 0 236 35 1 378 6 0 236 1 6 0 063 20 0 787 15 66 139 FR BR 30K 340 11 389 270 10 63 600 23 622 582 22 913 560 22 047 220 8 661 10 0 394 35 1 378 10 0 394 2 0 079 20 0 787 30 33 069 13 1 3 Power return converter 1 Selection The converters can continuously return 75 of the nominal regenerative power They are applied to the servo ...

Page 217: ...11 L21 L1 L2 L3 EM1 SG ALM Power return converter FR RC SK ON MC B C SG N P C RDY SE Alarm output RDY output A B C 5m 16 4ft or less N P Operation ready MC OFF EM1 RA2 FR RC Ready COM VDD RA2 Power factor improving reactor FR BAL R R RX S SX T TX R L1 S L2 T L3 B C Always remove wiring across P C Phase detection terminals ...

Page 218: ... 0 315 3 2 0 126 87 3 425 19 41 888 FR RC 30K 340 13 386 270 10 630 600 23 622 582 22 913 195 7 677 10 0 394 10 0 394 8 0 315 3 2 0 126 90 3 543 31 68 343 4 Mounting hole machining dimensions When the power return converter is fitted to a totally enclosed type box mount the heat generating area of the converter outside the box to provide heat generation measures At this time the mounting hole havi...

Page 219: ...r connection with the servo motor and other models Those indicated by broken lines in the figure are not options HC SFS HC RFS HC UFS 2000r min HC KFS HC MFS HC UFS 3000 r min CN1A CN1B CN2 CN3 1 2 3 4 5 7 8 6 11 10 10 11 15 16 17 18 Operation panel Controller Servo amplifier 9 19 20 To U V W Personal computer 12 13 14 ...

Page 220: ...HSCBL M H Refer to 2 in this section Long flexing life Connector 10120 3000VE Shell kit 10320 52F0 008 3M or equivalent Connector MS3106A20 29S D190 Cable clamp CE3057 12A 3 D265 Back shell CE02 20BS S DDK 5 IP65 compliant encoder cable MR ENCBL M H Refer to 2 in this section Long flexing life IP65 IP67 Not oil resistant Connector 10120 3000VE Shell kit 10320 52F0 008 3M or equivalent Housing 1 17...

Page 221: ...J6 S6 Japan Aviation Electronics 14 Communication cable MR CPCATCBL3M Refer to 3 in this section For connection with PC AT compatible personal computer 15 Power supply connector set MR PWCNS1 Refer to the Servo Motor Instruction Manual Connector CE05 6A22 23SD B BSS Cable clamp CE3057 12A 2 D265 DDK 16 Power supply connector set MR PWCNS2 Refer to the Servo Motor Instruction Manual Connector CE05 ...

Page 222: ...er 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 40 131 2 and 50m 164 0ft sizes Model MR JCCBL M 2 Connection diagram For the pin assignment on the servo a...

Page 223: ... 13 2 1 and the MR J2CNM connector set for encoder cable fabrication and fabricate an encoder cable as shown in the following wiring diagram Referring to this wiring diagram you can fabricate an encoder cable of up to 50m 164 0ft length including the length of the encoder cable supplied to the servo motor When the encoder cable is to be fabricated by the customer the wiring of MD and MDR is not re...

Page 224: ...0 40 131 2 50 164 0 2 5 10 20 30 Long flexing life Symbol Cable length m ft Model MR ENCBL M H 40 50 Note MR JHSCBL M L has no 40 131 2 and 50m 164 0ft sizes 2 6 56 5 16 4 10 32 8 20 65 6 30 98 4 40 131 2 50 164 0 2 Connection diagram For the pin assignment on the servo amplifier side refer to Section 3 3 1 CN2 A B C D E F G H J K L M A B C MR D MRR E F BAT G LG H J K L M N SHD P R LG S P5 T Servo...

Page 225: ...12 18 2 7 17 9 1 S R C D F N G Plate Servo amplifier side Encoder side P5 LG P5 LG P5 LG MR MRR BAT LG SD S R C D F N 19 11 20 12 18 2 7 17 9 1 G Plate Use of AWG22 10m 32 8ft to 50m 164 0ft Use of AWG24 10m 32 8ft to 50m 164 0ft When fabricating an encoder cable use the recommended wires given in Section 13 2 1 and the MR J2CNS connector set for encoder cable fabrication and fabricate an encoder ...

Page 226: ...itch 20 pins D SUB9 pins 3 2 5 7 8 6 4 TXD RXD GND RTS CTS DSR DTR FG RXD LG TXD LG Servo amplifier side Plate 2 1 12 11 Personal computer side MR CPCATCBL3M When fabricating the cable refer to the connection diagram in this section The following must be observed in fabrication 1 Always use a shielded multi core cable and connect the shield with FG securely 2 The optional communication cable is 3m...

Page 227: ...fitting AERSBAN ESET For the use of the cable clamp fitting refer to Section 13 2 6 2 c 2 Terminal labels Among the terminal block labels for the junction terminal block use the two for the MR J2S A MR J2 A When changing the input signals in parameters No 43 to 48 refer to 4 in this section and Section 3 3 and apply the accessory signal seals to the labels 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 ...

Page 228: ...Z LA LB OP LZR LAR LBR RD LG P15R COM SG SA SD SP1 LZ LA LB OP LZR LAR LBR RD LG VC VDD DO1 SON TLC PC TLC SG P15R TLA COM RES EMG LSP LSN ALM ZSP SD LG NP PP P15R COM SG OPC NG PG INP SD CR LZ LA LB OP LZR LAR LBR RD LG VC VDD DO1 SON TLC ST1 ST2 SG P15R TLA COM RES EMG LSP LSN ALM ZSP SD SP2 LG VLA VDD DO1 SON VLC RS2 RS1 SG P15R TC COM RES EMG ALM ZSP SD SP2 For CN1A For CN1B For CN1A For CN1B ...

Page 229: ...og monitor output 2 Analog monitor output 1 Servo amplifier CN3 Not used MO1 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 18 19 20 CN3B 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 1...

Page 230: ...R 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 EMG TD RD 05 1 5 0 5 1 64 1 3 28 5 16 4 Symbol Cable length m ft Model MR J2HBUS M 13 1 7 Battery MR BAT A6BAT Use the battery to build an absolute position detection system ...

Page 231: ...rogram operation in simple language Advanced function Machine analyzer gain search machine simulation File operation Data read save print Others Automatic operation station setting 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 IBM PC AT ...

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

Page 233: ...s wire sizes The wires used assume that they are 600V vinyl wires and the wiring distance is 30m 98 4ft max If the wiring distance is over 30m 98 4ft choose the wire size in consideration of voltage drop The alphabets a b c in the table correspond to the crimping terminals Table 13 2 used to wire the servo amplifier For connection with the terminal block TE2 of the MR J2S 100A or less refer to Sec...

Page 234: ...JCCBL M L 20 30 65 6 98 4 0 3 12 6 pairs 12 0 18 62 1 2 8 2 UL20276 AWG 22 6pair BLAC 2 5 6 56 16 4 0 2 12 6 pairs 40 0 08 105 0 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 BLAC MR JHSCBL M L 10 to 30 32 8 to 98 4 0 3 12 6 pairs 12 0 18 62 1 2 8 2 UL20276 AW...

Page 235: ...NFB FR BAL Servo amplifier R S T X Y Z L1 L2 L3 MC 1 phase 230VAC NFB FR BAL Servo amplifier R S T X Y Z L1 L2 L3 MC 1 phase 100 to120VAC NFB FR BAL Servo amplifier R S T X Y Z L1 L2 MC W W1 C RXSY T Z H 5 D1 5 Installation screw D 5 Unit mm Dimensions mm in Servo amplifier Model W W1 H D D1 C Mounting screw size Terminal screw size Weight kg lb MR J2S 10A 1 20A FR BAL 0 4K 135 5 31 120 4 72 115 4...

Page 236: ... 5 0 53 16 5 0 65 3 0 0 12 or less 30 0 1 18 or more Crimping terminal for M4 screw Vinyl tube 4 7 1 0 0 19 0 04 0 8 0 03 13 2 6 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction Since the servo amplifier is an electronic device which h...

Page 237: ...duced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits input and output circuits those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables and those transmitted through the power supply cables Noises produced by servo amplifier Noises transmitted...

Page 238: ... servo amplifier 3 Avoid laying the power lines Input 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 transmitte...

Page 239: ... 5 0 71 0 06 Note that a diode should be installed to a DC relay DC valve or the like Maximum voltage Not less than 4 times the drive voltage of the relay or the like Maximum current Not less than twice the drive current of the relay or the like Diode RA c Cable clamp fitting AERSBAN SET Generally the earth of the shielded cable may only be connected to the connector s SD terminal However the effe...

Page 240: ...38 L or less 10 0 39 30 1 18 7 0 28 24 0 0 2 Note Screw hole for grounding Connect it to the earth plate of the control box 0 24 24 0 3 0 0 940 0 940 Unit mm Unit in B 0 3 0 01 2 5 0 20 hole installation hole Type A B C Accessory fittings Clamp fitting L AERSBAN DSET 100 3 94 86 3 39 30 1 18 clamp A 2pcs A 70 2 76 AERSBAN ESET 70 2 76 56 2 20 clamp B 1pc B 45 1 77 ...

Page 241: ...ioned above On 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 fil...

Page 242: ...n the electric channel from the leakage current breaker to the input terminals of the servo amplifier Found from Fig 13 1 Ig2 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 13 1 Ign Leakage current when a filter is connected to the input side 4 4mA per one FR BIF Iga Leakage current of the servo amplifier Found from Table ...

Page 243: ... a leakage current breaker generally available Find the terms of Equation 13 2 from the diagram Ig1 20 1000 5 0 1 mA Ig2 20 1000 5 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in Equation 13 2 Ig 10 0 1 0 0 1 3 0 1 0 1 8 0 mA According to the result of calculation use a leakage current breaker having the rated sensitivity current Ig of 8 0 mA or more A leakage current breaker ha...

Page 244: ...xample NFB L1 L2 L3 L11 L21 L1 L2 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 There is no L3 for 1 phase 100 to 120VAC power supply 2 Connect when the power supply has earth L1 L2 L3 3 Outline drawing 23 0 0 906 LABEL LINE L...

Page 245: ... A F E D L K L M C Dimensions mm in Model A B C D E F G H J K L M HF3040A TM 260 10 23 210 8 27 85 3 35 155 6 10 140 5 51 125 4 92 44 1 73 140 5 51 70 2 76 M5 M4 HF3050A TM 290 11 42 240 9 45 100 3 94 190 7 48 175 6 89 160 6 30 44 1 73 170 5 51 100 3 94 R3 25 length 8 M6 M4 ...

Page 246: ... as personal computer RS 232C RS 422 converter To CN3 Axis 1 Station 0 Axis 2 Station 1 Axis 32 Station 31 Unavailable as option To be prepared by customer To CN3 To CN3 Servo amplifier Servo amplifier Servo amplifier 2 Cable connection diagram Wire as shown below 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...

Page 247: ...he personal computer MR CPCATCBL3M is available Refer to Section 13 1 4 TXD RXD GND RTS CTS 12 11 2 1 TXD GND RXD GND FG 3 2 5 7 8 Personal computer connector D SUB25 socket Note 3 Note 2 15m 49 2ft max Note 1 Servo amplifier CN3 connector Plate DSR DTR 6 4 Note 1 3M s CN3 connector Connector 10120 6000EL Shell kit 10320 3210 000 2 15m 49 2ft max in environment of little noise However this distanc...

Page 248: ...h sends a reply in response to the instruction servo amplifier is called a slave station When fetching data successively the master station repeatedly commands the slave station to send data Item Description Baudrate 9600 19200 38400 57600 asynchronous system Transfer code Start bit 1 bit Data bit 8 bits Parity bit 1 bit even Stop bit 1 bit Transfer protocol Character system half duplex communicat...

Page 249: ... communication standard selection 0 RS 232C used 1 RS 422 used Parameter No 16 3 Serial communication response delay time Set the time from when the servo amplifier slave station receives communication data to when it sends back data Set 0 to send back data in less than 800 s or 1 to send back data in 800 s or more Serial communication response delay time 0 Invalid 1 Valid reply sent in 800 s or m...

Page 250: ...tion using the communication command Transmission data is valid for the servo amplifier of the specified station number or group When is set as the station number added to the transmission data the transmission data is made valid for all servo amplifiers connected However when return data is required from the servo amplifier in response to the transmission data set 0 to the station number of the s...

Page 251: ...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 Controller side Master station Servo side Slave station EOT causes the servo to return to the receive neutral status 4 Data frames The data length depends on the command or Data 4 frames Data 8 frames or 12 frames or 16 frames ...

Page 252: ... s 0 1 0 0 4 4 D T d t 0 1 0 1 5 5 E U e u 0 1 1 0 6 6 F V f v 0 1 1 1 7 7 G W g w 1 0 0 0 8 8 H X h x 1 0 0 1 9 9 I Y i y 1 0 1 0 10 J Z j z 1 0 1 1 11 K k 1 1 0 0 12 L l 1 1 0 1 13 M m 1 1 1 0 14 N n 1 1 1 1 15 O _ o DEL 3 Station numbers You may set 32 station numbers from station 0 to station 31 and the JIS8 unit codes are used to specify the stations Station number 0 1 2 3 4 5 6 7 8 9 10 11 1...

Page 253: ...rred in the transmitted data C c Checksum error Checksum error occurred in the transmitted data D d Character error Character not existing in the specifications was transmitted E e Command error Command not existing in the specifications was transmitted F f Data No error Data No not existing in the specifications was transmitted Negative response 14 6 Checksum Checksum range Check Checksum range E...

Page 254: ...n between the master and slave stations the error code in the response data from the slave station is a negative response code B to F b to f In this case the master station retransmits the message which was sent at the occurrence of the fault Retry operation A communication error occurs if the above operation is repeated and results in the error three or more consecutive times Message Message Mess...

Page 255: ...tion 1 from the servo amplifier of station 0 Data item Value Description Station number 0 Servo amplifier station 0 Command 05 Read command Data No 02 Parameter No 2 Checksum 30H 30H 35H 02H 30H 32H 03H FCH 0 2 STX ETX 5 0 Yes No Yes No No No Yes Yes Yes No 0 0 5 0 2 0 Axis No Command Data No Data Start Data make up Checksum calculation and addition Addition of SOH to make up transmission data Dat...

Page 256: ...lue and processing information Bus voltage 12 2 Parameter Command 0 5 Command Data No Description Frame length 0 5 0 0 to 5 4 Current value of each parameter The decimal equivalent of the data No value hexadecimal corresponds to the parameter number 8 3 External I O signals Command 1 2 Command Data No Description Frame length 1 2 4 0 External input pin statuses 8 1 2 C 0 External output pin status...

Page 257: ...nd processing information at alarm occurrence Bus voltage 12 6 Group setting Command 1 F Command Data No Description Frame length 1 F 0 0 Reading of group setting value 4 7 Others Command Data No Description Frame length 0 2 9 0 Servo motor end pulse unit absolute position 8 0 2 9 1 Command unit absolute position 8 0 2 7 0 Software version 16 14 11 2 Write commands 1 Status display Command 8 1 Com...

Page 258: ... of EMG LSP and LSN 1EA5 4 9 0 1 3 Enables the disabled external output signals DO 1EA5 4 7 Data for test operation mode Command 9 2 A 0 Command Data No Description Setting range Frame length 9 2 0 0 Input signal for test operation 8 9 2 A 0 Forced output from signal pin 8 Command Data No Description Setting range Frame length A 0 1 0 Writes the speed of the test operation mode jog operation posit...

Page 259: ...from hexadecimal to decimal and a decimal point is placed according to the decimal point position information When the display type is 1 the eight character data is used unchanged The following example indicates how to process the receive data 003000000929 given to show The receive data is as follows 0 0 Data 32 bit length hexadecimal representation Data conversion is required as indicated in the ...

Page 260: ... is transferred in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit By way of example here is described how to process the set data when a value of 15 5 is sent Since the decimal point position is the second digit the decimal point po...

Page 261: ...o display type is required Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Decimal point position 0 No decimal point 1 Lower first digit usually not used 2 Lower second digit 3 Lower third digit 4 Lower fourth digit 5 Lower fifth digit 6 Lower sixth digit 2 Status display data clear The cumulative feedback pulse data of the status display is cleared Send this comman...

Page 262: ...er No Data is transferred in hexadecimal Decimal point position 0 No decimal point 1 Lower first digit 2 Lower second digit 3 Lower third digit 4 Lower fourth digit 5 Lower fifth digit Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Parameter write type 0 Valid after write 1 Valid when power is switched on again after write Read enable disable 0 Read enable 1 Read d...

Page 263: ...fter making sure that it is within the upper lower limit value range given in Section 5 1 2 Read the parameter data to be written confirm the decimal point position and create transmission data to prevent error occurrence On completion of write read the same parameter data to verify that data has been written correctly Command Data No Set data 8 4 0 0 to 5 4 See below Data is transferred in hexade...

Page 264: ... 9 16 24 1 CN1B 17 9 17 25 2 CN1B 15 10 18 26 3 CN1B 5 11 19 27 4 CN1B 14 12 20 28 5 CN1A 8 13 21 29 6 CN1B 7 14 22 30 7 CN1B 8 15 23 31 2 External output pin status read Read the ON OFF statuses of the external output pins a Transmission Transmit command 1 2 and data No C 0 Command Data No 1 2 C 0 b Reply The slave station sends back the ON OFF statuses of the output pins b31 b0 0 OFF 1 ON b1 Com...

Page 265: ...als DI OFF External analog input signals 0V Pulse train inputs None 1 Disabling enabling the external input signals DI external analog input signals and pulse train inputs with the exception of EMG LSP and LSN Transmit the following communication commands a Disable Command Data No Data 9 0 0 0 1EA5 b Enable Command Data No Data 9 0 1 0 1EA5 2 Disabling enabling the external output signals DO Trans...

Page 266: ...ommand 9 2 data No 0 0 and data Command Data No Set data 9 2 0 0 See below b31 b0 0 OFF 1 ON b1 Command of each bit is transmitted to the slave station as hexadecimal data bit Signal abbreviation bit Signal abbreviation bit Signal abbreviation bit Signal abbreviation 0 SON 8 16 24 1 LSP 9 17 25 2 LSN 10 18 26 3 TL 11 ST1 19 27 4 12 ST2 20 28 5 PC 13 21 29 6 RES 14 22 30 7 CR 15 23 31 ...

Page 267: ...0 1EA5 3 Choose the test operation mode Command Data No Transmission data Selection of test operation mode 8 B 0 0 0000 Test operation mode cancel 8 B 0 0 0001 Jog operation 8 B 0 0 0002 Positioning operation 8 B 0 0 0003 Motor less operation 8 B 0 0 0004 DO forced output 4 Set the data needed for test operation 5 Start 6 Continue communication using the status display or other command b Terminati...

Page 268: ...ration data Item Command Data No Data Speed A 0 1 0 Write the speed r min in hexadecimal Acceleration decelerat ion time constant A 0 1 1 Write the acceleration deceleration time constant ms in hexadecimal Moving distance A 0 1 3 Write the moving distance pulse in hexadecimal b Start Turn on the external input signals SON and ST1 ST2 by using command 9 2 data No 0 0 Item Command Data No Data Forwa...

Page 269: ...choose DO forced output 0 0 Selection of test operation mode 4 DO forced output output signal forced output 0 4 2 External output signal ON OFF Transmit the following communication commands Command Data No Setting data 9 2 A 0 See below Command of each bit is sent to the slave station in hexadecimal b31 b0 0 OFF 1 ON b1 bit External output pin bit External output pin bit External output pin bit Ex...

Page 270: ...L _ no alarm 2 Alarm occurrence time read Read the occurrence time of alarm which occurred in the past The alarm occurrence time corresponding to the data No is provided in terms of the total time beginning with operation start with the minute unit omitted a Transmission Send command 3 3 and data No 2 0 to 2 5 Refer to Section 14 11 1 b Reply The alarm occurrence time is transferred in decimal Hex...

Page 271: ...d command 3 5 and any of data No 8 0 to 8 E corresponding to the status display item to be read Refer to Section 14 11 1 b Reply The slave station sends back the requested status display data at alarm occurrence 0 0 Data 32 bits long represented in hexadecimal Data conversion into display type is required Display type 0 Conversion into decimal required 1 Used unchanged in hexadecimal Decimal point...

Page 272: ...rted into decimal For example data 000186A0 is 100000 pulse in the motor end pulse unit 2 Command unit absolute position Read the absolute position in the command unit a Transmission Send command 0 2 and data No 9 1 Command Data No 0 2 9 1 b Reply The slave station sends back the requested command pulses Absolute value is sent back in hexadecimal in the command unit Must be converted into decimal ...

Page 273: ...14 28 14 COMMUNICATION FUNCTIONS MEMO ...

Page 274: ...d cumulative revolution counter value retaining time if the cable is unplugged or broken LSO 1XO MR BAT CPU General purpose programmable controller Servo amplifier Pulse train command Changing the current position data Positioning module I O module Current position data Input Output Home position data EEPROM memory Backed up in the case of power failure Current position data Detecting the number o...

Page 275: ...d data by a battery with power off It is recommended to replace the battery in three years independently of whether power is kept on or off 3 Period during which data can be held by the super capacitor in the encoder after power off with the battery voltage low or the battery removed or during which data can be held with the encoder cable disconnected Battery replacement should be finished within ...

Page 276: ...take the following precautions Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand 1 Open the operation window When the model used is the MR J2S 200A MR J2S 350A or more also remove the front cover 2 Install the battery in the battery holder 3 Install the battery connector into CON1 until it clicks Battery connector Batter...

Page 277: ... Note 3 EMG Note 1 Positioning module Note 2 Stroke end in forward rotation Stroke end in reverse rotation External torque control Electromagnetic brake output Near zero point signal Stop signal Power supply 24V Ready Zero point signal Clear Command pulses for open collector type Dog Stop Emergency stop Servo on ABS transmission mode ABS request ABS bit 0 ABS bit 1 Send data ready Torque limit 10V...

Page 278: ...data 2 bits which is sent from the servo to the programmable controller in the ABS transfer mode If there is a signal the circuit between D01 and SG is closed DO 1 ABS bit 1 ZSP CN1B 19 Indicates the upper bit of the ABS data 2 bits which is sent from the servo to the programmable controller in the ABS transfer mode If there is a signal the circuit between ZSP and SG is closed DO 1 Send data ready...

Page 279: ...SD71 M99 for 1PG turns on c The servo configuration software ABS data display window refer to Section 15 9 and programmable controller side ABS data registers D3 D4 for A1SD71 D106 D107 for 1PG show the same value at the home position address of 0 If any warning such as ABS time out warning AL E5 or programmable controller side transfer error occurs refer to Section 15 10 or Chapter 10 and take co...

Page 280: ...ady ON ABS transfer mode OFF TLC send data ready OFF DI0 allocation change Transmission data set Transmission data set DI0 allocation change Watch dog timer Reading 2 bits Shift and addition Watch dog timer Reading 2 bits Shift and addition Setting the current position Sum check Every time the SON is turned ON the ABS transfer mode signal is turned ON to set the data to be transmitted The data is ...

Page 281: ... position latched when the ABS transfer mode ABSM signal switches from OFF to ON At the same time this data is set as a position command value inside the servo amplifier Unless the ABS transfer mode signal ABSM is turned ON the base circuit cannot be turned ON 1 At power on a Timing chart OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 80 ms 80 ms 1 2 3 Power supply Servo on SON 4 ABS transfer mo...

Page 282: ...al ABSM is turned OFF during the ABS transfer mode the ABS transfer mode is interrupted and the time out error AL E5 occurs 4 The functions of output signals such as ZSP TLC D01 and INP change depending on the ON OFF state of the ABS transfer mode signal ABSM Note that if the ABS transfer mode signal ABSM is turned ON for a purpose other than ABS data transmission the output signals will be assign...

Page 283: ...the absolute position and turns ON the send data ready TLC signal to notify the programmable controller that the servo is ready for data transmission 3 After acknowledging that the ready to send TLC signal has been turned ON the programmable controller turns ABS request ABSR ON 4 In response to ABS request ABSR the servo outputs the lower 2 bits of the ABS data and the ready to send TLC signal in ...

Page 284: ...the servo The method of calculating the check sum is shown Every time the programmable controller receives 2 bits of ABS data it adds the data to obtain the sum of the received data The check sum is 6 bit data Negative data is available for the FX 1PG and unavailable for the A1SD71 Example ABS data 10 FFFFFFF6H 10b 01b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b b 11 101101b 10 FFFF FFF6 1...

Page 285: ... controller within 5s after the send data ready signal is turned ON this is regarded as a transmission error and the ABS time out warning AL E5 is output OFF ON OFF ON OFF ON 5s ABS transfer mode ABS request Send data ready AL E5 warning Signal is not turned ON No Yes 2 ABS request ON time time out check applied to 32 bit ABS data in 2 bit units check sum If the ABS request signal is not turned OF...

Page 286: ...ck sum error occurs the programmable controller should retry transmission of the ABS data Using the ladder check program turn OFF the ABS transfer mode ABSM and servo on SON signals once Turn them ON again after an OFF time of longer than 20 ms If the ABS data transmission fails to end normally even after retry regard this situation as an ABS check sum error and execute error processing The start ...

Page 287: ...ABS transfer mode signal ABSM cannot be accepted In the reset state the ABS transfer mode signal ABSM can be input OFF ON OFF ON OFF ON OFF ON OFF ON 80 ms OFF ON OFF ON Servo on SON Reset RES ABS transfer mode ABSM ABS request ABSR Send data ready TLC Transmission ABS data Base circuit Alarm output ALM Ready RD Occurrence of alarm During transfer of ABS ABS data Operation enabled OFF ON ...

Page 288: ... ON during an emergency stop as shown below the servo amplifier transmits to the controller the current position latched when the ABS transfer mode ABSM switches from OFF to ON and at the same time the servo amplifier sets this data as a position command value However since the base circuit is OFF during an emergency stop the servo lock status is not encountered Therefore if the servo motor is rot...

Page 289: ...ergency stop state In this case the base circuit and the ready signal RD are turned ON after the emergency stop state is reset OFF ON OFF ON OFF ON OFF ON OFF ON 80 ms OFF ON OFF ON Servo on SON Emergency stop EMG ABS transfer mode ABSM ABS request ABSR Send data ready TLC Send ABS data Base circuit Ready RD During transfer of ABS ABS data Operation enabled ...

Page 290: ...he non volatile memory as the home position ABS data The home position setting signal should be turned on after it has been confirmed that the in position D01 or INP is on If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to ...

Page 291: ...the home position ABS data The home position setting signal should be turned on after it has been confirmed that the in position D01 or INP is on If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to 1 000 000 times OFF ON OFF...

Page 292: ...s used as the ABS data bit 1 Hence make up an external sequence which will cause the electromagnetic brake torque to be generated by the ABS mode ABSM and electromagnetic brake interlock signals OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 80 ms 20 ms Tb 80 ms 20 ms Tb Power supply Servo on SON ABS transfer mode ABSM ABS request ABSR Send data ready TLC Send ABS data Base circuit...

Page 293: ...solute position data of the servo amplifier and the programmable controller a difference will occur between the position data of the servo amplifier and that of the programmable controller To prevent this difference in position data from occurring do as described below When the servo amplifier has detected the stroke end perform jog operation or the like to clear the stroke end After that switch t...

Page 294: ...nt removed from the machine home position by more than one revolution of the motor shaft 0 0 10000 50000 50000 0 0 10000 50000 20000 Machine home position Home position operation home position Programmable controller coordinate system ABS coordinate system a If revolution direction parameter Pr 14 0 b If revolution direction parameter Pr 14 1 Programmable controller coordinate system ABS coordinat...

Page 295: ...curs if power is turned on within this range ABS coordinate value error occurs if power is turned on within this range Home position address changed to 2000 Home position address changed to 2000 b If revolution direction parameter Pr 14 1 c In a positioning program the address of the positioning point should be determined by adding the home position address to the target position address Example A...

Page 296: ...ow First slot Vacant slot 16 points Second slot Special function module 32 points 2 To execute the FROM TO instruction for the A1SD71 use the head I O number of the second slot A1S CPU A1SD71 X Y000 to X Y00F X Y010 to X Y02F X30 to X3F Y40 to Y4F I O numbers to be set with FROM TO instruction 16 point input module 16 point output module Note The program example given in 3 in this section is for 1...

Page 297: ...ler Power supply ABS bit 0 Completion of positioning ABS bit 1 Zero speed Send data ready Torque limit control Trouble Servo on ABS transfer mode ABS request Alarm reset Power supply Power supply Electromagnetic brake output Note 4 Note 1 JOG JOG Alarm reset Emergency stop Servo on Home position return Operation mode I Operation mode II Position start Position stop Note 1 To be connected for dog t...

Page 298: ...data ready torque limit control Y42 ABS request X33 Servo alarm Y43 Alarm reset X34 Error reset X44 Note 2 Electromagnetic brake output X35 Servo emergency stop Y45 Note 1 Clear X36 Servo on Y48 Servo alarm X37 Home position return start Y49 ABS communication error X38 Operation mode I Y4A ABS check sum error X39 Operation mode II Y4B ABS coordinate error D register M contact D0 ABS data transmiss...

Page 299: ...vel m PLS inch PLS degree PLS PLS D P K D3 D3 Constant K for conversion into unit of travel 1 to 10 to 100 1 to 10 to 100 1 to 10 to 100 None Reference For 1 m PLS set constant K to 10 For 5 m PLS set constant K to 50 When the unit setting is pulse the additional program is not required M9038 K1 K1 K201 H0001 TOP M9039 X36 D7 K3 MOV M8 SET M8 M9 M11 1 1 X36 M3 RST M8 RST C0 RST C1 RST A0 D100 DMOV...

Page 300: ...t Alarm reset output Error flag output Resetting ready to send Resetting servo on request Servo alarm Initializing ABS data transfer counter Initializing check sum transfer counter Initializing check sum register Initializing ABS data register Initializing ABS data register Initializing ABS data register Resetting error for ABS coordinate Resetting ABS transfer counter Resetting check sum transfer...

Page 301: ... 32 bit data Clearing register 1 Reading X axis rotating direction parameter Rotation direction parameter mask ABS data sign mask PLS processing command Reversing polarity of upper 16 bits Subtraction for upper 16 bits Reversing polarity of lower 16 bits Reading 4 bits Masking 2 bits Adding 2 bits Right rotation of A0 2 bits Counting check sum data reception frequency Completion of reading 2 bits ...

Page 302: ...rotation of A0 2 bits Adding check sum Counting frequency of ABS data reception Completion of reading 2 bits of ABS data Right rotation of A0 10 bits Masking check sum Sum check OK Sum check NG Sum check memory ABS check sum error Resetting ABS request ABS 2 bits request Setting ABS request 10ms delay timer Transmission data read enabled Continued from preceding page To be continued Read enabled A...

Page 303: ...tting ABS coordinate error 1 X axis Present position change ABS data ready ABS data ready Resetting ABS transfer mode ABS transfer mode timer 5s ABS request response timer 1s Ready to send response timer 1s ABS communication error Note When the unit setting parameter value of the AD71 positioning module is changed from 3 pulse to 0 mm the unit is 0 1 m for the input value To change the unit to 1 m...

Page 304: ...ift data Check sum NG Retry start pulse Retry counter Retry flag set Retry wait timer PC RUN Continued from preceding page POINT When absolute position data is received at power ON for example if a negative coordinate position which cannot be handled by the A1SD71 is detected the ABS coordinate error Y4B ON is generated If this error is generated move the axis into the positive coordinate zone in ...

Page 305: ...20 PLS M21 SET Y2D PC ready Clear signal ON timer request Clear signal 100ms ON timer Setting data set type home position return request Resetting data set type home position return request Clear signal ON Setting X axis home position address 500 in the data register 1 Changing X axis home position address PC RUN Clear signal 100ms ON timer Home position return mode Home position Y41 return mode X...

Page 306: ...e servo on signal is turned on the servo motor must be at a stop Y41 X30 M Y41 Completion of servo positioning ABS transfer mode Positioning completion ABS transfer mode i Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on signal is turned on the servo motor must be at a stop Y41 X31 M Y41 Servo zero speed ABS transfer m...

Page 307: ... and write the Y axis program FROMP H0001 K7872 D8 K1 DFROP H0001 K7912 D9 K1 DTOP H0001 K41 D3 K1 FROMP H0001 K7892 D8 K1 DFROP H0001 K7922 D9 K1 DTOP H0001 K341 D3 K1 b Data set type home position return Arrange the data set type home position return programs given in Section 15 8 1 3 f in series to control two axes Refer to the X axis data set type home position return program and create the Y ...

Page 308: ...ro speed Send data ready Torque limit control Alarm Servo ready JOG JOG Alarm reset Servo on Position start Position stop Home position return start 1PG error reset Emergency stop CN1A 19 Servo on ABS transfer mode ABS request Alarm reset Electromagnetic brake output Note 3 Note 2 Servo alarm ABS communication error ABS check sum error Pulse train for forward rotation Pulse train for reverse rotat...

Page 309: ...art 1PG error reset ABS bit 0 Completion of positioning ABS bit 1 Zero speed Send data ready Torque limit control Alarm Servo ready Emergency stop Note 2 Electromagnetic brake output Note 3 Servo alarm ABS communication error ABS check sum error Servo on ABS transfer mode ABS request Alarm reset Note 1 Pulse train for forward rotation Pulse train for reverse rotation Clear Z phase pulse Note 1 To ...

Page 310: ...ion return zero point signal count N 2 pulses Initial value 10 14 13 Home position address HP 0 15 Acceleration deceleration time Ta 200ms Initial value 100 16 Not usable 18 17 Target address I P I 0 20 19 Operation speed I V I 100000 Initial value 10 22 21 Target address II P II 0 24 23 Operation speed II V II 10 25 Operation command H0000 3 Instructions When the servo on pushbutton switch and th...

Page 311: ...eck sum discrepancy M4 Spare D24 Home position address Lower 16 bits M5 Servo on request D25 Home position address Upper 16 bits M6 Retry flag D106 D107 1PG present position address Lower 16 bits 1PG present position address Upper 16 bits M10 M11 M12 M13 ABS data 2 bit receiving buffer M20 M51 ABS data 32 bit buffer M52 M57 Check sum 6 bit buffer M58 M59 For checksum comparison T timer M62 Sum che...

Page 312: ...me position address to 0 Setting 1PG pulse command unit 1PG max speed 100 kpps 1PG Jog speed 10 kpps 1PG home position return speed 50 kpps 1PG creep speed 1 kpps 1PG home position return zero point count twice 1PG home position address setting 1PG acceleration deceleration time 200ms 1PG operation speed 100kpps Position move account 1 300000 pulses Position move account 2 250000 pulses Position m...

Page 313: ...ing retry counter Resetting ready to send ABS data Resetting servo on request Resetting ABS transfer mode Resetting ABS request Resetting retry flag Resetting check sum judgement Resetting communication counter Servo on PB Retry Servo on request Servo on PB Continued from preceding page To be continued Servo on and retry control M1 M6 ABS transmission start Retry M0 Y11 Error flag ABS communicatio...

Page 314: ...l data reception counter Error flag output Servo alarm output Resetting ABS transfer mode Resetting ABS request Resetting ready to send Resetting servo on request Resetting retry flag ABS transfer mode ON Clearing ABS data reception area Clearing ABS receiver data buffer Resetting ABS data reception counter Resetting all data reception counter Servo alarm detection alarm reset control ABS transfer...

Page 315: ... 2 bits Right shift 2 bits of ABS data Check sum addition Updating ABS data reception counter Updating all data reception counter Resetting ABS request Resetting ABS transfer mode Masking check sum 6 bits Comparison of check sum ABS data check sum error Retry command Setting retry wait timer 100ms Storing check sum value in the case of check sum error Retry flag ON Resetting servo on request ABS t...

Page 316: ...dress ABS data 1PG Setting ABS data ready Clearing check sum judging area Resetting retry flag Detecting ABS communication error Resetting ABS request ABS transfer mode 5s timer ABS request response 1s timer Ready to send response 1s timer ABS communication error Counting retry frequency Setting servo on request Continued from preceding page To be continued Check sum match ABS communi cation error...

Page 317: ...l Note Program example for the dog type home position return For the data set type home position return refer to the program example in 2 d in this section Start command pulse 1PG JOG command 1PG JOG command 1PG home position return start Setting motion distance 1PG start Index processing 1PG stop command 1PG error reset Continued from preceding page To be continued Normally OFF Servo ready Positi...

Page 318: ...ore starting home position return Do not turn ON the clear signal Y5 for an operation other than home position return Turning it ON in other circumstances will cause position shift Y1 X0 X14 M70 M71 T210 M70 PLS M71 D24 K500 DMOVP K1 D24 K13 K0 DTOP K1 D24 K26 K0 DTOP T210 M71 SET K10 M71 RST Y5 Clear signal ON timer request Clear signal 100ms ON timer Setting data set type home position return re...

Page 319: ...the servo on signal is turned on the servo motor must be at a stop Y1 X0 M Y1 Completion of servo positioning ABS transfer mode Positioning completion ABS transfer mode g Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on signal is turned on the servo motor must be at a stop Y1 X1 M Y1 Servo zero speed ABS transfer mode ...

Page 320: ...3 13 10 20 SG SG VDD COM 24 24G FG LG Servo amplifier CN1B CN1A JOG JOG Alarm reset Emergency stop Servo on Home position return Operation mode I Operation mode II Position start Position stop DO1 ABS data bit 1 zero speed Readying to send data Torque limiting Trouble Upper limit Lower limit ZSP TLC I II OFF OFF OFF ON ON OFF ON ON JOG Note 3 Operation mode Operating status Home position return Po...

Page 321: ...ear signal Therefore do not connect the clear signal of the MR J2 A to the A1SD75 AD75 but connect it to the output module of the programmable controller 3 This circuit is provided for your reference 4 The electromagnetic brake output should be controlled via a relay connected to the programmable controller output 5 Use the differential line driver system for pulse input Do not use the open collec...

Page 322: ...ecksum error X29 Operation mode II D register M contact D0 ABS data transmission counter M5 ABS data transmission start D1 Checksum transmission counter M6 Sum check completion D2 Checksum addition register M7 Sum check mismatch D3 ABS data Lower 16 bits M8 ABS data ready D4 ABS data Upper 16 bits M9 Transmission data read enabled D5 ABS data 2 bit receiving buffer M10 Checksum 2 bits read complet...

Page 323: ...el per pulse 0 1 to 1 to 10 to 100 0 00001 to 0 0001 to 0 001 to 0 01 to 0 00001 to 0 0001 to 0 001 to 0 01 to Unit of travel m PLS inch PLS degree PLS PLS D P K D3 D3 Constant K for conversion into unit of travel 1 to 10 to 100 to 1000 1 to 10 to 100 to 1000 1 to 10 to 100 to 1000 None Reference For 1 m PLS set constant K to 10 For 5 m PLS set constant K to 50 The additional program is not requir...

Page 324: ...rocessing instruction Current position change flag Resetting ready Resetting servo on request Resetting ABS transmission counter at servo OFF Resetting checksum transmission counter at servo OFF Servo on output ABS interface start Setting retry flag Resetting retry counter Alarm reset output Error flag output Resetting ready Resetting servo on request Servo alarm To be continued Continued from pre...

Page 325: ...tting checksum transmission counter ABS transfer mode Saving ABS 32 bit data Clearing register 1 Reading x axis rotation direction parameter Masking rotation direction parameter Masking ABS data sign PLS processing command Reversing polarity of upper 16 bits Decrementing upper 16 bits by 1 Reversing polarity of lower 16 bits Lower 16 bits 0 D4 1 D4 ABS transfer mode initial setting ABS transfer mo...

Page 326: ...m error Reading 4 bits Masking 2 bits Adding 2 bits Right rotation of A0 2 bits Counting the number of checksum data Completion of reading checksum 2 bits Reading 4 bits Masking 2 bits Adding 2 bits Right rotation of A0 2 bits Adding checksum Counting the number of ABS data Completion of reading ABS 2 bits data Right rotation of A0 10 bits Masking sum check Sum check OK Sum check NG Sum check memo...

Page 327: ...d per pulse Adding home position address to absolute position ABS data ready 1 Changing X axis current 1 Writing No 9003 data for Positioning start Switching start signal off on completion of positioning Continued from preceding page To be continued ABS 2 bits completion Checksum 2 bits completion ABS transfer mode Ready to send ABS data ABS 2 bits request ABS request Ready to send ABS data 10ms d...

Page 328: ...uest response 1s timer ABS data send ready response 1s timer ABS communication error ABS transfer retry start pulse Setting retry flag Retry counter Retry waiting timer 100ms Resetting retry flag Saving received shift data ABS communi cation error Servo on PB Continued from preceding page ABS transfer mode ABS transfer mode ABS request ABS transfer mode Ready to send ABS data ABS transfer NG ABS r...

Page 329: ...on return Refer to the home position return program in the A1SD75 User s Manual Note that this program requires a program which outputs the clear signal Y35 after completion of home position return Add the following program K1 D12 K817 H0000 FROM M22 D12 K0016 WAND Y35 D12 K16 M22 16 Reading 1 axis home position return completion signal Masking home position return completion Home position return ...

Page 330: ...rn request Resetting data set type home position return request Switch clear signal on Setting X axis home position address 500 in data register 1 Changing X axis home position address 1 Changing X axis current value 1 Writing positioning data No 9003 Starting positioning Switching BUSY signal off to switch start signal off PC RUN Home position return mode ABS transfer mode Positioning completion ...

Page 331: ...he servo on signal is turned on the servo motor must be at a stop Y31 X20 M Y31 Servo positioning completion ABS transfer mode Positioning completion ABS transfer mode i Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on signal is turned on the servo motor must be at a stop Y31 X21 M Y31 Servo zero speed ABS transfer mod...

Page 332: ... K1 FROMP H0000 K155 D8 K1 DFROP H0000 K0072 D9 K1 DFROP H0000 K222 D9 K1 DTOP H0000 K1154 D3 K1 DTOP H0000 K1204 D3 K1 TO H0000 K1150 K9003 K1 TO H0000 K1200 K9003 K1 b Data set type home position return Arrange the data set type home position return programs given in Section 15 8 3 2 f in series to control two axes Refer to the X axis data set type home position return program and create the Y a...

Page 333: ...r reset requesting flag Requesting M100 AD75 normal flag AD75 normal M101 Initial error reset completion flag Error reset complete M102 All BUSY signal OFF flag All BUSY signal OFF internal relay M103 AD75 operable flag Operable D100 Flash ROM registration results Registration results D101 D102 D103 Axis error code Error code D104 D105 D106 Axis warning code Warning code Data register D107 D108 D1...

Page 334: ...changed at the start of positioning data No 9003 Therefore the starting program for positioning data No 9003 19 is added 8 Y axis sequence program Y axis data set type home position return program The slot numbers and buffer addresses are changed as indicated by 20 9 Writing absolute position data to AD75 The A1SD75 AD75 allows the current position to be changed only when the ready signal of the S...

Page 335: ... software MRZJW3 SETUP121E Choose Diagnostics and Absolute Encoder Data to open the absolute position data display screen 1 Choosing Diagnostics in the menu opens the sub menu as shown below 2 By choosing Absolute Encoder Data in the sub menu the absolute encoder data display window appears 3 Press the Close button to close the absolute encoder data display window ...

Page 336: ... signal ABS bit 0 PF bit 1 ZSP is disconnected or connected to the SG terminal Correct the wiring 2 PC ladder program wrong Correct the ladder 3 Faulty PLC input module Change the input module ABS data check sum error Y4A Y12 ABS data sumcheck resulted in mismatch four times consecutively 4 Faulty printed board in the servo amplifier Change the amplifier 1 The servo is turned ON or the power suppl...

Page 337: ...ime out OFF ON OFF ON OFF ON 1s ABS transfer mode ABS request Send data ready ABS communication error The signal does not come ON NO YES b The time required for the ABS transfer mode signal to go OFF after it has been turned ON ABS transfer time is checked If the ABS transfer time is longer than 5s this is communication error occurs if the ABS time out warning AL E5 is generated at the servo ampli...

Page 338: ...N 1s ABS transfer mode ABS request Send data ready ABS communication error The signal does not go OFF NO YES 15 10 2 Error resetting conditions Always remove the cause of the error before resetting the error Output coil Name AD71 1PG Servo status Resetting condition ABS communication error Y49 Y11 Ready RD signal off Reset when servo on PB X36 signal turns off For AD71 Reset when servo on PB X36 s...

Page 339: ...15 66 15 ABSOLUTE POSITION DETECTION SYSTEM MEMO ...

Page 340: ... PG PP NP LG LBR EMG LSP TLA LSN 2 Speed control mode 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DO1 LG VDD SG P15R COM 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 COM SG SG SG CN1A CN1B LB LAR LA LZR LZ OP P15R LBR EMG LSP LSN LG VC 3 Torque control mode 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DO1 LG VDD SG P15R COM 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 COM ...

Page 341: ...d Position control Droop pulse Present position calculation ABS counter Within one revolution position low high Load inertia moment ratio Auto tuning section Cumulative feedback pulse Cumulative command pulses CMX CDV Differ ential Command pulse frequency Electronic gear Bus voltage PP NP Speed feedback Within one revolution ABS counter Command pulse Servo motor Absolute position detection encoder...

Page 342: ... a Review of description for low voltage Section 3 5 Change in timing chart Section 3 5 3 Review of description Section 3 6 2 7 Review of connection Section 3 9 Review of POINT Section 3 9 3 b c Change in timing chart Section 3 9 3 d e Addition Section 5 1 2 2 Deletion of description as to parameter No 22 TC TLA Addition of parameter No 27 setting example Correction of parameter No 35 setting rang...

Page 343: ... POINT Section 15 8 1 1 b Change in b Coordinates when zero address is changed to other than 0 Section 15 8 2 1 b Review of connection diagram Section 15 9 Change of display screen Section 15 10 1 1 Deletion of Cause 5 of ABS checksum error Feb 2001 SH NA 030006 C Addition of MR J2S 500A 700A servo amplifiers Addition of HC KFS73 HC SFS502 HC SFS702 HC RFS353 HC RFS503 HC UFS502 HC UFS353 servo mo...

Page 344: ...ax 420 0 69 615 21 12 E mail louis poulsen DANMARK industri automation Geminivej 32 DK 2670 Greve Phone 45 0 43 95 95 95 Fax 45 0 43 95 95 91 E mail lpia lpmail com URHO TUOMINEN OY FINLAND Hevoshaankatu 3 FIN 28600 Pori Telefon 358 0 2 550 800 Telefax 358 0 2 550 8841 E mail EUROPEAN REPRESENTATIVES UTECO A B E E GREECE 5 Mavrogenous Str GR 18542 Piraeus Phone 30 0 1 42 10 050 Fax 30 0 1 42 12 03...

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