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7. GENERAL GAIN ADJUSTMENT

7.2 Auto tuning

7.2.1 Auto tuning mode

The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load
inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This
function permits ease of gain adjustment of the servo amplifier.

(1) Auto tuning mode 1

The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.

Parameter No.

Abbreviation

Name

6

PG1

Position control gain 1

34

GD2

Ratio of load inertia moment to servo motor inertia moment

35

PG2

Position control gain 2

36

VG1

Speed control gain 1

37

VG2

Speed control gain 2

38

VIC

Speed integral compensation

POINT

The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or
less.
Speed is 150r/min or higher.
The ratio of load inertia moment to servo motor inertia moment is 100
times or less.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque
during acceleration/deceleration or on a machine which is extremely loose,
auto tuning may not function properly, either. In such cases, use the auto
tuning mode 2 or manual mode 1,2 to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1.
Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load
inertia moment ratio (parameter No. 34).
The following parameters are automatically adjusted in the auto tuning mode 2.

Parameter No.

Abbreviation

Name

6

PG1

Position control gain 1

35

PG2

Position control gain 2

36

VG1

Speed control gain 1

37

VG2

Speed control gain 2

38

VIC

Speed integral compensation

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Summary of Contents for MR-J2S-*A

Page 1: ...ruction Manual uses recycled paper MODEL MODEL CODE J2 Super Series J MR J2S A Servo Amplifier Instruction Manual 1CW501 MR J2S A GIJUTU SIRYOU General Purpose AC Servo MODEL MR J2S A SERVO AMPLIFIER INSTRUCTION MANUAL General Purpose Interface J2 Super Series J HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 ...

Page 2: ...azardous 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...

Page 3: ... shock 2 To prevent fire note the following CAUTION Install the servo amplifier servo motor and regenerative resistor on incombustible material Installing them directly or close to combustibles will lead to a fire Always connect a magnetic contactor MC between the main circuit power supply and L1 L2 and L3 of the servo amplifier and configure the wiring to be able to shut down the power supply on ...

Page 4: ...lifier Servo motor 0 to 55 non freezing 0 to 40 non freezing In operation 32 to 131 non freezing 32 to 104 non freezing 20 to 65 non freezing 15 to 70 non freezing Ambient temperature In storage 4 to 149 non freezing 5 to 158 non freezing In operation 90 RH or less non condensing 80 RH or less non condensing Ambient humidity In storage 90 RH or less non condensing Ambience Indoors no direct sunlig...

Page 5: ...subishi 2 Wiring CAUTION Wire the equipment correctly and securely Otherwise the servo motor may operate unexpectedly Do not install a power capacitor surge absorber or radio noise filter FR BIF option between the servo motor and servo amplifier Connect the wires to the correct phase terminals U V W of the servo amplifier and servo motor Otherwise the servo motor does not operate properly Connect ...

Page 6: ...s designed to hold the motor shaft and should not be used for ordinary braking For such reasons as service life and mechanical structure e g where a ball screw and the servo motor are coupled via a timing belt the electromagnetic brake may not hold the motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions CAUTION When it is assumed that a hazardous condition may t...

Page 7: ... related to human life Before using the products for special purposes such as nuclear power electric power aerospace medicine passenger movement vehicles or under water relays contact Mitsubishi These products have been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsaf...

Page 8: ...ly with the EMC directive For specific EMC directive conforming methods refer to the EMC Installation Guidelines IB NA 67310 2 Low voltage directive The low voltage directive applies also to servo units alone Hence they are designed to comply with the low voltage directive This servo is certified by TUV third party assessment organization to comply with the low voltage directive 3 Machine directiv...

Page 9: ...rnal use a 24VDC power supply which has been insulation reinforced in I O 5 Grounding a To prevent an electric shock always connect the protective earth PE terminals marked of the servo amplifier to the protective earth PE of the control 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 ...

Page 10: ...60204 1 Ambient temperature 40 104 Sheath PVC polyvinyl chloride Installed on wall surface or open table tray c Use the EMC filter for noise reduction 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 operating environment ele...

Page 11: ... is limited to 5000A or less Having been subjected to the short circuit tests of the UL in the alternating current 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 15 minutes after power off Servo amplifier Discharge time min MR J2S 10A 1 20A 1 1 MR J2S 40A 1 6...

Page 12: ...with the Canada Electrical Code and any applicable provincial codes About the manuals This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General Purpose AC servo MR J2S A for the first time Always purchase them and use the MR J2S A safely Relevant manuals Manual name Manual No MELSERVO J2 Super Series To Use the AC Servo Safely IB NA 0300010 MELSERV...

Page 13: ...WWW NNC IR A 12 MEMO ...

Page 14: ...ode 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 15 3 4 Detailed description of the signals 3 24 3 4 1 Position control mode 3 24 3 4 2 Speed control mode 3 29 3 4 3 Torque control mode 3 31 3 4 4 Position speed control change mode...

Page 15: ...e 4 2 4 2 3 Speed control mode 4 4 4 2 4 Torque control mode 4 5 4 3 Multidrop communication 4 6 5 PARAMETERS 5 1 to 5 34 5 1 Parameter list 5 1 5 1 1 Parameter write inhibit 5 1 5 1 2 Lists 5 2 5 2 Detailed description 5 26 5 2 1 Electronic gear 5 26 5 2 2 Analog monitor 5 30 5 2 3 Using forward reverse rotation stroke end to change the stopping pattern 5 33 5 2 4 Alarm history clear 5 33 5 2 5 P...

Page 16: ... J2 Super 7 11 7 5 1 Response 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 ...

Page 17: ...R BAT A6BAT 13 34 13 1 9 MR Configurator Servo configurations software 13 35 13 1 10 Power regeneration common converter 13 37 13 1 11 Heat sink outside mounting attachment MR JACN 13 41 13 2 Auxiliary equipment 13 44 13 2 1 Recommended wires 13 44 13 2 2 No fuse breakers fuses magnetic contactors 13 47 13 2 3 Power factor improving reactors 13 47 13 2 4 Power factor improving DC reactors 13 48 13...

Page 18: ...5 2 Specifications 15 2 15 3 Battery 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 19 15 7 4 Use of servo motor with electromagnetic brake 15 21 15 7 5 How to process the absol...

Page 19: ...al is 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: ...te position detection system This 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 approp...

Page 21: ...al encoder Virtual motor Model torque Actual speed control Actual position control Note 3 Cooling fan Control circuit power supply Model position control Model position Model speed CN2 P U V W M Model speed control Current control Analog monitor 2 channels Diode stack Relay I F A D RS 232C RS 422 D A CN1A CN1B CN3 Controller RS 422 RS 232C Analog 2 channels D I O control Servo on Start Failure etc...

Page 22: ...nal battery for absolute position detection system Overcurrent protection Voltage detection Virtual encoder Virtual motor Model torque Actual speed control Actual position control Control circuit power supply Model position control Model position Model speed CN2 P U V W M Model speed control Current control Analog monitor 2 channels Diode stack Relay I F A D RS 232C RS 422 D A CN1A CN1B CN3 Contro...

Page 23: ...attery for absolute position detection system Overcurrent protection Voltage detection Virtual encoder Virtual motor Model torque Actual speed control Actual position control Control circuit power supply Model position control Model position Model speed CN2 U V W M Model speed control Current control Analog monitor 2 channels Diode stack I F A D RS 232C RS 422 D A CN1A CN1B CN3 Controller RS 422 R...

Page 24: ... 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 power fluctuation 10 0 2 or less ambient temperature 25 10 59 to 95 when using analog speed command Speed control mode Torque limit Se...

Page 25: ...o 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 MR Configurator servo configu...

Page 26: ...ay P S T 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 JOG...

Page 27: ...hase 100V to 120V is supported by 400W or less Power supply Series Symbol Description PX Indicates a servo amplifier of 11k to 22kW that does not use a regenerative resistor as standard accessory With no regenerative resistor Symbol Power supply 3 phase 200 to 230VAC Note 1 1 phase 230VAC 1 phase 100 to 120VAC None Note 2 1 General purpose interface Rated output Rated output kW Symbol 10 0 1 20 0 ...

Page 28: ... 100A 81 102 103 MR J2S 200A 121 201 152 202 153 203 103 153 152 MR J2S 350A 301 352 353 Note 1 203 Note 1 202 MR J2S 500A Note 1 502 Note 1 353 503 Note 1 352 502 MR J2S 700A Note 1 702 Servo motors HA LFS Servo amplifier 1000r min 1500r min 2000r min Note 1 HC LFS MR J2S 60A 52 MR J2S 100A 102 MR J2S 200A 152 MR J2S 350A 202 MR J2S 500A Note 1 502 302 MR J2S 700A Note 2 601 Note 2 701M Note 1 70...

Page 29: ...ry holder Contains the battery for absolute position data backup Communication connector CN3 Used to connect a command device RS 422 RS 232C and output analog monitor data Battery connector CON1 Used to connect the battery for absolute position data backup Reference Section 15 3 Section 15 3 Chpater 6 Chapter 6 Section 3 3 Section 3 3 Section 3 3 Section 13 1 5 Chapter 14 Section 1 5 Section 3 3 S...

Page 30: ...tery for absolute position data backup Communication connector CN3 Used to connect a command device RS 422 RS 232C and output analog monitor data Battery connector CON1 Used to connect the battery for absolute position data backup Reference Section 15 3 Section 15 3 Chpater 6 Chapter 6 Section 3 3 Section 3 3 Section 3 3 Section 13 1 5 Chapter 14 Section 1 5 Section 3 3 Section 13 1 5 Section 3 7 ...

Page 31: ...or absolute position data backup Communication connector CN3 Used to connect a command device RS 422 RS 232C and output analog monitor data Battery connector CON1 Used to connect the battery for absolute position data backup Reference Section 15 3 Section 15 3 Chpater 6 Chapter 6 Section 3 3 Section 3 3 Section 3 3 Section 13 1 5 Chapter 14 Section 1 5 Section 3 3 Section 13 1 5 Section 3 7 Sectio...

Page 32: ... absolute position data backup Communication connector CN3 Used to connect a command device RS 422 RS 232C and output analog monitor data Battery connector CON1 Used to connect the battery for absolute position data backup Reference Section 15 3 Section 15 3 Chpater 6 Chapter 6 Section 3 3 Section 3 3 Section 3 3 Section 13 1 5 Chapter 14 Section 1 5 Section 3 3 Section 13 1 5 Section 3 7 Section ...

Page 33: ...onnect a command device RS232C I O signal connector CN1A Used to connect digital I O signals I O signal connector CN1B Used to connect digital I O signals Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Control circuit terminal block TE2 Used to connect the control circuit power supply Encoder connector CN2 Used to connect the servo m...

Page 34: ...ront cover 2 1 Reinstallation of the front cover Front cover hook 2 places Front cover socket 2 places 2 1 1 Hold down the removing knob 2 Pull the front cover toward you 1 Insert the front cover hooks into the front cover sockets of the servo amplifier 2 Press the front cover against the servo amplifier until the removing knob clicks 2 For MR J2S 500A Removal of the front cover 2 1 Front cover Re...

Page 35: ...ver socket 2 places 2 1 Front cover hook 2 places 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 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 ...

Page 36: ...re Removal of the front cover Mounting screws 2 places Mounting screws 2 places 1 Remove the front cover mounting screws 2 places and remove the front cover 2 Remove the front cover mounting screws 2 places 3 Remove the front cover by drawing it in the direction of arrow ...

Page 37: ...of the front cover Mounting screws 2 places 1 Insert the front cover in the direction of arrow 2 Fix it with the mounting screws 2 places Reinstallation of the front cover Mounting screws 2 places 3 Fit the front cover and fix it with the mounting screws 2 places ...

Page 38: ...ifier Regenerative option D P C CHARGE Control circuit terminal block Note 1 Encoder cable Command device Note 1 Power supply lead L3 Power factor improving reactor FR BAL Options and auxiliary equipment Reference No fuse breaker Magnetic contactor MR Configurator Servo configuration software Section 13 2 2 Section 13 2 2 Section 13 1 9 Options and auxiliary equipment Reference Regenerative option...

Page 39: ...ntrol circuit terminal block Note 1 Encoder cable Command device Note 1 Power supply lead L1 L2 Power factor improving reactor FR BAL Options and auxiliary equipment Reference No fuse breaker Magnetic contactor MR Configurator Servo configuration software Section 13 2 2 Section 13 2 2 Section 13 1 9 Options and auxiliary equipment Reference Regenerative option Cables Power factor improving reactor...

Page 40: ...e option P C U V W Personal computer MR Configurator Servo configuration software MRZJW3 SETUP151E Command device Options and auxiliary equipment Reference No fuse breaker Magnetic contactor MR Configurator Servo configuration software Section 13 2 2 Section 13 2 2 Section 13 1 9 Options and auxiliary equipment Reference Regenerative option Cables Power factor improving reactor Section 13 1 1 Sect...

Page 41: ...W3 SETUP151E Junction terminal block Command device Note 1 Options and auxiliary equipment Reference No fuse breaker Magnetic contactor MR Configurator Servo configuration software Section 13 2 2 Section 13 2 2 Section 13 1 9 Options and auxiliary equipment Reference Regenerative option Cables Power factor improving reactor Section 13 1 1 Section 13 2 1 Section 13 2 3 Note 1 When using the regener...

Page 42: ...3 SETUP151E L11 L21 Junction terminal block Command device Options and auxiliary equipment Reference No fuse breaker Magnetic contactor MR Configurator Servo configuration software Section 13 2 2 Section 13 2 2 Section 13 1 9 Options and auxiliary equipment Reference Regenerative option Cables Power factor improving reactor Section 13 1 1 Section 13 2 1 Section 13 2 3 Note 1 When using the regener...

Page 43: ...3 Options and auxiliary equipment Reference No fuse breaker Magnetic contactor MR Configurator Servo configuration software Section 13 2 2 Section 13 2 2 Section 13 1 9 Options and auxiliary equipment Reference Regenerative option Cables Power factor improving reactor Section 13 1 1 Section 13 2 1 Section 13 2 3 Power factor improving DC reactor Section 13 2 4 Note 1 Cooling fan power supply of th...

Page 44: ...r 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 When treating the servo amplifier be careful about the edged parts such as the...

Page 45: ...ction 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 46: ...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 servo amplifier through openings ...

Page 47: ...r and flex the optional encoder cable or the power supply and brake wiring cables Use the optional encoder cable within the flexing life range Use the power supply and brake wiring cables within the flexing life of the cables 3 Avoid any probability that the cable sheath might be cut by sharp chips rubbed by a machine corner or stamped by workers or vehicles 4 For installation on a machine where t...

Page 48: ...ent a burst fault etc 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 EMG and other protective circuits Control output signal COM 24VDC Servo amplifier RA RA Control output s...

Page 49: ...que limit selection Note 6 Forward rotation stroke end Reverse rotation stroke end Upper limit setting Analog torque limit Note 11 MR Configurator 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 Trouble ...

Page 50: ...put signals are not used 6 When starting operation always turn on emergency stop EMG and Forward Reverse rotation stroke end LSP LSN Normally closed contacts 7 Trouble ALM turns on in normal alarm free condition When this signal is switched off at occurrence of an alarm the output of the programmable controller should be stopped by the sequence program 8 When connecting the personal computer toget...

Page 51: ...e 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 14 Plate Plate Note 3 6 Emergency stop Servo on Reset Proportion control Torque limit selection Note 6 Forward rotation stroke end Reverse rotation stroke...

Page 52: ...ncy stop EMG and forward reverse rotation stroke end LSP LSN Normally closed contacts 7 Trouble ALM turns on in normal alarm free condition When this signal is switched off at occurrence of an alarm the output of the programmable controller should be stopped by the sequence program 8 When connecting the personal computer together with analog monitor 1 MO1 and analog monitor 2 MO2 on the 7kW or les...

Page 53: ...r 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 MR Configurator 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 Encoder Z phase pu...

Page 54: ...ent necessary for the interface described in section 3 6 2 Connect the external 24VDC power supply if the output signals are not used 6 When starting operation always turn on emergency stop EMG and forward reverse rotation stroke end LSP LSN Normally closed contacts 7 Trouble ALM turns on in normal alarm free condition 8 When connecting the personal computer together with Analog monitor 1 MO1 and ...

Page 55: ...on 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 MR Configurator Servo configuration software Personal computer Note 7 Communication cable 2m 6 5ft max Plate Plate Note 7 Analog monitor Max 1mA Reading in both directions 10k 10k 2m 6 5ft max Note 4 8 12 Note 1 Control common Encoder Z phase pulse o...

Page 56: ... I O signals are used Reducing the number of I O points decreases the current capacity Refer to the current necessary for the interface described in section 3 6 2 Connect the external 24VDC power supply if the output signals are not used 6 Trouble ALM turns on in normal alarm free condition 7 When connecting the personal computer together with analog monitor 1 MO1 and analog monitor 2 MO2 on the 7...

Page 57: ...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 24VDC Servo amplifier Note 1 Approx 4 7k Note 1 Approx 4 7k Approx 4 7k Approx 4 7k Approx 4 7k Approx 4 7...

Page 58: ...ent 1 Signal arrangements a MR J2S 700A or less 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 fra...

Page 59: ...ITSUBISHI CHARGE 2 LG 4 6 MD 8 10 1 LG 3 5 7 MR 9 12 LG 14 16 MDR 18 P5 20 11 LG 13 15 17 MRR 19 P5 P5 BAT CN2 CN1A CN1B CN4 1 2 4 MO1 MO2 LG Same as the one of the MR J2S 700A or less Same as the one of the MR J2S 700A or less The connector frames are connected with the PE earth terminal inside the servo amplifier For manufacturer adjustment Keep this open ...

Page 60: ... 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 I PC PC ST1 ST1 ST1 RS2 RS2 RS2 PC No 43 to 48 9 I TL TL ST2 ST2 ST2 RS1 RS1 RS1 TL No 43 to 48 10 SG SG SG SG SG SG 11 P15R P15R P15R P15R P15R P15R 12 I TLA Note 3 TLA TLA Note 3 TLA No...

Page 61: ... TL Torque limit selection MBR Electromagnetic brake interlock RES Reset LZ EMG Emergency stop LZR Encoder Z phase pulse differential line driver LOP Control change LA VC Analog speed command LAR Encoder A phase pulse differential line driver VLA Analog speed limit LB TLA Analog torque limit LBR Encoder B phase pulse differential line driver TC Analog torque command VDD I F internal power supply R...

Page 62: ...it and coast the servo motor 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 Turn RES on for more than 50ms to reset the alarm Some alarms cannot be deactivated by the reset signal Refer to section 10 2 Turning RES on in an alarm free status shuts off the base circuit The base circuit is not shut off w...

Page 63: ...ST1 Servo motor starting 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 off 1 on 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 motor torque ge...

Page 64: ...rnal speed command 5 parameter No 73 1 1 0 Internal 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 off 1 on 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 li...

Page 65: ...hich the base circuit is shut off and the dynamic brake is operated Turn EMG on short EMG common in the emergency stop state to reset that state DI 1 Clear CR CN1A 8 Turn CR on 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 is on DI 1 Electronic gear selection...

Page 66: ...supply to TLA Maximum torque is generated at 10V Refer to section 3 4 1 5 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 section 3 4 3 1 The torque at 8V input can be changed using parameter No 26 Analog input Analog speed command VC Apply 0 to ...

Page 67: ...e both the forward rotation start ST1 and the reverse rotation start ST2 are off DO 1 Limiting speed VLC VLC turns on when speed reaches the value limited using any of the internal speed limits 1 to 7 parameter No 8 to 10 72 to 75 or the analog speed limit VLA in the torque control mode VLC turns off when servo on SON turns off DO 1 Limiting torque TLC CN1B 6 TLC turns on when the torque generated...

Page 68: ...ock error AL 15 Memory 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...

Page 69: ...ference of the A 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 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 CN4 1 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...

Page 70: ...0 Open collector power input OPC CN1A 11 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 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 CN1A 4 CN1B 11 Outputs 15VDC to ...

Page 71: ...tes the timing of importing a pulse train A 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 rotatio...

Page 72: ...tance to a pulse train signal line The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains parameter No 21 has been set to 0010 The waveforms in the table refer to 1 a in 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 ro...

Page 73: ...ain signal line The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains parameter No 21 has been set to 0010 For the differential line driver the waveforms in the table refer to 1 a in 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 Forwa...

Page 74: ... OFF 3 Ready RD Servo on SON Alarm Ready RD ON OFF Yes No 80ms or less 10ms or less 10ms or less ON OFF 4 Electronic gear switching The combination of CM1 and CM2 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 molecule of the electronic gear changes Therefore if any shock occurs at this change use position smoothing ...

Page 75: ...00 0 0 10 5 0 05 Torque limit value TLA application voltage vs torque limit value TLA 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 mad...

Page 76: ...tion according to forward rotation start ST1 and reverse rotation start ST2 combination Note 1 External input signals Note 2 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 Servo lock Stop Servo lock Stop Servo ...

Page 77: ...command value 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 off 1 on The speed may...

Page 78: ...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 79: ...set in the applied 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 servo motor speed reaches the speed limit value torque control may become unstable Make the set value more than 100r min greater than the desired speed limit value 10 0 10 Rated speed Speed r min CCW direction CW direction VLA ...

Page 80: ...lection SP3 is not used initial status 1 1 Internal speed limit 3 parameter No 10 0 0 0 Analog speed limit VLA 0 0 1 Internal speed limit 1 parameter No 8 0 1 0 Internal speed limit 2 parameter No 9 0 1 1 Internal speed limit 3 parameter No 10 1 0 0 Internal speed limit 4 parameter No 72 1 0 1 Internal speed limit 5 parameter No 73 1 1 0 Internal speed limit 6 parameter No 74 When speed selection ...

Page 81: ...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 below ON OFF O...

Page 82: ...nals SP1 Speed command value 0 Analog speed command VC 1 Internal speed command 1 parameter No 8 Note 0 off 1 on By making speed selection 2 SP2 speed selection 3 SP3 usable by setting of parameter No 43 to 48 you can choose the speed command values of analog speed command VC and internal speed commands 1 to 7 Note External input signals SP3 SP2 SP1 Speed command value 0 0 0 Analog speed command V...

Page 83: ...rol mode 1 Torque control mode Note 0 off 1 on The control mode may be changed at any time A change timing chart is shown below Note When the start ST1 ST2 is switched off as soon as the mode is changed to speed control the servo motor comes to a stop according to the deceleration time constant 10V 0 ON OFF Torque control mode Servo motor speed Control change LOP Note Speed control mode Speed cont...

Page 84: ... VLA LG SD Servo amplifier 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 off 1 on When the inter...

Page 85: ...l 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 change LOP ...

Page 86: ...ote Shut off the main circuit power as soon as an alarm occurs 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent 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 ...

Page 87: ...DD ALM etc LG SD SDP SDN RDP RDN 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 Differential line driver output 35mA max LAR etc Note For the open collection pulse train input Make the following connection for the different line driver pulse tra...

Page 88: ...tal input interface DI 1 Give a signal with a relay or open collector transistor Source input is also possible Refer to 7 in this section For use of internal power supply For use of external power supply VDD COM 24VDC SG TR Servo amplifier R Approx 4 7 SON etc Note For a transistor Approx 5mA V CES 1 0V I CEO 100 A Switch COM SG Switch SON etc 24VDC 200mA or more Servo amplifier R Approx 4 7 VDD 2...

Page 89: ...is not connected as shown the servo amplifier will be damaged COM ALM etc SG Load Servo amplifier VDD 24VDC If the diode is not connected as shown the servo amplifier will be damaged Do not connect VDD COM Note 24VDC 10 Note If the voltage drop maximum of 2 6V interferes with the relay operation apply high voltage up to 26 4V from external source b Lamp load For use of internal power supply For us...

Page 90: ...se frequency 200kpps About 1 2k 24VDC 2m 78 74in or less Note Servo amplifier 24VDC Do not connect VDD OPC VDD OPC PP NP SG SD Max input pulse frequency 200kpps About 1 2k 24VDC 2m 78 74in or less Note Servo amplifier Note Pulse train input interface is comprised of a photo coupler Therefore it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal l...

Page 91: ...lse train input interface is comprised of a photo coupler Therefore it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line 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 curre...

Page 92: ...0 100 2 Output pulse Servo motor CCW rotation LA LAR LB LBR LZ LZR T 2 400 s or more OP The time cycle T is determined by the setting of the parameter No 27 and 54 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...

Page 93: ...4VDC 200mA or more R Approx 4 7 SON etc Switch Servo amplifier Note This also applies to the use of the external power supply When using the input interface of source type all Dl 1 input signals are of source type Source output cannot be provided For 11kW or more the source input interface cannot be used with the internal power supply Always use the external power supply CON2 MITSUBISHI JP11 CON2 ...

Page 94: ... transistor fault or the like may overheat the regenerative resistor causing a fire POINT For the power line circuit of the MR J2S 11KA to MR J2S 22KA refer to section 3 13 where the power line circuit is shown together with the servo motor connection diagram 3 7 1 Connection example Wire the power supply and main circuit as shown below so that the servo on SON turns off as soon as alarm occurrenc...

Page 95: ...L21 EMG SON SG VDD COM ALM RA Power supply 1 phase 100 to 120VAC or 1 phase 230VAC Emergency stop Servo on Note 2 Servo amplifier Trouble Emergency stop Note 1 Note 1 Configure the power supply circuit to shut off the magnetic contactor after detecting an alarm occurrence on the controller side 2 Not provided for 1 phase 100 to 120VAC ...

Page 96: ...ing DC reactor disconnect the wiring across P1 P2 and connect the power factor improving DC reactor across P1 P The power factor improving DC reactor can be used with MR J2S 11KA to 22KA Refer to section 13 2 4 P C D Regenerative option 1 MR J2S 350A or less When using servo amplifier built in regenerative resistor connect P and D Wired by default When using regenerative option disconnect between ...

Page 97: ...g on the main circuit power supply the warning disappears and the servo amplifier will operate properly 3 The servo amplifier can accept the servo on SON about 1 to 2s after the main circuit power supply is switched on Therefore when SON is switched on simultaneously with the main circuit power supply the base circuit will switch on in about 1 to 2s and the ready RD will switch on in further about...

Page 98: ...bring the servo motor to a sudden stop At this time the display shows the servo emergency stop warning AL E6 During ordinary operation do not use the external emergency stop EMG to alternate stop and run The servo amplifier life may be shortened Also if the forward rotation start ST1 and reverse rotation start ST2 are on or a pulse train is input during an emergency stop the servo motor will rotat...

Page 99: ...Doing so will deform the pins causing poor contact The connection method differs according to the series and capacity of the servo motor and whether or not the servo motor has the electromagnetic brake Perform wiring in accordance with this section 1 For grounding connect the earth cable of the servo motor to the protective earth PE terminal of the servo amplifier and connect the ground cable of t...

Page 100: ...ram HC KFS053 B to 73 B HC MFS053 B to 73 B HC UFS13 B to 73 B Servo amplifier Note 1 Servo motor Electromagnetic brake 24VDC EMG Note 2 To be shut off when servo off or Trouble ALM Encoder cable CN2 Motor Encoder U V W B1 B2 U Red V White W Black Green 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 contr...

Page 101: ...rake 3 8 3 I O terminals 1 HC KFS HC MFS HC UFS3000r min series 2 4 1 3 4 Power supply connector Molex Without electromagnetic brake 5557 04R 210 receptacle 5556PBTL Female terminal With electromagnetic brake 5557 06R 210 receptacle 5556PBTL Female terminal Encoder cable 0 3m 0 98ft Power supply lead 4 AWG19 0 3m 0 98ft With connector 1 172169 9 Tyco Electronics 1 2 3 4 1 2 5 4 3 6 1 2 3 5 6 Power...

Page 102: ...ignal U V W Note B2 Earth Key Note B1 CE05 2A22 23PD B Power supply connector signal arrangement Pin A B C D E F G U V W CE05 2A24 10PD B Signal Earth Note B2 Note B1 Note For the motor with electromagnetic brake supply electromagnetic brake power 24VDC There is no polarity View c View c D C B A A B C D E F G H A B C D E F G Pin A B C D U V W Signal Earth Key Key CE05 2A32 17PD B Note For the moto...

Page 103: ...ruction Manual for specifications such as the power supply capacity and operation delay time of the electromagnetic brake Note the following when the servo motor equipped with electromagnetic brake is used 1 Set 1 in parameter No 1 to make the electromagnetic brake interlock MBR valid Note that this will make the zero speed signal ZSP unavailable 2 Do not share the 24VDC interface power supply bet...

Page 104: ...ication or the like set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop 60ms 80ms Electromagnetic brake interlock MBR Note 1 ON OFF ON OFF 0 r min Base circuit Servo motor speed Servo on SON ON OFF Coasting Tb Electromagnetic brake operation delay time Release Activate Position command Note 4 Electromagnetic brake Release delay time and external relay Note ...

Page 105: ...ke operation delay time Electromagnetic brake release Note ON OFF Note ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated c Alarm occurrence Servo motor speed ON OFF Base circuit Electromagnetic brake interlock MBR Trouble ALM No ON Yes OFF Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake operation delay time Electromagnetic brake 10ms Note ON O...

Page 106: ... OFF Electromagnetic brake is activated e Only main circuit power supply off control circuit power supply remains on Servo motor speed ON OFF Base circuit Electromagnetic brake interlock MBR Trouble ALM No ON Yes OFF ON OFF Main circuit power supply Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Note 1 15ms or more Electromagnetic brake operation delay time Note 2 10ms Not...

Page 107: ... dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Control box Servo amplifier L1 L2 L3 L11 L21 CN1A CN1B Line filter NFB MC Protective earth PE CN2 U V W Outer box Servo motor Ensure to connect it to PE terminal of the servo amplifier Do not connect it directly to the p...

Page 108: ...e take care to avoid a short caused by the loose wires of the core and the adjacent pole Do not solder the core as it may cause a contact fault Alternatively a bar terminal may be used to put the wires together 2 When the wires are put together Using a bar terminal Cable Size Bar Terminal Type mm2 AWG For 1 cable For 2 cables Crimping Tool Manufacturer 1 25 1 5 16 AI1 5 10BK AI TWIN 1 5 10BK 2 2 5...

Page 109: ...ng the short circuit bar from across P D press the buttons of P and D alternately pulling the short circuit bar For the installation insert the bar straight to the end b When the wires are put together using a bar terminal Insert a bar terminal with the odd shaped side of the pressured terminal on the button side Bar terminal for one wire or solid wire Bar terminal for two wires When the two wires...

Page 110: ...ther Cable Size Bar Terminal Type mm2 AWG For 1 cable For 2 cables Crimping Tool Manufacturer 1 25 1 5 16 AI1 5 10BK AI TWIN 1 5 10BK 2 2 5 14 AI2 5 10BU CRIMPFOX ZA 3 or CRIMPFOX UD 6 Phoenix Contact 2 Connection Insert the core of the cable into the opening and tighten the screw with a flat blade screwdriver so that the cable does not come off Tightening torque 0 3 to 0 4N m 2 7 to 3 5 lb in Bef...

Page 111: ...connector shell External conductor Sheath External conductor Pull back the external conductor to cover the sheath Sheath Core Strip the sheath Screw Screw Ground plate Cable 3 13 Power line circuit of the MR J2S 11KA to MR J2S 22KA CAUTION Always connect a magnetic contactor MC between the main circuit power supply and L1 L2 and L3 of the servo amplifier and configure the wiring to be able to shut...

Page 112: ...1 ALM COM VDD RA1 Servo motor thermal relay RA2 Alarm RA1 emergency stop OFF 3 phase 200 to 230VAC Servo amplifier Note 1 Dynamic break Servo motor HA LFS series Encoder Note 2 Servo motor thermal relay 24VDC power supply Emergency stop servo on MR JHSCBL M cable Trouble P P1 Note 3 Cooling fan Note 1 When using the external dynamic break refer to section 13 1 4 2 Cooling fan power supply of the H...

Page 113: ...phase 200 to 230VAC power P C Regenerative option The servo amplifier built in regenerative resistor is not connected at the time of shipment When using the regenerative option wire it across P C Refer to section 13 1 1 for details N Return converter Brake unit When using the return converter or brake unit connect it across P N Refer to sections 13 1 2 and 13 1 3 for details Protective earth PE Co...

Page 114: ... Encoder connector signal arrangement MS3102A20 29P J Terminal box Encoder connector MS3102A20 29P Terminal box inside HA LFS601 701M 11K2 Earth terminal M6 screw Motor power supply terminal block U V W M6 screw Encoder connector MS3102A20 29P Cooling fan terminal block BU BV M4 screw Thermal sensor terminal block OHS1 OHS2 M4 screw U V W BU BV OHS1OHS2 Terminal block signal arrangement ...

Page 115: ...M4 screw Cooling fan terminal block BU BV BW M4 screw U V W BU BV OHS1OHS2 BW Terminal block signal arrangement Terminal box inside HA LFS15K1 20K1 22K1M 25K1 Encoder connector MS3102A20 29P Earth terminal M6 screw Thermal sensor terminal block OHS1 OHS2 M4 screw Cooling fan terminal block BU BV BW M4 screw Earth terminal M6 screw Motor power supply terminal block U V W M8 screw Terminal block sig...

Page 116: ...1K1M 15K1M 15K2 22K2 3 phase 200 to 230VAC 60Hz 62 50Hz 76 60Hz 0 18 50Hz 0 17 60Hz HA LFS 15K1 20K1 22K1M 65 50Hz 85 60Hz 0 20 50Hz 0 22 60Hz HA LFS25K1 120 50Hz 175 60Hz 0 65 50Hz 0 80 60Hz Cooling fan Note BU BV BW Motor thermal relay OHS1 OHS2 OHS1 OHS2 are opened when heat is generated to an abnormal temperature Earth terminal For grounding connect to the earth of the control box via the eart...

Page 117: ...WWW NNC IR 3 70 3 SIGNALS AND WIRING MEMO ...

Page 118: ...wer regeneration converter 1 For the MR 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 resistor and twisted cables are used for its wiring f When stroke end limit switches are used LSP and L...

Page 119: ...d on This is not a failure and takes place due to the uncharged capacitor in the encoder 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 li...

Page 120: ...usts gains The optimum 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 ...

Page 121: ... pattern acceleration deceleration time constant 2000 1000 500 0 Set 2000r min Set 1000ms Set 500ms 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 circuit power supply 2 Switch on the servo on SON When placed in the servo on...

Page 122: ...ero 4 2 4 Torque control mode 1 Power on 1 Switch off the servo on SON 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 operate at the lowest speed to confirm that the servo motor operates Refer to section 6 8 2 3 Parameter setting Set the para...

Page 123: ...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 motor to a sudd...

Page 124: ...hange 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...

Page 125: ... range P 100 pulse 6 PG1 Position control gain 1 P 7kW or less 35 11kW or more 19 rad s 7 PST Position command acceleration deceleration time constant position 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...

Page 126: ...BR 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 control gain 2 P 7kW or less 35 11kW or more 19 rad s 36 VG1 Speed control gain 1 P S 7kW or less 177 11kW or more 96 rad s 37 VG2 Speed control gain 2 P S 7kW or less 817 11kW or more 45 rad s 38 VIC Speed integral compensation P S 7kW or less 48...

Page 127: ...g ratio 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 Note 3 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...

Page 128: ... FR CV 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 Cooling fan is required 08 MR RB31 09 MR RB51 Cooling fan is required 0E When regenerative resistors supplied to 11k to 22kW are cooled by cooling fans to increase capability The MR RB65 66 and 67 are regenerative options that have encased the GRZG400 2 GRZG400 1 and GRZG400 0 8 respectively When using any of these regenerative options...

Page 129: ...e etc input filter is used to suppress it 0 None 1 1 777 ms 2 3 555 ms 3 5 333 ms CN1B pin 19 s function selection 0 Zero Speed detection ZSP 1 Electromagnetic brake interlock MBR CN1B pin 18 s function selection 0 Alarm ALM 1 Dynamic brake interlock DB When using the external dynamic brake with 11kW or more make dynamic brake interlock DB valid Selection of absolute position detection system Refe...

Page 130: ...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 7kW or less 0105 11kW or ...

Page 131: ...onstant position smoothing Used to set the time constant of a low pass filter 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 accelerat...

Page 132: ...celeration 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 Accelera...

Page 133: ... cannot 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 baud rate select various communication conditions and clear the alarm history Serial communication response delay time 0 Invalid 1 Valid reply sent after delay time of 800 s or more Serial baud rate selection 0 9600 bps 1 19200 bps 2 3...

Page 134: ...ax torque Note 2 Motor speed 8V max speed 3 Torque 8V max torque Note 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 400V Analog monitor MO1 Note 8V is outputted at the maximum torque Ho...

Page 135: ...on position 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 Pos...

Page 136: ...estart after instantaneous power failure servo lock at a stop in speed control mode and slight vibration suppression control Restart after instantaneous power failure If the power supply voltage has returned to normal after an undervoltage status caused by the reduction of the input power supply voltage in the speed control mode the servo motor can be restarted by merely turning on the start signa...

Page 137: ...n parameters 1 Function selection 4 Used to select stop processing at forward rotation stroke end LSP reverse rotation stroke end LSN off and choose VC VLA voltage averaging How to make a stop when forward rotation stroke end LSP reverse rotation stroke end LSN is valid Refer to section 5 2 3 0 Sudden stop 1 Slow stop VC VLA voltage averaging Used to set the filtering time when the analog speed co...

Page 138: ... 4 times greater than 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...

Page 139: ...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 1000 70 0 1 times 0 to 3000 P S 35 PG2 Position control gain 2 Used...

Page 140: ...1 Switched on automatically in servo amplifier No need of external wiring Reverse rotation stroke end LSN input selection 0 Switched on off by external input 1 Switched on automatically in servo amplifier No need of external wiring 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 pi...

Page 141: ...ther signal 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 ...

Page 142: ...T 47 DI6 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 LOP to CN1B pin 8...

Page 143: ...3 Regenerative error AL 10 Overvoltage AL 45 Undervoltage AL 46 Main circuit device overheat AL 50 Servo motor overheat AL 51 Overload 1 AL 24 Overload 2 AL 32 Main circuit AL 31 Overcurrent AL 35 Overspeed AL 52 Command pulse frequency error AL 16 Error excessive AL 1A Encoder error 1 AL 20 Motor combination error AL 25 Encoder error 2 AL 8E Absolute position erase 0 0 1 0 0 0 0 0 1 0 1 1 1 0 0 1...

Page 144: ...o checksum not added Protocol checksum selection 0 With 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 dir...

Page 145: ... 14dB 8dB 4dB Notch 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...

Page 146: ...ection 0 Normal 1 Large sensitivity When you choose valid the filter of the handwidth represented by the following expression is set automatically 2 1 GD2 setting 0 1 VG2 setting 10 For 1kW or less 2 1 GD2 setting 0 1 VG2 setting 5 For 2kW or more Hz 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 in...

Page 147: ...Refer to section 8 5 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 5 1 ms 0 to 100 P S 68 For manufacturer setting Do not change this value by any means 0 69 CMX2 Command pulse multiplying factor numerator 2 Used to set the multiplier ...

Page 148: ...d 6 of internal speed limits 500 r min 0 to 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 torqu...

Page 149: ...s CDV CMX Parameter 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 Ball screw lead mm n Reduction ratio Pt Servo motor resolution pulses rev 0 Travel per comma...

Page 150: ...ation e g an index table indexing positions will be missed due to cumulative error produced by rounding off For example entering a command of 36000 pulses in the above example causes the table to rotate only the following 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 m...

Page 151: ...ulse Servo amplifier A1SD75P 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 A1SD75P the maximum value of the pulse command that may be output is 200kpulse s in ...

Page 152: ...or 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 ...

Page 153: ...t selection Signal output to across MO1 LG Analog monitor MO2 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 1 MO1 32 Used to set the offset vol...

Page 154: ...tion CW direction 2048 pulse 2 Servo motor speed 8 V Max speed 0 Max speed CCW direction CW direction 8 Droop pulses Note 1 10V 8192pulse 10 V 0 8192 pulse 10 V CCW direction CW direction 8192 pulse 3 Torque Note2 8 V Max torque 0 Max torque Driving in CW direction Driving in CCW direction 9 Droop pulses Note 1 10V 32768pulse 10 V 0 32768 pulse 10 V CCW direction CW direction 32768 pulse 4 Current...

Page 155: ...ram 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 Servo Motor speed Current encoder Servo Motor Encoder Torque ...

Page 156: ...of zero 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 opera...

Page 157: ...imary 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...

Page 158: ...tput signal forced output Test operation Jog feed Test operation Positioning operation Test operation Motor less operation Software version L Software version H Automatic VC offset Current alarm Last 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 N...

Page 159: ... 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 servo 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 Servo motor speed Reverse rotation at 3000r min Reverse rotation is indicate...

Page 160: ...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 1 Torque control mode Analog speed limit VLA...

Page 161: ...timated 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 initi...

Page 162: ...rmed once 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 all...

Page 163: ...tional 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 Ma...

Page 164: ...age AL 10 Indicates that the fourth alarm in the past is overspeed AL 31 Indicates that there is no fifth alarm in the past Alarm history Indicates that there is no sixth alarm in the past Indicates no occurrence of parameter error AL 37 Parameter error No Indicates that the data of parameter No 1 is faulty Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 Even dur...

Page 165: ...operation procedure performed after power on to change the control mode parameter No 0 to the speed control mode Using the MODE button show the basic parameter screen The set value of the specified parameter number flickers UP DOWN The parameter number is displayed Press or to change the number Press SET twice Press UP once During flickering the set value can be changed Use or Press SET to enter 2...

Page 166: ...nce External 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 si...

Page 167: ... 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 CN1B 4 and CN1A 18 output signals are the same b Symbol and signal names Symbol Signal name Symbol Signal ...

Page 168: ...1 B 17 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...

Page 169: ... performed in the servo off state servo on SON 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 displa...

Page 170: ...fter choosing Incremental system in parameter No 1 The MR Configurator servo configuration software is required to perform positioning operation Test operation cannot be performed if the servo on SON 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 W...

Page 171: ...elease to stop If the communication cable is disconnected during jog operation performed by using the MR Configurator 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 oper...

Page 172: ...figuration software The initial 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 buttons is explained below Button Description Forward Click to start positioning operation CCW Reverse C...

Page 173: ...play You 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 sta...

Page 174: ... mode 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 ...

Page 175: ...o amplifier with the MR Configurator 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 resonanc...

Page 176: ...e performed properly if the following conditions are not satisfied Time to reach 2000r min is the acceleration deceleration time constant of 5s or less Speed is 150r min or higher The ratio of load inertia moment to servo motor inertia moment is 100 times or less The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance t...

Page 177: ...ad 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 moment ratio parameter No 34 value and response level The first digit of parameter No 2 t...

Page 178: ...ment procedure is as follows END Yes No Yes No No Yes Auto tuning adjustment Acceleration deceleration repeated Load inertia moment ratio estimation value stable Auto tuning conditions not satisfied Estimation of load inertia moment ratio is difficult Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performance ...

Page 179: ...ression 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 Parameter No 2 Response level setting Gain adjustment mode selection Machine charac...

Page 180: ...ess machine 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...

Page 181: ...n control 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...

Page 182: ...ional integral control For the speed integral compensation set the time constant of this integral control Increasing the setting lowers the response level However if the load inertia moment ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following express...

Page 183: ...position control gain 1 Set position control gain 1 6 Using the speed control gain 1 value checked in step 3 as the guideline of the upper limit look at the rotation status and set in speed control gain 1 the value three or more times greater than the position control gain 1 setting Set speed control gain 1 7 Looking at the interpolation characteristic and rotation status fine adjust the gains and...

Page 184: ...z 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 Parameter No ...

Page 185: ...WWW NNC IR 7 12 7 GENERAL GAIN ADJUSTMENT MEMO ...

Page 186: ...ss the 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 Fu...

Page 187: ...uency or 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 3 1 2 0 14dB 8dB 00 01 02 0...

Page 188: ...ter characteristics 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 level Mechanical sys...

Page 189: ...nsitivity 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 When a ball screw or the like is used resonance of high frequency may occur as the response level of the servo syst...

Page 190: ...l signal 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...

Page 191: ...nging condition values 67 CDT Gain changing time constant ms You can set the filter time constant for a gain change at changing 1 Parameters No 6 34 to 38 These parameters are the same as in ordinary manual adjustment Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment position control gain 2 speed control gain 2 and speed integral compensation to be chang...

Page 192: ... Command frequency is equal to higher than parameter No 66 setting 3 Droop pulse value is equal to higher than parameter No 66 setting 4 Servo motor speed is equal to higher than parameter No 66 setting 5 Gain changing condition parameter No 66 When you selected command frequency droop pulses or servo motor speed in gain changing selection parameter No 65 set the gain changing level The setting un...

Page 193: ... 20 ms 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 C...

Page 194: ... 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 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 g...

Page 195: ...WWW NNC IR 8 10 8 SPECIAL ADJUSTMENT FUNCTIONS MEMO ...

Page 196: ...part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions 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 t...

Page 197: ...WWW NNC IR 9 2 9 INSPECTION MEMO ...

Page 198: ...er supply of encoder 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 SON Servo motor shaft is not servo locked is free 1 Check the displ...

Page 199: ...mes to 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 fe...

Page 200: ...r servo amplifier s cumulative command pulses 2 CMX parameter No 3 CMX 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 ...

Page 201: ... 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 202: ...0 2 and remove cause Section 10 2 2 Switch on servo on SON 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 SON 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 displa...

Page 203: ...r 1 AL 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 Note 1 Note 1 Note 1 AL 31 1 0 1 Overspeed AL 32 1 0 0 Overcurrent AL 33 0 0 1 Overvoltage AL 35 1 0 1 C...

Page 204: ...hes off and the dynamic brake is operated to stop the servo motor At this time the display indicates the alarm No The servo motor comes to a stop Remove the cause of the alarm in accordance with this section The optional MR Configurator 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 cont...

Page 205: ...mory error 3 ROM memory fault Faulty parts in the servo amplifier Checking method Alarm AL 19 occurs if power is switched on after disconnection of all cable but the control circuit power supply cable Change the servo amplifier AL 1A Motor combination error Wrong combination of servo amplifier and servo motor Wrong combination of servo amplifier and servo motor connected Use correct combination 1 ...

Page 206: ...he regenerative option of larger capacity 3 Reduce the load 4 Power supply voltage is abnormal MR J2S A 260VAC or more MR J2S A1 135VAC or more Check the power supply Permissible regenerative power of the built in regenerative resistor or regenerative option is exceeded 5 Built in regenerative resistor or regenerative option faulty Change the servo amplifier or regenerative option AL 30 Regenerati...

Page 207: ...ectly 1 Regenerative option is not used Use the regenerative option 2 Though the regenerative option is used the parameter No 0 setting is 00 not used Make correct setting 3 Lead of built in regenerative resistor or regenerative option is open or disconnected 1 Change the lead 2 Connect correctly 4 Regenerative transistor faulty Change the servo amplifier 5 Wire breakage of built in regenerative r...

Page 208: ...ervo amplifier stops 1 Exchange the cooling fan or the servo amplifier 2 Reduce ambient temperature 1 Ambient temperature of servo motor is over 40 104 Review environment so that ambient temperature is 0 to 40 32 to 104 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 ...

Page 209: ...t 6 Machine struck something 1 Review operation pattern 2 Install limit switches 7 Encoder faulty Change the servo motor AL 52 Error excessive Note The difference between the model position and the actual servo motor position exceeds 2 5 rotations Refer to the function block diagram in section 1 2 8 Wrong connection of servo motor Servo amplifier s output terminals U V W do not match servo motor s...

Page 210: ...occurrence 2 Command pulse entered after clearing of droop pulses Do not enter command pulse after clearing of droop pulses AL 96 Home position setting warning Home position setting could not be made 3 Creep speed high Reduce creep speed AL 9F Battery warning Voltage of battery for absolute position detection system reduced Battery voltage fell to 3 2V or less Detected with the servo amplifier Cha...

Page 211: ...g EMG is off External emergency stop was made valid EMG was turned off Ensure safety and deactivate emergency stop AL E9 Main circuit off warning Servo on SON was switched on with main circuit power off Switch on main circuit power 1 PLC ladder program wrong 1 Correct the program AL EA ABS servo on warning Servo on SON turned on more than 1s after servo amplifier had entered absolute position data...

Page 212: ... N 1 B C N 3 Approx 20 Variable dimensions Servo amplifier A B Mass 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 PE terminals Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in TE1 L1 U V W Terminal screw M4 Tightening to...

Page 213: ...ting plate Terminal 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 Approx 20 Servo amplifier Mass kg lb MR J2S 70A MR J2S 100A 1 7 3 75 TE1 L1 U V W Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in TE2 D C P N PE terminals Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in L2 L3 L21 L11 Front Mounting Screw S...

Page 214: ... PE terminal 0 24 0 24 Cooling fan wind direction Servo amplifier Mass 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 2 N m 10 6 lb in Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in TE2 PE terminals Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in Mounting Screw Screw Size M5 Tightening torque 3 24 N m 28 676 lb in Term...

Page 215: ...ayout N P Cooling fan wind direction MITSUBISHI MITSUBISHI Approx 20 Cooling fan Cooling fan Servo amplifier Mass 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 10 6 lb in PE terminals Built in regenerative resistor lead terminal fixing screw Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in Terminal screw M3 5 Tightening torque 0 8...

Page 216: ... 0 24 Cooling fan wind direction MITSUBISHI OPEN OPEN MITSUBISHI Approx 20 Cooling fan Cooling fan Servo amplifier Mass 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 10 6 lb in Terminal screw M3 5 Tightening torque 0 8 N m 7 lb in Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in Built in regenerative resistor lead terminal fixing ...

Page 217: ...E CN2 TE2 2 12 0 47 mounting hole 0 47 Unit mm Unit in 260 10 24 Cooling fan Servo amplifier Mass kg lb MR J2S 11KA 15 33 1 MR J2S 15KA 16 35 3 TE2 L11 L21 Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in L1 L2 L3 TE1 Terminal screw M6 Tightening torque 3 0 N m 26 6 lb in W V U C P P1 N PE terminal Terminal screw M6 Tightening torque 6 0 N m 53 1 lb in Mounting Screw Screw Size M10 Tightenin...

Page 218: ...7 12 CHARGE CN2 TE2 0 47 260 10 2 Cooling fan wind direction Cooling fan Cooling fan Servo amplifier Mass kg lb MR J2S 22KA 20 44 1 TE2 L11 L21 Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in L1 L2 L3 TE1 W V U C P P1 N Terminal screw M8 Tightening torque 6 0 N m 53 1 lb in PE terminal Terminal screw M8 Tightening torque 6 0 N m 53 1 lb in Mounting Screw Screw Size M10 Tighting torque 26 5 ...

Page 219: ...0 39 Logo etc are indicated here 12 0 0 47 22 0 0 87 39 0 1 54 23 8 0 94 14 0 0 55 12 7 0 50 33 3 1 31 b Threaded type Model Connector 10120 3000PE Shell kit 10320 52A0 008 12 0 0 47 33 3 1 31 22 0 0 87 23 8 0 94 39 0 1 54 12 7 0 50 14 0 0 55 Logo etc are indicated here 10 0 0 22 5 7 27 4 1 08 Unit mm Unit in 0 39 Note This is not available as option and should be user prepared ...

Page 220: ...65 29 7 1 17 20 9 0 82 11 5 0 45 6 7 Logo etc are indicated here 2 0 5 0 02 Unit mm Unit in 0 26 2 Communication cable connector Japan Aviation Electronics Industry C D Fitting fixing screwG E max diameter of cable used F A B Unit mm Unit in Type A 1 B 1 C 0 25 D 1 E F Reference G DE C1 J6 S6 34 5 1 36 19 0 75 24 99 0 98 33 1 30 6 0 24 18 0 71 4 40 ...

Page 221: ...WWW NNC IR 11 10 11 OUTLINE DIMENSION DRAWINGS MEMO ...

Page 222: ...is 70 or less of the rated torque 1000 100 10 1 0 1 0 50 150 200 250 300 Note Load ratio Operation time s During rotation During stop 100 a MR J2S 10A to MR J2S 100A 1000 100 10 1 0 1 0 50 100 150 200 250 300 Note Load ratio Operation time s During rotation During stop b MR J2S 200A to MR J2S 350A 0 50 100 150 200 250 300 1 10 100 1000 10000 Note Load ratio Operation time s During rotation During ...

Page 223: ... motor Note 1 Power supply capacity kVA At rated torque With servo off m2 ft2 HC KFS053 13 0 3 25 15 0 5 5 4 HC MFS053 13 0 3 25 15 0 5 5 4 MR J2S 10A 1 HC UFS13 0 3 25 15 0 5 5 4 HC KFS23 0 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 HC SF...

Page 224: ... 0 530 45 11 118 4 HA LFS801 12 0 390 45 7 8 83 9 HA LFS12K1 18 0 580 45 11 6 124 8 MR J2S 11KA HA LFS11K1M 16 0 530 45 11 0 118 4 HA LFS15K2 22 0 640 45 13 139 0 HA LFS15K1 22 0 640 45 13 139 0 MR J2S 15KA HA LFS15K1M 22 0 640 45 13 139 0 HA LFS22K2 33 0 850 55 17 183 0 HA LFS20K1 30 1 775 55 15 5 166 8 HA LFS25K1 37 6 970 55 19 4 208 8 MR J2S 22KA HA LFS22K1M 33 0 850 55 17 0 193 0 Note 1 Note t...

Page 225: ...losure 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 he...

Page 226: ...ine rapid feed rate mm min in min JM Servo motor inertial moment kg cm2 oz in2 JL Load inertia moment converted into equivalent value on servo motor shaft kg cm2 oz in2 Brake time constant s te Delay time of control section s For 7kW or less servo there is internal relay delay time of about 30ms For 11k to 22kW servo there is delay time of about 100ms caused by a delay of the external relay and a ...

Page 227: ...ed r min Time constant ms 0 500 1000 1500 2000 2500 3000 153 503 103 353 203 18 16 14 12 10 8 6 4 2 0 HC SFS3000r min series HC RFS series Time constant ms Speed r min 352 500 1000 1500 2000 0 502 72 202 152 100 90 80 70 60 50 40 30 20 10 0 50 500 10001500200025003000 0 43 23 13 73 Speed r min Time constant ms 70 60 50 40 30 20 10 0 HC UFS 2000r min series HC UFS3000r min series 500 1000 1500 2000...

Page 228: ...S 200A MR J2S 10A1 to MR J2S 40A1 30 MR J2S 350A 16 MR J2S 500A MR J2S 700A 15 MR J2S 11KA to MR J2S 22KA Note 30 Note The value assumes that the external dynamic brake is used 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...

Page 229: ...70 to 100A Attenuated to approx 0A in 0 5 to 1ms MR J2S 200A 350A 120A Attenuated to approx 12A in 20ms 100 to 130A Attenuated to approx 0A in 0 5 to 1ms MR J2S 500A 44A Attenuated to approx 20A in 20ms MR J2S 700A 88A Attenuated to approx 20A in 20ms MR J2S 11KA MR J2S 15KA MR J2S 22KA 235A Attenuated to approx 20A in 20ms 30A Attenuated to approx 0A in several ms MR J2S 10A1 20A1 59A Attenuated ...

Page 230: ...ervo amplifiers may only be used Otherwise a fire may occur 1 Combination and regenerative power The power values in the table are resistor generated powers and not rated powers Regenerative power W Servo amplifier Built in regenerative resistor MR RB032 40 MR RB12 40 MR RB32 40 MR RB30 13 Note MR RB50 13 MR RB31 6 7 Note MR RB51 6 7 MR J2S 10A 1 30 MR J2S 20A 1 10 30 100 MR J2S 40A 1 10 30 100 MR...

Page 231: ...ct the regenerative option out of the combinations in 1 in this section b To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in depth selection of the regenerative option a Regenerative energy calculation Use the following table to calculate the regenerative energy M Fric...

Page 232: ...tive energies by the inverse efficiency to calculate the energy consumed by the regenerative option ER J Es Ec Calculate the power consumption of the regenerative option on the basis of single cycle operation period tf s to select the necessary regenerative option PR W ER tf 3 Connection of the regenerative option Set parameter No 2 according to the option to be used The MR RB65 66 and 67 are rege...

Page 233: ...he G3 and G4 terminals act as a thermal sensor G3 G4 is opened when the regenerative option overheats abnormally Servo amplifier Regenerative option Always remove the lead from across P D D P C G4 G3 Note 2 5m 16 4 ft or less Cooling fan Note 1 C P Note 1 When using the MR RB50 forcibly cool it with a cooling fan 92 92 minimum air flow 1 0m3 2 Make up a sequence which will switch off the magnetic ...

Page 234: ... 5m 16 4ft or less Cooling fan Note 1 C P Note 1 When using the MR RB50 MR RB51 forcibly cool it with a cooling fan 92 92 minimum air flow 1 0m3 2 Make up a sequence which will switch off the magnetic contactor MC when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4VA When using the regenerative resistor option remove...

Page 235: ...se set 0E in parameter No 0 P C Cooling fan 5m or less Do not remove the short bar Servo amplifier P1 Note Series connection Note The number of resistors connected in series depends on the resistor type Install a thermal sensor or like to configure a circuit that will shut off the main circuit power at abnormal overheat The supplied regenerative resistor does not have a built in thermal sensor If ...

Page 236: ...generative capability The G3 and G4 terminals are for the thermal sensor G3 G4 are opened when the regenerative option overheats abnormally RA ALM G3 G4 C P COM C P P1 Servo amplifier Do not remove the short bar Configure up a circuit which shuts off main circuit power when thermal sensor operates Note Regenerative option Note Specifications of contact across G3 G4 Maximum voltage 120V AC DC Maxim...

Page 237: ...ting screw Screw size M5 Tightening torque 0 5 to 0 6 N m 4 to 5 lb in Variable dimensions Mass Regenerative option LA LB LC LD kg lb MR RB032 30 1 18 15 0 59 119 4 69 99 3 9 0 5 1 1 MR RB12 40 1 58 15 0 59 169 6 65 149 5 87 1 1 2 4 b MR RB30 MR RB31 MR RB32 Unit mm in Terminal block G4 G3 C P Terminal screw M4 Tightening torque 1 2 N m 10 6 Ib in Mounting screw Screw M6 Tightening torque 5 4 N m ...

Page 238: ... in Terminal block G4 G3 C P Terminal screw M5 Tightening torque 2 0 N m 17 Ib in Mounting screw Screw M8 Tightening torque 13 2 N m 116 83 Ib in Mass Regenerative option kg Ib MR RB65 10 22 0 MR RB66 11 24 3 MR RB67 11 24 3 10 0 39 43 1 69 480 18 9 500 19 7 427 16 8 10 0 39 30 1 18 215 8 47 2 3 0 09 10 0 39 230 9 06 260 10 2 230 9 06 2 10 0 39 monuting hole TE1 G4G3 CP 15 0 59 82 5 82 5 82 5 4 M3...

Page 239: ...ination indicated in 1 of this section For executing a continuous regenerative operation use FR RC power regeneration converter or FR CV power regeneration common converter Brake unit and regenerative options Regenerative resistor cannot be used simultaneously Connect the brake unit to the bus of the servo amplifier As compared to the MR RB regenerative option the brake unit can return larger powe...

Page 240: ... 78 Cumulative energization time carrying over times CLr Parameter clear ECL Alarm history clear C1 For manufacturer setting Impossible Do not change the parameter 3 Connection example POINT Connecting PR terminal of the brake unit to P terminal of the servo amplifier results in brake unit malfunction Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit a Combin...

Page 241: ...nd D terminals 9 Do not connect more than one cable to each P and N terminals of the servo amplifier 10 Make sure to connect BUE and SD Factory wired b Combination with MT BR5 resistor unit NFB ALM RA1 MC SK MC ON OFF EMG Servo motor thermal relay RA2 Note 1 Power supply N P BUE SD PR B C A SD MSG Note 3 Note 5 RA3 P1 P N FR BU2 MT BR5 Servo amplifier P PR TH2 TH1 Note 4 MC RA3 Note 6 Note 2 L3 L1...

Page 242: ...e 600V grade heat resistant PVC insulated wire is recommended a Main circuit terminal Cable size Crimping terminal N P PR Brake unit Main circuit terminal screw size N P PR Tightening torque N m lb in HIV cables etc mm2 AWG FR BU2 15K M4 5 5 4 1 5 13 3 3 5 12 FR BU2 30K M5 5 5 5 2 5 22 1 5 5 10 N P PR Terminal block FR BU2 55K M6 14 6 4 4 38 9 14 6 b Control circuit terminal POINT Undertightening ...

Page 243: ...30K 1 MR J2S 700A FR BU2 30K 1 MR J2S 11KA FR BU2 30K 1 FVD5 5 6 Japan Solderless Terminal b FR BU2 55K 1 FVD14 6 Japan Solderless Terminal a MR J2S 15KA FR BU2 30K 1 FVD5 5 6 Japan Solderless Terminal b FR BU2 55K 1 FVD14 6 Japan Solderless Terminal a MR J2S 22KA FR BU2 55K 1 FVD14 8 Japan Solderless Terminal a Note Symbols in the applicable tool field indicate the following applicable tools Symb...

Page 244: ...IR 13 15 13 OPTIONS AND AUXILIARY EQUIPMENT FR BU2 30K Unit mm 129 5 5 59 18 5 Rating plate 52 2 5 hole Screw size M4 5 108 6 6 96 FR BU2 55K 18 5 Rating plate 52 72 5 142 5 5 6 158 6 170 2 5 hole Screw size M4 ...

Page 245: ...entilation ports are provided on both sides and the top The bottom is open Resistor unit W W1 H H1 H2 H3 D D1 C Approximate mass kg lb FR BR 15K 170 100 450 410 20 432 220 3 2 6 15 33 1 FR BR 30K 340 270 600 560 20 582 220 4 10 30 66 1 FR BR 55K 480 410 700 620 40 670 450 3 2 12 70 154 c MT BR5 H resistor unit Unit mm Resistor unit Resistance value Approximate mass kg lb MT BR5 55K 2 0 50 110 4 15...

Page 246: ...ously return 75 of the nominal regenerative power They are applied to the servo amplifiers of the MR J2S 500A to MR J2S 22KA Power regeneration converter Nominal Regenerative Power kW Servo Amplifier FR RC 15 15 MR J2S 500A MR J2S 700A FR RC 30 30 MR J2S 11KA MR J2S 15KA FR RC 55K 55 MR J2S 22KA 0 50 75 100 150 500 300 200 100 50 30 20 Continuous energization time sec Nominal regenerative power ...

Page 247: ...1 When not using the phase detection terminals fit the jumpers across RX R SX S and TX T If the jumpers remain removed the FR RC will not operate 2 For the servo amplifiers of 5k and 7kW always remove the wiring across P C of the built in regenerative resistor 3 Refer to the power return converter FR RC instruction manual IB NA 66330 for the power factor improving reactor to be used When using FR ...

Page 248: ...6 600 23 6 582 22 9 195 7 68 10 0 39 10 0 39 8 0 32 3 2 0 13 90 3 54 31 68 3 FR RC 55K 480 18 9 410 16 1 700 27 6 670 26 4 250 9 84 12 0 47 15 0 59 15 0 59 3 2 0 13 135 5 32 55 121 4 Mounting hole machining dimensions When the power regeneration 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 ...

Page 249: ...r to section 12 3 The brake unit is rated for a short duration Do not use it for high duty 1 Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated and is built in the 7kW or less servo amplifier Since it is not built in the 11kW or more servo amplifier purchase it separately if required ...

Page 250: ...so that power is switched off in the external sequence at servo alarm occurrence 2 When using the servo amplifier of 11k to 22kW make sure to connect P1 and P Factory wired When using the power factor improving DC reactor refer to section 13 2 4 3 Refer to section 1 3 for the power supply specification Servo motor rotation Coasting Alarm RA1 ON OFF Emergency stop EMG Absent Invalid Valid Short Ope...

Page 251: ...5 Screw M4 B A 5 0 2 E 13 14 E GND a b Unit mm Unit in Tightening torque 0 8 N m 7 lb in Tightening torque 1 2 N m 10 6 lb in Dynamic brake A B C D E F G Mass kg Ib Connection wire mm2 DBU 11K 200 7 87 190 7 48 140 5 51 20 0 79 5 0 2 170 6 69 163 5 6 44 2 4 41 5 5 DBU 15K 22K 250 9 84 238 9 37 150 5 91 25 0 98 6 0 24 235 9 25 228 8 98 6 13 23 5 5 ...

Page 252: ...ls 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 3000r min HA LFS CN1A CN1B CN2 CN3 CON2 CN4 Operation panel Controller Servo amplifier Personal computer 14 13 12 To U V W 19 20 1 2 6 15 16 17 18 3 4 5 7 8 7 8 3 4 5 10 10 11 11 9 Note 1 Note 2 21 Note 1 Use 12 and 13 with 7kW or less 2 Use 21 with 11kW or more ...

Page 253: ...cable MR JHSCBL M H Refer to 2 in this section Long flexing life Connector 10120 3000PE Shell kit 10320 52F0 008 3M or equivalent Connector D MS3106A20 29S D190 Cable clamp CE3057 12A 3 D Back shell CE02 20BS S D 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 3000PE Shell kit 10320 52F0 008 3M or equivalent H...

Page 254: ... 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 D BSS Cable clamp CE3057 12A 2 D DDK 16 Power supply connector set MR PWCNS2 Refer to the Servo Motor Instruction Manual Connector CE05 6A24 10SD D BSS Cable clamp CE3057 ...

Page 255: ...the required length is not found in the options fabricate the cable on the customer side a MR JCCBL M L MR JCCBL M H These encoder cables are used with the HC KFS HC MFS HC UFS3000r min series servo motors 1 Model explanation Long flexing life H Symbol Specifications L Standard flexing life Symbol Note Cable length m ft 2 2 6 56 5 5 16 4 10 10 32 8 20 20 65 6 30 30 98 4 40 40 131 2 50 50 164 0 Not...

Page 256: ... fabricating an encoder cable use the recommended wires given in section 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 cabl...

Page 257: ...50 164 0 Note MR JHSCBL M L has no 40m 131 2ft and 50m 164 0ft sizes Model MR JHSCBL M Symbol Cable length m ft 2 2 6 56 5 5 16 4 10 10 32 8 20 20 65 6 30 30 98 4 40 40 131 2 50 50 164 0 Model MR ENCBL M H Long flexing life 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 Servo amplifier 50m 164 0ft max Encoder connector Ser...

Page 258: ... MR MRR BAT LG SD 19 11 20 12 18 2 7 17 9 1 S R C D F N G P5 LG P5 LG P5 LG MR MRR BAT LG SD 19 11 20 12 18 2 7 17 9 1 S R C D F N G Note 1 This wiring is required for use in the absolute position detection system This wiring is not needed for use in the incremental system 2 AWG28 can be used for 5m 16 4ft or less When fabricating an encoder cable use the recommended wires given in section 13 2 1 ...

Page 259: ...Half pitch 20 pins D SUB9 pins 3 2 5 7 8 6 4 TXD RXD GND RTS CTS DSR DTR FG RXD LG TXD LG 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...

Page 260: ... the cable clamp fitting refer to section 13 2 7 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 17 18 19 1 For CN1A 0 1 2 3 4 5 6 7...

Page 261: ...SP1 LZ 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 ...

Page 262: ...ion card MR J2CN3TM Analog monitor 2 Analog monitor 1 Servo amplifier Not used Bus cable MR J2HBUS M 2 Connection diagram LG RXD LG MO3 SDP LG TXD LG MO2 P5 MO1 RDP TRE SDN CN3A 1 2 3 4 5 6 7 8 9 10 11 13 12 14 15 16 17 18 19 20 1 2 3 4 5 6 7 8 9 10 11 13 12 14 15 16 17 18 19 20 1 2 3 4 5 6 7 8 9 10 11 13 12 14 15 16 17 18 19 20 CN3B CN3C Shell Shell Shell 1 3 4 5 10 13 14 15 19 20 B5 B6 A5 A6 A1 ...

Page 263: ...port Association IATA went into effect on January 1 2003 and was enforced immediately In this rule provisions of the lithium and lithium ion batteries were revised to tighten the restrictions on the air transportation of batteries However since this battery is non dangerous goods non Class 9 air transportation of 24 or less batteries is outside the range of the restrictions Air transportation of m...

Page 264: ...sh version of Windows 95 Windows 98 Windows Me Windows NT Workstation 4 0 Windows 2000 Professional Windows XP Professional and Windows XP Home Edition operates Processor Pentium 133MHz or more Windows 95 Windows 98 Windows NT Workstation 4 0 Windows 2000 Professional Pentium 150MHz or more Windows Me Pentium 300MHz or more Windows XP Professional Windows XP Home Edition Memory 16MB or more Window...

Page 265: ...ervo 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 CN3 CN2 CN3 CN2 Note For cable connection refer to section 14 1 1 ...

Page 266: ...use of the FR CV a Up to six servo amplifiers can be connected to one FR CV b FR CV capacity W Total of rated capacities W of servo amplifiers connected to FR CV 2 c The total of used servo motor rated currents should be equal to or less than the applicable current A of the FR CV d Among the servo amplifiers connected to the FR CV the servo amplifier of the maximum capacity should be equal to or l...

Page 267: ...top is activated 2 For the servo motor with thermal relay configure a sequence that will shut off main circuit power when the thermal relay operates 3 For the servo amplifier configure a sequence that will switch the servo on after the FR CV is ready 4 For 7kW or less servo amplifier always remove the wiring 3 5kW or less across P D 5k 7kW across P C of built in regenerative resistor 5 When using ...

Page 268: ...o amplifier capacities is 15kW since 7kW 3 5kW 2 0kW 12 5kW Third unit 8mm assuming that the total of servo amplifier capacities is 7kW since 3 5kW 2 0kW 5 5kW Fourth unit 3 5mm assuming that the total of servo amplifier capacities is 2kW since 2 0kW 2 0kW FR CV 55K Servo amplifier 15kW Servo amplifier 7kW Servo amplifier 3 5kW Servo amplifier 2kW 2 2 2 2 Note Note Note Note For 7kW or less servo ...

Page 269: ...ble frequency fluctuation 5 Power supply Power supply capacity Note2 kVA 17 20 28 41 52 66 100 Protective structure JEM 1030 cooling system Open type IP00 forced cooling Ambient temperature 10 14 to 50 122 non freezing Ambient humidity 90 RH or less non condensing Environment Ambience Indoors without corrosive gas flammable gas oil mist dust and dirt Altitude vibration 1000m or less above sea leve...

Page 270: ...with the fitting screws 4 screws supplied and install the servo amplifier to the control box The environment outside the control box when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment conditions 1 Panel cut dimensions Unit mm in Changeable dimension Model A B C D Servo amplifier MR JACN15K 236 9 291 255 10 039 270 10 63 203 ...

Page 271: ...k outside mounting attachment b Installation to the control box 4 Outline dimension drawing a MR JACN15K MR J2S 11KA MR J2S 15KA Unit mm in Servo amplifier Attachment Panel Panel 20 0 787 145 5 709 400 15 748 35 1 378 194 7 638 84 3 307 58 2 283 12 0 472 3 2 0 126 236 9 291 155 6 102 11 5 0 453 260 10 236 280 11 024 260 10 236 510 20 079 580 22 835 Servo amplifier 4 12 Mounting hole Attachment 105...

Page 272: ... Unit mm in 68 2 677 145 5 709 400 15 748 35 1 378 194 7 638 84 58 12 3 2 0 126 326 12 835 155 6 102 105 11 5 260 370 14 567 350 13 78 510 20 079 580 22 835 Attachment Servo amplifier Attachment 4 12 Mounting hole Servo amplifier Panel Panel 2 283 0 472 3 307 10 236 4 134 0 453 ...

Page 273: ...ion lead 5 Electromagnetic brake lead 2 Control power supply lead Regenerative option Cooling fan BU BV BW Cooling fan lead Power supply 6 Power regeneration converter lead Power regeneration converter The following table lists wire sizes The wires used assume that they are 600V vinyl wires and the wiring distance is 30m 98 4ft max If the wiring distance is over 30m 98 4ft choose the wire size in ...

Page 274: ...zes with the power regeneration converter FR RC Model Wires mm2 FR RC 15K 14 AWG6 FR RC 30K 14 AWG6 FR RC 55K 22 AWG4 Table 13 2 Recommended crimping terminals Servo amplifier side crimping terminals Symbol Crimping terminal Applicable tool Manufacturer name a 32959 47387 Tyco Electronics b FDV5 5 4 YNT 1210S c FVD8 5 Body YF 1 E 4 Head YNE 38 Dice DH 111 DH 121 d FVD14 6 Body YF 1 E 4 Head YNE 38...

Page 275: ...8 105 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 AWG 22 6pair BLAC 2 5 6 56 16 4 0 2 8 4 pairs 40 0 08 105 0 88 6 5 Note 2 A14B2339 4P MR JHSCBL M H 10 to 50 32 8 to 164 0 2 12 6 pairs 40 0 08 105 0 88 7 2 Note 2 A14B2343 6P 2 5 6 56 16 4 0 2 8 4 pairs 40 0 08 ...

Page 276: ...T Z H 5 D1 Installation screw D 5 Unit mm Note Servo amplifier MR J2S A Servo amplifier MR J2S A Servo amplifier MR J2S A1 Note For the 1 phase 230V power supply Connect the power supply to L1 L2 and leave L3 open Dimensions mm in Servo amplifier Model W W1 H D D1 C Mounting screw size Terminal screw size Mass kg lb MR J2S 10A 1 20A FR BAL 0 4K 135 5 31 120 4 72 115 4 53 59 2 32 45 0 2 5 1 77 0 0 ...

Page 277: ...r wiring 2 When using the DC reactor remove the short circuit bar across P1 P Dimensions mm in Servo amplifier Power factor improving DC reactors A B C D E F L G H Terminal screw size Mass kg lb Used wire mm 2 MR J2S 11KA FR BEL 15K 170 6 69 93 3 66 170 6 69 2 3 0 09 155 6 10 6 0 24 14 0 55 M8 56 2 21 M5 3 8 8 38 22 AWG4 MR J2S 15KA FR BEL 22K 185 7 28 119 4 69 182 7 17 2 6 0 10 165 6 49 7 0 28 15...

Page 278: ... 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 7 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 handles small sign...

Page 279: ...he control signal cables with cable clamp fittings Although a surge absorber is built into the servo amplifier to protect the servo amplifier and other equipment against large exogenous noise and lightning surge attaching a varistor to the power input section of the equipment is recommended c Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises ...

Page 280: ...on noise Noises transmitted through electric channels Noise radiated from the power supply cable Noise radiated from servo motor cable Noise transmitted through power supply cable Noise sneaking from grounding cable due to leakage current Routes 4 and 5 Route 1 Route 2 Route 3 Route 7 Route 8 Route 6 Instrument Receiver Servo amplifier Servo motor M 2 2 8 1 7 7 7 5 3 4 6 3 Sensor power supply Sens...

Page 281: ... the servo amplifier 3 Avoid laying the power lines I O cables of the servo amplifier and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits 7 When the power supply of peripheral devices is connected to the power supply of the servo amplifier system noises produced by the servo amplifier may be transmit...

Page 282: ... 18 1 5 0 71 0 06 Note that a diode should be installed to a DC relay DC valve or the like Maximum voltage Not less than 4 times the drive voltage of the relay or the like Maximum current Not less than twice the drive current of the relay or the like Diode RA c Cable clamp fitting AERSBAN SET Generally the earth of the shielded cable may only be connected to the connector s SD terminal However the...

Page 283: ...35 1 38 L or less 10 0 39 30 1 18 7 0 28 24 0 0 2 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 Note Screw hole for grounding Connect it to the earth plate of the control box 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 284: ...lter to satisfy the required number of passes as shown in Example 1 If the wires are too thick to wind use two or more filters to have the required number of passes as shown in Example 2 Place the line noise filters as close to the servo amplifier as possible for their best performance Example 2 Two filters are used Total number of turns 4 Power supply Servo amplifier Line noise filter NFB L3 L1 L...

Page 285: ...e of the varistors refer to the manufacturer catalog Maximum rating Permissible circuit voltage Surge current immunity Energy immunity Rated pulse power Maximum limit voltage Static capacity reference value Varistor voltage rating range V1mA Varistor AC Vrms DC V 8 20 s A 2ms J W A V pF V TND20V 431K 275 350 10000 1 time 195 710 1300 430 387 to 473 TND20V 471K 300 385 7000 2 time 215 1 0 100 775 1...

Page 286: ...l 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 13 6 Igm Leakage curr...

Page 287: ...se a leakage current breaker generally available Find the terms of Equation 13 1 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 1 Ig 10 0 1 0 0 1 1 0 1 0 1 4 0 mA According to the result of calculation use a leakage current breaker having the rated sensitivity current Ig of 4 0 mA or more A leakage current breaker ...

Page 288: ...28 7 MR J2S 22KA Note HF3100A TMA 3 0 14 5 32 Note Soshin Electric A surge protector is separately required to use any of these EMC filters Refer to the EMC Installation Guidelines 2 Connection example L1 L2 L3 L11 L21 L1 L2 L3 L1 L2 L3 LINE LOAD Note 2 NF MC Note 1 Power supply EMC filter SF1252 SF1253 Servo amplifier L1 L2 L3 L11 L21 Servo amplifier 1 2 3 4 5 6 E MC Surge protector 1 RAV 781BYZ ...

Page 289: ...2 156 0 6 142 49 0 8 5 SF1253 Unit mm in 0 335 1 654 0 335 1 929 6 0 0 236 6 0 0 236 HF3040A TM HF3050A TM HF3060A TMA H 2 J 2 G 1 F 2 E 1 D 2 3 L 6 K 3 L M C 1 B 2 A 5 C 1 Dimensions mm in Model A B C D E F G H J K L M HF3040A TM 260 10 24 210 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 29 44 1 73 170 6 69 1...

Page 290: ...A TMA HF3100A TMA H 2 J 2 G 1 F 2 E 1 D 2 3 L 8 K 3 L M C 1 B 2 A 5 C 1 C 1 Dimensions mm in Model A B C D E F G H J K L M HF3080A TMA HF3100A TMA 405 15 95 350 13 78 100 3 94 220 8 66 200 7 87 180 7 09 56 2 21 210 8 27 135 5 32 R4 25 0 17 length 12 0 47 M8 M6 ...

Page 291: ...NT b Surge protector RAV 781BYZ 2 4 5 0 5 1 3 2 41 1 0 28 5 1 0 28 1 0 4 2 0 2 200 30 0 UL 1015AWG16 5 5 1 11 1 Unit mm Black 1 2 3 Black Black RAV 781BXZ 4 1 3 2 UL 1015AWG16 4 2 0 2 5 5 1 11 1 28 5 1 0 200 30 0 28 1 0 41 1 0 4 5 0 5 Unit mm 1 2 3 4 ...

Page 292: ... 54 0 56 hole 25 0 98 10 0 39 2 5 0 10 1 6 0 06 Unit mm in Panel hole machining diagram 12 0 47 10 0 37 hole 3 6 0 14 hole Unit mm in 2 Multi revolution type Position meter RRS10M202 Japan Resistor make Analog dial 23M Japan Resistor make Rated power Resistance Resistance tolerance Dielectric strength for 1 minute Insulation resistance Mechanical rotary angle Rotary torque 10 1W 2k 10 700V A C 100...

Page 293: ...WWW NNC IR 13 64 13 OPTIONS AND AUXILIARY EQUIPMENT MEMO ...

Page 294: ... such 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 RS 422 output unit RDP RDN SDP SDN GND GND Note 3 30m 98 4ft or less Note 1 Axis 1 servo amplifier CN3 connector 5 15 9 19 11 1 10...

Page 295: ...onnection with the personal computer MR CPCATCBL3M is available Refer to section 13 1 4 Personal computer connector D SUB9 socket TXD RXD GND RTS CTS 3 2 5 7 8 DSR DTR 6 4 Note 1 Servo amplifier CN3 connector TXD GND RXD GND FG 12 11 2 1 Plate Note 2 15m 49 2ft or less Note 1 Connector set MR J2CN1 3M Connector 10120 6000EL Shell kit 10320 3210 000 2 15m 49 2ft or less in environment of little noi...

Page 296: ... which sends a reply in response to the instruction servo amplifier is called a slave station When fetching data successively the master station repeatedly commands the slave station to send data Item Description Baud rate 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 comm...

Page 297: ...Serial 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 ...

Page 298: ...the parameter 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 servo amplifier which mu...

Page 299: ...tion 10 frames Command Data No Check sum Error code Data Check sum 6 frames data Station number Station number 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 300: ...1 A Q a q 0 0 1 0 2 STX DC2 2 B R b r 0 0 1 1 3 ETX DC3 3 C S c s 0 1 0 0 4 4 D T d t 0 1 0 1 5 5 E U e u 0 1 1 0 6 6 F V f v 0 1 1 1 7 7 G W g w 1 0 0 0 8 8 H X h x 1 0 0 1 9 9 I Y i y 1 0 1 0 10 J Z j z 1 0 1 1 11 K k 1 1 0 0 12 L l 1 1 0 1 13 M m 1 1 1 0 14 N n 1 1 1 1 15 O _ o DEL 3 Station numbers You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to...

Page 301: ...Parity error occurred in the transmitted data C c Checksum error Checksum error occurred in the transmitted data D d Character error Character not existing in the specifications was transmitted E e Command error Command not existing in the specifications was transmitted F f Data No error Data No not existing in the specifications was transmitted Negative response 14 6 Checksum The checksum is a AS...

Page 302: ...urs in communication between the master and slave stations the error code in the response data from the slave station is a negative response code B to F b to f In this case the master station retransmits the message which was sent at the occurrence of the fault Retry operation A communication error occurs if the above operation is repeated and results in the error three or more consecutive times M...

Page 303: ...selection 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 dat...

Page 304: ...12 0 1 8 D load inertia moment ratio 12 0 1 8 E Status display data value 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 ...

Page 305: ...d inertia moment ratio 12 3 5 8 E Status display data value and processing information at alarm occurrence Bus voltage 12 6 Others Command Data No Description Frame length 0 2 9 0 Servo motor end pulse unit absolute position 8 0 2 9 1 Command unit absolute position 8 0 2 7 0 Software version 16 14 11 2 Write commands 1 Status display Command 8 1 Command Data No Description Setting range Frame leng...

Page 306: ...ion 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 Refer to section 14 12 6 8 9 2 A 0 Forced output from signal pin Refer to section 14 12 8 8 Command Data No Description Setting range Frame length A 0 1 0 Writes the...

Page 307: ...erted 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 i...

Page 308: ... Data 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 poi...

Page 309: ...n into 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 c...

Page 310: ...rameter 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 R...

Page 311: ...n must be specified If it is not specified data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position Write the data after making sure that it is within the upper lower limit value range given in section 5 1 2 Read the parameter data to be written confirm the decimal point position and create transmission data to prevent error occurrence On completion of...

Page 312: ...8 CN1B 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 ...

Page 313: ... signals 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 ...

Page 314: ... command 9 2 data No 0 0 and data Command Data No Set data 9 2 0 0 See below b31 b0 0 OFF 1 ON b1 Command of each bit is transmitted to the slave station as hexadecimal data bit Signal abbreviation bit Signal abbreviation bit Signal abbreviation bit Signal abbreviation 0 SON 8 16 24 1 LSP 9 17 25 2 LSN 10 18 26 3 TL 11 ST1 19 27 4 12 ST2 20 28 5 PC 13 21 29 6 RES 14 22 30 7 CR 15 23 31 ...

Page 315: ... 0 0 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 Term...

Page 316: ...ng command 9 2 data No 0 0 Item Command Data No Data Servo on 9 2 0 0 00000001 Turns on SON Servo OFF Stroke end ON 9 2 0 0 00000006 Turns off SON and turns on LSP LSN Servo on Stroke end ON 9 2 0 0 00000007 Turns on SON LSP LSN c Start of positioning operation Transmit the speed and acceleration deceleration time constant turn on the servo on SON and forward reverse rotation stroke end LSP LSN an...

Page 317: ...4 to 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 b...

Page 318: ...eans AL _ 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 decim...

Page 319: ...on Send 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...

Page 320: ... converted 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 de...

Page 321: ...WWW NNC IR 14 28 14 COMMUNICATION FUNCTIONS MEMO ...

Page 322: ...lute position data which is battery backed by the super capacitor in the encoder can be retained within the specified period 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 ...

Page 323: ... hold 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 wit...

Page 324: ...mplifier may be damaged by static electricity Always 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 connect...

Page 325: ...e 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 differential line driver type Dog Stop Emergency stop Servo on ABS transmission mode ABS request ABS bit 0 ABS bit 1 Send data ready Torque lim...

Page 326: ...1B 4 Indicates the lower 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 D01 turns on 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 ZSP turns on DO 1 Send data ready TLC CN1B 6 Indi...

Page 327: ... 1PG turns on c The MR Configurator 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 tak...

Page 328: ...end data ready 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 T...

Page 329: ...urrent position latched when the ABS transfer mode ABSM 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 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 mode ABSM ...

Page 330: ...ency stop EMG is turned OFF during the ABS transfer mode the ABS time out warning 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 ABSM Note that if the ABS transfer mode ABSM is turned ON for a purpose other than ABS data transmission the output signals will be assigned the functions of ABS data transmission O...

Page 331: ...ady TLC to notify the programmable controller that the servo is ready for data transmission 3 After acknowledging that the ready to send TLC 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 in the OFF state 5 After acknowledging that the ready to send TLC has been ...

Page 332: ... from the servo The method of calculating the checksum 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 checksum 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 FF...

Page 333: ...grammable controller within 5s after the send data ready TLC 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 checksum If the ABS request signal is not turn...

Page 334: ...OFF ON OFF ON 1 2 3 4 18 19 1 2 3 4 18 19 5s ABS transfer mode ABS request Send data ready AL E5 warning Signal is not turned OFF No Yes 4 ABS transfer mode ABSM OFF check during the ABS transfer When the ABS transfer mode is turned ON to start transferring and then the ABS transfer mode is turned OFF before the 19th send data ready signal is turned ON the ABS time out warning AL E5 occurs regardi...

Page 335: ... start transferring and then the servo on SON is turned OFF the reset RES is turned ON or the emergency stop EMG is turned ON before the 19th send data ready signal is turned ON the ABS time out warning AL E5 occurs regarding it as a transfer error OFF ON OFF ON OFF ON 1 2 3 4 18 19 1 2 3 4 18 19 OFF ON Yes No ABS transfer mode ABS request Send data ready AL E5 warning Servo on SON ...

Page 336: ...onger than 20ms and then turn it ON again If the ABS data transmission fails to end normally even after retry regard this situation as an ABS checksum error and execute error processing The start command should be interlocked with the ABS data ready signal to disable positioning operation when an checksum error occurs 20ms or more OFF ON OFF ON OFF ON OFF ON 10ms or more 20ms or more 20ms or more ...

Page 337: ...rred the ABS transfer mode ABSM cannot be accepted In the reset state the ABS transfer mode 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 338: ...g 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 rotated by e...

Page 339: ...he emergency stop state In this case the base circuit and the ready 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 340: ...to the non volatile memory as the home position ABS data The home position setting CR 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 341: ...ition setting CR is on for longer than 20ms the stop position is stored into the non volatile memory as the home position ABS data The home position setting CR 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...

Page 342: ...s 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 MBR 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 ABS transmission data ready ABST Send ABS data Base circui...

Page 343: ... the absolute 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 s...

Page 344: ... a point 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 coo...

Page 345: ...ror occurs 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 Exa...

Page 346: ...n below 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 ...

Page 347: ...r 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 typ...

Page 348: ...BS 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 checksum error X39 Operation mode II Y4B ABS coordinate error D register M contact D0 ABS data transmi...

Page 349: ...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 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 D...

Page 350: ...er start Alarm reset output Error flag output Resetting ready to send Resetting servo on request Servo alarm Initializing ABS data transfer counter Initializing checksum transfer counter Initializing checksum register Initializing ABS data register Initializing ABS data register Initializing ABS data register Resetting error for ABS coordinate Resetting ABS transfer counter Resetting checksum tran...

Page 351: ...ng ABS 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 checksum data reception frequency Completion of reading 2 ...

Page 352: ... Right rotation of A0 2 bits Adding checksum Counting frequency of ABS data reception Completion of reading 2 bits of ABS data Right rotation of A0 10 bits Masking checksum Sum check OK Sum check NG Sum check memory ABS checksum 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 enabl...

Page 353: ...on Setting 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 Continued from preceding page To be continued Checksum OK Checksum OK ABS coordinate error ABS commu nication error Servo on PB ABS transfer mode ABS transfer mode ...

Page 354: ...ved shift data Checksum 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 zon...

Page 355: ...M20 PLS M21 SET Y2D Programmable controller ready Clear CR ON timer request Clear CR 100ms ON timer Setting data set type home position return request Resetting data set type home position return request Clear CR 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 ret...

Page 356: ...fter the servo on SON 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 SON is turned on the servo motor must be at a stop Y41 X31 M Y41 Servo zero speed ABS transfer ...

Page 357: ...rogram 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 ...

Page 358: ...bit 1 Zero 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 checksum error Pulse train for forward rotation Pulse train for revers...

Page 359: ...eturn start 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 checksum 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 15V...

Page 360: ...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 switch and the COM of the power supply are sho...

Page 361: ...epancy M4 Servo on request reset permission 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 Checksum 6 bit buffer M58 M59 For checksum comparison T tim...

Page 362: ...ing home 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 Posi...

Page 363: ...ing retry counter Resetting ready to send ABS data Resetting servo on request Resetting ABS transfer mode Resetting ABS request Resetting retry flag Resetting communication counter Retry Servo on request Continued from preceding page To be continued Servo on and retry control M1 M6 ABS transmission start Retry M0 Y11 Error flag ABS communication error ABS check error Servo on switch Servo on switc...

Page 364: ...all 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 transf...

Page 365: ...setting ABS request Resetting ABS transfer mode Masking checksum 6 bits Comparison of checksum ABS data checksum error Retry command Storing checksum value in the case of checksum error Retry flag ON ABS transfer mode Send data ready ABS data read ABS request Send data ready Retry counter Retry counter Continued from preceding page 4 4 To be continued T204 T204 K1 ABS data waiting timer 10ms C0 Al...

Page 366: ...n address ABS data 1PG Setting ABS data ready Clearing checksum 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 er...

Page 367: ...tart 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 ABS data ready Servo ready Position start command pulse Error flag 1PG error reset Position start switch Home position return start switch Position stop switch Not...

Page 368: ... revolution before starting home position return Do not turn ON the clear CR 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 CR ON timer request Clear CR 100ms ON timer Setting data set type home position return...

Page 369: ...eral seconds after the servo on SON is turned on the servo motor must be at a stop Y1 X0 M Y1 ABS transfer mode Positioning completion ABS transfer mode Completion of positioning g Zero speed To create the status information for zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y1 X1 M Y1 ABS transfer mode Zero speed ABS t...

Page 370: ...SN 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...

Page 371: ...a is transmitted using the leading edge of the servo on switch as a trigger 1 When the servo on switch and power supply GND are shorted the ABS data is transmitted at power on of the servo amplifier or on the leading edge of the RUN signal after a PC reset operation PC RESET The ABS data is also transmitted when an alarm is reset or when an emergency stop is reset Before starting the ABS data tran...

Page 372: ...ation direction Home position address Lower 16 bits Home position address Upper 16 bits Drive unit ready data Home position return completion data Received shift data Lower 16 bits Received shift data Upper 16 bits ABS data transmission start Sum check completion Sum check mismatch ABS data ready Transmission data read enabled Checksum 2 bits read completion ABS 2 bits read completion ABS 2 bits r...

Page 373: ...vel 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 requi...

Page 374: ...essing 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 preced...

Page 375: ... FROMP M18 PLS M18 A0 K0 MOVP D8 H0001 WAND A1 H8000 WAND D4 NEG D4 K1 D3 NEG D4 K1 D8 K1 K0 D3 9 10 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...

Page 376: ...dding 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 memory Continued from preceding page Read e...

Page 377: ...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 delay timer Checksum OK Note 1 Checksum OK Change flag Positioning start Start com pletion BUSY Error detection position changi...

Page 378: ...ued from preceding page ABS transfer mode ABS transfer mode ABS request ABS transfer mode Ready to send ABS data ABS transfer NG ABS request NG Readying to send ABS data NG Sum check NG Servo on switch T201 C2 M16 SET Setting retry flag Retry counter C2 D7 Retry counter M16 T2 M9039 END T2 K1 M16 RST D110 A0 DMOV Retry waiting timer 100ms Resetting retry flag Saving received shift data Retry flag ...

Page 379: ...me position 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 CR 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 re...

Page 380: ...ing X axis home position address Note 2 PC RUN Home position return mode ABS transfer mode Positioning completion Home position return start switch Clear signal ON timer request Data set type home position return request Clear signal 100ms ON timer Data set type home position return request K1 D9 K1154 H0000 DTOP 19 18 K1 K9003 K1150 H0000 TO Y10 SET X1 X4 Y10 Y10 RST XA 1 Changing X axis current ...

Page 381: ...ral seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X20 M Y31 ABS transfer mode Positioning completion ABS transfer mode Positioning completion i Zero speed To create the status information for zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X21 M Y31 ABS transfer mode Zero speed ABS...

Page 382: ... K5 D8 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 t...

Page 383: ...complete M1 Flash ROM registration processing flag Processing M2 M3 M4 Axis error reset requesting flag Requesting M100 A1SD75 normal flag A1SD75 normal M101 Initial error reset completion flag Error reset complete M102 All BUSY signal OFF flag All BUSY signal OFF internal relay M103 A1SD75 operable flag Operable D100 Flash ROM registration results Registration results D101 D102 D103 Axis error co...

Page 384: ...1 D3 K1 to DTOP H0000 K1154 D3 K1 18 When the current value is changed in the A1SD75 the current feed value is 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 posi...

Page 385: ...tor servo configuration software Crick Diagnostics and Absolute Encoder Data to open the absolute position data display screen 1 Cricking Diagnostics in the menu opens the sub menu as shown below 2 By cricking Absolute Encoder Data in the sub menu the absolute encoder data display window appears 3 Crick the Close button to close the absolute encoder data display window ...

Page 386: ...ata signal ABS bit 0 PF bit 1 ZSP is disconnected or connected to the SG terminal Correct the wiring 2 PLC ladder program wrong Correct the ladder 3 Faulty PLC input module Change the input module ABS data checksum 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 su...

Page 387: ...time time 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...

Page 388: ...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 off Reset when servo on SON switch X36 signal turns off For AD71 Reset when servo on SON swi...

Page 389: ...WWW NNC IR 15 68 15 ABSOLUTE POSITION DETECTION SYSTEM MEMO ...

Page 390: ...P P15R 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 2...

Page 391: ... speed 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 en...

Page 392: ...23 MR J2S 20A MR J2S 20A1 HC UFS43 MR J2S 40A MR J2S 40A1 HC MFS43 MR J2S 40A MR J2S 40A1 HC UFS73 MR J2S 70A HC MFS73 MR J2S 70A HC LFS52 MR J2S 60A Version B3 or later HC SFS81 MR J2S 100A Version A1 or later HC LFS102 MR J2S 100A Version B3 or later HC SFS121 MR J2S 200A Version A1 or later HC LFS152 MR J2S 200A Version B3 or later HC SFS201 MR J2S 200A Version A1 or later HC LFS202 MR J2S 350A...

Page 393: ...20 3000VE connector MS3106A20 29S D190 Plug DDK CE3057 12A 3 D265 Cable clump DDK CE02 20BS S Back shell DDK Amplifier connector 3M or equivalent 10120 3000PE connector D MS3106A20 29S D190 Plug DDK CE3057 12A 3 D Cable clump DDK CE02 20BS S D Back shell DDK MR PWCNS1 Power supply connector DDK CE05 6A22 23SD B BSS Connector and back shell CE3057 12A 2 D265 Cable clump Power supply connector DDK C...

Page 394: ... 4 3 1 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 settin...

Page 395: ...ition of 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 ...

Page 396: ...xamination Section 3 13 Addition Section 4 2 3 POINT sentence change Section 4 2 4 POINT sentence change Section 5 2 2 Addition of regenerative option to parameter No 0 Addition of CN1B pin 19 s function selection to parameter No 1 Modification made to the contents of parameter No 5 Reexamination of the contents of parameter No 23 Addition of AL 37 related sentences to parameter No 49 Section 5 2 ...

Page 397: ... figure change Section 4 2 CAUTION sentence addition Section 5 1 2 2 Parameter No 0 Addition of The built in regenerative resistor is used to Regenerative option is not used Addition of FR CV to the setting of 01 in Selection of regenerative option Partial sentence deletion Parameter No 20 Addition of sentence to Slight vibration suppression control Section 5 2 1 3 Servo amplifier Electronic gear ...

Page 398: ...amination Section 13 1 1 5 b c Regenerative option outline dimension drawing reexamination Section 13 1 9 2 a Reexamination of Windows trademarks Section 13 2 9 3 Reexamination of outline dimension drawings of HF3040A TM HF3050A TM HF3060A TMA and HF3080 TMA HF3100A TMA Section 15 8 1 3 c Correction to error in writing Section 15 8 3 2 a 3 Correction to error in writing Oct 2004 SH NA 030006 G Sec...

Page 399: ...1 8 Change of Note2 Chapter 2 Addition of CAUTION Section 3 1 1 1 Partial change of connection diagram Change of Note5 Section 3 1 1 2 Partial change of connection diagram Change of Note5 and 13 Section 3 1 2 Partial change of connection diagram Change of Note5 Section 3 1 3 Partial change of connection diagram Change of Note5 Section 3 3 1 3 Change of Note4 Section 3 3 2 2 SA explanation change S...

Page 400: ...Addition of CAUTION sentence Section 3 4 1 1 b 1 Addition of Note Section 3 4 1 1 b 2 Addition of Note Section 3 4 2 1 a Partial change of sentence Section 3 5 2 Correction to error in writing Section 3 6 2 2 a Addition of sentence and Note Section 3 6 2 2 b Addition of Note Section 3 6 2 3 a 1 Addition of Note Section 3 6 2 3 b 1 Addition of Note Section 3 7 Change of CAUTION sentence Section 3 7...

Page 401: ... 13 1 10 2 Addition of Note Section 13 2 1 1 Partial change of Table 13 2 Recommended crimping terminals Section 13 2 7 1 b Addition of sentence Section 13 2 7 2 d Change of sentence for connection diagram Section 13 2 7 3 f Addition of item of input power supply varistor recommended Section 13 2 9 2 Addition of diagram Addition of Note Section 13 2 9 3 b Addition of surge protector Section 14 1 1...

Page 402: ...ruction Manual uses recycled paper MODEL MODEL CODE J2 Super Series J MR J2S A Servo Amplifier Instruction Manual 1CW501 MR J2S A GIJUTU SIRYOU General Purpose AC Servo MODEL MR J2S A SERVO AMPLIFIER INSTRUCTION MANUAL General Purpose Interface J2 Super Series J HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 ...

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