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Husqvarna GTH2548XP Lawn Mower User Manual

1. Front cover socket 2 places 1 Push the removing knob A or B and put you 1 Insert the two front cover hooks at the bottom into the finger into the front hole of the front cover sockets of the servo amplifier 2 Pull the front cover toward you 2 Press the front cover against the servo amplifier until the removing knob clicks 1 19 1 FUNCTIONS AND CONFIGURATION 1 7 Servo system with auxiliary equipment To prevent an electric shock always connect the protective earth PE terminal J N WARNING terminal marked of the servo amplifier to the protective earth PE of the control 1 MR J2S 100CL or less a For 3 phase 200V to 230VAC or 1 phase 230VAC Note2 3 phase 200V to 230VAC power supply or Section 14 2 2 Cables Section 14 2 1 1 phase 230VAC Goethe Section 14 2 2 Manual pulse generator Section 14 1 8 KR K Chapter 6 External digital display Section 14 1 7 gt No fuse breaker NFB or fuse Servo amplifier MITSUBISHI To CN1A Magnetic contactor MC FR BAL External digital display factor To CNS improvin eer S Personal Servo configuration computer software MRZJW3 SETUP151E EAT Protective earth PE terminal el olola Note1 Encoder cable Note1 Power supply lead Control circuit terminal block L21 Regener
2. RS 422 External I O signals Servo amplifier axis 2 MITSUBISHI CN1A CN1B Power supply e we Le UDO To the next axis Kok Servo motor 1 FUNCTIONS AND CONFIGURATION 1 1 3 I O devices This servo amplifier allows devices to be allocated to the pins of connector CN1A CN1B as desired The following devices can be allocated For device details refer to Section 3 3 2 Factory Factory Input device Symbol Output device Symbol allocated pin allocated pin Ready RD ceneo Zeroing completion CN1A 18 Program output 1 CN1B 4 Reverse rotation start ST2 po eee Program output 2 Program output 3 Program No seletion Log CN1B 5_ Electromagnetic brake interlok MBR_ Position range Program No selection3 Di2 Warning Program No selection4 Lon Battery warning Forced stop eme Limiting torque Automatic manual selection Lee Temporary stop P Override selection Loun SYNC synchronous output External torque limit selection TL Internal torque limit selection TL2 Proportion control rc Temporary stop restart 1 am Manual pulse generator reo multiplication 1 Manual pulse generator Poe multiplication 2 Gain zait Loop Current position latch input LPs Programinput3 PB Jl T TL P ST TP 1 FUNCTIONS AND CONFIGURATION 1 2 Servo amplifier standard specifications Servo amplifier MR J2S O 10CL
3. O ce i SII IRE dE eg i i i Ges E P c bf Ji 168 6 61 oz min zo T MITSUBISHI g OPEN Y g zo IEA LIE ES Variable dimensions Pp A B 6 0 24 Servo amplifier MR J 2S 10CL 1 MRJ 2S 20CL 1 MRJ 2S 40CL 1 MRJ 2S 60CL 50 1 97 70 2 76 22 0 87 Weight kg lb 0 7 1 54 1 1 2 43 Note This data applies to the 3 phase 200 to 230VAC and 1 phase 230VAC power supply models TE1 For 3 phase 200 to 230VAC and 1 phase 230VAC Li Le Ls U V W Terminal screw M4 Tightening torque 1 2 N m 175 6 oz in TE2 lt Front D Cy P L21 L11 Tightening torque 0 3 to 0 4 N m 2 7 to 3 5 oz in FRONT MSTB2 5 5 ST 5 08 Phoenix Contact 12 1 For 1 phase 100 to 120VAC t NJ Terminal screw M4 Tightening torque 1 2 N m 175 6 oz in PE terminals Terminal screw M4 Tightening torque 1 2 N m 175 6 oz in 12 OUTLINE DIMENSION DRAWINGS 2 MR J2S 70CL MR J2S 100CL Unit mm 6 0 24 70 2 76 Unit in mounting hole RN ar basch A Se i D S F a Ve lt Em Sl S Gef i Hd ear Tt te 13 See uU vV w Per fit BX Be I 190 7 48 Terminal layout Terminal cove
4. Forward j POERI EEIEIEE EEREN PIOR 7 e Servo motor s pee d Or min Ho SON Reverse Sms or less a i Home position address rotation i Proximity dog Parameter No 42 STG N Z phase 9 ee a L Ea __ i L a a ON j Proximity dog DOG OFF Forward rotation ON f start ST1 OFF l 5ms or more The address on completion of home position return is the value automatically set in parameter No 42 home position return position data 4 OPERATION 4 4 10 Home position return automatic return function If the current position is at or beyond the proximity dog in dog or count type home position return you need not make a start after making a return by jog operation or the like When the current position is at the proximity dog an automatic return is made before home position return Home position return direction Proximity dog ene HSE ee PE y Home position Home position return start position Sk At a start a motion is made in the home position return direction and an automatic return is made on detection of the limit switch The motion stops past the front end of the proximity dog and home position return is resumed at that position If the proximity dog cannot be detected the motion stops on detection of the opposite limit switch and AL 90 occurs Limit switch Limit LS Home position return direction Proximity dog oO Home position Home position return start
5. U sed to perform status display diagnostic alarm and parameter setting operations e MODE UP DOWN SET HAHH gege ART TEM DRUI Lused to set data Chapter7 Used to change the display or data in each mode Used to change the mode IO signal connector CN 1A Used to connect digital 1 0 signals SE 1 0 signal connector CN 1B Used to connect digital I O signals SE Communication connector CN 3 Chapter6 Used to connect a command device RS 422 RS 232C Chapter15 and output analog monitor data Section14 1 4 HAm Name plate Section1 4 lil Charge lamp l Res Lit to indicate that the main circuit is charged While nel NN this lamp is lit do not reconnect the cables Encoder connector CN 2 Section3 3 Connector for connection of the servo motor encoder Section14 1 4 Main dircuit terminal block TE1 A Used to connect the input power supply and servo Section3 7 2 motor ES lt Control circuit terminal block TE2 Section3 7 2 EE aN Used to connect the control circuit power supply and Section14 1 1 regenerative brake option Protective earth PE terminal Ground terminal Section3 10 1 14 1 FUNCTIONS AND CONFIGURATION 2 MR J2S 200CL MR J2S 350CL This servo amplifier is shown without the
6. Vertical installation Top Fan Terminal block Thermal relay 14 4 Unit mm in Fan installation screw hole dimensions 2 M3 screw hole for fan installation Depth 10 or less Screw hole already machined 3 25 Recommended fan Toyo Denki s TL396A or equivalent 14 OPTIONS AND AUXILIARY EQUIPMENT PEN b MR J 2S 500CL MR J 2S 700CL Always remove the wiring across P C of the servo amplifier built in regenerative brake resistor and fit the regenerative brake option across P C The G3 and G4 terminals act as a thermal protector G3 G4 are disconnected when the regenerative brake option overheats abnormally Always remove wiring across P C of servo Servo amplifier amplifier built in regenerative brake resistor Regenerative brake option 5m 16 4ft or less 444 om Fan Note 1 Note 1 When using the MR RB50 MR RB51 forcibly cool it with a cooling fan 1 0m min 2192 or so 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 brake resistor option remove the servo amplifier s built in regenerative brake resistor terminals across P C fit them back to back and secure them to the frame with the accessory screw as shown below Mounting method Acc
7. 7 DISPLAY AND OPERATION Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 Even during alarm occurrence the other screen can be viewed by pressing the button in the operation section At this time the decimal point in the fourth digit remains flickering 3 For any alarm remove its cause and clear it in any of the following methods for clearable alarms refer to Section 11 2 1 a Switch power OFF then ON b Press the SET button on the current alarm screen c Turn on the reset RES signal 4 Use parameter No 16 to clear the alarm history 5 Pressing SET button on the alarm history display screen for 2s or longer shows the following detailed information display screen Note that this is provided for maintenance by the manufacturer ror re PU LL 6 Press UP or DOWN button to move to the next history 7 10 7 DISPLAY AND OPERATION 7 5 Parameter mode To use the expansion parameters change the parameter No 19 parameter block value Refer to Section 5 1 1 7 5 1 Parameter mode transition After choosing the corresponding parameter mode with the MODE button pressing the UP or DOWN button changes the display as shown below To status display mode MODE Basic parameters Expansion parameters 1 Expansion parameters 2 Special parameters Parameter No 54 Parameter No 0 Parameter No 20 71 m4 i to
8. __ 5 N a f EE e LB est Een 0 1047 Neie QL Jm No 1 0 1047 e oo S nu F 9 55 x10 Tpsd2 eee Si 2 ry ee From the calculation results in 1 to 8 find the absolute value Es of the sum total of negative energies b Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode MRJj2s rocL S o O PMRJ2s 20cL 9 O mRj2s roock 80 o B O MRJ2s 200cL MRJ2s 350cL s o 0 O MRJ 2s 700cL 90 Inverse efficiency n Efficiency including some efficiencies of the servo motor and servo amplifier when rated regenerative torque is generated at rated speed Since the efficiency varies with the speed and generated torque allow for about 10 Capacitor charging Ec Energy charged into the electrolytic capacitor in the servo amplifier 14 2 14 OPTIONS AND AUXILIARY EQUIPMENT KT Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative brake option ER J J n Es Ec Calculate the power consumption of the regenerative brake option on the basis of single cycle operation period tf s to select the necessary regenerative brake option PRIWI ER tii scene eka cie el Meni ETE 14 1 3 Connection of the regenerative brake o
9. i MERE 1 Parameter value write a Click the parameter whose setting was changed and press the Write button to write the new parameter setting to the servo amplifier 2 Parameter value verify b Click the Verify button to verify all parameter values being displayed and the parameter values of the servo amplifier 6 SERVO CONFIGURATION SOFTWARE 3 Parameter value batch read c Click the Read All button to read and display all parameter values from the servo amplifier 4 Parameter value batch write d Click the Write All button to write all parameter values to the servo amplifier 5 Parameter change list display e Click the Change List button to show the numbers names initial values and current values of the parameters whose initial value and current value are different In the offline mode the parameter change list is not shown 6 Parameter detail information f Click the Help button or double click the display field to show the detailed explanation of each parameter 7 Parameter default value indication g Click the Set to default button to show the initial value of each parameter 8 Parameter value change h Choose the parameter to be changed enter a new value into the Parameter value input field and press the enter key or Enter Data button 9 Parameter data file read Used to read and display the parameter valu
10. The encoder cable is not oil resistant Refer to Section 14 4 for the flexing life of the encoder cable When the encoder cable is used the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2 49 When soldering the wire to the connector pin insulate and protect the connection portion using heat shrinkable tubing Generally use the encoder cable available as our options If the required length is not found in the options fabricate the cable on the customer side a MR J CCBLOM L MR J CCBLOM H These encoder cables are used with the HC KFS HC MFS HC UFS3000r min series servo motors 1 Mode explanation Model MR JCCBLOM O Standard flexing life Long flexing life Symbol Note Cable m ft 2 esw s sua e GZ 5 20 65 6 30 98 4 SC 40 131 2 Note MR JCCBLOM H has 50 164 0 no 40 131 2 and 50m 164 0ft sizes 2 Connection diagram For the pin assignment on the servo amplifier side refer to Section 3 3 1 Encoder cable supplied to servo motor Encoder connector Encoder connector SEET 172161 9 AMP Servo amplifier Encoder cable option or fabricated ol 50m 164 0ft max 14 17 14 OPTIONS AND AUXILIARY EQUIPMENT MR JCCBL2M L MR JCCBL10M L MR JCCBL10M H MR JCCBL5M L to to MR JCCBL2M H MR JCCBL30M L MR JCCBL50M H MR JCC
11. 1 For MR J2S 200CL or more Removal of the front cover Reinstallation of the front cover Front cover hook 2 places Front cover Front cover socket 2 places 1 Hold down the removing knob 1 Insert the front cover hooks into the front cover sockets of the servo amplifier 2 Pull the front cover toward you 2 Press the front cover against the servo amplifier until the removing knob clicks 2 For MR J2S 500CL Removal of the front cover Reinstallation of the front cover Front cover hook 2 places H S SL Front cover UR Front cover socket 2 places 1 Hold down the removing knob 1 Insert the front cover hooks into the front cover sockets of the servo amplifier 2 Pull the front cover toward you 2 Press the front cover against the servo amplifier until the removing knob clicks 1 18 1 FUNCTIONS AND CONFIGURATION 3 For MR J2S 700CL Removal of the front cover Reinstallation of the front cover Front cover hook
12. 4 1 4 1 1 Pre operation Checks 211 4 1 7 VD SUA AEE EE 42 4 2 Program operation Mode EEN 4 5 4 2 1 What is program operation mole 4 5 4 2 2 Programming languages insisi cee dee deinen iaaa eeeeet ates Ea e anan aaiae eaaet 4 6 4 2 3 Basic setting of signals and PArAMELELS nenne 4 25 4 2 4 Program operation timing chart ec eeecccecceeeseeeeeeeeeseeeeeeeeesesaesasessesaesaeeassesaesaeeaseaetaseaseesnaseetaes 4 26 4 3 Manual vele vr TEE 4 27 4 31 09 ODEF ATION EE 4 27 4 3 2 Manual pulse generator operation ceecceccecseeseeeeeecseeseeeeeeesecaeeaeeessesaesaeeessessesaeeaseeesaseaseesseneeetaes 4 29 4 4 Manual home position return mole A 4 31 4 4 1 Outline of home position return 4 31 4 4 2 Dog type home position retum ee eececceeseeseeeeeeeeeeseeeeesesaeeeeecsesaeeaseessessesaeeasessesaeeaseessesaeseeesateetaes 4 33 4 4 3 Count type home Position return oo eeeeeeeeeseeeeeeeseeeeeeeeesaeeeeeesesaeeaeeeesecaesaseasessesaasessetaeeaseesineseeeaes 4 35 4 4 4 Data setting type home position return oo eee eeeeseeeeeeteeseeeeeetseeaeeaeeeteecaesaeeatsessesaeeaseetsessetaseeseeeetaes 4 36 4 4 5 Stopper type home position return oo eeseeeeeeeeeseeeeeeeeesecaeeeeceesaeeaseessessesaeeeseessetaeeaeeessaseaseeseneeetaes 4 37 4 4 6 Home position ignorance servo on position defined as home position 4 38 4 4 7 Dog type rear end reference home position return 4 39 4 4 8 Count type front end reference home position returmm 4 40 4 4 9 Dog cr
13. MOVI or MOVIA command is executed The STA STB STC and STD commands are valid when the MOV or MOVI command is executed 3 When the ON time has been set in parameter No 74 to No 76 the next command is executed after the preset time has elapsed 4 The remaining moving distance by ITP command is lower than setting value the command would be ignored and skip to the next program command 4 OPERATION 2 Details of programming languages a Details of the command SPN STA STB STC STD SPN STA STB STC and STD commands will be validated when the MOV and MOVA commands are executing The setting numbers will be validated expect resetting the numbers 1 Program example 1 When operation is to be performed in two patterns that have the same servo motor speed acceleration time constant and deceleration time constant but different move commands Description SPN 1000 Speed Motor speed 1000 r min a STA 200 Acceleration time constant 200 ms WH STB 300 Deceleration time constant 300 ms MOV 1000 Absolute move command 1000 x10S um d TIM 10 Dwell command time 100 ms MOV 2000 Absolute move command 2000 x10S um f STOP Program end b Acceleration time c Deceleration time b Acceleration time c Deceleration time constant 200ms constant 300ms constant 200ms constant 300ms d VI Forward a Speed rotation Motor spee
14. 8 d Use the acceleration deceleration tim acceleration deceleration time Parameter No 41 S dee ger constante constants set in parameter No 41 Home position return position Used to set the current position on Parameter No 42 d data completion of home position return Select the program including the ZRT Program command that executes a home position return 2 Timing chart The following shows the timing chart that starts after selection of the program including the ZRT command ON lt Movement complete PED OFF Home position return ON completion ZP OFF Foe position Parameter No 41 Home position return Parameter No 41 shift distance Deceleration time Acceleration time constant speed Parameter No 9 d constant Parameter No 11 Creep speed Home position SC ssc Parameter No 10 Zz SESS OO Forward SO Fe E Servo motor speed rotation E 0 r min 3ms or less Moving distance after r proximity dog Y Parameter No 43 zphase ON LWW O T M Home position address Parameter No 42 l I s ON Proximity dog DOG y dog OFF Forward rotation ON m 5ms or more start ST1 OFF The address on completion of home position return is the value automatically set in parameter No 42 home position return position data 4 35 4 OPERATION 4 4 4 Data setting type home position return Data setting type home position return is used wh
15. CH OOO ONS 15 32 15 COMMUNICATION FUNCTIONS 15 12 13 General purpose register 1 General purpose register Rx read Read the general purpose register Rx value stored in the EEP ROM a Transmission Transmit command 6 D and any of data No 0 1 to 0 4 corresponding to the general pirpose register Rx to be read Refer to Section 15 11 1 b Reply The slave station sends back the position data of the requested the value of the general pirpose register Rx EE L The alarm occurrence time is transferred in decimal Hexadecimal must be converted into decimal 2 General purpose register Dx read Read the general purpose register Dx value stored in the RAM a Transmission Transmit command 6 E and any of data No 0 1 to 0 4 corresponding to the general pirpose register Dx to be read Refer to Section 15 11 1 b Reply The slave station sends back the position data of the requested the value of the general pirpose register Dx aa L The alarm occurrence time is transferred in decimal Hexadecimal must be converted into decimal 15 33 15 COMMUNICATION FUNCTIONS 3 General purpose register Rx write Write the value of the general purpose register Rx Write the value within the setting range Refer to Section 4 2 2 1 for the setting range Transmit command B 9 the data No and setting value Data to be written is hexadecimal IS is transferred in hexadecimal Decim
16. COW direction 8 V Max speed Driving in Ki Max torque Current command Max command current CW direction Speed command Max speed lp 0 Max command current vy IV A CCW direction 8 V 7 CW direction gt 0 Max speed y 8 V CW direction 7 A 5 24 Droop pulses 410V 128pulse Droop pulses 410V 2048pulse Droop pulses 10V 8192pulse Droop pulses 10V 32768pulse Droop pulses 410V 131072pulse Bus voltage 10v 4 COW direction 128 pulse gt 0 128 pulse r 10 V CW direction M 101M A CCW direction 2048 pulse i lt 0 2048 pulse r 10 V CW direction oly 101M A CCW direction 8192 pulse P i gt 0 a 92 pulse r 10 V CW direction Hi 32768 pulse gt 0 32768 pulse y 10 V CW direction 0M 10v A CCW direction 131072 pulse lt 131072 pulse r 10 V CW direction Ov 400 V 5 PARAMETERS 5 2 5 Changing the stop pattern using a limit switch The servo amplifier is factory set to make a sudden stop when the limit switch or software limit is made valid When a sudden stop is not required eg when there is an allowance from the limit switch installation position to the permissible moving range of the machine a slow stop may be selected by changing the parameter No 22 setting Parameter No 22 setting DO O initial value Droop pulses a
17. parameters No 46 47 Similarly opposite sign has been set in software limit decreasing side parameters No 48 49 6 Opposite sign has been set in Set parameters No 50 to 53 correctly position range output address increasing side parameters No 50 51 Similarly opposite sign has been set in position range output address decreasing side parameters No 52 53 7 The number of write times to EEP Change the servo amplifier ROM exceeded 100 000 due to parameter write program write etc abnormal program data to be rewritten setting range 3 The number of write times to EEP Change the servo amplifier ROM exceeded 100 000 due to parameter write program write etc Main circuit Main drot device device overheat Joverheat 2 The power supply was turned on The drive method is reviewed and off continuously by overloaded status 3 Air cooling fan of servo amplifier 1 Exchange the cooling fan or the servo stops amplifier 2 Reduce ambient temperature overheat temperature rise is over 40 C temperature is 0 to 40 C 2 Servo motor is overloaded 1 Reduce load 2 Review operation pattern 3 Use servo motor that provides larger output 3 Thermal protector in encoder is Change servo motor faulty 11 6 11 TROUBLESHOOTING Display Overload 1 Load exceeded 1 Servo amplifier is used in excess of 1 Reduce load overload protection its continuous output current 2 Review operation pattern cha
18. 0 500 1000 1500 2000 Speed r min d HC SFS2000r min series 203 D 500 1000 1500 2000 2500 3000 Speed r min f HC RFS series 0 07 73 0 06 0 05 0 04 0 03 43 0 02 23 0 01 0 0 50 500 10001500200025003000 Speed r min h HC UFS3000r min series Fig 13 4 Dynamic brake time constant 13 CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated in the following table If the load inertia moment is higher than this value the built in dynamic brake may burn If there is a possibility that the load inertia moment may exceed the value contact Mitsubishi Servo amplifier Load inertia moment ratio times MRJ 2S 10CL to MR J 2S 200CL MRJ 2S 10CL1 to MRJ 2S 40CL1 0 MR J 2S 350CL 16 MR J 2S 500CL MR J 2S 700CL 15 13 4 Encoder cable flexing life The flexing life of the cables is shown below This graph calculated values Since they are not guaranteed values provide a little allowance for these values 1x108 a 5x107 1x107 5x106 Long flexing life encoder cable MR JCCBLOIM H MR JHSCBLOIM H 1108 MR ENCBLOIM H 5x105 Standard encoder cable MR JCCBLOM L MR JHSCBLOM L oO 1x105 o 5x104 D Ka E H 1x104 5x103 1x108 4 Flexing radius mm 13 6 13 CHARACTERISTICS 13 5 Inrush Currents at Power On of Main Circuit and Control Circuit The following table indicates the inrush currents
19. 4 OPERATION 5 Program example 5 Description SPN 1000 Speed Motor speed 1000 r min STC 20 Acceleration deceleration time constant 20 ms MOVI 1000 Incremental move command 1000 x 105 um TIM 20 Dwell command time 200 ms a SYNC 1 Step is suspended until Program input P11 turns ON MOVI 500 Incremental move command 500 x 105 ml STOP Program end Forward rotation Servo motor o min speed Program input PI1 OFF a PI is accepted in 200ms or later 6 Program example 6 Description SPN 1000 Speed Motor speed 1000 r min STC 20 Acceleration deceleration time constant 20 ms MOVI 1000 Incremental move command 1000 x 10s um SYNC 1 Step is suspended until Program input P11 turns ON TIM 20 Dwell command time 200 ms a MOVI 500 Incremental move command 500 x105 u m STOP Program end Forward rotation a 200ms Servo motor speed Or min Program input1 ON P11 OFF 4 18 4 OPERATION e Interrupt positioning command ITP POINT When Interrupt positioning ITP is used for positioning a stop position differs depending on the servo motor speed provided when the ITP command is enabled When the ITP command is used in a program the axis stops at the position by the set value farther from the position where any of Program input 1 to 3 P11 to PI3 turned ON If the move command set with the MOV MOVI M OVA
20. 6 6 Device assignment method EEN 6 11 6 7 Test operati N E 6 15 Le a Di E ee vi El WEE 6 15 6 7 2 Positioning be ele ON EEN 6 17 6 7 3 Motor less operation 22 eeeeeeeeeeeseeseeeeeeeseeaeeeeseeaeeaeeaseesecaesasessesaesaeeassesaesaeeaseessesaesaseeseesesesaetateesiees 6 19 6 7 4 Output signal DO forced output oe eee cece eee eeeeeteteeeeeeeeeecaeeaeeeseesesaesaseesesaesaseeseesaesaeeaseeeetiee 6 20 6 7 5 Program test oper ation BEE 6 21 G RTE on Delt EE 6 23 GE Display TOW CAN EE 7 1 172 Status display EE 7 2 72T Display ee Eet VE 7 2 7 2 2 Display E EE 7 3 RE Status display li EE 7 4 7 3 DIAGNOSIS MOU EE 7 5 RE E RTE ge ele NEE 7 5 73 2 DiaGnosiS Mode EE 7 6 TA Alarm ln e E 7 8 FAL Display transition 253 i e eek ded ees been 7 8 742 BARI MOS E EE 7 9 75 Parameter Mode ege elie etn ek ee Sete ek te Bh i ha ek oy SY ae ND 7 11 7 5 1 Parameter mode translttonm cece cseeseeeeeeeeeeseeeeeecseeaeeaeeeesecsecaseeseessesaesaseessesaesaseeseaesaseetesaeeesiee 7 11 7 5 2 Operation exampl EE 7 12 7 6 External rette ERT EE 7 14 7 7 Output signal DO forced ott 7 15 7 8 TeSt e e Ciel ul e EEN 7 16 KEE o SKa Tao EE 7 16 18 2 e fe ei Re AR 7 17 7 8 3 Positioning operation eeeeccecseeseeeceecseeeeeeesecseeaeeaeecsecaeeaseessessesaeeaseessesaeeaseesesaesaseeseesesasetateatees 7 18 7 8 4 Motor leSS OPEL Cell 7 19 8 1 Different adjustment methods AAA 81 8 1 1 Adjustment on a single servo amplifier oo
21. AL 39 AL 45 AL 46_ AL 50_ AL 51 AL 52 AL 63_ AL 64 ALBA _ ALS 88888 _ _AL 97 AL 98_ AL OF ALE AL E1 AL E3 AL E6_ ALE9 11 2 11 TROUBLESHOOTING 11 2 2 Remedies for alarms When any alarm has occurred eliminate its cause ensure safety then reset the N CAUTION alarm and restart operation Otherwise injury may occur If an absolute position erase alarm AL 25 occurred always make home position setting again Otherwise misoperation may occur When any of the following alarms has occurred always remove its cause and allow about 30 minutes for cooling before resuming operation If operation is resumed by switching control circuit power off then on to reset the alarm the servo amplifier and servo motor may become faulty Regenerative error AL 30 Overload 1 AL 50 Overload 2 AL 51 The alarm can be deactivated by switching power off then on press the SET button on the current alarm screen or by turning on the reset RES For details refer to Section 11 2 1 When an alarm occurs the trouble ALM switches 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 servo configuration software may be used to refer to the cause Display AL 10 Undervoltage Power s
22. GE DIO to DIS etc ea Home position return data Current position 1X Detection of position within one revolution D Backup at power off Position data speed data current position read Position control fe 5 E Q O ke Q ko Q Ka Speed detection Battery MR BAT Servo motor 1 pulse rev Cumulative revolution counter High speed serial Super capacitor communication Within one revolution counter 5 Battery installation procedure Before starting battery installation procedure make sure that the charge lamp is off UN WARNING more than 10 minutes after power off Then confirm that the voltage is safe in the tester or the like Otherwise you may get an electric shock The internal drcuits of the servo amplifier 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 4 OPERATION 1 Open the operation window When the mode used is the MR J 2S 200CL MR J 2S 350CL or more also remove the front cover 2 Install the battery in the battery holder 3 Install the battery connector into CON 1 until it clicks Operation window Battery Battery Battery holder Battery holder For MR J2S 100CL or less For MR J2S 200CL MR J2S 350CL Ba
23. IP Communication connector CN 3 Used to connect a command device RS 422 RS232C and output analog monitor data Chapter6 Chapter15 Section14 1 4 Encoder connector CN2 Connector for connection of the servo motor encoder Section3 3 Section14 1 4 Charge lamp Lit toindicate that the main circuit is charged Whilethis lamp is lit do not reconnect the cables Control circuit terminal block TE 2 Used to connect the control circuit power supply and regenerative brake option Section3 7 2 Section14 1 4 Main droit terminal block TE 1 Used to connect the input power supply and servo motor Section3 7 2 Section12 1 Section14 1 1 Name plate Cooling fan Protective earth PE terminal Ground terminal 1 16 Section1 3 Section3 10 Section12 1 1 FUNCTIONS AND CONFIGURATION 4 MR J2S 700CL The servo amplifier is shown without the front cover For removal of the front cover refer to next page Name Application Reference Battery connector CON 1 Used to connect the battery for absolute position data Section4 5 backup Battery holder Contains the battery for absolute position data backup Display The 5 digit seven segment LED shows the servo Chapter7 status and alarm number UI Section4 5 Operation section Used to perform status display diagnostic alarm and parameter s
24. JO PEE EE TE2 250 9 84 e no Fan air orientation 2 Weight Servo amplifier kg lb MR J 2S 500CL 4 9 10 8 L Terminal screw M4 Built in regenerative brake resistor Tightening torque 1 2 N m 169 9 oz in lead terminalfixingiscrew 2 Ls Cc P N gt I V W Terminal screw M4 Tightening torque 1 2 N m 169 9 oz in TE2 Terminal screw M3 5 Tightening torque 0 8 N m 141 6 oz in 21 12 4 12 OUTLINE DIMENSION DRAWINGS eS 5 MR J2S 700CL 2 66 0 24 Unit mm mounting hole Unit in 9 ne 180 7 09 70 200 7 87 l I 2 76 1385 43 627 a4 338 aay 10 24 Terminal layout d boa We 4 oL BE TE2 TE1 Fan air orientation a Weight Servo amplifier Seno air kg b MR J 2S 700CL 7 2 15 9 Li Le lbs GC P N U V W Terminal screw M4 Tightening torque 1 2 N m 169 9 oz in Built in regenerative brake resistor lead terminal fixing s
25. Note that forward rotation stroke end LSP reverse rotation stroke end LSN off has the same stopping pattern as described below 1 Servo on SON OFF The base circuit is shut off and the servo motor coasts 2 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 3 Forced stop EMG OFF The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop Servo forced warning A E 6 occurs 4 Forward rotation stroke end LSP reverse rotation stroke end LSN OFF The droop pulse value is erased and the servo motor is stopped and servo locked It can be run in the opposite direction 4 4 4 OPERATION 4 2 Program operation mode 4 2 1 What is program operation mode Make selection with the input signals or by communication from among the programs that have been created in advance using the Servo Configuration software and perform operation with Forward rotation start ST1 This servo is factory set to the absolute position command system As the position data the absolute move command MOV command used to specify the target address or the incremental move command MOVI command used to specify the moving distance can be set Note that the movable range is 999999 to 999999 x10S um Positioning is enabled within this range Setting range 999999 to 999999 x 10S um STM feed
26. OFF 2 Program example 2 Description SPN 1000 Speed Motor speed 1000 r min STC 20 Acceleration deceleration time constant 20 ms MOVI 1000 Incremental move command 1000 x 105 um TIM 20 Dwell command time 200 ms OUTON 1 Program output 1 OUT 1 is turned ON MOVI 500 Incremental move command 500 r min STOP Program end Forward rotation a 200ms Servo motor Or min speed i Program ON i outputi OUT1 OFF b 4 16 4 OPERATION 3 Program example 3 Description SPN 1000 Speed Motor speed 1000 r min STC 20 Acceleration deceleration time constant 20 ms MOVI 1000 Incremental move command 1000 x 105 um OUTON 1 Program output 1 OUT 1 is turned ON TIM 20 Dwell command time 200 ms MOVI 500 Incremental move command 500 x 105 um STOP Program end Forward rotation b 200ms Servo motor Orin speed Program ON outputi OUT1 OFF 4 Program example 4 Description SPN 1000 Speed Motor speed 1000 r min STC 20 Acceleration deceleration time constant 20 ms MOVI 1000 Incremental move command 1000 x 105 um TIM 20 Dwell command time 200 ms OUTON 1 Program output 1 OUT 1 is turned ON TIM 30 Dwell command time 300 ms MOVI 500 Incremental move command 500 x10S5 um STOP Program end Forward rotation a 200ms c 300ms Servo motor speed Or min Program ON output TI OUT1 OFF 4 b 4 17
27. ON e ra Program input1 EE Waiting for PI1 to be turned ON PI1 OFF by SYNC 1 a f External pulse counter COUNT When the number of input pulses of the manual pulse generator becomes greater than the value set with the COUNT command the next step is started Set 0 to erase the accumulated input pulses COUNT 500 The next step is held until the number of input pulses of the manual pulse generator reaches 500 pulses a SPN 500 Speed Motor speed 500 r min STA 200 Acceleration time constant 200 ms STB 300 Deceleration time constant 300 ms MOV 1000 Absolute move command 1000 x 10S u m TRIP 500 Trip point 500 x 105 u m COUNT 0 Waiting for PI 1 to be turned ON by SYNC 1 ai STOP Program end b 500 X108 um e H H 1 l I l I I l H 1 Manual pulse generator A L a 500 pulse I c Accumulated input pulses are erased 4 OPERATION g Step repeat command F OR NE XT FOR NEXT cannot be placed within FOR NEXT The steps located between the FOR set value command and NEXT command is repeated by the preset number of times SPN 1000 Speed Motor speed 1000 r min STC 20 Acceleration deceleration time constant 20 ms MOV 1000 Absolute move command 500 x 105 pm TIM 10 Dwell command time 100 ms FOR 3 Step repeat command start 3 times MOVI 100 Incremental move command 100 x105 um TIM 10 Dwell
28. PG2 parameter No 35 GD2 parameter No 34 VG1 parameter No 36 VG2 parameter No 37 Manual mode 1 0300 Fixed to parameter No 34 value VIC parameter No 38 PG1 GD2 PG2 parameter No 7 parameter No 34 parameter No 35 VG1 parameter No 36 VG2 parameter No 37 VIC parameter No 38 Manual mode 2 0400 m m gt GD2 parameter No 34 PG2 parameter No 35 PG1 parameter No 7 Interpolation mode 0000 Always estimated GE ee VG2 parameter No 37 VG1 parameter No 36 VIC parameter No 38 8 GENERAL GAIN ADJUSTMENT 2 Adjustment sequence and mode usage START nterpolation Yes Used when you want to made fora or more match the position gain No Interpolation mode PG1 between 2 or more axes Normally not used for Operation other purposes Allows adjustment by merely changing the response level setting Auto tuning mode 1 Operation First use this mode to make adjustment Yes Se OK Used when the conditions of a auto tuning mode 1 are not o met and the load inertia Auto tuning mode 2 KEN moment ratio could not be estimated properly for example This mode permits adjustment easily with three Manual mode 4 gains if you were not satisfied with auto tuning results You can adjust all gains manually when you want to do fast settling or t
29. Parameter No 1 Parameter No 55 l Parameter No 21 Parameter No 79 l Parameter No 18 D IIe gg Parameter No 76 Parameter No 19 71 mi l Parameter Parameter No 77 The parameter whose abbreviation is marked is made valid by switching power off then on after changing its setting Refer to Section 5 1 2 7 11 7 DISPLAY AND OPERATION i Eee 7 5 2 Operation example 1 Parameter of 5 or less digits The following example shows the operation procedure performed after power on to change the home position setting method Parameter No 8 into the data setting type Press the MODE button to switch to the basic parameter screen O Press MODE four times Select parameter No 8 with UP or DOWN E 4 a d d ee The parameter number is displayed GA Press UP or DOWN to change the number FSR ZR Press SET twice NA The set value of the specified parameter number flickers Press UP twice pt See During flickering the set value can be changed Use UP or DOWN 4002 Data setting type Press SET to enter To shift to the next parameter press the UP or DOWN button When changing the parameter No 8 home position return type setting change its set value then switch power off once and switch it on again to make the new value valid 7 12 7 DISPLAY AND OPERATION 2 Signed 5 digit parameter The
30. R4 g 8 General purpose register Dx value Command 6 E Came nat 6 E O 1 The value of the general purpose register D1 6 E 0 2 The value of the general purpose register D2 aE 6 E 0 3 The value of the general purpose register D3 SES 6 E moto The value of the general purpose register D4 A A 9 Group setting Command 1 F Frame length 1 F J I rowo Reading of group setting value Ce 10 Software version Command 0 2 Frame length o mo 15 13 15 COMMUNICATION FUNCTIONS 15 11 2 Write commands 1 Status display Command 8 1 Setting range_ Frame length 8 1 og Status display data clear 1EA5 aa 2 Parameter Command 8 4 Setting range_ Frame length Each parameter write Depends on O 0 to SIA The decimal equivalent of the data No value the parameter hexadecimal corresponds to the parameter number 3 External I O signal Command 9 2 Setting range_ Frame length 9112 Communication input device signal Refer to Section 15 12 5 4 Alarm history Command 8 2 Frame length 812 Got Alarm history dear 1Ea5 4 5 Current alarm Command 8 2 Setting range_ Frame length a om Alarmrest tev d a 6 General purpose register Rx value Command B 9 Setting range_ Frame length Biol O 1 The value of the general purpose register R1 0 2 The value of the
31. display as shown below To Parameter error No KREE ES l l 1 E n y H LI Current alarm LI Ee l IL ru H q Fourth alarm in past x x x Alarm history rm d Alarm history e l e Ke 1 LI l JE Last alarm ile 4 Fifth alarm in past x ei x UP i i I m S Alarm history rm VC Alarm history _ gt gt m gt _ gt U tt Second alarm in past DOWN H Sixth alarm in past H L 1 T VC Dy VU Alarm history V rt ae UI Third alarm in past em Parameter error No ga _ _ I l To Current alarm See SE EO ONAE 7 DISPLAY AND OPERATION 7 4 2 Alarm mode list Display Indicates no occurrence of an alarm Current alarm Indicates the occurrence of overvoltage AL 33 Flickers at occurrence of the alarm Indicates that the last alarm is overload 1 AL 50 Indicates that the second alarm in the past is overvoltage AL 33 Indicates that the third alarm in the past is undervoltage AL 10 Alarm history Indicates that the fourth alarm in the past is overspeed AL 31 Indicates that there is no fifth alarm in the past Indicates that there is no sixth alarm in the past Indicates no occurrence of parameter error Parameter error No Indicates that the data of parameter No 1 is faulty
32. ervo amplifier detects mechanical resonance and sets filter Adaptive vibration suppression control Se H e te A Section 9 3 characteristics automatically to suppress mechanical vibration Suppresses high fr ncy resonance which occurs as servo Low pass filter a ae d See aon SE E Section 9 4 system response is increased Analyzes the frequency characteristic of the mechanical system by Machine analyzer function simply connecting a servo configuration software installed personal computer and servo amplifier Can simulate machine motions on a personal computer screen on Machine simulation the basis of the machine analyzer results Absolute position detection system S Personal computer changes gains automatically and searches for Gain search function ae overshoot free gains in a short time Slight vibration suppression control Vibration of 1 pulse at servo motor stop is suppressed Parameter No 2 The electronic gear is used to make adjustment so that the servo amplifier setting matches the machine moving distance Also Electronic gear changing the electronic gear value allows the machine to be moved Section 5 2 1 at any multiplication ratio to the moving distance using the servo amplifier Automatically adjusts the gain to optimum value if load applied to Auto tuning the servo motor shaft varies Higher in performance than MR J 2 Chapter 8 series servo amplifier S pattern accel eration deceleration time Section
33. measurement data that will flow when the maximum permissible voltage 253VAC is applied at the power supply equipment capacity of 2500kVA and the wiring length of 10m es Inrush Currents Aop Servo Amplifier ee SE Main circuit SC Geen L1 L3 Control circuit power supply L11 L21 MR J 2S 10CL 20CL Attenuated to approx 5A in 10ms 70 to 100A MR J 2S 40CL 60CL S Attenuated to eee 5A in 10ms Attenuated to approx OA in 0 5 to 1ms MR J 2S 70CL 100CL 120A 100 to 130A MR J 2S 200CL 350CL ace Attenuated to approx 12A in 20ms Attenuated to approx OA in 0 5 to 1ms 44A Attenuated to approx 20A in 20ms 30A 88A Attenuated to approx 0A in several ms MR J 2S 700CL Attenuated to approx 20A in 20ms Attenuated to approx 12A in 10ms MRJ 2S 500CL Since large inrush currents flow in the power supplies always use no fuse breakers and magnetic contactors Refer to Section 14 2 2 When circuit protectors are used it is recommended to use the inertia delay type that will not be tripped by an inrush current 13 7 13 CHARACTERISTICS MEMO 14 OPTIONS AND AUXILIARY EQUIPMENT 14 OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment make sure that the charge lamp is off more than 10 minutes after power off then confirm the voltage with a tester or the like Otherwise you may get an electric shock Use the specified auxiliary equipment and op
34. that has detected the front end of a proximity dog Hence if a home position return is made at the creep speed of 100r min an error of 200 pulses will occur in the home position The error of the home position is larger as the creep speed is higher The position where the axis which had started decelerating at the front end of a proximity dog has moved the after proximity dog moving distance and home position shift distance is defined as a home position A home position return that does not depend on the Z phase signal can be made The home position may change if the creep speed varies 1 Signals parameters Set the input signals and parameters as indicated below Manua home position return mode Automatic manual selection M DO M DO is switched on Count type dog front end reference Parameter No 8 O0 06 Select the count type dog front end reference home position return Home position return direction Parameter No 8 Refer to Section 4 4 1 2 in this section and select the home position return direction Dog input polarity Parameter No 8 ee Section 4 4 1 2 in this section and select the dog input Home position return speed Parameter No 9 Set the speed till the dog is detected Creep speed Parameter No 10 Set the speed after the dog is detected Home position shift distance Parameter No 11 Set when the home position is moved from where the axis has passed the proximity dog rear end Moving distance after proximity dog Paramete
35. vibration suppression control and machine resonance suppression filter Parameter No 3 Response level setting Auto tuning selection m Machine characteristic Machine resonance Machine rigidity E Guideline of corresponding machine frequency guideline Lo eee pe Mite ee O f B O C J Response level setting Large conveyor Arm robot General machine tool conveyor GE Precision working machine Inserter Mounter Bonder 8 GENERAL GAIN ADJUSTMENT PEN 8 3 Manual mode 1 simple manual adjustment If you are not satisfied with the adjustment of auto tuning you can make simple manual adjustment with three parameters 8 3 1 Operation of manual mode 1 In this mode setting the three gains of position control gain 1 PG1 speed control gain 2 VG2 and speed integral compensation VIC automatically sets the other gains to the optimum values according to these gains User setting PG1 PG2 ve sl VIC Automatic setting Therefore you can adjust the model adaptive control system in the same image as the general PI control system position gain speed gain speed integral time constant Here the position gain corresponds to PG1 the speed gain to VG2 and the speed integral time constant to VIC When making gain adjustment in this mode set the load inertia moment ratio parameter No 34 correctly 8 3 2 Adjustment by manual mode 1 If machine resonance occurs adaptive vibrat
36. 0 No decimal point 1 Lower first digit 2 Lower second digit 3 Lower third digit 4 Lower forth digit 5 Lower fifth digit m Write mode 0 Write to EEP ROM 3 Write to RAM When the parameter data is changed frequently through communication set 3 to the write mode to change only the RAM data in the servo amplifier When changing data frequently once or more within one hour do not write it to the EEP ROM 15 20 15 COMMUNICATION FUNCTIONS 15 12 4 External I O signal statuses 1 Reading of input device statuses Read the statuses of the input devices a Transmission Transmit command 1 2 and data No Tool D om b Reply The slave station sends back the statuses of the input pins GE b1 bO 1 0N 0 OFF Command of each bit is transmitted to the master station as hexadecimal data LD Servoon SON Reverse rotation start ST 2 DE eege Forced stop EMG 24 Temporary stop restart STP 25 Manual pulse generator multiplication 1 TPO 6 Manual pulse generator multiplication 2 TP 1 5 Proportion control selection PC 6 Reset RES AE 110 Current position latch input LPS Forward rotation start ST1 3 Overrideselection OVR _ _ bd 129 Program input 1 P11 30 Program input 2 P12 31 Program input 3 P13 27 Gain switch CDP NI NI N N elele ele e NIe o o Nfola s 2 External input pin status read Read the ON OFF statuses of t
37. 00 20 to 65 non freezing 4 to 149 non freezing 90 RH or less non condensing Ambient l doors nodi ect sur li ght iv g able gas oil ist dust and dirt Max 1000m 3280ft TR sea level Vibration Fal A aA A ee a ae lia ave nse a Environment 1 10 1 FUNCTIONS AND CONFIGURATION 1 3 Function list The following table lists the functions of this servo For details of the functions refer to the reference field Operation is performed in accordance with the contents of any program selected from among pre created 16 programs Section 4 2 Use the external input signal or communication function to choose Positioning by program operation the program Dog type count type data setting type stopper type home Manual home position return position ignorance dog type rear end reference count type front Section 4 4 end reference dog cradle type GE Up to 32 axes of MR J 2S CL are controllable simultaneously by Section 4 6 3 Multidrop communication ane RS 422 communication Chapter 15 High resolution encoder of 131072 pulses rev is used as a servo High resolution encoder motor encoder By merely setting the home position once home position return Section 4 5 need not be done at each power on b You can switch between gains during rotation and gains durin e Gain changing function ae S e 9 i SE 9 j g H Section 9 5 stop or use an external signal to change gains during operation
38. 0o o o coker LC ais o o o Memoyerr2 O ALI6 1 1 0 Encodererrri O O O WH Wi LACH o o0 Io Boarderron ALI9 o o0 Io Memoyerr3 IC ALIA 1 1 O Moo combination error ee PAL2O 1 1 0 L neger eme o TN na a24 1 0 O Mandruiterrr of 0 nmn AL 25 1 1 O0 Absolutepositionerase O0 T mn AL 30 0 o 1 Regenerativeerror O Note 1 Note 1 Note 1 Pp AL32 1 Oo LU Oveses OG o 1 Overcurrent oO Overvoltage AL 33 AL 35 AL 37 AL 39 AL 45 AL 46 AL 50 AL 51 AL 52 AL 63 AL 64 Bee Alarms Command pulse frequency error Parameter error Main circuit device overheat Servo motor overheat 0 El _ O H EH o0 oe cas _ Oo Note 1 H D D Ee SSC EES Proramer Sea Ee O Note eene Home position return incomplete O Home position settingerror o e o E AL 8A Serial communication time out error AL SE Serial communication error IO kd LTCCP mem irch 8888 es l AL 97 AL 98 Software limit warning AL op Removing the cause of occurrence AL EO deactivates the alarm AL E1 automatically AL E3 AL E6 Servo emergency stop warning AL E9 Main circuit off warning Note 1 Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence 2 0 Pin SG off open 1 Pin SG on short Warnings AL 33_ AL 35 AL 37_
39. 1 time constant ms in hexadecimal Moving distance A 0 1 3 Write the moving distance pulse in hexadecimal b Input of servo on stroke end Turn on the input devices SON LSP and LSN by using command 9 2 data No 0 0 9112 0 0 00000001 Turns on SON Servo OF F 00000006 Turns off SON and turns on LSP Straceand ON ni ee Servo on Stroke end OFF 9 2 O 0 Turnson SON LSP LSN 15 27 15 COMMUNICATION FUNCTIONS 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 and then send the moving distance to start positioning operation After that positioning operation will start every time the moving distance is transmitted To start opposite rotation send the moving distance of a negative value When the servo on SON and forward reverse rotation stroke end LSP LSN are off the transmission of the moving distance is invalid Therefore positioning operation will not start if the servo on SON and forward reverse rotation stroke end ob LSN are turned on after the setting of the moving distance d Temporary stop A temporary stop can be made during positioning operation A 0 DIS Retransmit the same communication commands as at the start time to resume operation To stop positioning operation after a temporary stop retransmit the temporary stop communi
40. 15Hz parameter No 3 0100 as the machine resonance frequency of response lect th tot ode 1 in the auto tuning mode 1 ae cauto tunirig mode During operation increase the response level setting parameter No 2 and SE in auto tuning mode return the setting if vibration occurs Check the values of position control gain 1 parameter No 7 and speed control gain 1 parameter No 36 Set the interpolation mode parameter No 3 0000 Select the interpolation mode Check the upper setting limits Using the position control gain 1 value checked in step 3 as the guideline of the upper limit set in PG1 the value identical to the position loop gain of the axis to Set position control gain 1 be interpolated 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 Set speed control gain 1 three or more times greater than the position control gain 1 setting Looking at the interpolation characteristic and rotation status fine adjust the _ e H l Fine adjustment gains and response level setting 3 Adjustment description a Position control gain 1 parameter No 6 This parameter determines the response level of the position control loop Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling The droop pul
41. 2 4 3 1 Standard connection EXAMPLE eeecceeteseceseeeeeeeseeeeeeeeeseateesecaeeaeassesaesaeeessessesaesaseesseseaseessenetsesateatieeas 3 2 3 2 Internal connection diagram Of servo amplifier 2 ee eeeeee ese eseeeeeeeeeeaeeeeeeesaeeaeeessesaetaeeesessetaeeaseesneeees 3 4 3 31 O Ee EE 3 5 3 3 1 Connectors and Signal arrangermente cceeceeeseeseeeeeeeecseeeeeseeaeeeeeessecaesaseessessesaseeseessesaeeaseetaeetas 3 5 3 3 2 Signal devices explanations E 3 6 3 4 Detailed description of signals delces EE 3 13 3 4 1 Forward rotation start Reverse rotation start Temporary stopibetart A 3 13 ER Belle lge e ue EE 3 14 BiB OVENS EE 3 15 ER EN ve OCH ll 3 16 3 5 Alarm occurrence timing chart oo eeeeeceee eee eeeeeeeeeeeteeeaeeeeeeesesaeeaeeseesaeseesesaesaseesesesaeeaseeseetaeeesaseateesiees 3 18 3 6 hue 3 19 3 6 GComumoniline EEN 3 19 3 6 2 Detailed description of the interfaces AA 3 20 37 Input POWER SUPP ele e TEE 3 23 E Bee wl ene Vid TEE 3 23 37 2 Terminal S cccccishedeia aniline aae denise ieee deinen nasi ieee 3 25 3 7 3 e ee Ee e EEN 3 26 3 8 Connection of servo amplifier and servo mr 3 27 3 8 Connection INStrUCiONS aasde seh aa Eh eh On E 3 27 3 8 2 Connection dA EE 3 27 3 8 3 Deg nl 3 29 3 9 Servo motor with electromagnetic Drake 3 31 3 10 GrouNdIING EE 3 34 3 11 Servo amplifier terminal block TE 2 wiring mehol 3 35 3 12 Instructions for the 3M Conner 3 36 4 1 When switching power on for the first me
42. 22 913 AA 2 4D hole BA 14 13 14 OPTIONS AND AUXILIARY EQUIPMENT 14 1 4 Cables and connectors 1 Cable make up The following cables are used for connection with the servo motor and other models Those indicated by broken lines in the figure are not options Servo amplifier panel pelt CN1A CN1B CN2 CN3 To U V W Eege 19 20 Me ea Oo 1 2 14 14 Personal computer HC KFS HC MFS HC UFS 3000 r min HC SFS HC RFS HC UFS 2000r min 14 OPTIONS AND AUXILIARY EQUIPMENT ore J Met eset I Application Standard encoder MR J CCBLOIM L_ Connector 10120 3000VE Housing 1 172161 9 Standard Refer to 2 in this Shell kit 10320 52F 0 008 Connector pin 170359 1 flexing life section 3M or equivalent AMP or equivalent Cableclamp MTI 0002 Toa Electric Industry Refer to 2 in this section MR J HSCBL OM L Connector 10120 3000VE Refer to 2 in this Shell kit 10320 52F 0 008 section 3M or equivalent MR J HSCBLOM H in Refer to 2 in this Connector 10120 3000VE section MR ENCBLOM H Shell kit 10320 52F 0 008 3M or equivalent Long flexing life encoder cable MR J CCBLOM H Long flexing Standard flexing life 1P20 Long flexing Connector MS3106B 20 29S Cable clamp MS3057 12A J AE Long flexing life encoder cable 1P 65 compliant encoder cable Connector Long flexing MS3106A20 29S
43. 4 2 1 2 2 Acceleration deceleration can be made smoothly s constant Section 5 2 3 U sed when the built in regenerative brake resistor of the servo Regenerative brake option amplifier does not have sufficient regenerative capability for the Section 14 1 1 regenerative power generated U sed when the regenerative brake option cannot provide enough Brake unit regenerative power Section 14 1 2 Used when the regenerative brake option cannot provide enough Return converter regenerative power Section 14 1 3 Can be used with the MR J 2S 500CL MR J 2S 700CL 1 11 1 FUNCTIONS AND CONFIGURATION Analog monitor The servo status is output in terms of voltage in real time Section 5 2 4 leese By using the Servo configuration Software the current alarm and Section 6 8 SO five past alarm numbers are stored and displayed N By using the Servo configuration Software any devices can be Section 6 6 UD ia al Selection Device setting assigned to 9 input 5 output and 11 0 pins i Servo motor torque is limited Torque limit Parameter x 2 limit value Section 3 2 5 Analog input x 1 limit value The servo motor speed is limited by analog input Override speed limit The ratio of override to the set speed can be changed between 0 to Section 3 2 4 200 Status display The servo status is displayed Section 7 2 Positioning Operation w o motor Forced output Program e Test operation mode ee SO SA CS Section 6 7 The servo m
44. A45 0 197 A oO m Note Ventilation ports are provided in both side faces and top face The bottom face is open Resistor Approx unit weight model Ib FR BR 1 6 ee ae hee Da SE GEN 1 a 0 5 0 063 0 SE t FR BR 340 270 600 582 560 220 30K 11 389 10 63 23 622 22 913 22 047 8 661 nen eer e ee Ean 14 1 3 Power return converter When using the power return converter set 010 in parameter No 0 1 Selection The converters can continuously return 75 of the nominal regenerative power They are applied to the servo amplifiers of the MR J 2S 500CL and MR J 2S 700CL P t Nominal T d ower return regenerative Servo amplifier 500 converter power kW E 300 KE FR RC15 MR J 2S 500CL amp 200 FR RC30 MR J 2S 700CL ZS Jm S 2 50 O S 30 S 20 o 50 75 100 150 Nominal regenerative power 14 11 14 OPTIONS AND AUXILIARY EQUIPMENT 2 Connection example Servo amplifier Ou L21 Power factor improving reactor MC FR BAL NFB Power supply ge aa 3 phase o 200V or 230VAC o li Le Ls SG EMG O o o SON e Always remove wiring across P C D 6 4ft or less oR L1 Led S Le ATI EN Note Phase detection terminals Er Power return converter FR RC FR RC Operation
45. Battery MR DATE geeiert ege le ese eat ase an ase 14 29 14 2 AUxIlLaryequipMent 4 8 sees wii daiaiisin antainiiiein Minn Soin dai a EAEE 14 30 14 2 1 Recommended WITES eeeeccecesceeeceeeeseesceeeseeaeeansaesecaeeananseesecaeansesseeseeassasseesesaaeateassesaeseenetaneeneees 14 30 14 2 2 No fuse breakers fuses magnetic oomtachore nt 14 32 14 2 3 Power factor iMproving FEACCOIS ceeeceeeeseeeceeeeeeseeeeeseeeesecaesaeeeesessesaesasessesaeeaseasesaesaeeaseeseeeees 14 32 WADA ele E EE reegen Redehee treet EE E E A Zeie Cergier etc 14 33 E SE EIN 0 KEE 14 33 14 2 6 Noise reduction ee ll EE 14 33 14 2 7 Leakage current Drake AAA 14 39 14 2 8 EMC Filter eurien a aaa aa aaae aaa aaae iatea Tea eaaa iaaa 14 41 14 2 9 Setting potentiometers for analog Inpute nnna 14 43 CDe e ite de NEE 15 1 E Dn Ee pls ELON EE 15 1 15 1 2 RS 232C configurati NEE 15 2 15 2 Communication specflcattoms ntantu nanana nnna 15 3 15 2 1 COMMUNICATION Oervlew tnts tn tnt AEAN ANANENENENENENEN ENEA EAEAEANANENENENES ESENES Ennn EnEn Enn 15 3 152 2 Parameter Setting EE 15 4 15 3 lge e ee EE 15 5 15 4 Char acter codesia nicht a ta ini ahi teak ae ini ae 15 7 V5 SE GR OR COGS EE 15 8 15 6 CHECKSUM ss ee EES Ee AER EES AEN AE 15 8 e ai Mun E De ege EE 15 9 E Ne ele EE 15 9 SC Ree ELE le EEN 15 10 15 10 Communication procedure example cecceeseeseeeeeeeeeeeeeeceeaeeeeeeesecaeeaeeeesaeeaseesessesaseeseesetaeeateetieeee 15 10 15 1 Commiand and dataiNOli
46. CN2 Al Axis 32 Note Refer to Section 15 1 1 for cable connections 6 SERVO CONFIGURATION SOFTWARE 6 3 Station setting Click System on the menu bar and click Station Selection on the menu gt L 9600 MITSU File System Monitor Alarm D AXIS SEIECION Sutomatic demo Version information When the above choices are made the following window appears Station Settings Station Selection oo X Station Settings 1 Station number setting Choose the station number in the combo box and click the Station Settings button to set the station number POINT This setting should be the same as the station number which has been set in the parameter in the servo amplifier used for communication 2 Closing of the station setting window Click the Close button to close the window 6 SERVO CONFIGURATION SOFTWARE 6 4 Parameters Click Parameters on the menu bar and click Parameter List on the menu IBISHI Ser Parameter list Tuning Change list Detailed information IEU Parameter DRU Parameter Device setting When the above choices are made the following window appears s Parameter list Parameter table File name Setting range Write All d Change List e Help a f For parameters with an asterisk cycle amplifier power to initiate changes Parameter value Setto defaut g Close
47. Communication Bit length Start bit 1 date bit 8 parity bit 1 stop bit 1 Operating temperature humidity range 0 C to 60 C 90 RH or less non condensing Storage temperature range 5 C to 70 C 2 Connection example NF N o l D Power supply ee 200 to 230VAC SN Servo amplifier o External digital display MR DP60 Li 3 Terminal arrangement Li 7 100 to 230VAC power input 2 a S Note The 5VDC output is designed for the internal control circuit and used to make a voltage check etc Do not use this terminal to supply a voltage to the other equipment 14 26 14 OPTIONS AND AUXILIARY EQUIPMENT 4 Mounting Unit mm in Front mounting Inside mounting 2 95 0 20 Square ho DZ 2 45 0 20 Square hole EES le 1416 55 95 3 74 150 5 91 150 5 91 2 09 8 5 Outline dimension drawing Unit mm in A amp a D MITSUBISHI 4 7 5 150 5 91 5 0 30 J 0 30 2 4 5 0 18 mounting hole 165 6 50 lt 2 6 5 0 26 depth 1 0 04 48 1 89 14 27 14 OPTIONS AND AUXILIARY EQUIPMENT 14 1 8 Manual pulse generator MR HDP01 1 Specifications 4 5 to 13 2VDC poner DE Current consumption eoma max O ooo o O Curre
48. D190 li Cable clamp CE3057 12A 3 D265 Back shell CE02 20BS S DDK Refer to 2 in this section resistant n Connector 10120 3000V E Shell kit 10320 52F 0 008 Pin E ncoder connector set Housing 1 172161 9 170359 1 AMP or equivalent Cable clamp MTI 0002 Toa Electric Industry Connector MS3106B 20 29S Cable clamp MS3057 12A J AE 3M or equivalent 1 Connector 10120 3000VE Shell kit 10320 52F 0 008 3M or equivalent Encoder connector set Encoder connector set L Connector 10120 3000VE Shell kit 10320 52F 0 008 II Connector MS3106A 20 206 D Cable clamp CE 3057 12A 3 D2 190 65 Back shell CE02 20BS S DDK A 3M or equivalent 14 15 14 OPTIONS AND AUXILIARY EQUIPMENT je eg een EE Application Control signal connector set MR 2CN1 J unction terminal block cable MR J 2TBL OM Refer to Section14 1 5 12 Bus cable MR J 2HBUSOM Refer to section14 1 6 Communication cable Refer to 3 in this section MR PWCNS1 Refer to the Servo Motor Instruction Manual MR PWCNS2 Refer to the Servo Motor Instruction Manual MR PWCNS2 Refer to the Servo Motor Instruction Power supply connector set 16 P ower supply connector set 17 Power supply connector set 18 Manual Brake connetor MR BKCN set Refer to the Servo Motor Instruction Manual MR PWCNK1 Refer to the Servo Motor Instruction
49. Electromagnetic nvalid ON brake interlock MBR Valid OFF Base circuit Electromagnetic brake operation delay time No ON Trouble ALM Yes OFF d Both main and control circuit power supplies off Dynamic brake Dynamic brake x Electromagnetic brake Electromagnetic brake Servo motor speed Note 15 to 100ms 1 gt 4 ON Base circuit OFF Electromagnetic nvalid ON SES brake interlock MBR Valid OFF L i l s Electromagnetic brake No ON l j operation delay time Trouble ALM Yes OFF l Main circuit ON power Control circuit OFF Note Changes with the operating status e Only main circuit power supply off control circuit power supply remains on Dynamic brake Dynamic brake x Electromagnetic brake Electromagnetic brake Servo motor speed Note 1 15ms or more I l 1 T IN ON Base circuit i OFF J Electromagnetic F brake interlock Valid OFF i MBR R Electromagnetic brake No ON operation delay time Trouble ALM Note 2 Yes OFF Main circuit power ON SUPPIY OFF Note 1 Changes with the operating status 2 When the main circuit power supply is off in a motor stop status the main circuit off warning AL E9 occurs and the trouble ALM does not turn off 3 SIGNALS AND WIRING 3 10 Grounding Ground the servo amplifier and servo motor securely J N WARNING To prevent an ele
50. FLTT Bphasef f f Bphase f f f Encoder output pulse setting selection Refer to parameter No 27 0 Output pulse designation 1 Output division ratio setting 5 15 e to Name and function column Refer to Name and function column 5 PARAMETERS Initial Settin Class Symbol Name and Function i ua 9 value range 59 OPA Function selection A Refer to Used to select the alarm code Name and function column ES ae E 1 CC Setting of alarm code output Connector pins value CN1B 19 CN1A 18 CN1A 19 o Signals assigned to corresponding pins are output Alarm code is output at alarm occurrence Note Alarm code Alarm 7 CN1A ONIA display pin 18 pin 19 Watchdog Memory error 1 Clock error Memory error 2 Board error 2 Memory error 3 Parameter error Program error Serial communication time out error Serial communication error Regenerative error Overvoltage Undervoltage Main circuit device overheat Servo motor overheat Overload 1 Overload 2 Main circuit Overcurrent Overspeed Command pulse frequency error Error excessive Home position return incomplete Home position setting error Encoder error 1 Motor combination error Encoder error 2 Absolute position erase Note 0 OFF 1 0N 5 16 N wn J p by a Leg 5 wn E om x LI 5 PARAMETERS Initial Settin Ge lis as EC SECHER
51. Manual MR PWCNK2 Power supply connector set Power supply connector set Connector 10120 3000VE Shell kit 10320 52F 0 008 3M or equivalent Connector H F 3BA 20D 2 54R Hirose Electric 1 Connector 10120 6000E L Shell kit 10320 3210 000 3M or iy Connector 10120 6000E L Shell kit 10320 3210 000 3M or equivalent Connector DE 9SF N Case DE C1 J 6 S6 AE Connector CE 05 6A22 23SD B BSS Cable clamp CE 3057 12A 2 D265 DDK Connector CE 05 6A24 10SD B BSS Cable clamp CE3057 16A 2 D265 DDK Plug CE 05 6A24 10SD B BSS Cable clamp CE3057 16A 2 D265 DDK Plug MS3106A10SL 4S D190 DDK Cable connector YS010 5 8 Daiwa Dengyo Plug 5559 04P 210 Terminal 5558PBT3L For AWG16 6 pcs molex Plug 5559 06P 210 Terminal 5558P BT3L For AWG16 8 pcs molex 14 16 Qty 2 each For junction terminal block connection J unction MR TB20 Refer to Section 14 1 5 terminal block Connector 10120 6000E L Shell kit 10320 3210 000 3M or Te connection Maintenance MR J 2CN3TM Refer to Section 14 1 6 Jos card MR CPCATCBL 3M Connector 10120 6000E L Shell kit 10320 3210 000 3M or equivalent For connection with PC AT compatible personal computer Must be used to comply with the EN Standard IP 65 1P67 EN Standard compliant IP 65 1P67 For motor with brake IP 20 14 OPTIONS AND AUXILIARY EQUIPMENT 2 Encoder cable
52. Manual pulse generator Section 14 1 8 No fuse breaker Section 14 2 2 Secti Magnetic contactor ection 14 2 2 3 phase 200V S to 230VAC Servo configuration software Chapter 6 power supply Regenerative brake option Section 14 1 1 External digital display Section 14 1 7 Power factor improving reactor Section 14 2 3 Command device No fuse breaker NFB or o Junction terminal fuse block Servo amplifier Io To CN1A d O Magnetic Manual pulse contactor oO generator MC To CN1B External digital display factor Servo improving configuration reactor Personal software FR BAL computer MRZJW3 ERBA SETUP151E 1 24 2 INSTALLATION 2 INSTALLATION Stacking in excess of the limited number of products is not allowed Install the equipment to incombustibles Installing them directly or close to combustibles will led to a fire Install the equipment in a load bearing place in accordance with this Instruction Manual Do not get on or put heavy load on the equipment to prevent injury Use the equipment within the specified environmental condition range Provide an adequate protection to prevent screws metallic detritus and other conductive matter or oil and other combustible matter from entering the servo amplifier Do not block the intake exhaust ports of the servo amplifier Otherwise a fault may occur Do
53. N The general external input signal is ignored during the test operation In case of MRJ2S B servo amplifier set F for the axis selection switch CG In case of MA J2M B servo amplifier set IFU parameter No 10 to ITT Are you Ready H Cancel Since this window shows the precautions for use of the MR J 2S B click the OK button Clicking it displays the next window output mode sloj xi O O ON O CN1B 4 O OO LJ OFF O CN1B 6 O O O CN1B 18 O O O CN1B 19 O O ON a oO O O el bel 0 OEF b O O oO O O H Close c O O O 1 Signal ON OFF setting a b Choose the signal name or pin number and click the ON or OFF button to write the corresponding signal status to the servo amplifier 2 DO forced output window closing c Click the Close button to cancel the DO forced output mode and close the window 6 SERVO CONFIGURATION SOFTWARE 6 7 5 Program test operation The program of the MR J 2S CL can be test operated 1 How to open the setting screen Click Test on the menu bar and click Program Test in the menu neters Test Advanced function Point Joe Positioning Operation wo motor Forced output Demo mode Program Test Clicking it displays the next window Program T est Warning You must turn on the external signals EMG LSP LSN and turn off the external signals ST1 ST2 during Program test mode Then dick the OK button to displa
54. OFF states of all devices in the servo amplifier are the states of the data received last Hence when there is a device which must be kept ON send data which turns that device ON every time Each input device can be switched on off However when the device to be switched off exists in the external input signal also switch off that input signal Send command 9 2 data No 6 0 and data 912 D Command of each bit is transmitted to the slave station as hexadecimal data o Servo on SON Forward rotation stroke limit LSP 5 Proportion control selection PC 6 Reset RES H El 10 Current position latch input LPS Forward rotation start ST1 Reverse rotation start ST 2 GE 24 Temporary stop restart STP Manual pulse generator multiplication 1 TPO Manual pulse generator multiplication 2 TP 1 El P 7 P11 rogram input 2 P12 31 Program input 3 P13 15 COMMUNICATION FUNCTIONS 15 12 6 Disable enable of I O devices DIO Inputs can be disabled independently of the I O devices ON OFF When inputs are disabled the input signals devices are recognized as follows Among the input devices EMG LSP and LSN cannot be disabled Input devices DI External analog input signals Pulse train inputs 1 Disabling enabling the input devices DI external analog input signals and pulse train inputs with the exception of EMG LSP and LSN Transmit the following communic
55. PS 19 LG 11 PS 20 LG 12 PS 18 LG 2 MR 7 MRR 17 BAT 9 LG 1 SD Plate Note Always make connection for use in an absolute position detection system This wiring is not needed for use in an incremental system 14 18 14 OPTIONS AND AUXILIARY EQUIPMENT b MR J HSCBL DM MR J HSCBL OM H MR ENCBLOM H These encoder cables are used with the HC SFS HC RFS HC UFS2000r min series servo motors 1 Model explanation Model MR JHSCBLOM D Standard flexing life Long flexing life Cable Se m ft SCH Gr 5 10 32 8 20 20 65 6 30 30 98 4 40 40 131 2 50 50 164 0 Note MR JHSCBLOM L has no 40 131 2 and 50m 164 0ft sizes Model MR ENCBLOM H Long flexing life 2 5 10 20 65 6 30 98 4 ES 40 131 2 50 164 0 2 Connection diagram For the pin assignment on the servo amplifier side refer to Section 3 3 1 Servo amplifier ENE i N ncoder connector Encoder connector Pin Signal A MD Encoder cable Servo motor Optional or fabricated gt p 50m 164 0ft max 14 19 14 OPTIONS AND AUXILIARY EQUIPMENT MR JHSCBL2M L MR JHSCBL5M L MR JHSCBL2M H MR JHSCBL5M H MR ENCBL2M H MR ENCBL5M H MR JHSCBL10M L to MR JHSCBL30M L Servo amplifier side Encoder side Servo amplifier side P5 P5 19 P5 LG LG 11 LG
56. R VC 2 TLA 12 P15R 11 LG 1 SD Casing CN1A P15R 4 3 SIGNALS AND WIRING 3 3 I O signals 3 3 1 Connectors and signal arrangements The connector pin outs shown above are viewed from the cable connector wiring section side 1 Signal arrangement CN1A Servo amplifier CNS The connector frames are connected with the PE earth terminal inside the servo amplifier 3 SIGNALS AND WIRING 3 3 2 Signal devices explanations 1 I O devices The devices not indicated in the Connector Pin No field of the I O devices can be assigned to the connector CN1A CN1B using the Servo Configuration software In the factory setting state Forced stop EMG and Automatic manual selection M DO are not assigned to the pins but are preset to turn on automatically a Pins whose devices can be changed Refer to Section 3 6 2 for the I O interfaces symbols in the I O Division field in the table of the corresponding connector pins Program No selection 1 DI 0 Input only pins CN1B 16 Forward rotation stroke end LSP Servo on SON CN1A 19 DI 1 or DO 1 You can assign an I O device using the Servo Configuration software Output only pins CN1B 18 Trouble ALM Ready RD Home position return completion ZP b Input devices vic Dev
57. and twisting the core At this time 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 Cable size 0 2 to 2 5mm Alternatively a bar terminal may be used to put the wires together Bar terminal type eae Crimping tool Maker For 1 cable For 2 cables BT 1 25 9 1 ez saso poc ii u Wris A e AI TWIN2 x 1 5 8BK 1 5 16 Al1 5 8BK AL TWIN2 X 15 12BK R MPF OX UD6 Phoenix Contact Ee AI TWIN2 x 1 5 12BK x 1 5 12BK Al 2 5 8BU AI TWIN2 X 2 5 10BU 2 14 CRIMPFOX UD6 Phoenix Cont 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 5Ib in Before inserting the cable into the opening make sure that the screw of the terminal is fully loose When using a cable of 1 5mm or less two cables may be inserted into one opening O Flat blade screwdriver es thickness 0 4 to 0 6mm 0 016 to a Overall width 2 5 to 3 5mm 0 098 to 0 138in To ee To A Cable Opening Control circuit terminal block 3 SIGNALS AND WIRING Use of a flat blade torque screwdriver is recommended to manage the screw tightening torque The following table indicates the recommended products of the torque screwdriver for tightening torque management and the flat blade bit for torque screwdriver When managing torque
58. by GE f In this Instruction Manual instructions at a lower level than the above instructions for other functions and so on are classified into POINT After reading this installation guide always keep it accessible to the operator 1 To prevent electric shock note the following A WARNING Before wiring or inspection switch power off and wait for more than 10 minutes Then confirm the voltage is safe with voltage tester Otherwise you may get an electric shock Connect the servo amplifier and servo motor to ground Any person who is involved in wiring and inspection should be fully competent to do the work Do not attempt to wire the servo amplifier and servo motor until they have been installed Otherwise you may get an electric shock Operate the switches with dry hand to prevent an electric shock The cables should not be damaged stressed loaded or pinched Otherwise you may get an electric shock 2 To prevent fire note the following N CAUTION Do not install the servo amplifier servo motor and regenerative brake resistor on or near combustibles Otherwise a fire may cause When the servo amplifier has become faulty switch off the main servo amplifier power side Continuous flow of a large current may cause a fire When a regenerative brake resistor is used use an alarm signal to switch main power off Otherwise a regenerative brake transistor fault or the like may overheat the rege
59. cable MR J2HBUSOM 2 Connection diagram Maintenance junction card MR J2CN3TM Communication cable Ae pX SE Ge a Gs B1 VDD COM EMI 5i MSR EMGO SG PE CN3B CN3C B5 B6 A5 A6 Not usd O Analog monitor 2 TE1 14 24 OOOoOoO OO O Analog monitor 1 LG LG MO1 MO2 VDD 4 COM EM1 DI MBR EMGO SG PE Not used 14 OPTIONS AND AUXILIARY EQUIPMENT 3 Outline drawing Unit mm Unit in A 2 5 3 0 21 mounting hole 8 al Ki D e 3 0 12 88 3 47 41 5 1 63 100 3 94 Weight 1109 0 241b 4 Bus cable MR J2HBUS OM Model MR J2HBUSOIM Symbol Cable length m ft 05 1 64 1 1 3 28 ay MR J2HBUSO5M MR J2HBUS1M MR J2HBUS5M 10120 6000EL connector 10120 6000EL connector 10320 3210 000 shell kit 10320 3210 000 shell kit 1 Eis 11 11 2 L 12 12 3 3 13 13 14 14 5 i 5 15 DEEE 15 6 HH 6 16 l 16 7 7 17 17 g Ll rit g 18 18 9 9 19 19 10 10 20 l 20 l Plate a Y Plate 14 25 14 OPTIONS AND AUXILIARY EQUIPMENT 14 1 7 External digital display MR DP60 When using the MR DP60 set 1 104 in parameter No 16 1 Specifications Within 200mA S Within 200mA
60. completion OFF ZP it Parameter No 41 Home position return Acceleration time constant speed Parameter No 9 Home position address Forward he g Parameter No 42 Servo motor speed rotation K e 0 r min A 3ms or less Stopper Forward rotation ON 5ms or more l start ST1 OFF j Stopper time i i SE EE torque TLC OFF Torque limit value Parameter No 28 gt Parameter No 45 Parameter No 28 The address on completion of home position return is the value automatically set in parameter No 42 home position return position data 4 OPERATION 4 4 6 Home position ignorance servo on position defined as home position When a home position ignored home position return is executed the program including the ZRT command need not be selected The position where servo is switched on is defined as a home position 1 Signals parameter Set the input signals and parameter as follows Device Parameter used Home position ignorance Parameter No 8 O 14 Home 0004 Home position ignorance is selected ignorance is selected Home position return position Used to set the current position on completion Parameter No 42 data of home position return 2 Timing chart Servo on SON Bre Ready RD Ore Automatic manual selection ON ON OFF Home position oy return completion OFF ZP Movement complete PED Home position address P
61. corresponding earth terminals PE terminals 6 Wiring a The cables to be connected to the terminal block of the servo amplifier must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals _ Cable b Use the servo motor side power connector which complies with the EN Standard The EN Standard compliant power connector sets are available from us as options 7 Auxiliary equipment and options a The no fuse breaker and magnetic contactor used should be the EN or IEC standard compliant products of the models described in Section 14 2 2 b The sizes of the cables described in Section 14 2 1 meet the following requirements To meet the other requirements follow Table 5 and Appendix C in EN60204 1 Ambient temperature 40 104 C F Sheath PVC polyvinyl chloride Installed on wall surface or open table tray c Usethe 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 electrical equipment specifications For the other EMC directive guidelines on the servo amplifier refer to the EMC Installation Guidelines B NA 67310 A 8 CONFORMANCE WITH UL C UL STANDARD 1 Servo amplifiers and servo motors used Use the servo amplifiers and
62. data WE p l EE Master station gt slave station Data transmission _ Data receive Is there receive data No ie elapsed Yes 3 consecutive times Y Yes Other than error cod No A a 100ms after EOT transmission Yes Receive data analysis Error processing Master station lt slave station Master station gt slave station v Error processing End 15 10 15 COMMUNICATION FUNCTIONS 15 11 Command and data No list POINT If the command data No is the same its data may be different from the interface and drive units and other servo amplifiers 15 11 1 Read commands 1 Status display Command 0 1 O 1 8 0 Status display data value and Current position 1 processing information Step No o fou ma mi eg tout mi 2 Step No 12 Regenerative load ratio Peak load ratio instantaneoustorque r ton mm 12 0 1 9 1 Bus voltage 2 Parameter Command 0 5 Frame length o 0 to Current value of each parameter 0 5 SIA The decimal equivalent of the data No value hexadecimal corresponds to the parameter number 3 External I O signals Command 1 2 Command Data No Description Frame length 1 2 foro Input device statuses it _ sip _ 1 2 mo External input pin statuses ge emm _ Statuses of input devices switch
63. ee eee eeeeeceeeteeeeeeeeeeetaeeaeeesecaesaeeetsesaesaeeeteessesaeeaseeeeeaeeas 8 1 8 1 2 Adjustment using servo Configuration sftware cece ceeeeeeeteeeeeeeeeeesaeeaeeeeeetsetaeeeteesetaetateetiee 8 2 8 2 Auto e Un Le DEE 8 3 ER leen s nl Le Du e EE 8 3 8 2 2 Auto tuning MOde Oper Cl VE 8 4 8 2 3 Adjustment procedure by auto tunimg nenna 8 5 8 2 4 Response level setting in AUTO TUNING mole 8 6 8 3 Manual mode 1 Simple Manual adiustrment E 8 7 8 3 1 Operation of Manual mole 8 7 8 3 2 Adjustment by manual mode 1 8 7 8 4 Interpolation Modes EE 8 10 8 5 Differences in auto tuning between MELSERVO 2 and MELSERVO J 2 Guper sesse 8 11 8 5 1 Response level setting EEN 8 11 8 5 2 Auto tuning Selection ieecisc iveteheveeteneiieeiebaie de dies delantieiiecdee itaeeetesdiesctteaeesdtiedivdelesivaieeduedelanviedes 8 11 Q 1 FUMCtION block dagram AEN 9 1 9 2 Machine resonance suppression filter oo cece eeeeseeeceeeeeeeeeeeecseeaeeeesaeeaeeessesaesaseaseessesaesaseesesaesaeeanaeeeteeas 9 1 9 3 Adaptive vibration suppression oomtrd nennen nna 9 3 9 4 Low pass filter enge hive cee AEN AECH EEN 9 4 Cker linge arela lale hd ue ee EE 9 5 Reeg NEE 9 5 95 2 Function elle ee Ee REG 9 5 9 5 3 Parameters EE 9 6 9 5 4 Gain changing OPEL Cl fe VE 9 8 10 INSPECTION 10 1 to 10 2 11 TROUBLESHOOTING 11 1 to 11 10 IR Wa bg D Ee CUD WEE 11 1 ILLL Position control ug e 11 1 11 2 When alarm or warning has occurred ou eeeeeeeeeseeceteeeeeeeee
64. general purpose register R2 the used mie 0 3 The value of the general purpose register R3 e191 instruction fora The value of the general purpose register R4 Depends on 7 General purpose register Dx value Command B A Frame length B A O 1 The value of the general purpose register D1 Depends on D2 P B A 0 2 The value of the general purpose register D1 ea the used B A 0 3 The value of the general purpose register D3 D4 instruction B A fora The value of the general purpose register D4 15 14 15 COMMUNICATION FUNCTIONS 8 External input signal disable Command 9 0 Setting range_ Frame length Turns off the input devices external analog input signals and pulse train inputs with the exception of EMG LSP and 1EA5 LSN independently of the external ON OFF statuses wn mn Changes the output devices DO into the value of e fk command 8 B or command A 0 data No 0 1 Enables the disabled input devices DI external analog 1 0 input signals and pulse train inputs with the exception of 1EA5 EMG LSP and LSN mom 1 3 _ Enables the disabled output devices DO o was a4 9 Operation mode selection Command 8 B Setting range _ Frame length Operation mode changing 0000 E xit from test operation mode aye lee e 0000 to 0004 0002 Positioning operation 0003 Motor less operati
65. gt D Ki Station 7 II Eet Aa age Ad a eg Sk deii ft erregt Station 0 Station 1 Station 2 Station 3 4 OPERATION 2 Timing chart In the following timing chart operation is performed group by group in accordance with the values set in program No 1 Transmission data 1 2 3 amp 4 X 5 12 Station 0 Servo motor speed Station 1 Servo motor speed Station 2 Group a Servo motor speed Station 3 Servo motor speed Station 4 Servo motor Group b speed i Station 5 Servo motor speed Station 6 Servo motor speed Group c Station 7 Servo motor speed Station 8 Servo motor Group d speed Station 9 Servo motor speed 1 Selection of programNotofgroupa a em ER Forward rotation start ST1 ON Forward rotation start ST1 OFF 9 2 6 0 Ca selection of progam Naot group reir 1 wm 5 F orward rotation start ST1 ON ee Ewo Forward rotation start ST1 OFF 7 Selection of programNotofgroupc mp em Forward rotation start ST1 ON on eg Forward rotation start ST1 OFF 11 Forward rotation start ST1 ON 9 2 6 0 Forward rotation start ST1 OFF 9 2 6 0 In addition parameter values common to the stations of each group can be written and alarm reset can be made for example 3 Group setting instructions Only one servo amplifier may send a reply in any group If two or more servo amplifiers send
66. in further about 20ms making the servo amplifier ready to operate Refer to paragraph 2 in this section 4 When the reset RES is switched on the base circuit is shut off and the servo motor shaft coasts 2 Timing chart SON accepted 1 to 2s Power supply OEE f 1 Base circuit ape eee ee e e Ee tee e EEN 10ms 10ms 60ms d 1 1 iit 1 a im 1 Servo on ON E A i i f i SON OFF i time 1 KH 1 1 f Reset ON i CU i RES OFF 120MS 10ms 20ms Gm 20ms 10ms j gt gt e gt gt e Ready ON o e r E RD OFF 3 Forced stop Forced stop EMG can be used by making device setting on the Servo Configuration Software Make up a circuit which shuts off main circuit power as soon as EMG SG are opened at a forced stop To ensure safety always install an external emergency stop switch across EMG SG By disconnecting EMG SG the dynamic brake is operated to bring the servo motor to a sudden stop At this time the display shows the servo emergency stop warning AL E 6 During ordinary operation do not use the external forced stop EMG to alternate stop and run The servo amplifier life may be shortened Servo amplifier EMG Forced stop G 3 SIGNALS AND WIRING 3 8 Connection of servo amplifier and servo motor 3 8 1 Connection instructions A WARNING SE the connections of the power supply terminals to prevent an electric Connect the wires to the correct phas
67. is connected properly Without a servo motor being connected the output signals are provided and the servo amplifier display shows the status as if a servo motor is actually running in response to the external I O signals The sequence of the host programmable controller PC can be checked without connection of a servo motor Click Test on the menu bar and click Operation w o Motor on the menu ters Test Advanced function Point Demo mode Sinele step Feed Program Test When the above choices are made the following window appears Operation Without Selection Select Start to enter Operation without Motor Mode Cycle amplifier power to restore Normal Mode 1 Execution of motor less operation a Click Start to perform motor less operation 2 Termination of motor less operation b Click Close to close the window 3 Cancel of motor less operation To cancel motor less operation switch off the power of the servo amplifier 6 19 6 SERVO CONFIGURATION SOFTWARE 6 7 4 Output signal DO forced output Each servo amplifier output signal is forcibly switched on off independently of the output condition of the output signal Click Test on the menu bar and click Forced Output on the menu ters Test Advanced function Point Joe Positioning Operation w o motor Program Test When the above choices are made the following window appears
68. is not executed 3 17 3 SIGNALS AND WIRING 3 5 Alarm occurrence timing chart When an alarm has occurred remove its cause make sure that the operation Ab CAUTION signal is not being input ensure safety and reset the alarm before restarting operation When an alarm occurs in the servo amplifier the base circuit is shut off and the servo motor is coated toa stop Switch off the main circuit power supply in the external sequence To reset the alarm switch the control circuit power supply from off to on press the SET button on the current alarm screen or turn the reset RES from off to on However the alarm cannot be reset unless its cause is removed Note Main circuit control circuit ON Power off power supply OFF Base circuit ON OF Dynamic brake Valid Invalid Servo on ON E i r Brake T Brake operation d D SON OFF O S RD OFF Trouble ON ALM OFF Sl pF Reset ON ipa RES OFF E 50ms or more 60ms or more Alarm occurs d vi Remove cause of trouble Note Switch off the main circuit power as soon as an alarm occurs 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent AL 32 overload 1 AL 50 or overload 2 AL 51 alarm after its occurrence without removing its cause the servo amplifier and servo motor may become faulty due to temperature rise Securely remove the cause of the a
69. manually 4 Encoder faulty Change the servo motor Checking method When the servo motor shaft is rotated with the servo off the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway AL 52 Error excessive The droop pulse 1 Acceleration deceleration time Increase the accel eration deceleration value of the constant is too small time constant deviation counter 2 Internal torque limit 1 parameter Increase the torque limit value exceeded 2 5 No 28 is too small rotations 3 Motor cannot be started due to 1 Review the power supply capacity torque shortage caused by power 2 Use servo motor which provides larger supply voltage drop output 4 Position control gain 1 parameter Increase set value and adjust to ensure No 7 value is small proper operation 5 Servo motor shaft was rotated by 1 When torqueis limited increase the external force limit value 2 Reduce load 3 Use servo motor that provides larger output 6 Machine struck something 1 Review operation pattern 2 Install limit switches 7 Encoder faulty Change the servo motor 8 Wrong connection of servo motor Connect correctly Servo amplifier s output terminals U V W donot match servo motor s input terminals U V W 11 7 11 TROUBLESHOOTING Display In incremental 1 Positioning operation was 1 Perform home position return sys
70. mechanism for the purpose of prevention Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop EMG Contacts must be open when servo on SON is off when a trouble ALM Circuit must be is present and when an electromagnetic opened during brake interlock MBR forced stop EMG Servo motor n RA EMG g 0 aYo lt 24VDC Electromagnetic brake When any alarm has occurred eliminate its cause ensure safety and deactivate the alarm before restarting operation When power is restored after an instantaneous power failure keep away from the machine because the machine may be restarted suddenly design the machine so that it is secured against hazard if restarted 6 Maintenance inspection and parts replacement N CAUTION With age the electrolytic capacitor will deteriorate To prevent a secondary accident due to a fault it is recommended to replace the electrolytic capacitor every 10 years when used in general environment Please consult our sales representative 7 General instruction To illustrate details the equipment in the diagrams of this Specifications and Instruction Manual may have been drawn without covers and safety guards When the equipment is operated the covers and safety guards must be installed as specified Operation must be performed in accordance with this Specifications and Instruc
71. more uses the communication function of the servo amplifier to perform parameter setting changes graph display test operation etc on a personal computer 6 1 Specifications Communication signal Conforms to RS 232C 57600 38400 19200 9600 Station selection Display all High speed monitor trend graph Display history amplifier data Dette I O display function device display no motor rotation total power on time software number 9 display motor data display tuning data absolute encoder data axis name setting Parameter list tuning change list detailed information device setting J og positioning operation w o motor forced output program test Advanced function Machine analyzer gain search machine simulation Program data Program data indirect addressing File operation Data read save print Help display 6 2 System configuration 1 Components To use this software the following components are required in addition to the servo amplifier and servo motor Note 1 Description IBM PC AT compatible where the English version of Windows 95 Windows 98 Windows Me Windows NT Workstation 4 0 or Windows 2000 Professional operates Processor Pentium 133M Hz or more Windows 95 Windows 98 Windows NT Workstation 4 0 Windows 2000 Professional Pentium 150MHz or more Windows Me Memory 16MB or more Windows 95 24MB or more Windows 98 32MB or more Windows Me Windows NT Workstation 4 0 Windows 2000 P
72. off as in the timing chart shown in 3 in this section 3 SIGNALS AND WIRING 3 Timing charts a Servo on SON command from controller ON OF F Tb ms after servo on SON is switched off servo lock is released and the servo motor coasts If the electromagnetic brake is made valid in the servo lock status the brake life may be shorter For use in vertical lift and similar applications therefore set delay time Tb to the time which is about equal to the electromagnetic brake operation delay time and during which the load will not drop Coasting Servo motor speed D r min H ON i Base circuit 1 80ms Electromagnetic brake Electromagnetic Invalid ON i operation delay time brake interlock MBR Valid OFF ON Servo on SON OFF classe b Forced stop EMG ON OFF Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake x Electromagnetic brake release T Servo motor speed 180ms ON Base circuit OFF asf l gd l re e 180ms Electromagnetic nvalid ON Electromagnetic brake brake interlock MBR valid OFF AN operation delay time i ____ i Invalid ON i i Forced stop EMG o i as Valid OFF 3 SIGNALS AND WIRING c Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake e Electromagnetic brake Servo motor speed ON OFF
73. operation is performed under the conditions of the jog speed set in the parameter and the acceleration and deceleration time constants in set parameter No 40 For the rotation direction refer to 2 in this section When ST2 is turned ON the servo motor rotates in the reverse direction to forward rotation start ST 1 4 OPERATION 4 Timing chart ON Servo on SON oF ae e beem al ON b Reay RD ep DI ON OFF Automatic manual ON selection MD0 OFF Movement complete ON ie ee PED OFF I 1 i I 1 i Forward gt i rotation AO Servo motor speed Or min Reverse Z y rotation l 1 1 i i l Trouble ALM ON Forward rotation start OFF Forward rotation jog ST1 Gg i 1 Reverse rotation start OFF Reverse rotation jog ST2 4 OPERATION 4 3 2 Manual pulse generator operation 1 Setting Set the input signal and parameters as follows according to the purpose of use In this case the program No selection 1 to 4 DIO to DI 3 are invalid Setting method Manual operation mode selection Automatic manual selection M DO MDO is switched off Set the multiplication ratio of servo motor rotation to the pulses generated Parameter No 1 by the manual pulse generator For more information refer to 3 in this section Servo motor rotation direction Parameter No 1 Refer to 2 in this section Parameter No 13 Set the speed of the servo motor Acceleration deceleration time Us
74. po LA CG oo GA CH Leg Auto ON a a oo a 3 CR Already assigned auto ON Buel a CH cla OI D o E wo E 3 0 CH 4 2 oj oj o D Dd Auto ON read 4 Auto ON write b Auto ON verify 4 2 oi 2 Ea a a E Eom en en E e ES e KE SEN WE a E CH CH 0 Auto ON initial d setting The assigned functions are indicated by O The functions assigned by auto ON are grayed When you want to set auto ON to the function that is enabled for auto ON click the corresponding cell Clicking it again disables auto ON 1 Auto ON read of function assignment a Click Auto ON read button reads the functions set for auto ON from the interface unit and extension IO unit 2 Auto ON write of function assignment b Click Auto ON write button writes the functions currently set for auto ON to the interface unit and extension IO unit 3 Auto ON verify of function assignment c Click Auto ON verify button verifies the current auto ON setting in the interface unit and extension 10 unit with the auto ON setting on the screen 4 Auto ON initial setting of function assignment d Click Auto ON initial setting button initializes the auto ON setting 5 Quitting the function device assignment checking auto ON setting window e Click Close button exits from the win
75. power is switched on again after write Read enable disable 0 Read enable 1 Read disable Enable disable information changes according to the setting of parameter No 19 parameter write inhibit When the enable disable setting is read disable ignore the parameter data part and process it as unreadable 15 19 15 COMMUNICATION FUNCTIONS 2 Parameter write POINT The number of parameter write times is restricted to 100 000 times Write the parameter setting Write the value within the setting range Refer to Section 5 1 for the setting range Transmit command 8 4 the data No and the set data The data number is represented in hexadecimal The decimal value converted from the data number value corresponds to the parameter number Refer to 1 a in this section When the data to be written is handled as decimal the decimal point position must be specified If it is not specified data cannot be written When the data is handled as hexadecimal specify O 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 write read the same parameter data to verify that data has been written correctly Set data 0 0 to Ries is transferred in hexadecimal Decimal point position
76. power supply and servo Section3 7 motor Control circuit terminal block TE 2 Used to connect the control circuit power supply and E i i Section14 1 1 regenerative brake option Cooling fan F p Protective earth PE terminal Seta ae Ground terminal Mounting hole 4 places 1 15 1 FUNCTIONS AND CONFIGURATION 3 MR J2S 500CL The servo amplifier is shown without the front cover For removal of the front cover refer to Section 1 6 2 Q el ki do D olli Be Installation notch 4 places Name Application Battery connector CON 1 Used to connect the battery for absolute position data Section4 5 Battery holder Contains the battery for absolute position data backup Section4 5 backup Display The 5 digit seven segment LED shows the servo Chapter7 status and alarm number Operation section U sed to perform status display diagnostic alarm and parameter setting operations MODE UP DOWN SET l Used to set data Chapter7 Used to change the display or data in each mode Used to change the mode 1 0 signal connector CN1A Used to connect digital I O signals Section3 3 1 0 signal connector CN1B Used to connect digital I O signals Section3 3 E wl ct ka ez BS Q S J vull e dl 3
77. program edit area and click the Copy button to store the selected text into the clipboard 6 SERVO CONFIGURATION SOFTWARE c Pasting the text CH Click the Paste button to paste the text stored in the clipboard to the specified position of the program edit area d Deleting the text d Select the text of the program edit area and click the Cut button to delete the selected text e Closing the Program Data window e Click the OK button to end editing and close the Program Data window f Canceling the Program Edit window f Click the Cancel button to discard the program being edited and close the Program E dit window 6 SERVO CONFIGURATION SOFTWARE 6 5 2 Indirect addressing The following screen is designed to set the general purpose registers R1 to R4 D1 to D4 of the MR J 2S CL 1 How to open the setting screen Click Program Data on the menu bar and click Indirect Addressing in the menu data Program Data Help Program Data a i cp i 500 600 G RAM C EEPROM b I CR R4 1000 1500 i G RAM C RAM C EEPROM EEPROM Read All Write All c d e a Setting the general purpose registers D1 to D4 a Set the values of the general purpose registers D1 to D4 b Setting the general purpose registers R1 to R4 b Set the values of the general purpose registers R1 to R4 The write destination memory can be selec
78. servo motor shaft to acceleration and oscillate side to side deceleration several times to complete auto tuning Cyclic operation Position shift occurs Confirm the cumulative Pulse counting error etc command pulses cumulative due to noise feedback pulses and actual servo motor position 11 1 11 TROUBLESHOOTING 11 2 When alarm or warning has occurred Configure up a circuit which will detect the trouble ALM signal and turn off the servo on SON signal at occurrence of an alarm 11 2 1 Alarms and warning list When a fault occurs during operation the corresponding alarm or warning is displayed If any alarm or warning has occurred refer to Section 11 2 2 or 11 2 3 and take the appropriate action Set 0 0 0 in parameter No 59 to output the alarm code in ON OFF status across the corresponding pin and SG Warnings AL 90 to AL E9 have no alarm codes Any alarm code is output at occurrence of the corresponding alarm In the normal status the signals available before alarm code setting CN1B 19 CN1A 18 CN1A 19 are output After its cause has been removed the alarm can be deactivated in any of the methods marked in the alarm deactivation column Note 2 Alarm code Alarm deactivation Be Alarm Display CN1B 19 CN1A 18 CN1A 19 Name Power Ke reset pin pin pin OFF gt ON HI RES alarm signal screen AL o 1 0 Undervoltage o o AL o o o0 Memoryerri LO T ai
79. servo motors which comply with the standard model Servo amplifier series MR J 2S 10CL to MR 2S 700CL MR J 2S 10CL1 to MR J 2S 40CL1 Servo motor series HC KFSO HC MFSO HC SFSO HC RFSO HC UFSO HA LFSO HC LFSO 2 Installation Install a fan of LOOCFM 2 8m3 min air flow 4 in 10 16 cm above the servo amplifier or provide cooling of at least equivalent capability 3 Short circuit rating This servo amplifier conforms to the circuit whose peak current 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 10 minutes after power off Servo amplifier ge time min MR J 2S 10CL 1 e 20CL 1 MR J 2S 40CL 1 60CL i MR J 2S 70CL 7 350CL MR J 2S 500CL 700CL 5 Options and auxiliary equipment Use UL C UL standard compliant products 6 Attachment of a servo motor For the flange size of the machine side where the servo motor is installed refer to CONFORMANCE WITH UL C UL STANDARD in the Servo Motor Instruction Manual 7 About wiring protection For installation in United States branch circuit protection must be provided in accordance with the National Electrical Code and any applicable local codes For installation in Canada branch circuit protection mu
80. set from outside consecutively The following graph shows the relationship between the input voltage and the ratio of actual speed to preset speed o Servo amplifier P 200 2 st a i Override selection OVR OVR B 100 SE e d JUDD eet SI NG o 2 Override VC Ae LG 2 p i 10t0 0V Sp wo o ca 10 0 10 IV Override VC application voltage 2 Override selection OVR Used to make the override VC valid or invalid Servo amplifier Override Override selection OVR Override VC So 10 to 10V Using the override selection OVR choose a change value as follows External input signal Speed change value No change 1 Override VC setting is made valid Note 0 OFF 1 ON 3 Override offset parameter No 25 Using parameter No 25 the offset voltage can be set relative to the input voltage for the override VC The setting is between 999 to 999mV 3 15 3 SIGNALS AND WIRING 3 4 4 Torque limit To use the torque limit make the external torque limit selection TL and internal torque limit selection TL2 available The following table lists the signals and parameters related to the torque limit Analog input signal Analog torque limit TLA BEE External torque limit selection TL l i Contact input signals q nem TL Servo Configuration Software setting Internal torque limit selection TL2 rea ired Contac
81. setting Used to set the output time of OUT1 The OUT1 is turned on by OUTON program command If O is set it keeps ON OUT2 output time setting Used to set the output time of OUT2 The OUT2 is turned on by OUTON program command If 0 is set it keeps ON OUTS3 output time setting Used to set the output time of OUT3 The OUT3 is turned on by OUTON program command If O is set it keeps ON 77 SYC1 Program input polarity selection 1 Used to select the device that reverses the input polarity of Program input 1 P11 Program input 2 P12 Program input 3 P13 lala N wn i J ke a Leg 5 wn EL x LI Initial value HEX Signal name Program input 1 Program input 2 Program input 3 BIN 0 Positive logic BIN 1 Negative logic wal m GISIS 2 Ei e BE E 5 19 5 PARAMETERS value range Ee For manufacturer setting Et ae e 79 _ The settings are automatically changed 0209 ee TT 060A 1918 030B q ojo H U ojo AIP Special parameters An WW For manufacturer seting 90 _ Don t change this value by any means 5 PARAMETERS 5 2 Detailed explanation 5 2 1 Electronic gear ER 1 _ CMX The guideline for setting the electronic gear is 10 lt CDV lt 1000 If you set any value outside this range noise may be produced during acceleration deceler
82. setting ranges for operation are listed below How to use the keys is explained below Press to start positioning operation CCW Press to start positioning operation CW Press during operation to make a temporary stop Pressing the Pause button again erases the remaining distance Toresume operation press the button that was pressed to start the operation Pause If the communication cable is disconnected during positioning operation the servo motor will come to a sudden stop 2 Status display You can monitor the status display even during positioning operation 7 18 7 DISPLAY AND OPERATION 7 8 4 Motor less operation Without connecting the servo motor you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals This operation can be used to check the sequence of a host programmable controller or the like 1 Operation After turning off the signal across SON SG choose motor less operation After that perform external operation as in ordinary operation 2 Status display 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
83. show the diagnostic screen UI Di 1 Press UP three times recor rroor x en d KL A 3 SE Press SET for more EH than 2s y u Sr e a a Ion When this screen Sa BO Sg fa appears jog feed can 1 be performed jj Flickers in the test operation mode 7 16 Press UP five times Press SET for more than 2s When this screen is displayed motor less operation can be performed 7 DISPLAY AND OPERATION 7 8 2 Jog operation J og operation can be performed when there is no command from the external command device 1 Operation Connect EMG SG LSP SG and LSN SG to start jog operation and connect VDD COM to use the internal power supply Hold down the UP or DOWN button to run the servo motor Release it to stop When using the servo configuration software you can change the operation conditions The initial conditions and setting ranges for operation are listed below initial setting Setting range Speed r min 0 to instantaneous permissible speed Acceleration deceleration time constant ms 1000 0 to 50000 How to use the buttons is explained below Button Description UP Press to start CCW rotation Release to stop DOWN Press to start CW rotation Release to stop If the communication cable is disconnected during jog operation performed by using the servo configuration software the servo motor will be decelerated to a stop 2 Status display You ca
84. speed Parameter No 10 Set the speed after the dog is detected Home position shift distance Parameter No 11 Set when the home position is moved from where the axis has passed the proximity dog rear end Moving distance after proximity dog Parameter No 43 ee distance after the axis has passed the proximity dog Home position return acceleration e Use the acceleration deceler ation time constants set in parameter Parameter No 41 deceleration time constants No 41 Home position return position data Parameter No 42 Ge set the current position on completion of home position Select the program including the Program ZRT command that executes a home position return 2 Timing chart The following shows the timing chart that starts after selection of the program including the ZRT command Automatic manual ON selection MDO OFF ON Movement complete PED P OFF Home position return ON completion ZP OFF Forward Servo motor speed rotation 0 r min F l Home position address i Parameter No 42 ON j Proximity dog DOG OFF A ON Forward rotation start ST1 OFF l 5ms or more The address on completion of home position return is the value automatically set in parameter No 42 home position return position data 4 39 4 OPERATION 4 4 8 Count type front end reference home position return This home position return method depends on the timing of reading Proximity dog DOG
85. start again confirm the program No being specified and turn on Forward rotation start ST1 The following timing charts show the output timing relationships between the position command generated in the servo amplifier and the Movement complete PED This timing can be changed using parameter No 6 Movement complete output range Turn PED on to bring in the servo on status Forward rotation start ST1 ON or reverse rotation start ST2 OFF Position command 3ms or less Position command and s servo motor speed ON Movement complete PED OFF When parameter No 6 is small Forward rotation start ST1 ON or reverse rotation start ST2 OFF Position command 1 3ms or less os Servo motor speed Position command and servo motor speed H a Movement complete range ON Movement complete PED OFF When parameter No 6 is large 3 14 3 SIGNALS AND WIRING 3 4 3 Override When using the override VC make the override selection OVR device available The override VC may be used to change the servo motor speed The following table lists the signals and parameter related to the override Analoginput signal Override VC ea ee ee Contact input signal Override selection OVR Servo Configuration Software setting required No 25 override offset 999 to 999mV 1 Override VC By applying a voltage 10 to 10V to the override VC terminal change values can be
86. suppression filtert 5333 62 NH2 Machine resonance suppression fiter2 53 63 LPF Low pass filter adaptive vibration suppression control om 64 028 _ Ratio of oad inertia moment E Position control gain 2 changing ratio Ce E B 67 wen Speed integral compensation changing ratio 10 Oooo ea a a 69 cps Gainchangingcondition Tt Note Expansion parameters 2 70 CDT Gainchangingtimeconstant LL Lm LL ER e E ee ee 72 For manufacturer setting WEE e E ee 74 ou OUTioutputtimeselecion LD i ms 75 ou OUT2outputtimeselection L 0o i ms __ 16 OUTS OUTS ouput timesdetion _ o oms i Selected to program input polarity selection 1 0000 0001 0209 ee aa al 1918 Ke Keen ee pe NN 030B 0504 For manufacturer seting 0102 om _ Ea 0005 T ed EN ed 5 Special parameters ue H Note Depends on the parameter No 68 setting 5 PARAMETERS 2 Detail list nitia Settin Class Symbol Name and Function Be Bike value range STY Command system regenerative brake option selection Used to select the command system and regenerative brake option Program edit 0 Valid 1 Invalid Selection of command system Refer to Section 4 2 0 Absolute value command system 1 Incremental value command system Selection of regenerative brake option Refer to Section 14 1 1 0 Not used The
87. the motor less operation ready status screen For full information of the status display refer to Section 7 2 In the test operation mode you cannot use the UP and DOWN buttons to change the status display screen from one to another 3 Termination of motor less operation Toterminate the motor less operation switch power off 7 19 7 DISPLAY AND OPERATION MEMO 20 8 GENERAL GAIN ADJUSTMENT 8 GENERAL GAIN ADJUSTMENT 8 1 Different adjustment methods 8 1 1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier For gain adjustment first execute auto tuning mode 1 If you are not satisfied with the results execute auto tuning mode 2 manual mode 1 and manual mode 2 in this order Gain adjustment mode explanation Parameter No 2 Estimation of load inertia Automatically set Gain adjustment mode Manually set parameters setting moment ratio parameters PG1 parameter No 7 GD2 parameter No 34 PG2 parameter No 35 Response level setting of VG1 parameter No 36 parameter No 3 VG2 parameter No 37 VIC parameter No 38 Auto tuning mode 1 initial value 010 Always estimated PG1 parameter No 7 PG2 parameter No 35 GD2 parameter No 34 Auto tuning mode 2 0200 VG1 parameter No 36 Response level setting of VG2 parameter No 37 parameter No 3 VIC parameter No 38 PG1 parameter No 7
88. value range For manufacturer setting 0000 Don t change this value by any means 61 NH1 Machine resonance suppression filter 1 Refer to Used to selection the machine resonance suppression filter Name Refer to Section 9 1 and fo function column E Notch frequency selection Set 00 when you have set adaptive vibration suppression control to be valid or held parameter No 63 01 000r 02 OD Ber Frequency RE Frequency ade Frequency i Frequency 00 invari 08 S625 10 213 18 i675 ele o S00 1m 26a7 19 180 _ os 1500 o 4001 13 2368 18 1667 Po ans oc ars a ac i601 900 o saz as mas 10 1552 o 750 o sana a6 205 ae 150 Notch depth selection Setting Depth value o0 De to L 08 Shallow 808 62 NH2 Machineresonance suppression filter 2 Refer to Used to set the machine resonance suppression filter Name and 0 function column Notch frequency Same setting as in parameter No 61 However you need not set 00 if you have set adaptive vibration suppression control to be valid or held Notch depth Expansion parameters 2 Same setting as in parameter No 61 5 17 5 PARAMETERS nitia Settin Class Symbol Name and Function eae sie value range N wn H KR D E p 5 E eg o d Cc g E x Low pass filter adaptive vibration suppression control Refer to U sed to selection the low pass filt
89. with a Phillips bit please consult us Maker Representative Torque screwdriver N6L TDK Nakamura Seisakusho Bit for torque screwdriver B 30 flat blade H3 5 X 73L Shiro Sangyo 3 12 Instructions for the 3M connector When fabricating an encoder cable or the like securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell External conductor Sheath Core Sheath External conductor Strip the sheath Pull back the external conductor to cover the sheath Cable Ground plate 4 OPERATION 4 OPERATION 4 1 When switching power on for the first time 4 1 1 Pre operation checks Before starting operation check the following 1 Wiring a A correct power supply is connected to the power input terminals L1 L2 L3 L11 L21 of the servo amplifier b The servo motor power supply terminals U V W of the servo amplifier match in phase with the power input terminals U V W of the servo motor c The servo motor power supply terminals U V W of the servo amplifier are not shorted to the power input terminals L1 L2 L3 of the servo motor d The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier e Note the following when using the regenerative brake option brake unit or power return converter 1 For the MR J 2S 350CL or less the lead has been removed from across D P of the cont
90. 0 X 10S um 5 PARAMETERS 5 PARAMETERS Never adjust or change the parameter values extremely as it will make operation A CAUTION instable i i i f j 5 1 Parameter list 5 1 1 Parameter write inhibit POINT Set 000E when using the Servo Configuration Software to make device setting After setting the parameter No 19 value switch power off then on to make that setting valid In the servo amplifier its parameters are classified into the basic parameters No 0 to 19 expansion parameters 1 No 20 to 53 expansion parameters 2 No 54 to 77 and special parameters No 78 to 90 according to their safety aspects and frequencies of use In the factory setting condition the customer can change the basic parameter values but cannot change the expansion parameter 1 2 values and special parameter values When fine adjustment e g gain adjustment is required change the parameter No 19 setting to make the expansion parameters write enabled The following table lists the parameters whose values are made valid for reference write by setting parameter No 19 Operation can be performed for the parameters marked Expansion parameters 2 Parameter No 19 i Basic parameters Expansion parameters 1 p H A Operation No 54 to No 77 setting No 0 to No 19 No 20 to No 53 d special parameters No 78 to 90 0000 nee initial value we O No 19 only 000A No 19 only E Reference O Ke Reference O 00
91. 00CL 1 25 AWG16 2 AWG14 a 1 25 AWG16 MR J 2S 200CL 3 5 AWG12 b 3 5 AWG12 b Note 2 5 5 AWG10 b 8 AWG8 8 AWG8 c Note 1 For the crimping terminals and applicable tools refer to table 14 2 2 3 5mm for use of the HC RFS203 servo motor 14 30 14 OPTIONS AND AUXILIARY EQUIPMENT Use wires 6 of the following sizes with the brake unit F R BU and power return converter FR RC FR BU 15K 3 5 AWG12 FR BU 30K 5 5 AWG10 FR BU 55K 14 AWG6 FR RC 15K 14 AWG6 Table 14 2 Recommended crimping terminals Servo amplifier side crimping terminals Syne Crimping terminal Applicable tool Oa 32959 47387 AMP b 32968 59239 pody YP LT E 4 J apan Solderless c FVD8 5 Head YNE 38 Ge Die DH 111 e DH 121 2 Wires for cables When fabricating a cable use the wire models given in the following table or equivalent Table 14 3 Wires for option cables f Characteristics of one core Note 3 Length Core size Number e GE y Type Model 2 Structure Conductor Insulation coating Finishing Wire model m ft mm of Cores j i Wires mn resistance Q mm ODd mm Note 1 OD mm 2to10 U CBE SE 20 30 12 12 0 18 U PH Ze 65 4 6 pars 6pair BLAK Note 2 MaN 10to SC Note 2 UL20276 AWG 28 to CR UL20276 AWG 22 E 0 3 6 pars 12 0 18 8 2 6pair BLAK a Note 2 MR J HSCBLOM H to Gm 12 40 0 08 Note 2 SS 2 2 164 6 pairs A14B2343 6P Note 2 MR ENCBLOM H to 50
92. 0C a ees Reference O 000E wite o 5 PARAMETERS 5 1 2 List The parameters marked before their symbols are made valid by switching power off once and then switching it on again after parameter setting Refer to the corresponding reference items for details of the parameters 1 Item list Customer Syme Se a eee Ce ia o vam Command systenvregenerative brake option selection og CT 1 cm Feedingfunctionselection w Le 2 OP1 Function selection 1 3 atu fautotunins tos 4 cMx Electronic gear numerator LL um 7 PG1_ Positintopgaind D r ZTY Home position rum ppe om CRF Crepspeed A0 ZST Home position shift distance 0 um Fo manufacturer sting LD M STC_ S pattern acceleration deceleration time constant La f ms SNO Station number setting o station 16 ops Communication bauarate selection alarm history de Loop 17 moD anaiogmonitor output awo 18 DMD Status display selection 0000 BLK Parameter io DL J m Basic parameters Ke e Pie PR 5 PARAMETERS Customer Se GE oe eee ae hase 20 0p2 Functiionselection2 LD P O 21 For manufacturer setting ox O a 22 oP4 Function selection 4 oo00 IG 23 sic Serial communicationstime out selection 24 Frc Feadfowardgain lm f 25 vco overrideoftset e 26 o Torq
93. 0CL MR J 2S 10CL1 to MR J 2S40CL1 Servo motor series HC KFSO HC MFSO HC SFSO HC RFSO HC UFSO HA LFSO HC LFSO 2 Configuration Control box Reinforced insulating type Reinforced SC ae No fuse Magnetic supply transformer breaker Ee ER Servo motor Servo MC amplifier sm d i 3 Environment Operate the servo amplifier at or above the contamination level 2 set forth in 1EC664 For this purpose install the servo amplifier in a control box which is protected against water oil carbon dust dirt etc I P54 NFB A 7 4 Power supply a Operate the servo amplifier to meet the requirements of the overvoltage category set forth in IEC664 For this purpose a reinforced insulating transformer conforming to the IEC or EN Standard should be used in the power input section b When supplying interface power from external 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 aa L lz c If a leakage current breaker is used to prevent an electric shock the protective earth PE terminals of the servo amplifier must be connected to the
94. 12 40 0 08 Note 2 a to 164 6 pars A14B2343 6P Communication UL20276 AWG 28 0 5to5 20 UL20276 AWG 28 Note 1 d is as shown below d Encoder cable MR J HSCBL Conductor Insulation sheath 2 Purchased from Toa Electric Industry 3 Standard OD Max OD is about 10 greater 14 31 14 OPTIONS AND AUXILIARY EQUIPMENT 14 2 2 No fuse breakers fuses magnetic contactors Always use one no fuse breaker and one magnetic contactor with one servo amplifier When using a fuse instead of the no fuse breaker use the one having the specifications given in this section Servo amplifier No fuse breaker Current A Voltage IV Magnetic contactor MR J 2S 350CL 30 frame 30A 150 40 70 14 2 3 Power factor improving reactors The input power factor is improved to be about 90 For use with a 1 phase power supply it may be slightly lower than 90 Unit mm T Unit in l l y NFB MC FR BAL J R X O A 3 phase 200 to 230VAC 00 W R Di 5 0 2 Servo amplifier Installation screw 5 0 2 1 phase 100 to 120VAC Note Connect a 1 phase 230VAC power supply to L1 Le and keep Ls open Dimensions mm in Mounting Terminal Weight wf wi In D Ip C screw size screw size kg Ib EE FR BAL 1 5K 160 6 30 145 5 71 140 5 51 71
95. 153 B shared HC SFS121 B to 301 B HC SFS202 B to 502 B HC SFS203 B 353 B MS3102A10SL 4P CE05 2A32 HC SFS702 B 17PD B MS3102A20 CE05 2A22 29P HC RFS103 B to 203 B 23PD B The connector CE05 2A24 j HC RFS353 B 503 B for power is 10PD B shared CE05 2A22 HC UFS72 B 152 B 23PD B CE05 2A24 MS3102A10SL HC UFS202 B to 502 B 10PD B 4P Power supply connector signal arrangement Brake connector c Power supply connector CE05 2A22 23PD B CE05 2A24 10PD B C GI earth ew e EE Note B2 Note Supply electromagnetic Note Supply electromagnetic brake power 24VDC brake power 24VDC There is no polarity There is no polarity Encoder connector signal arrangement Electromagnetic brake connector signal arrangement MS3102A20 29P MS3102A10SL 4P Key Key C A _ Note B1 B Note B2 Note Supply electromagnetic AC Cp brake power 24VDC There is no polarity View b 3 SIGNALS AND WIRING 3 9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop EMG Contacts must be open when servo on SON is off or when a Circuit must be trouble ALM is present and when an opened during electromagnetic brake interlock MBR forced stop EMG Servo motor RA EMG g 6 oYo lt Electromagnet
96. 2 79 55 2 17 7 5 0 29 M4 M3 5 3 7 8 16 100 3 94 14 32 14 OPTIONS AND AUXILIARY EQUIPMENT 14 2 4 Relays The following relays should be used with the interfaces Interface Selection example Relay used for input signals interface DI 1 signals To prevent defective contacts use a relay for small signal twin contacts Ex Omron type G2A MY Relay used for digital output signals interface DO 1 Small relay with 12VDC or 24VDC of 40mA or less Ex Omron type MY 14 2 5 Surge absorbers A surge absorber is required for the electromagnetic brake Use the following surge absorber or equivalent Insulate the wiring as shown in the diagram Maximum rating Static ee ee Maximum capacity Varistor voltage Permissibie Circul Surge Energy nateg limit voltage reference rating range VimA voltage immunity immunity power value acma oom wa wm mT Ty r Mm SC 140 180 5 25 360 00 BEER 500 time s 04 a 20 zs o to oe Note 1 time 8 X 20us Example ERZV10D221 Matsushita Electric Industry TNR 10V221K Nippon chemi con Outline drawing mm in ERZ C10DK221 13 5 0 53 4 741 0 0 19 0 04 Vinyl tube Kee Kee lt X Crimping terminal for M4 screw KX E 0 8 0 03 30 0 1 18 or more 14 2 6 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction an
97. 20CL 40CL 60CL 7O0CL 100CL 200CL 350CL 500CL 700CL 10CL1 20CL1 40CL1 3 phase 200 to 230VAC 50 60Hz 1 phase 100 to 3 phase 200 to 230VAC 50 60H ees or 1 phase 230VAC 50 60Hz 120VAC 50 60Hz 3 phase 200 to 230VAC Permissible voltage fluctuation 170 to 253VAC 3 phase 170 to 253VAC 1 phase 230VAC 207 to 253VAC Permissible frequency fluctuation Within 5 1 phase 85 to 127VAC Power supply Power supply capacity Refer to Section13 2 Sine wave PWM control current control system Dynamic brake Built in Overcurrent shut off regenerative overvoltage shut off overload shut off electronic thermal relay servo motor overheat protection encoder error protection regenerative brake error protection undervoltage instantaneous power failure protection overspeed protection excessive error protection Operational Programming language Programming with Servo configuration software specifications Programming capacity 120 steps Position Setting by programming language command input Movement setting range at 1 point 1 um to 999 999 mm Servo motor speed acceleration deceleration time constant and S pattern Speed command acceleration deceleration time constant by programming language input S pattern acceleration deceleration time constant can set by parameter No 14 or by programming Signed absolute value command signed incremental value command system can be specified signed incremental value command syst
98. 20VAC or 6 8 1 phase 230VAC Ls Note Lit f La Forced stop Servo on O Note Not provided for 1 phase 100 to 120VAC 3 SIGNALS AND WIRING 3 7 2 Terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier Refer to Section 12 1 Connection Target Symbol Description Application Supply Li L2 and L3 with the following power For 1 phase 230VAC connect the power supply to L L2 and leave L3 open Power supply to 70CL to 700CL to 40CL1 3 phase 200 to 230VAC e Li L2 L3 Main circuit power supply 50 60H z el 50 60H z ee 50 60H z Servo motor output Connect to the servo motor power supply terminals U V W Servo amplifier MR J2S 10CL1 to Sere art a es t00k 700CL Power supply 40CL1 SA 1 phase 200 to 230VAC Control circuit power suppl power SUPE pes mm Il 1 phase 100 to 120VAC Lu L21 50 60H z 1 MR J 2S 350CL or less Wiring is factory connected across P D servo amplifier built in regenerative brake resistor When using the regenerative brake option always remove the wiring from across P D and connect the regenerative brake option across P C Regenerative brake option 2 MR J 2S 500CL or more Wiring is factory connected across P C servo amplifier built in regenerative brake resistor When using the regenerative brake option always remove the wiring from across P C and connect the regenerativ
99. 2500r min Servo motor SE Wm Reverse rotation emm at 3000r min l l l Load inertia 15 5 times moment Reverse rotation is indicated by 11252pulse Multi revolution counter e D D 12566pulse j Negative value is indicated by the lit decimal points in the upper four digits 7 DISPLAY AND OPERATION 7 2 3 Status display list The following table lists the servo statuses that may be shown Display range Status display Symbol Description display x10s The current position from the machine home position of 0 is position mm ___ displayed 99999 999999 x10s The position data in the program or the preset command position mm position is displayed 99999 999999 Command BETEN The command remaining distance of the currently selected 99999 to 999999 to mm 99999 999999 remaining program is displayed distance ProgramNo Pno Tne program No being executed is displayed F eedback pulses from the servo motor encoder are counted and displayed 99999 to 999999 to When the value exceeds 9999999 it returns to zero 99999 999999 Press the SET button to reset the display value to zero The servo motor speed is displayed r is added to the speed of the servo motor rotating in the CW rotation Cumulative feedback pulses 5400 to 5400 to 5400 5400 Servo motor speed The number of droop pulses in the deviation cou
100. 3 rogram No selection 3 DI2 Program No selection 4 DI3 Override selection OVR 4 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 at b1 bO Command of each bit is transmitted to the master station as hexadecimal data External output pin Ea CN1A 19 CN1A 18 Al op4 15 22 15 COMMUNICATION FUNCTIONS 5 Read of the statuses of output devices Read the ON OFF statuses of the output devices a Transmission Transmit command 1 2 and data No 8 0 a sio b Reply The slave station sends back the statuses of the output devices B ttel eebe Seel b1 bO 1 0N H HE Command of each bit is transmitted to the master station as hexadecimal data Electromagnetic brake MBR Dynamic brake interlock DBR FE Signal name Ready RD Limiting torque TLC 0 EI D M 8 Trouble ALM ol UOO 15 12 5 Device ON OFF aB O OOO ee a o Battery warning BWNG UE 17 Home position return completion ZP Position range POT Program output 3 OUT3 3 SYNC Synchronous output SOUT Movement complete PED as ere eee eee ed Rae El The ON
101. 31072 _ 32768 CDV Ap n p 1000 1 2 10 1000 5000 625 Hence set 32768 to CMX and 625 to CDV b Conveyor setting example r 160 6 30 mm in Machine specifications je Pulley diameter r 160 6 30 mm in pe SONETA Servo motor ni 1 Reduction ratio n 1 3 Wal 131072 pulse rev Servo motor resolution Pt 131072 pulse rev n NL NM 1 3 CMX D _ D 131072 _ 131072 _ 32768 CDV aS n r z 1000 1 3 160 2 1000 167551 61 41888 5 21 5 PARAMETERS Reduce CMX and CDV to the setting range or less and round off the first decimal place Hence set 32768 to CMX and 41888 to CDV 5 2 2 Changing the status display screen The status display item of the servo amplifier display and the display item of the external digital display MR DP60 shown at power on can be changed by changing the parameter No 18 status display selection settings In the initial condition the servo amplifier display shows the servo motor speed and the MR DP60 shows the current position For display details refer to Section 7 2 Parameter No 18 tt oC Status display on servo amplifier display at power on 00 Current position initial value 01 Command position 02 Command remaining distance 03 Program No 04 Step No 05 Cumulative feedback pulses 06 Servo motor speed 07 Droop pulses 08 Override voltage 09 Analog torque limit voltage 0A Regenerative load ratio OB Effective load ratio 0C Peak load rati
102. 5 S S Master station 2 8 D Servo S S S Slave station T T T X X x Station number Station number Station number or or or group group group Similarly when the master station detects a fault e g checksum parity in the response data from the slave station the master station retransmits the message which was sent at the occurrence of the fault A communication error occurs if the retry operation is performed three times 15 COMMUNICATION FUNCTIONS 15 9 Initialization After the slave station is switched on it cannot reply to communication until the internal initialization processing terminates Hence at power on ordinary communication should be started after 1 1s or more time has elapsed after the slave station is switched on and 2 Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems 15 10 Communication procedure example The following example reads the set value of parameter No 2 function selection 1 from the servo amplifier of station 0 Station number oo Servo amplifier station 0 Parameter No 2 Axis No Command Data No Data 0 0 STX 0 2 ETX Data make up i 0 0 5 STX 0 2 ETX l Checksum calculation and Checksum 30H 30H 35H 02H 30H 32H O3H FCH addition PC Addition of SCH to make Transmission data SOH 0 0 g STX OPHEF E 46H 43H up transmission
103. 6 0 Program No 1 selection 9 2 6 0 Program No 3 selection 9 2 6 0 Forward rotation start ST1 ON 9 2 6 0 Forward rotation start ST1 OFF 9 2 eg S 4 6 2 Multidrop system The RS 422 communication function can be used to operate several servo amplifiers on the same bus In this case set the station numbers to the servo amplifiers to determine the destination servo amplifier of the currently transmitted data Use parameter No 15 to set the station numbers Always set one station number to one servo amplifier Normal communication cannot be made if one station number is set to two or more servo amplifiers When using one command to operate several servo amplifiers use the group designation function described in Section 4 6 3 H CN3 cp eis Axis 32 Station 31 Station 0 Station 1 Station 2 Controller RS 422 For cable connection diagram refer to Section 8 1 1 4 OPERATION Ee 4 6 3 Group designation When using several servo amplifiers command driven parameter settings etc can be made on a group basis You can set up to six groups a tof Set the group to each station using the communication command 1 Group setting example li BB Controller For cable connection diagram refer to Section 8 1 1 G St cms OE EEE Slay EES
104. 8 6 0 0 236 x S i2 LINE LINE G ES input side input side 1889 2 o Tew co OO s ail s 5 5 5 bal LO ess kal Kal wo co o T e T Iessen e IS h ES LOAD LOAD S A output side output side y q sl 8 5 23 0 0 906 0 335 49 0 8 5 16 0 0 63 0 335 42 0 1 654 1 929 14 41 14 OPTIONS AND AUXILIARY EQUIPMENT HF3040 TM HF 3050A TM K d y TI 9 A L L QF OF ofu w o N Yy a d i c ka C WR Ai H Lei B gt ki A gt Dimensions mm in Model K L M A B C D E F G H J a 10 23 8 27 3 35 6 10 5 51 4 92 1 73 5 51 2 76 R3 25 11 42 9 45 3 94 7 48 6 89 6 30 1 73 5 51 3 94 14 42 14 OPTIONS AND AUXILIARY EQUIPMENT 14 2 9 Setting potentiometers for analog inputs The following variable resistors are available for use with analog inputs 1 Single revolution type WA2WYA2SE BK 2KQ J apan Resistor make Resistance Dielectric strength Insulation Mechanical Rated power Resistance Rotary torque tolerance for 1 minute resistance rotary angle Ww xo Oms 700V A C 100M Qor more 300 5 10 to 100g cm or less Connection diagr
105. BL5M H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side P5 19 Hire GA P5 19 H GA P5 LG 11 i LG 11 H ate LG P5 20 d r P5 20 H mo P5 LG 12 E E LG 12 H ab LG P5 18 ios P5 18 H a P5 LG GU ae LG 2 Li a LG i i ii i i r 8 r 8 MR 7 1 MR 7 1 MR MRR 17 H 2 MRR 17 H 2 MRR MD 6 4 ef MD 6 8 ef MD MDR 16 ri m4 5 MDR 16 4 5 MDR BAT 9 3 BAT 9 3 BAT LG 1 2 LG 1 Me LG ui Note 1 Note SD Plate 9 SD Plate 9 SD Note Always make connection for use in an absolute position detection system This wiring is not needed for use in an incremental system When fabricating an encoder cable use the recommended wires given in Section 14 2 1 and the MR J 2CNM connector set for encoder cable fabrication and fabricate an encoder cable as shown in the following wiring diagram Referring to this wiring diagram you can fabricate an encoder cable of up to 50m 164 0ft length including the length of the encoder cable supplied to the servo motor When the encoder cable is to be fabricated by the customer the wiring of MD and MDR is not required Refer to Chapter 3 of the servo motor instruction guide and choose the encode side connector according to the servo motor installation environment For use of AWG22 Servo amplifier side Encoder side 3M
106. C directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety guaranteed products In the EU countries the machinery directive effective in J anuary 1995 EMC directive effective in J anuary 1996 and low voltage directive effective in J anuary 1997 of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks CE marking CE marking applies to machines and equipment into which servo amplifiers have been installed 1 EMC directive The EMC directive applies not to the servo units alone but to servo incorporated machines and equipment This requires the EMC filters to be used with the servo incorporated machines and equipment to comply with the EMC directive For specific EMC directive conforming methods refer to the EMC Installation Guidelines 1 B 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 directive Not being machines the servo amplifiers need not comply with this directive 2 PRECAUTIONS FOR COMPLIANCE 1 Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model Servo amplifier series MR J 2S 10CL to MR 2S 70
107. CN1B CN1B CN1B ES 17 SEI ei it rt CH SI i ich ch EI CN1A CN1B CN1B CN1B CN1B CN1A CN1A 14 18 4 6 19 18 19 Lit ON Extinguished OFF The 7 segment LED shown above indicates ON OFF Each segment at top indicates the input signal and each segment at bottom indicates the output signal The signals corresponding to the pins in the respective control modes are indicated below 7 14 7 DISPLAY AND OPERATION 7 7 Output signal DO forced output When the servo system is used in a vertical lift application turning on the electromagnetic brake interlock MBR after assigning it to pin CN1B 19 will release the electromagnetic brake causing a drop Take drop preventive measures on the machine side The output signal can be forced on off independently of the servo status This function is used for output signal wiring check etc This operation must be performed in the servo off state SON off Call the display screen shown after power on Using the MODE button show the diagnostic screen L CEE Ir Press UP twice Press SET for more than 2 seconds N N N N een Switch on off the signal below the lit segment o mmm emm e Always lit d BE Indicates the ON OFF of the output signal The correspondences fa Che fa L L x L ay D d i between segments and signals are as in the output signals of the CN1A CN1B CN1B CN1BCN1B CDA CNIA externa
108. COMMUNICATION FUNCTIONS 2 Writing the processed data When the data to be written is handled as decimal the decimal point position must be specified If it is not specified the data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position The data to be sent is the following value Coase f 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 point position data is 2 As the data to be sent is hexadecimal the decimal data is converted into hexadecimal 155 gt 9B Hence 0200009B is transmitted 15 17 15 COMMUNICATION FUNCTIONS 15 12 2 Status display 1 Status display data read When the master station transmits the data No to the slave station the slave station sends back the data value and data processing information a Transmission Transmit command O 1 and the data No corresponding to the status display item to be read Refer to Section 15 11 1 b Reply The slave station sends back the status display data requested Data 32 bits long represented in hexadecimal Data conversion into display ty
109. Click the Close button to close the window 6 SERVO CONFIGURATION SOFTWARE MEMO 24 7 DISPLAY AND OPERATION 7 DISPLAY AND OPERATION 7 1 Display flowchart Use the display 5 digit 7 segment LED on the front panel of the servo amplifier for status display parameter setting etc Set the parameters before operation diagnose an alarm confirm external sequences and or confirm the operation status Press the MODE UP or DOWN button once to move to the next screen Refer to Section 7 2 and later for the description of the corresponding display mode To refer to or set the expansion parameters 1 expansion parameters 2 and special parameters make them valid with parameter No 19 parameter write disable Display mode transition Servo status display appears at power on Section 7 2 Status display Alarm display external signal display output signal DO forced output test operation software version display VC automatic offset Section 7 3 motor series ID display motor type ID display encoder ID display Current alarm display alarm history display parameter error No display Diagnosis Section 7 4 Display and setting of basic parameters Basic parameter button MODE Display and setting of expansion parameters 1 Expansion parameter 1 Section 7 5 Display and setting of expansion parameters 2 Special parameter Display and setting of speci
110. D OPERATION 7 3 2 Diagnosis mode list Display Sequence External I O signal display Output signal DO forced output Positioning operation Motorless operation Machine analyzer operation Software version Low Software version High For manufacturer setting Refer to section 7 6 Not ready Indicates that the servo amplifier is being initialized or an alarm has occurred Ready Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate Indicates the ON OFF states of the external I O signals The upper segments correspond to the input signals and the lower segments to the output signals Lit ON Extinguished OF F The I O signals can be changed using the servo configuration software The digital output signal can be forced on off Refer to Section 7 7 J og operation can be performed when there is no command from the external command device Refer to Section 7 8 2 The servo configuration software MRZJ W3 SETUP151E is required for positioning operation This operation cannot be performed from the operation section of the servo amplifier Positioning operation can be performed once when there is no command from the external command device Without connection of the servo motor the servo amplifier provides output signals and displays the status as if the servo motor is running act
111. Est tra Imt slet IOUT2 Program output 2 TL2 Int trg Imt slet OUT3 Program output 3 PC Proportion entrl ial z ISTP Temp stop Restart PIS Program input 3 6 11 6 SERVO CONFIGURATION SOFTWARE 2 Screen explanation a DIDO device setting window screen This is the device assignment screen of the servo amplifier displays the pin assignment status of the servo amplifier DIDO device setting E loxi File name Input pin Output pin Function CNIA8 Proximity dog CN14 19 Eeng an a CHIB S Program No slct1 CN1B 7 Forward rot start CN1B 9 Program input 2 CN1B 14 Program No sict 2 CN1B15 Iesel wd rot strk end CN1B 17 vs rot strk end CN1B 8 Program input 1 Select CN1A 19 Input C Output 1 Read of function assignment a Click the Read button reads and displays all functions assigned to the pins from the servo amplifier 2 Write of function assignment b Click the Write button writes all pins that are assigned the functions to the servo amplifier 3 Verify of function assignment c Click the Verify button verifies the function assignment in the servo amplifier with the device information on the screen 4 Initial setting of function assignment d Click the Set to Default button initializes the function assignment 6 12 6 SERVO CONFIGURATION SOFTWARE b DIDO func
112. Estimation of load inertia moment Auto tuning mode 2 ratio stopped Response level setting valid Auto tuning Manual mode 1 n Simple manual adjustment invalid Manual mode 2 A Mana adjustment of all gains 8 11 8 GENERAL GAIN ADJUSTMENT MEMO 12 9 SPECIAL ADJUSTMENT FUNCTIONS 9 SPECIAL ADJUSTMENT FUNCTIONS The functions given in this chapter need not be used generally Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 8 If a mechanical system has a natural resonance point increasing the servo system response may cause the mechanical system to produce resonance vibration or unusual noise at that resonance frequency Using the machine resonance suppression filter and adaptive vibration suppression control functions can suppress the resonance of the mechanical system 9 1 Function block diagram Speed Parameter Parameter Parameter Parameter Current control No 61 No 63 No 62 No 63 command 100 c gt Gelee eewer EISES Machine resonance Machine resonance suppression filter 1 except O O 00 suppression filter 2 except OO Adaptive vibration suppression control 9 2 Machine resonance suppression filter O10000200 1 Function The machine resonance suppression filter is a filter function notch filter which decreases the gain of the specific frequency to suppress the resonance o
113. Execution of test operation 1 Turn off all input devices 2 Disable the input devices ono og 3 Choose the test operation mode Selection of test operation mode 8 B O 0 0000 Test operation mode cancel 81B og 0001 81B og 81B TONO 81B og 4 Set the data needed for test operation 5 Start 6 Continue communication using the status display or other command b Termination of test operation To terminate the test operation mode complete the corresponding operation and 1 Clear the test operation acceleration deceleration time constant Ao Go 2 Cancel the test operation mode 81B TONO 3 Enable the disabled input devices Command Data No Data oxo 20 15 26 15 COMMUNICATION FUNCTIONS 2 Jog operation Transmit the following communication commands a Setting of jog operation data Item Command Data No Data A 0 1 0 Write the speed r min in hexadecimal GE eration deceleration Write the acceleration deceleration time constant A 0 1 1 time constant ms in hexadecimal b Start Turn on the input devices SON LSP LSN and ST1 ST2 by using command 9 2 data No O 0 3 Positioning operation Transmit the following communication commands a Setting of positioning operation data AJIO 1 0 Write the speed r min in hexadecimal Acceleration deceleration Write the acceleration deceleration time constant A 0 1
114. GURATION 1 1 2 System configuration This section describes operations using this servo You can arrange any configurations from a single axis to max 32 axis systems Further the connector pins in the interface section allow you to assign the optimum signals to respective systems Refer to Sections 1 1 3 and 3 3 3 The Servo configuration Software refer to Chapter 6 and personal computer are required to change or assign devices 1 Operation using external input signals a Description The following configuration example assumes that external input signals are used to control all signals devices Thel O signals areas factory set b Configuration The following configuration uses external I O signals The personal computer is used with Servo configuration Software to set creation of a program change and monitor the parameters Personal External UO computer Servo configuration signals D Software Servo amplifier Si MITSUBISHI CN1A CN1B EN i Power supply 1 FUNCTIONS AND CONFIGURATION 2 Operation using external input signals and communication a Description Communication can be used to Selection of the program change parameter values and confirm monitor data for example Enter a forward rotation start ST1 or revers
115. ICATION FUNCTIONS 15 2 2 Parameter setting When the RS 422 RS 232C communication function is used to operate the servo set the communication specifications of the servo amplifier in the corresponding parameters After setting the values of these parameters they are made valid by switching power off once then on again 1 Serial communication baudrate Choose the communication speed Match this value to the communication speed of the sending end master station Parameter No 16 peste MIC RE Communication baudrate 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps 2 Serial communication selection Select the RS 422 or RS 232C communication standard RS 422 and RS 232C cannot be used together Parameter No 16 Serial communication standard selection 0 RS 232C used 1 RS 422 used 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 800us or 1 to send back data in 800us or more Parameter No 16 Serial communication response delay time 0 Invalid 1 Valid reply sent in 8001s or more 4 Station number setting Set the station number of the servo amplifier in parameter No 15 The setting range is stations 0 to 31 5 Protocol station number selection When communication is made without setting station numbers to servo amplifiers choose no station
116. J 2S CL Cut off the terminal block label in Appendix 1 at the dotted line and fold it up at the centerline for use 1 For CN1A 2 For CN1B Unit mm 126 4 96 S Unit in J 117 4 61 7 A Eege Tee ij sn I MITSUBISHI SS MR TB20 SS POPPARI RLL Terminal screw M3 5 Applicable cable Max 2mm Crimping terminal width 7 2mm 0 283 in max 14 22 14 OPTIONS AND AUXILIARY EQUIPMENT 4 Junction terminal block cable MR J2TBLOM Model MR J2TBLO M Cable length m ft 0 5 1 64 1 3 28 Junction terminal block side connector Hirose Electric Servo amplifier side CN1A CN1B connector 3M HIF3BA 20D 2 54R connector 10120 6000EL connector 10320 3210 000 shell kit Terminal block label Junction terminal Pin For CN1A For CN1B block terminal No No LG gt H CH Plate 14 23 14 OPTIONS AND AUXILIARY EQUIPMENT 14 1 6 Maintenance junction card MR J2CN3TM 1 Usage The maintenance junction card MR J 2CN3TM is designed for use when a personal computer and analog monitor are used at the same time Servo amplifier Bus
117. J25 200CL Hc sFs202 203 as 9 z2 Tt c RFs153 25s 20 2 ia 94 Hc ursis2 25 2 18 4 nesso f ss w a a mesrsase ssf ss wo a i HC RFS203 curse as sf a a Hc srssoz_ os Im Is 39 on MR J 2S 500CL MR J 2S 350CL HC RFS353 HC RF S503 nur Las Le 393 on Hc urssoz 75s 1 3 on mRj2s 7ooct_ uc srs7oz_ 100 30 so 46 Note 1 Note that the power supply capacity will vary according to the power supply impedance This value assumes that the power factor improving reactor is not used 2 Heat generated during regeneration is not included in the servo amplifier generated heat To calculate heat generated by the regenerative brake option use Equation 14 1 in Section 14 1 1 13 2 13 CHARACTERISTICS 2 Heat dissipation area for enclosed servo amplifier The enclosed control box hereafter called the control box which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 C at the ambient temperature of 40 C With a 5 C 41 F safety margin the system should operate within a maximum 55 C 131 F limit The necessary enclosure heat dissipation area can be calculated by Equation 13 1 where A Heat dissipation area m2 P _ Loss generated in the control box W AT Difference between internal and ambient temperatures C K Her dissipation coefficient 5 to 6 When calcula
118. J2S O 10CL 20CL 40CL 60CL 70CL 100CL 200CL 350CL 500CL 700CL 10CL1 20CL1 40CL1 Home position Position where servo on SON is switched on is defined as home position ignorance Home position address may be set Servo on position as home position Home position return is made with respect to the rear end of a proximity dog Dog type rear end Home position address may be set Home position shift value may be set Home position reference return direction may be set Automatic at dog home position return Automatic stroke return function Home position return is made with respect to the front end of a proximity dog Count type front end Home position address may be set Home position shift value may be set Home position reference return direction may be set Automatic at dog home position return Automatic stroke return function Home position return is made with respect to the front end of a proximity dog by the first Z phase pulse Dog cradle type Home position address may be set Home position shift value may be set Home position return direction may be set Automatic at dog home position return Automatic stroke return function Absolute position detection backlash function Other functions Overtravel prevention using external limit switch Software stroke limit override using external analog signal Structure Self cooled open IP00 F orce cooling open I P00 Operation mode Self cooled open I P
119. L3M Personal computer side Servo amplifier side Plate FG TXD 2 RXD 1 LG RXD 12 TXD GND 11 LG RTS CTS DSR DTR D SUB9 pins Half pitch 20 pins When fabricating the cable refer to the connection diagram in this section The following must be observed in fabrication 1 Always use a shielded multi core cable and connect the shield with FG securely 2 The optional communication cable is 3m 10ft long When the cable is fabricated its maximum length is 15m 49ft in offices of good environment with minimal noise 14 21 14 OPTIONS AND AUXILIARY EQUIPMENT 14 1 5 Junction terminal block MR TB20 When using the junction terminal block you cannot use SG of CN1A 20 and CN1B 20 Use SG of CN1A 4 and CN1B 4 1 How to use the junction terminal block Always use the junction terminal block MR TB20 with the junction terminal block cable MR J 2TBL O M as a set A connection example is shown below Servo amplifier Junction terminal block Cable clamp MR TB20 AERSBAN ESET Junction terminal block cable MR J2TBLO5M Ground the junction terminal block cable on the junction terminal block side with the standard accessory cable clamp fitting AERSBAN ESET For the use of the cable clamp fitting refer to Section 13 2 6 2 C 2 Terminal labels The junction terminal block does not include the terminal block labels which indicate the signal layouts for MR
120. LA Application Voltage vs Connection Example Torque Limit Value 3 16 3 SIGNALS AND WIRING 3 External torque limit selection TL internal torque limit selection TL2 To use the external torque limit selection TL and internal torque limit selection TL2 make them available using the Servo Configuration Software refer to Chapter 6 These input signals may be used to choose the torque limit values made valid Note External input signals ep Torque limit value made valid o O Internal torque limit value 1 parameter No 28 1 TLA gt Parameter No 28 Parameter No 28 TLA lt Parameter No 28 TLA SSES Parameter No 29 gt Parameter No 28 Parameter No 28 Parameter No 29 lt Parameter No 28 Parameter No 29 TLA lt Parameter No 29 TLA Note 0 OFF 1 ON 4 External torque limit offset parameter No 26 Using parameter No 26 the offset voltage can be set relative to the input voltage of the analog torque limit TLA The setting is between 999 to 999mvV 5 Selection of rotation direction for torque limit execution parameter No 59 Using parameter No 59 the rotation direction for torque limit execution can be selected Rotation direction for torque limit execution Parameter No 59 setting ane F D000 nitiai vau OO EE EE E For example when 0100 is set in parameter No 59 torque limit is executed in the CCW direction but not in CW direction CW rotation Torque limit
121. MITSUBISHI ELECTRIC General Purpose AC Servo MalSeii J2 Super Series Program Compatible MODEL MR J2S OICL SERVO AMPLIFIER INSTRUCTION MANUAL Safety Instructions e Always read these instructions before using the equipment Do not attempt to install operate maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual Installation guide Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly Do not use the servo amplifier and servo motor until you have a full Knowledge of the equipment safety information and instructions In this Instruction Manual the safety instruction levels are classified into WARNING and CAUTION a a er aes d WARNING Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury N CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are indicated by the following diagrammatic symbols Indicates what must not be done For example No Fire is indicated by R Indicates what must be done For example grounding is indicated
122. P5 P5 20 P5 LG LG 12 LG MR P5 18 P5 MRR LG 2 LG P5 LG BAT MR 7 MR LG MRR 17 MRR SD BAT 9 BAT Note2 Use of AWG24 LG 1 LG Less than 10m 32 8ft Note1 This wiring is required for use in the absolute SD Plate SD 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 Use of AWG22 10m 32 8ft to 50m 164 0ft MR JHSCBL10M H to MR JHSCBL50M H MR ENCBL10M H to MR ENCBL50M H Encoder side Servo amplifier side Encoder side S 00D Use of AWG24 10m 32 8ft to 50m 164 0ft When fabricating an encoder cable use the recommended wires given in Section 14 2 1 and the MR J 2CNS connector set for encoder cable fabrication and fabricate an encoder cable in accordance with the optional encoder cable wiring diagram given in this section You can fabricate an encoder cable of up to 50m 164 0ft length Refer to Chapter 3 of the servo motor instruction guide and choose the encode side connector according to the servo motor installation environment 14 20 14 OPTIONS AND AUXILIARY EQUIPMENT 3 Communication cable POINT This cable may not be used with some personal computers After fully examining the signals of the RS 232C connector refer to this section and fabricate the cable a Model definition Model MR CPCATCBL3M Cable length 3 m 10 ft b Connection diagram MR CPCATCB
123. Refer to Section 7 2 Name function oe Status display on servo amplifier display column at power on 00 Current position initial value 01 Command position 02 Command remaining distance 03 Program No 04 Step No 05 Cumulative feedback pulses 06 Servo motor speed 07 Droop pulses 08 Override voltage 09 Analog torque limit voltage 0A Regenerative load ratio OB Effective load ratio 0C Peak load ratio OD Instantaneous torque OE Within one revolution position low OF Within one revolution position high 10 ABS counter 11 Load inertia moment ratio 12 Bus voltage Status display of MR DP60 at power on 00 Current position initial value 01 Command position 02 Command remaining distance 03 Program No 04 Step No 05 Cumulative feedback pulses 06 Servo motor speed 07 Droop pulses 08 Override voltage 09 Analog torque limit voltage 0A Regenerative load ratio OB Effective load ratio OC Peak load ratio OD Instantaneous torque OE Within one revolution position OF ABS counter 10 Load inertia moment ratio 11 Bus voltage Basic parameters 5 10 5 PARAMETERS Initial Settin Class Symbol Name and Function ee EK value range BLK Parameter block 0000 Refer to Used to select the reference and write ranges of the parameters Name Operation can be performed for the parameters marked and Basic ee Expansion parameters 2 function Set p No 54 to 77 column E Operati
124. S AND CONFIGURATION 3 Operation using communication a Description Analog input forced stop EMG and other signals are controlled by external I O signals and the other devices controlled through communication Also you can set each program selection of the program and change or set parameter values for example U p to 32 axes may be controlled b Configuration 1 One servo amplifier is connected with the personal computer by RS 232C Personal External UO computer Servo configuration signals A Software Servo amplifier CH MITSUBISHI ae ai CN1A CN1B EN Power supply AT Servo motor WS C gt D 0 1 FUNCTIONS AND CONFIGURATION 2 Several up to 32 servo amplifiers are connected with the personal computer by RS 422 Use parameter No 16 to change the communication system Personal External IO Computer Servo configuration signals Software Servo amplifier axis 1 MITSUBISHI L L CN1A CN1B Hm las RS 232C RS 422 converter to be prepared by the customer Power supply
125. Station number 3 Slave station or 5 group wi 6 frames Positive response Error code A Negative response Error code other than A 2 Transmission of data request from the controller to the servo 10 frames T T s Data E Check T e T Ga ST x f x group L L i E E Station number Check Servo side Data T or Slave station ST X Controller side O Master station H L Command 4 aoa sum Error code ts l 6 frames data 15 COMMUNICATION FUNCTIONS 3 Recovery of communication status by time out EOT causes the servo to return to E the receive neutral status Controller side O Master station T Servo side Slave station 4 Data frames The data length depends on the command Data or Data or 12 frames or 16 frames ji li ji i li li 4 frames 8 frames 15 COMMUNICATION FUNCTIONS 15 4 Character codes 1 Control codes Hexadecimal Personal computer terminal key operation Code name Description ASCII code General start of head start of text end of text end of transmission 2 Codes for data ASCII codes are used o nur ote space o P p psu foc t EE EEN 3 Station numbers You may set 32 station numbers from station O to station 31 and the ASCII unit codes are used to specify the stations Station number o 1 2 3 4 5 6 7 8 9 10 12 13 14 15 asch
126. XD RXD E e Servo motor a Ground 3 19 3 SIGNALS AND WIRING 3 6 2 Detailed description of the interfaces This section gives the details of the I O signal interfaces refer to I O Division in the table indicated in Sections 3 3 2 Refer to this section and connect the interfaces with the external equipment 1 Digital input interface DI 1 Give a signal with a relay or open collector transistor Source input is also possible Refer to 6 in this section For use of internal power suppl For use of external power suppl Servo amplifier Do not connect ZANDE VDD COM Servo amplifier R Approx 4 70 L Note For a transistor Approx 5mA V ces lt 1 0V ceo lt 100nA Note This also applies to the use of the external power supply 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Provide a diode D for an inductive load or an inrush current suppressing resister R for a lamp load Permissible current 40mA or less inrush current 100mA or less a Inductive load For use of internal power supply For use of external power supply Servo amplifier Servo amplifier Do not connect VDD COM 24VDC ot VDD COMo ALM etc O If the diode is not connected as shown the servo amplifier will be damaged SG If the diode is not connected as shown the servo amplifier
127. a must be processed according to the application Since whether data must be processed or not and how to process data depend on the monitoring parameters etc follow the detailed explanation of the corresponding command The following methods are how to process send and receive data when reading and writing data 1 Processing the read data When the display type is 0 the eight character data is converted 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 Data 32 bits length hexadecimal representation Data conversion is required as indicated in the display type Display type 0 Data must be converted into decimal 1 Data is used unchanged in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit normally not used 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit 6 Sixth least significant digit Since the display type is 0 in this case the hexadecimal data is converted into decimal 00000929H 2345 As the decimal point position is 3 a decimal point is placed in the third least significant digit Hence 23 45 is displayed 15 16 15
128. ad operation performed is above the electronic thermal relay protection curve shown in any of Figs 13 1 Overload 2 alarm AL 51 occurs if the maximum current flew continuously for several seconds due to machine collision etc Use the equipment on the left hand side area of the continuous or broken line in the graph In a machine like the one for vertical lift application where unbalanced torque will be produced it is recommended to use the machine so that the unbalanced torque is 70 or less of the rated torque 1000 1000 During rotation 100 100 T E 2 During sto 509 10 2 w w Si 2 O O 0 1 0 50 100 150 200 250 300 0 Note Load ratio a MR J2S 10CL to MR J2S 100CL 10000 r 1 1000 E 5 During rotation S During servo ock pr S 100 od Q O 10 1 0 50 100 150 200 250 300 Note Load ratio c MR J2S 500CL MR J2S 700CL During rotation During stop 50 100 150 200 250 Note Load ratio b MR J2S 200CL to MR J2S 350CL 300 Note If the servo motor is stopped or low speed 30r min or less operation is performed at an abnormally high duty with torque more than 100 of the rating being generated the servo amplifier may fail even in a status where the electronic thermal relay protection is not activated Fig 13 1 Electronic ther
129. adle type home Position return ce eeeeceeseeseeeecseeseeeeeececaeeaseeeecsesaeeaseesaesaeeaseesetaeseeseetanenaes 4 41 4 4 10 Home position return automatic return FUNCION 0 ce eeeeeeeeeeeteeeeeeeceeeeeeeteetsesaeeaseetesaetateeteeeas 4 42 4 5 Absolute position detection system 4 43 4 6 Serial COMMUNICATION Operation oo eee eeee eee eseeeeeeeeeeeeeeeeeeeceeeaeeeeeesecaeeaseesesaesaseesessetaeeeteesenesesateesees 4 46 4 6 1 Positioning operation in accordance With Drot ams cccescecceeseeteeeeeeceeeeeeeceesaeeeseeteetsesateeteeees 4 46 4 6 2 Multidrop Syster shaina eee ot aE a a eet ie a ak beeen 4 46 46 3 lee Elei Ee e VE 4 47 4 7 Incremental value command evstem nn nnnnnnnn ntanna ennnen 4 49 5 1 Pardineter list aE aa E a aae Ea A E AA EE 5 1 5 1 1 Parameter dl H d le LEE 5 1 e E EE 5 2 52 Detailed elle EE 5 21 e e E Le 5 21 5 2 2 Changing the status display screen 5 22 5 2 3 S pattern accel erati on decel eration ccccceccececseeseeeeeeeseeeeeeeecsecaeeeseecsecaeeaseeseetaesaseeseesesaeeaseeeetiees 5 23 2 4 E ee dl LE 5 23 5 2 5 Changing the stop pattern USING a limit SWITCH eee cece eee cteeeeeeeeeteecaeeeseeeeeeaetaseeteessesaeeateetaes 5 25 5 2 0 Alarm ul Ee NEEN 5 25 5 2 7 Software limit EE 5 25 Re eh leie VE 61 6 2 System configuration i fc88 ata ai eed Wl eh ee eel ie eile 61 E Gelle RE goe BEE 6 3 DEE St Eenegung Der 6 4 6 5 SM e e e El DEE 6 6 6 5 1 Program Ee DEE 6 6 6 5 2 TNE eege len WEE 6 9
130. age current breaker having Ig of 15 mA is used with the NV SP CP SW CW HW series 14 40 14 OPTIONS AND AUXILIARY EQUIPMENT 14 2 8 EMC filter For compliance with the EMC Directive of the EN Standard it is recommended to use the following filter Some EMC filters are large in leakage current 1 Combination with the servo amplifier ee E filter d Servo amplifier Weight kg Ib Model O Leakage current mA MR J 2S 10CL to MR J 2S 100CL F1252 0 75 1 6 Reape ro MR J 2S 200CL MR J 2S 350CL SF 1253 5 1 37 1 65 MR J 2S 500CL Note HF 3040A TM 5 5 12 13 MR J 2S 700CL Note HF 3050A TM 1 5 6 7 14 77 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 EMC filter Servo amplifier Note 1 Power supply NFS LINE 3 phase O O HO Li 200 to 230V AC sTo i Lo 1 phase 230VAC or O O O H O La 1 phase Note 2 Lu 100 to120VAC ie d La Note 1 For 1 phase 230VAC power supply connect the power supply to L1 L2 and leave Ls open There is no Ls for 1 phase 100 to 120VAC power supply 2 Connect when the power supply has earth 3 Outline drawing Unit mm in SF1252 SF1253 i 149 5 5 886 6 0 0 236 i 209 5 8 24
131. al computer 2 Cable connection diagram Wire as shown below The communication cable for connection with the personal computer MR CPCATCBL3M is available Refer to Section 14 1 4 Note 1 Servo amplifier CN3 connector Personal computer Note 2 15m 49 2ft or less connector D SUB9 socket FG TXD i mi PAD 7 GND RxD 2 e e TXD GND 5 3 Li 11 GND RTS 7 SEA EREECHEN CTS 8 DSR 6 DTR 4 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 noise However this distance should be 3m 9 84ft or less for use at 38400bps or more baudrate 15 2 15 COMMUNICATION FUNCTIONS 15 2 Communication specifications 15 2 1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction The device which gives this instruction e g personal computer is called a master station and the device 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 9600 19200 38400 57600 asynchronous system Start bit 1 bit Data bit 8 bits Transfer code Parity bit 1 bit even Stop bit 1 bit Transfer protocol Character system half duplex communication system Next Parity Stop start 15 COMMUN
132. al parameters 7 DISPLAY AND OPERATION 7 2 Status display The servo status during operation is shown on the 5 digit 7 segment LED display Press the UP or DOWN button to change display data as desired When the required data is selected the corresponding symbol appears Press the SET button to display its data At only power on however data appears after the symbol 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 19 data items such as the motor speed 7 2 1 Display transition After choosing the status display mode with the MODE button pressing the UP or DOWN button changes the display as shown below To Bus voltage Current position Command position Command remaining distance Program No Step No Comulative feedback pulses Servo motor speed Droop pulses Override Analog torque limit voltage To current position Regenerative load ratio Effective load ratio Peak load ratio Instantaneous torque Within one revolution position low Within one revolution position high ABS counter Load inertia moment ratio Bus voltage 7 DISPLAY AND OPERATION 7 2 2 Display examples The following table lists display examples Displayed data Item Status wa Ra Servo amplifier display MR DP60 Forward rotation at
133. al point position No decimal point Lower first digit Lower second digit Lower third digit Lower forth digit Lower fifth digit ES oObM A OH a Write mode 0 Write to EEP ROM 3 Write to RAM When the parameter data is changed frequently through communication set 3 to the write mode to change only the RAM data in the servo amplifier When changing data frequently once or more within one hour do not write it to the EEP ROM 4 General purpose register Dx write Write the value of the general purpose register Dx to the RAM Write the value within the setting range Refer to Section 4 2 2 1 for the setting range Transmit command B A the data No and setting value Data to be written is hexadecimal BEER RRED Data is transferred in hexadecimal 15 34 15 COMMUNICATION FUNCTIONS 15 12 14 Servo amplifier group designation With group setting made to the slave stations data can be transmitted simultaneously to two or more slave stations set as a group through RS 422 communication 1 Group setting write Write the group designation value to the slave station a Transmission Transmit command 9 F data No 0 0 and data EI Did E d Group designation 0 No group designation 1 Group a 2 Group b 3 Group c 4 Group d 5 Group e 6 Group f Response command enable Set whether data can be sent back or not in response to the read command of the master statio
134. am whose setting has been changed to the servo amplifier c Verifying the programs c Click the Verify button to verify the program contents on the personal computer and the program contents of the servo amplifier d Selecting the program No d Used to select the program No to be edited 6 SERVO CONFIGURATION SOFTWARE e Editing the program e Used to edit the program selected in d Click the Write All button to open the Program Edit window Refer to 3 in this section for the edit screen f Reading and saving the program file A program can be saved read as a file Perform save read in the File menu of the menu bar g Printing the program Theread and edited program can be printed Perform print in the File menu of the menu bar h Referring to the number of steps f Click the Steps button to display the number of used steps and number of remaining steps in all programs Number of use steps 104 Number of remainder steps 16 i Closing the Program Data window g Click the Close button to close the window 3 Explanation of Program Edit window Create a program in the Program Edit window Program Edit Program No 1 TSPN 1000 2 STA 200 3 STB 300 AIMOMO 000 6 SPN 500 FISTC 100 g MOVv 2000 a a Editing the program a Enter commands into the program edit area in a text format b Copying the text b Select the text of the
135. am Outline dimension drawing Panel hole machining diagram Unit mm in Unit mm in 20 0 79 25 0 98 30 1 18 wo 10 os 2 28 OnE a 0 14 hole 2 5 0 10 sa rt S L 10 0 37 hole e a fe x 1 2 3 Su 3 2 2 Multi revolution type Position meter RRS1OM 202 J apan Resistor make Analog dial 23M J apan Resistor make Resistance Dielectric strength Insulation Mechanical Rated power Resistance Rotary torque tolerance for 1 minute resistance rotary angle ow x a 700V A C 1000M Qor more 3600 E 100g cm or less Connection diagram Panel hole machining diagram Unit mm in Panel thickness 2 to 6 0 08 to 0 24 bal O CA ER CW BR O 2 Si 9 0 35 hole o D 2 1 0 08 hole Outline dimension drawing RRS10 M202 23M Unit mm in Unit mm in 12 5 0 49 14 43 14 OPTIONS AND AUXILIARY EQUIPMENT MEMO 14 44 15 COMMUNICATION FUNCTIONS 15 COMMUNICATION FUNCTIONS This servo amplifier has the RS 422 and RS 232C serial communication functions These functions can be used to perform servo operation parameter changing monitor function etc However the RS 422 and RS 232C communication functions cannot be used together Select between RS 422 and RS 232C with parameter No 16 Refer to Section 15 2 2 15 1 Configuration 15 1 1 RS 422 configuration 1 Outline Up to 32 axes of servo amplifiers from stations 0 to 31 can be ope
136. arameter No 42 Servo motor speed The address on completion of home position return is the value automatically set in parameter No 42 home position return position data 4 OPERATION 4 4 7 Dog type rear end reference home position return This home position return method depends on the timing of reading Proximity dog DOG that has detected the rear end of a proximity dog Hence if a home position return is made at the creep speed of 100r min an error of 200 pulses will occur in the home position The error of the home position is larger as the creep speed is higher The position where the axis which had started decelerating at the front end of a proximity dog has moved the after proximity dog moving distance and home position shift distance after it passed the rear a ee as a home position A home position return that does not depend on the Z phase signal can made 1 Signals parameters Set the input signals and parameters as indicated below Item ee position return mode Automatic manual selection M D0 M DO is switched on Dog type rear enid reference home 0005 Select the dog type rear end reference position return Home position return direction Parameter No 8 Refer to Section 4 4 1 2 in this section and select the home position return direction D ginput polarity E Section 4 4 1 2 in this section and select the dog input Home position return speed Set the speed till the dog is detected Creep
137. arance between the top of the servo amplifier and the internal surface of the control box and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions Control box E 10mm 100mm 0 4 in 4 0 in or more or more gt W 30mm 1 2 in or more 30mm Wj 1 2 in or more ii ii Vi 3 Others When using heat generating equipment such as the regenerative brake option install them with full consideration of heat generation so that the servo amplifier is not affected Install the servo amplifier on a perpendicular wall in the correct vertical direction 2 3 Keep out foreign materials 1 When installing the unit in a control box prevent drill chips and wire fragments from entering the servo amplifier 2 Prevent oil water metallic dust etc from entering the servo amplifier through openings in the control box or a fan installed on the ceiling 3 When installing the control box in a place where there are much toxic gas dirt and dust conduct an air purge force clean air into the control box from outside to make the internal pressure higher than the external pressure to prevent such materials from entering the control box 2 INSTALLATION 2 4 Cable stress 1 The way of clamping the cable must be fully examined so that flexing stress and cable s own weight stress are not applied to the cable connection 2 For usein an
138. ate AL 33 Overvoltage Converter bus 1 Lead of built in regenerative brake 1 Change lead voltage exceeded resistor or regenerative brake 2 Connect correctly 400V DC option is open or disconnected 3 Wire breakage of built in 1 For wire breakage of built in regenerative brake resistor or regenerative brake resistor change regenerative brake option servo amplifier 2 For wire breakage of regenerative brake option change regenerative brake option 4 Capacity of built in regenerative Add regenerative brake option or increase brake resistor or regenerative capacity brake option is insufficient AL 35 Command pulsejInput pulse 1 Pulse frequency of the manual Change the pulse frequency to a proper i 2 Noise entered the pulses of the Take action against noise ftp E 3 Manual pulse generator failure Change the manual pulse generator 11 5 11 TROUBLESHOOTING Display AL 37 Parameter Parameter setting is 1 Servo amplifier fault caused the Change the servo amplifier parameter setting to be rewritten 2 Regenerative brake option not used Set parameter No 0 correctly with servo amplifier was selected in parameter No 0 3 Value outside setting range has Set the parameter correctly been set in some parameter 4 Value outside setting range has Set parameters No 4 5 correctly been set in electronic gear 5 Opposite sign has been set in Set parameters No 46 to 49 correctly software limit increasing side
139. ation commands a Disable DI 0110 b Enable 9 0 1 0 1EA5 2 Disabling enabling the output devices DO Transmit the following communication commands a Disable b Enable 15 24 15 COMMUNICATION FUNCTIONS 15 12 7 Input devices ON OFF test operation Each input devices can be turned on off for test operation when the device to be switched off exists in the external input signal also switch off that input signal Send command 9 2 data No 0 0 and data im og _ seebelow Command of each bit is transmitted to the slave station as hexadecimal data LD Servoon SOn Ee 24 Temporary stop restart STP Manual pulse generator multiplication 1 TPO Manual pulse generator multiplication 2 TP1 Gain switch CDP Program input 1 P11 Program input 2 P12 Program input 3 P13 5 Proportion control selection PC 17 Automatic manual selection MDO 6 Reset RES 18 Proximity dog DOG ft ee PIES EE Forward rotation start ST1 15 25 15 COMMUNICATION FUNCTIONS 15 12 8 Test operation mode 1 Instructions for test operation mode The test operation mode must be executed in the following procedure If communication is interrupted for longer than 0 5s during test operation the servo amplifier causes the motor to be decelerated to a stop and servo locked To prevent this continue communication without a break e g monitor the status display a
140. ation function Signal Connector Signal Functions Applications aa RS 422 I F CN3 9 RS 422 and RS 232C functions cannot be used together CN3 19 Choose either one in parameter No 16 RS 422 termination CN3 10 Termination resistor connection terminal of RS 422 interface When the servo amplifier is the termination axis connect this terminal to RDN CN3 15 RS 232C I F CN3 2 RS 422 and RS 232C functions cannot be used together CN3 12 Choose either one in parameter No 16 5 Power supply Signal Connector I F internal power CN1B 3 Used to output 24V 10 to across VDD SG supply When using this power supply for digital interface connect it with COM Permissible current 80mA Digital I F power CN1A 9 Used to input 24VDC 200mA or more for input interface supply input CN1B 13 Connect the positive terminal of the 24VDC external power supply 24V DC 10 Open collector power CN1A 11 When you use a manual pulse generator supply this terminal with the positive input power of 24VDC Digital I F common CN1A 10 Common terminal for input signals such as SON and EMG Pins are connected 20 internally CN SCH Separated from LG 15VDC power supply P15R CN1A 4 ere 15VDC to across P15R LG Available as power for VC and VLA CN 1B 11 Permissible current 30mA Control common CN1A 1 Common terminal for TLA VC OP MOL MO2 and P15R CN1B 1 Pins are connected internally child sp Piate Connect the external c
141. ation or operation not performed at the preset speed or acceleration deceleration time constant After setting the parameter No 4 5 value switch power off then on to make that setting valid In this case execute a home position return again The absolute position detection system also requires a home position return 1 Concept of electronic gear Use the electronic gear parameters No 4 5 to make adjustment so that the servo amplifier setting matches the moving distance of the machine Also by changing the electronic gear value the machine can be moved at any multiplication ratio to the moving distance on the servo amplifier CMX _ Parameters No 4 CDV Parameters No 5 CMS Deviation CDV counter i i i Encoder feedback pulses Electronic gear Parameters No 4 5 Encoder distance Moving The following examples are used to explain how to calculate the electronic gear value POINT The following specification symbols are needed for electronic gear calculation Pb Ballscrew lead mm in n _ Reduction ratio Pt Servo motor resolution pulse rev AS Travel per servo motor revolution m rev a Ballscrew setting example n Machine specifications eege T Ballscrew lead Pb 10 0 39 mm in Pb 10 0 39 mm in Reduction ratio n 1 2 ek NM Servo motor resolution Pt 131072 pulse rev Deng Motor 131072Kpulse rev CMX_ Pm _ Pr E 131072 _ 1
142. ative brake option e Servo motor C Note 1 The HC SFS HC RFS HC UFS 2000r min series have cannon connectors 2 A 1 phase 230VAC power supply may be used with the servo amplifier of MR J2S 70CL or less Connect the power supply to L1 and L2 terminals and leave L3 open 1 20 1 FUNCTIONS AND CONFIGURATION b For 1 phase 100V to 120VAC 1 phase 100V to 120VAC power supply Options and auxiliary equipment Reference Manual pulse generator No fuse breaker NFB or fuse Command device Junction terminal block To CN1A Magnetic i L Manual pulse generator contactor External digital display Personal Servo configuration computer software MRZJW3 SETUP151E improving TT reactor FR BAL Note Encoder cable Control circuit terminal block La L11 Regenerative brake option Servo motor C Note The HC SFS HC RFS HC UFS 2000 r min series have cannon connectors 1 21 1 FUNCTIONS AND CONFIGURATION 2 MR J2S 200CL MR J2S 350CL 3 phase 200V Options and auxiliary equipment Reference to 230VAC No fuse breaker ower suppl P PRY Magnetic contactor Servo configuration software Chapter 6 External digital display No fuse Regenerative brake option Section 14 1 1 Power factor improving reactor breaker NFB or fuse Servo amplifier O MITSUBISHI e Junction terminal
143. ausing machine vibration In such a case set adaptive vibration suppression control to be held parameter No 63 0 2010 to fix the characteristics of the adaptive vibration suppression control filter 9 3 9 SPECIAL ADJUSTMENT FUNCTIONS 2 Parameters The operation of adaptive vibration suppression control selection parameter N 0 60 Parameter No 63 iL Adaptive vibration suppression control selection Choosing valid or held in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 parameter No 61 invalid 0 Invalid 1 Valid Machine resonance frequency is always detected to generate the filter in response to resonance suppressing machine vibration 2 Held Filter characteristics generated so far is held and detection of machine resonance is stopped Adaptive vibration suppression control sensitivity selection Set the sensitivity of detecting machine resonance 0 Normal 1 Large sensitivity Adaptive vibration suppression control is factory set to be invalid parameter No 63 0000 The filter characteristics generated are saved in the EEP ROM every 60 minutes since power on At next power on vibration suppression control is performed with this data saved in the EEP ROM being used as an initial value Setting the adaptive vibration suppression control sensitivity can change the sensitivity of detecting machine resonance Setting of large sen
144. be executed continuously without a stop The speed changing point of the MOVIA command is the deceleration starting position of the operation performed by the preceding MOVI and MOVI A commands The acceleration deceleration time constant of the MOVIA command is the value at execution of the preceding M OVI command Absolute move MOV command Set value Absolute RT MOVA Set value lt 10S um Absolute move command lt 10S um Absolute continuous move command SEN ee Alita MOVI MOVI XxX 10S um Incremental move command Set value AAR Incremental continuous MOVIA move Set value command EI um Incremental continuous move command 1 Program example 1 Use of an S pattern time constant allows sudden operation to be eased at the time of acceleration and deceleration Description SPN 500 Speed Motor speed 500 r min STA 200 Acceleration time constant 200 ms STB 300 Deceleration time constant 300 ms MOV 500 Move command 500 x 105 um SPN 1000 Speed Motor speed 1000 r min MOVA 1000 Continuous move command 1000 x10S5 um f MOVA 0 Continuous move command O x105 u m g STOP Program end b Acceleration time constant 200ms Forward rotation Servo motor r min c Deceleration time constant 300ms e Speed Motor speed a Speed Motor speed 1000r min 500r min speed d EH A Absolute continuous d e Se d ES A Reve
145. block i KIN ONK Magnetic Sie Es contactor Manual pulse MC generator External digital display factor Servo improving configuration reactor E Perona GE z computer mn SE gt SETUP151E LD 1 22 1 FUNCTIONS AND CONFIGURATION 3 MR J2S 500CL 3 phase 200V to 230VAC power supply Options and auxiliary equipment Options and auxiliary equipment Reference sie No fuse breaker Section 14 2 2 Section 14 2 1 o fuse breaker Magnetic contactor Section 14 2 2 Manual pulse generator Section 14 1 8 NFB or fuse Servo configuration software Chapter 6 External digital display i wl Regenerative brake option Section 14 1 1 Power factor improving reactor Section 14 2 3 Magnetic contactor MC Command device Power factor Servo amplifier Junction terminal improving reactor SE FR BAL Manual pulse generator GG o External digital display y O S Bs oO Q D bes 4 oO 2 w ES lt Oo o g w S oO OO ne e GN e d Oi EO H Servo configuration Personal software computer MRZJW3 SETUP151E 1 23 1 FUNCTIONS AND CONFIGURATION 4 MR J2S 700CL Options and auxiliary equipment Options and auxiliary equipment Reference Cables Section 14 2 1
146. built in regenerative brake resistor is used 1 Spare do not set 2 MR RB032 3 MR RB12 4 MR RB32 5 MR RB30 6 MR RB50 8 MR RB31 9 MR RB51 If the regenerative brake option selected is not for use with the servo amplifier parameter error occurs Basic parameters 5 PARAMETERS Initial Setting Class No Symbol Name and Function value range F TY Feeding function selection Used to set the feed length multiplication factor and manual pulse generator multiplication factor Lon coordinate system selection Refer to Section 4 2 2 to 4 2 4 0 Address is incremented in CCW direction 1 Address is incremented in CW direction When 1 is set pressing the start switch for test operation starts rotation in the reverse direction Feed length multiplication factor STM Refer to Section 4 2 3 0 1 time 1 10 times 2 100 times 3 1000 times L Manual pulse generator multiplication factor Refer to Section 4 3 2 0 1 time 1 10 times 2 100 times Servo on SON off forced stop EMG off follow up for absolute value command in incremental system or absolute value command incremental value command specifying system 0 Invalid 1 Valid Normally when this servo amplifier is used in the absolute value command method of the incremental system placing it in a servo off or forced stop status will erase the home position When 1 is set in this parameter the home position will not be erased if the servo amplif
147. c brake Servo amplifier Servo motor Note2 Rss electro EMG magnetic To be shut off when servo on SON switches off or by trouble ALM Encoder Encoder cable n gt Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake 3 SIGNALS AND WIRING 3 8 3 I O terminals 1 HC KFS HAMES HC UFS3000r min series Power supply lead Encoder connector signal arrangement 4 AWG19 0 3m 0 98ft 4 Power supply connector molex Without electromagnetic brake a t 5557 04R 210 receptacle Encoder cable 0 3m 0 98ft 5556PBTL Female terminal With connector 1 172169 9 With electromagnetic brake AMP 5557 06R 210 receptacle 5556PBTL Female terminal Power supply nnan supply connector TE connector 5557 04R 210 5557 06R 210 1 4 3 6 5 MoeT View b ERVA B2 Note Supply electromagnetic brake power 24VDC There is no polarity 3 29 3 SIGNALS AND WIRING 2 HC SFS HC RFS HC UFS2000 r min series Servo motor side connectors Servo motor Electromagnetic For power supply For encoder brake connector HC SFS81 B The connector HC SFS52 B to 152 B for power is HC SFS53 B to
148. cation command The remaining moving distance is then cleared 15 28 15 COMMUNICATION FUNCTIONS 15 12 9 Output signal pin ON OFF output signal DO forced output In the test operation mode the output signal pins can be turned on off independently of the servo status Using command 9 0 disable the output signals in advance 1 Choosing DO forced output in test operation mode Transmit command 8 B data No 0 0 data 0004 to choose DO forced output Se Selection of test operation mode 4 DO forced output output signal forced output 2 External output signal ON OFF Transmit the following communication commands 9112 Tag bit External output pin Fo og Ire CN1A 18 Ein CN1B 19 EE CN1B 6 Eid ieee CN1B 4 Nig ie ee ees 2a e ES Ee Ee e oun lol E CNIA14 14 Sa Ee EE Ee 1 cnuais 2 cNiB19 3 ous a CNIB4 5 cneas 6 cnan EZEN 15 29 15 COMMUNICATION FUNCTIONS 15 12 10 Alarm history 1 Alarm No read Read the alarm No which occurred in the past The alarm numbers and occurrence times of No 0 last alarm to No 5 sixth alarm in the past are read a Transmission Send command 3 3 and data No 1 0 to 1 5 Refer to Section 15 11 1 b Reply The alarm No corresponding to the data No is provided Alarm No is transferred in decimal For example 0032 means A 32 and OOFF A no alarm 2 Alar
149. characteristics automatically to suppress mechanical system vibration Since the filter 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 Machine resonance point i Machine resonance point Mechanical Mechanical system A system response l response Frequency Frequency l I i d Notch Notch depth VY depth Vv Frequency Frequency Notch frequency Notch frequency When machine resonance is large and frequency is low When machine resonance is small and frequency is high POINT The machine resonance frequency which adaptive vibration suppression control can respond to is about 150 to 500Hz Adaptive vibration suppression control has no effect on the resonance frequency outside this range Use the machine resonance suppression filter for the machine resonance of such frequency Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics or which has too large resonance Under operating conditions in which sudden disturbance torque is imposed during operation the detection of the resonance frequency may malfunction temporarily c
150. ches off and when the base circuit is shut off Refer to Section 3 9 70 Ratio of load inertia moment to servo motor inertia moment x0 1 0 to 1000 U sed to set the ratio of the load inertia moment to the servo motor shaft times and or noise GD2 inertia moment Refer to Chapter 8 When auto tuning is selected the result of auto tuning is automatically set PG2 rad s 1to1000 When auto tuning is selected the result of auto tuning is automatically set VG1 Speed loop gain 1 rad s Normally this parameter value need not be changed Higher setting increases the response level but is liable to generate vibration and or noise Refer to Chapter 8 When auto tuning is selected the result of auto tuning is automatically set LA ul Set this parameter to increase the position response level to load disturbance Higher setting increases the response level but is liable to generate vibration Used to set the gain of the position loop Refer to Chapter 8 vibration and or noise Refer to Chapter 8 When auto tuning is selected the result of auto tuning is automatically set Speed integral compensation Used to set the integral time constant of the speed loop Refer to Chapter 8 When auto tuning is selected the result of auto tuning is automatically set VDC _ Speed differential compensation Used to set the differential compensation Refer to Chapter 8 Made valid when the proportion control PC is switched on Used to set th
151. command time 100 ms NEXT Step repeat command end FOR 2 Step repeat command start 2 times MOVI 200 Incremental move command 200 x105 um TIM 10 Dwell command time 100 ms NEXT Step repeat command end STOP Program end b Incremental move command d Incremental move command 100 x 108 um 200 x 108 um Forward rotation Servo motor r min speed 1000 1100 1200 1300 1500 1700 v a c e f 4 OPERATION h Program count command TIMES By setting the number of times to the TIMES setting value command placed at the beginning of a program the program can be executed repeatedly When the program is to be executed once the TIMES setting value command is not necessary Setting 0 selects endless repetition TIMES 2 SPN 1000 STC 20 MOVI 1000 TIM 10 STOP Program count command 2 times Speed Motor speed 1000 r min Acceleration deceleration time constant 20 ms Incremental move command Dwell command time Program end 1000 x 10S um 100 ms b Incremental move command 100 x 10S um Forward rotation Servo motor Or min speed 1000 1200 a 4 OPERATION i Position latch LPOS POINT When Current position latch input LPS is used to store the current position the value differs depending on the servo motor speed provided when LPS has turned ON The current position where Current position latch input LPS is turned ON
152. crew Terminal screw M4 Tightening torque 1 2 N m 169 9 oz in TE2 L Terminal screw M3 5 Tightening torque 0 8 N m 141 6 oz in 21 12 5 12 OUTLINE DIMENSION DRAWINGS 12 2 Connectors 1 Servo amplifier side lt 3M gt a Soldered type Model Unit mm Connector 10120 3000VE Unit in Shell kit 10320 52F0 008 12 0 0 47 b Threaded type Model Unit mm Connector 10120 3000VE mi Unit ml Shell kit 10320 52A0 008 Note This is not available as option and should be user prepared 0 39 c Insulation displacement type Model Unit mm Connector 10120 6000EL Unit in Shell kit 10320 3210 000 66 7 0 26 5 0 45 20 9 0 82 Logo etc are indicated here 2 0 5 0 02 H 29 7 1 17 12 OUTLINE DIMENSION DRAWINGS 2 Communication cable connector lt JAE gt Unit mm Unit ml AE max diameter of gt s cable used Fitting fixing screw G ao A B C D F T E reference DE C1 6 S6 34 5 1 36 19 0 75 24 99 0 98 33 1 30 6 0 24 18 0 71 12 OUTLINE DIMENSION DRAWINGS MEMO 13 CHARACTERISTICS 13 CHARACTERISTICS 13 1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads Overload 1 alarm AL 50 occurs if overlo
153. ctric shock always connect the protective earth PE terminal of the servo amplifier with the protective earth PE of the control box Theservo amplifier switches the power transistor on off to supply power to the servo motor Depending on the wiring and ground cablerouting the servo amplifier may be affected by the switching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Control box Servo motor Servo amplifier Note Power supply 3 phase 200 to 230VAC _ 1 phase 230VAC or o oF 1 phase 100 to 120VAC Line filter CNIA CN1iB 4 4 Ensure to connect it to PE terminal of the servo amplifier Do not connect it directly to the protective earth of the control panel Programmable controller QO O QO O Protective earth PE Note For 1 phase 230VAC connect the power supply to L1 L2 and leave Ls open There is no Ls for 1 phase 100 to 120VAC power supply 3 SIGNALS AND WIRING 3 11 Servo amplifier terminal block TE2 wiring method 1 Termination of the cables Solid wire After the sheath has been stripped the cable can be used as it is Cable size 0 2 to 2 5mm2 Approx 10mm 0 39inch Twisted wire Use the cable after stripping the sheath
154. d a See speed 1000r min Servo motor gr min L speed val gt d Absolute move command f Absolute move command 1000 x 10S um e Dwell command time 100ms eg aN 4 OPERATION 2 Program example 2 When operation is to be performed in two patterns that have different servo motor speeds acceleration time constants deceleration time constants and move commands SPN 1000 STA 200 STB 300 MOV 1000 TIM 10 SPN 500 STC 200 MOV 1500 STOP Speed Motor speed Acceleration time constant Deceleration time constant Absolute move command Dwell command time Speed Motor Speed Acceleration deceleration time constant Absolute move command Program end b Acceleration time constant 200ms c Deceleration time constant 300ms d 1000 r min 200 ms 300 ms 1000 x 10S um 100 ms 500 r min 200 ms 1500 x 105 u m g Acceleration deceleration time constant Forward a Speed 2 200ms rotation Motor speed x 1000r min Speed Motor Pa r min Servo motor gr min 500r speed AA lt d Absolute move command 1000 x 10S um e Dwell command time 100ms 3 Program example 3 h Absolute move command 1500 x 10S um Use of an S pattern acceleration deceleration time constant allows sudden operation to be eased at the time of acceleration and deceleration When the STD command is used parameter No 14 S pa
155. d those radiated by the servo amplifier to cause peripheral devices to malfunction Since the servo amplifier is an electronic device which handles small signals the following general noise reduction techniques are required Also the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies If peripheral devices malfunction due to noises produced by the servo amplifier noise suppression measures must be taken The measures will vary slightly with the routes of noise transmission 1 Noise reduction techniques a General reduction techniques Avoid laying power lines input and output cables and signal cables side by side or do not bundle them together Separate power lines from signal cables Use shielded twisted pair cables for connection with the encoder and for control signal transmission and connect the shield to the SD terminal Ground the servo amplifier servo motor etc together at one point refer to Section 3 10 14 33 14 OPTIONS AND AUXILIARY EQUIPMENT b Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources such as a magnetic contactor an electromagnetic brake and many relays which make a large amount of noise near the servo amplifier and the servo amplifier may malfunction the following countermeasures are required Provide surge absorbers on the noise sources to suppress noises Attach data line filters to
156. d Function ee at value range 46 Software limit x 105 999999 47 U sed to se the address increment side software stroke limit The software limit um to is made invalid if this value is the same as in software limit 999999 Refer to Section 5 2 7 Set the same sign to parameters No 46 and 47 Setting of different signs will result in a parameter error Set address OOOO ERETON eg Upper 3 Lower 3 digits digits Sg Parameter No 47 Parameter No 46 48 LMN Software limit 0 x105 999999 49 Used to set the address decrement side software stroke limit The software limit um to is made invalid if this value is the same as in software limit 999999 Refer to Section 5 2 7 Set the same sign to parameters No 48 and 49 Setting of different signs will result in a parameter error Set address 000000 el ec Upper 3 Lower 3 digits digits Parameter No 49 Parameter No 48 Position range output address x 10S 999999 Used to set the address increment side position range output address Set the um to same sign to parameters No 50 and 51 Setting of different signs will result in a 999999 parameter error In parameters No 50 to 53 set the range where position range POT turns on Set address CO E Upper 3 Lower 3 digits digits L Parameter No 51 Parameter No 50 Position range output address x 108 999999 U sed to se the address decrem
157. d by the SYNC 1 command in the program Program input2 CN 1B 9 Turn PI2 on to resume the step stopped by the SYNC 2 command in the program Program input3 23 Turn PI3 on to resume the step stopped by the SYNC 3 command in the program Forward rotation start Reverse rotation start Automatic manual selection Proximity dog CN1B 7 1 In program operation mode When ST1 is turned on the operation of the program selected with DIO to DI3is executed 2 J og operation in manual operation mode While ST1 is kept on the servo motor rotates in the forward rotation direction Forward rotation indicates an address increasing direction While ST2 is kept on in jog operation of the manual operation mode the servo motor rotates in the reverse rotation direction Reverse rotation indicates an address decreasing direction ST2 is invalid in any other operation mode Turn MDO on to select the program operation mode or turn it off to select the manual operation mode In the factory setting state Forced stop EMG is preset to turn on automatically Refer to Section 6 6 2 c DOG CN1A 8 Turn DOG on to bring the proximity dog signal is detected The polarity of dog detection input can be changed with the parameter Polarity of SC Parameter Nes olarity o proximity dog detection input 00K initial value moo o 3 SIGNALS AND WIRING Devices Connector y Treg Device name Functions Applications
158. dow 6 14 6 SERVO CONFIGURATION SOFTWARE 6 7 Test operation The test operation mode is designed to confirm servo operation and not to confirm machine operation In this mode do not use the servo motor with the machine N CAUTION j Always use the servo motor alone If any operational fault has occurred stop operation using the forced stop EMG 6 7 1 Jog operation POINT In the jog operation mode do not rewrite data from the point table list screen or the servo amplifier s front panel Otherwise the set values are made invalid The servo motor will not operate if the forced stop EMG forward rotation stroke end LSP and reverse rotation stroke end LSN are off Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn off across these signals and SG Refer to Section 6 6 Hold down the Forward or Reverse button to rotate the servo motor Release the Forward or Reverse button to stop Click Test on the menu bar and choose Jog on the menu eters Test Advanced function Point Positioning Operation w o motor Forced output Demo mode single step Feed Program Test When the above choices are made the following window appears a Motor speed Fo rimin 0 5175 Forward c b Accelidecel time fi 000 ms Reverse d 0 20000 Stop e Stop with SHIFT k
159. e AC electromagnetic brake or the like near the servo amplifier is shown below Use this product or equivalent ESCH Surge suppressor Surge suppressor This distance should be short Surge suppressor within 20cm 0 79 in Ex 972A 2003 50411 Matsuo Electric Co Ltd 200VAC rating Rated Outline drawing Unit mm Unit in voltage C HF R Q Test voltage AC V Vinyl sheath 1841 5 AC 0 71 0 06 Blue vinyl cord Red vinyl cord ch Across 6 0 24 1W T C 1000 1to5s Jf E vil hoos Ek E 10 0 3 Jor less ie gt 1043 1541 o 59 0 04 0 39 0 12 200 7 87 4841 5 200 7 87 0 15 or more 1 89 0 06 or more Note that a diode should be installed toa 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 S SE the relay or the like Diode c Cable clamp fitting AERSBAN O SET Generally the earth of the shielded cable may only be connected to the connector s SD terminal However the effect can be increased by directly connecting the cable to an earth plate as shown below Install the earth plate near the servo amplifier for the encoder cable Peel part of the cable sheath to expose the external conductor and press that part against the earth plate with the cable clamp If the cable is thin clamp several cables in a bunch Theclamp comes as a s
160. e acceleration deceleration time when J OG operation 41 Home position return operation acceleration deceleration time constant Used to set the acceleration deceleration time when Zero point return operation 20000 42 ZPS Home position return position data Used to set the current position on completion of home position return lt x 10S 32768 um to Refer to Section 4 4 32767 DCT Moving distance after proximity dog 1000 x 10s Used to set the moving distance after proximity dog in count type home position return Refer to Section 4 4 3 Stopper type home position return stopper time In stopper type home position return used to set the time from when the machine part is pressed against the stopper and the torque limit set in parameter No 45 is reached to when the home position is set Refer to Section 4 4 5 Stopper type home position return torque limit Used to set the torque limit value relative to the max torque in in stopper type home position return Refer to Section 4 4 5 Position loop gain 2 Speed loop gain 2 rad s Set this parameter when vibration occurs on machines of low rigidity or large backlash Higher setting increases the response level but is liable to generate Ww oe 1 to 1000 Expansion parameters 1 LA 20000 10 10 CH CH cr cr fo OO 980 0 to 2000 i 8 5 to 1000 1 to 100 pa m ul o Ee 5 13 5 PARAMETERS Initial Settin Class Symbol Name an
161. e brake option across P C Refer to Section 14 1 1 for details When using the return converter or brake unit connect it across P N Do not connect it to the servo amplifier of M R J 2S 350CL or less Refer to Sections 14 1 2 and 14 1 3 for details Return converter Brake unit Connect this terminal to the protective earth PE terminals of the servo motor Protective earth PE Si SS and control box for grounding 3 25 3 SIGNALS AND WIRING 3 7 3 Power on sequence 1 Power on procedure 1 Always wire the power supply as shown in above Section 3 7 1 using the magnetic contactor with the main circuit power supply three phase 200V L1 L2 L3 single phase 230V L1 L2 Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs 2 Switch on the control circuit power supply L11 L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply If the main circuit power supply is not on the display shows the corresponding warning However by switching on the main circuit power supply the warning disappears and the servo amplifier will 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 servo on 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
162. e bus across P N of the servo amplifier As compared to the MR RB regenerative brake option the brake unit can return larger power Hence use the this brake unit when the MR RB cannot provide sufficient regenerative brake capability When using the brake unit set 0 in parameter No 0 1 Selection Permissible continuous Max instantaneous sit Brake unit Resistor unit Applicable servo amplifier power kw power kw FRBU 15K FRBR I5K ae es MR 25 500CL FR BU 30K_ FR BR 30K MRJ 25 700CL 2 Connection example Servo amplifier No fuse breaker Power NER MC supply O 3 phase 23 200 to 230VAC Servo motor Note 1 Note 1 Ta TH2 THS FR BU brake unit FR BR resistor unit Note 1 Make up the external sequence to switch the power off when an alarm occurs or when the thermal relay is actuated 2 Always remove the wiring across P C of the servo amplifier built in resistor 14 OPTIONS AND AUXILIARY EQUIPMENT The cables between the servo amplifier and brake unit and between the resistor unit and brake unit should be as short as possible The cables longer than 5m 16 404ft should be twisted If twisted the cables must not be longer than 10m 32 808ft The cable size should be equal to or larger than the recommended size See the brake unit instruction manual You cannot connect one set of brake unit to two servo amplifiers or two sets
163. e 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 Abbreviation Position control gain 1 PHT PO Position control gain 2 5s w Speed control gain 1 VG2 Speed control gain 2 Speed integral compensation 8 GENERAL GAIN ADJUSTMENT 8 2 2 Auto tuning mode operation The block diagram of real time auto tuning is shown below Load inertia Automatic setting moment Encoder Command Control gains i E Se PG2 VG2 VIC Current feedback Set 0 or 1 to turnon Real time auto Position speed REES tuning section feedback Gain table O Switch Parameter No 34 Load inertia moment ratio estimation value Parameter No 3 First digit Third digit Response level setting Auto tuning selection When a servo motor is accelerated decelerated the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor The results of estimation are written to parameter No 34 load inertia moment ratio These results can be confirmed on the status display screen of the servo amplifier display section If the value of the load inertia moment ratio is already known or if estimation cannot be mad
164. e properly chose the auto tuning mode 2 parameter No 3 O 2 O O 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 the optimum control gains are automatically set on the basis of the internal gain tale The auto tuning results are saved in the EEP ROM of the servo amplifier every 60 minutes since power on At power on auto tuning is performed with the value of each control gain saved in the EEP ROM being used as an initial value If sudden disturbance torque is imposed during operation the estimation of the inertia moment ratio may malfunction temporarily In such a case choose the auto tuning mode 2 parameter No 3 0200 and set the correct load inertia moment ratio in parameter No 34 When any of the auto tuning mode 1 auto tuning mode 2 and manual mode 1 settings is changed to the manual mode 2 setting the current control gains and load inertia moment ratio estimation value are saved in the EEP ROM 8 GENERAL GAIN ADJUSTMENT PEN 8 2 3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory simply running the servo motor automatically sets the optimum gains that match the machine Merely changing the response level setting value as required comp
165. e rotation comng GE ON i de jen SE SC egen D Ga E ee E e GE Ready RD Se EE Trouble ALM fee Note External input signal detection delays by the input filter setting time of parameter No 2 Also make up a sequence that will change the program selection earlier by the time that takes into account the output signal sequence from the controller and the variation of a signal change due to the hardware 4 OPERATION Sg 4 3 Manual operation mode For machine adjustment home position matching etc jog operation or a manual pulse generator may be used to make a motion to any position 4 3 1 Jog operation 1 Setting Set the input signal and parameters as follows according to the purpose of use In this case the program No selection 1 to 4 DIO to DI 3 are invalid Setting method Manual operation mode selection Automatic manual selection M DO MDO is switched off Servo motor rotation direction Parameter No 1 Refer to 2 in this section Parameter No 13 Set the speed of the servo motor A Use the acceleration deceleration Acceleration deceleration time constant Parameter No 40 8 time constants 2 Servo motor rotation direction Servo motor rotation direction Parameter No 1 setting 3 Forward rotation start ST1 ON Reverse rotation start ST2 ON O CCW rotation CW rotation O CW rotation CCW rotation Parameter No 1 0000 Parameter No 1 D 3 Operation When ST1 is turned on
166. e rotation start ST2 through the external I O Use this system when position data speed setting or the host personal computer or the like is used to change the parameter values for example b Configuration 1 One servo amplifier is connected with the personal computer by RS 232C Personal External UO computer Servo configuration signals Software Servo amplifier MITSUBISHI IT CN1A CN1B Power supply 1 FUNCTIONS AND CONFIGURATION 2 Several up to 32 servo amplifiers are connected with the personal computer by RS 422 Use parameter No 16 to change the communication system Personal computer Servo configuration Software External I O signals Servo amplifier axis 1 MITSUBISHI t CN1A CN1B el a RS 232C RS 422 converter to be prepared by the customer Power supply RS 422 External I O signals Servo amplifier axis 2 MITSUBISHI CN1A CN1B el Ei ES Power supply Tn To the next axis 1 FUNCTION
167. e station sends back the requested status display data at alarm occurrence Data 32 bits long represented in hexadecimal Data conversion into display type is required Display type 0 Conversion into decimal required 1 Used unchanged in hexadecimal Decimal point position No decimal point 1 Lower first digit usually not used 2 Lower second digit 3 Lower third digit 4 Lower fourth digit 5 6 CH Lower fifth digit Lower sixth digit 3 Current alarm clear As by the entry of the Reset RES reset the servo amplifier alarm to make the servo amplifier ready to operate After removing the cause of the alarm reset the alarm with no command entered a Transmission 8112 0110 15 31 15 COMMUNICATION FUNCTIONS 15 12 12 Current position latch data Read the current position latch data When the data No is transmitted the data value and data processing information are sent back 1 Transmission Send command 6 C and data No 0 1 to be read 2 Reply The slave station sends back Current position latch data GE Data 32 bits long represented in hexadecimal Data conversion into display type is required Display type 0 Conversion into decimal required 1 Used unchanged in hexadecimal Decimal point position No decimal point Lower first digit usually not used Lower second digit Lower third digit Lower fourth digit Lower fifth digit Lower sixth digit
168. e terminals U V W of the servo amplifier and servo motor Otherwise the servo motor will operate improperly CAUTION l Do not connect AC power supply directly to the servo motor Otherwise a fault may occur Do not apply the test lead bars or like of a tester directly to the pins of the connectors supplied with the servo motor 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 the servo amplifier to the earth via the protective earth of the control box Do not connect them directly to the protective earth of the control panel Control box Servo Servo motor amplifier ce PE terminal 2 Do not share the 24VDC interface power supply between the interface and electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake 3 8 2 Connection diagram The following table lists wiring methods according to the servo motor types Use the connection diagram which conforms to the servo motor used For cables required for wiring refer to Section 14 2 1 For encoder cable connection refer to Section 14 1 4 For the signal layouts o
169. e the accel eration deceleration time Parameter No 40 constant constants Manual pulse generator multiplication 2 Servo motor rotation direction Servo motor rotation direction Parameter No 1 setting 3 Manual pulse generator forward rotation Manual pulse generator reverse rotation OOOO0 CCW rotation CW rotation O CW rotation CCW rotation Forward rotation 3 Manual pulse generator multiplication a Using the parameter for setting Use parameter No 1 to set the multiplication ratio of the servo motor rotation to the manual pulse generator rotation Multiplication ratio of servo motor rotation to manual y s Parameter No 1 setting S Moving distance pulse generator rotation CO 1 time 0100 10 times 10 um O200 100 times 100 um 4 OPERATION b Using the input signals for setting Set the pulse generator multiplication 1 TPO and pulse generator multiplication 2 TP1 to the input signals in Device setting on the Servo Configuration Software refer to Chapter 6 satis al EE Multiplication ratio of servo motor Pulse generator multiplication 2 Pulse generator multiplication 1 across TP1 across TPO rotation to manua pulse generator Moving distance rotation D LD Parame No 2 setting valid o H atime Amt pa tts o Note 0 OFF 1 ON 4 Operation Turn the manual pulse generator to rotate the servo motor For the rotation direct
170. ed on through communication BO a 1 2 D o cwo 15 11 15 COMMUNICATION FUNCTIONS 4 Alarm history Command 3 3 Alarmnumber in alarm history Most recentalarm 4 Firstalarminpast o 4 O Secondalarminpast lz Thirdalarminpast 4 O Fourth alarminpast 4 Fifth alarminpast o 4 O Alarm occurrencetimeinalarm Most recentalarm 8 3 3 2 1 _ history First alarmin past 8 Secondalarminpast 8 Thirdalarminpast 8 Fourth alarmin past La Fifthalarminpast 8a 5 Current alarm Command 0 2 3 5 Frame length o2 totol Current alarm number ooa 3 5 sito Status display data value and 12 processing information at alarm occurrence stepNo 3 5 Roce Step No 3s sie Servo motor speed uisi mei Effective load ratio Peak load ratio wsi at ABS counter uisi om _ Busvatae r 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 1 15 12 15 COMMUNICATION FUNCTIONS 6 Current position latch data Command 6 C Frame length 6 C O 1 Current position latch data sa 7 General purpose register Rx value Command 6 D Frame length 61D O 1 The value of the general purpose register R1 sa fel 0 2 The value of the general purpose register R2 ae 61D 0 3 The value of the general purpose register R3 sn jem ma The value of the general purpose register
171. em Program operation mode Setting by programming language M i J og operation is performed in accordance with the parameter set speed command by anya Jog contact input or through RS 422 232C communication operation Manual pulse Manual feed is made by manual pulse generator mode generator Command pulse multiplication x1 x10 or x100 is selected using parameter Home position return is made starting with Z phase pulse after passage of proximity dog Dog type Home position address may be set Home position shift distance may be set Home position return direction may be selected Automatic at dog home position return Automatic stroke return function Manual Home position return is made by counting encoder pulses after contact with proximity dog home Home position address may be set Home position shift value may be set Home position S Count type position return direction may be set return Automatic at dog home position return Automatic stroke return function mode Home position return is made without dog Data setting type Home position may be set at any position by manual operation etc Home position address may be set Sienna Home position return is made by pressing machine part against stroke end pper ype Home position address may be set Home position return direction may be set Protective functions Programming Command system 0 g 5 S 5 Q O 1 FUNCTIONS AND CONFIGURATION Servo amplifier MR
172. en it is desired to determine any position as a home position J OG operation manual pulse generator operation or like can be used for movement 1 Signals parameters Set the input signals and parameters as follows Device Parameter used Manual home position return m Automatic manual sel on N positi K OaE ba ic i a MDO is switched on selection MDO 002 Data setting type home position Data setting type home position return Parameter No 8 D e Used to set the current position on completion Home position return position data Parameter No 42 ae H H of home position return Select the program including the ZRT command that executes a home position return 2 Timing chart The following shows the timing chart that starts after selection of the program including the ZRT command Automatic manual selection ON MDo OFF Movement complete PED SC Home position ON return completion OFF ZP Home position address Forward Parameter No 42 Servo motor speed rotation e D r min 3ms or less Forward rotation ON 5ms or more start ST1 G t 2 z k The address on completion of home position return is the value automatically set in parameter No 42 home position return position data 4 OPERATION 4 4 5 Stopper type home position return In stopper type home position return a machine part is pressed against a stopper or the like by jog operation manual pulse generator operation or the l
173. end can be defined as a home position 1 Signals parameters Set the input signals and parameters as indicated below Device Parameter used Manual home positionr eurn mode Automatic manual selection M D0 MDO is switched on selection Dog cradle type home position Ee Parameter No 8 0007 Select the dog cradle type vo gt 8 Refer to Section 4 4 1 2 in this section and Home position return direction Parameter No 8 select the home position return direction 3 Refer to Section 4 4 1 2 in this section and Dog input polarity Parameter No 8 select the dog input polarity Home position return speed Parameter No 9 Set the speed till the dog is detected Creep speed Parameter No 10 Set the speed after the dog is detected Home position shift distance Parameter No 11 Se wnen the nome position s moved momithe phase signal position Home position return acceleration deceleration time Parameter No 41 constants Use the acceleration deceleration time constants set in parameter No 41 Home position return position data Parameter No 42 Seeche Sg ee home position return Select the program including the Program ZRT command that executes a home position return 2 Timing chart The following shows the timing chart that starts after selection of the program including the ZRT command Automatic manual ON selection MD0 OFF N Movement complete PED o OFF Home position return ON completion ZP ofr
174. ent side position range output address Set the um to same sign to parameters No 52 and 53 Setting of different signs will result in a 999999 parameter error Expansion parameters 1 Set address 000000 dee ee Upper 3 Lower 3 digits digits L Parameter No 53 Parameter No 52 5 14 5 PARAMETERS Initial Settin Se lis Se E value ES For manufacturer setting coco Don t change this value by any means Expansion parameters 2 OP6 Function selection 6 Used to select how to process the base circuit when reset RES is valid ol lolo UN Processing of the base circuit when reset RES is valid 0 Base circuit switched off 1 Base circuit not switched off l E Refer to Name and function column For manufacturer setting SE Don t change this value by any means OP8 Function selection 8 Used to select the protocol of serial communication 0 0 E Protocol checksum selection 0 Yes checksum added 1 No checksum not added Protocol checksum selection 0 With station numbers 1 No station numbers OP9 Function selection 9 Use to select the encoder output pulse direction and encoder pulse output setting lala L ncoder pulse output phase changing Changes the phases of A B phase encoder pulses output Servo motor rotation direction CCW CW Aphase f f f JYiAphase f f f B phase f D f 4 f B phase f 4 f 4 Aphase PL TL f apase
175. er and adaptive vibration suppression Name control Refer to Chapter 9 and function eg filter selection column 0 Valid Automatic adjustment 1 Invalid VG2 setting x10 When you choose valid g 2n 1 GD2 settingx0 1 Hz bandwidth filter is set automatically Adaptive vibration suppression control selection Choosing valid or held in adaptive vibration suppression control selection makes the machine resonance control filter 1 parameter No 61 invalid 0 Invalid 1 Valid Machine resonance frequency is always detected and the filter is generated in response to resonance to suppress machine vibration Held The characteristics of the filter generated so far are held and detection of machine resonance is stopped Adaptive vibration suppression control sensitivity selection Used to set the sensitivity of machine resonance detection 0 Normal 1 Large sensitivity Ratio of load inertia moment to servo motor inertia moment 2 x0 1 0 to 3000 Used to set the ratio of load inertia moment to servo motor inertia moment times when gain changing is valid Position control gain 2 changing ratio 10 to 200 Used to set the ratio of changing the position control gain 2 when gain changing is valid Made valid when auto tuning is invalid Speed control gain 2 changing ratio 10 to 200 Used to set the ratio of changing the speed control gain 2 when gain changing is valid Made valid when auto tuning is invalid Speed in
176. er to Section 15 2 2 0 RS 232C used 1 RS 422 used Serial communication response delay time Refer to Section 15 2 2 0 Invalid 1 Valid reply sent after delay time of 800s or more Analog monitor output Refer to Used to select the signals to be output to the analog monitor 1 MO1 and analog Name monitor 2 MO2 Refer to Section 5 2 4 and function fo jo column Setting Analog monitor 2 MO2 0 Servo motor speed 8V max speed 1 Torque 8V max torque 2 Servo motor speed 8V max speed 3 Torque 8V max torque 4 Current command 8V max current command 5 Command pulse frequency 10V 500kpulse s 6 Droop pulses 10V 128 pulses 7 Droop pulses 10V 2048 pulses BPS Serial communication function selection alarm history clear Refer to Used to select the serial communication baudrate select various Name communication conditions and clear the alarm history and EE E column _ Serial baudrate selection Refer to Section 15 2 2 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps 4 4800 bps For MR DP60 Alarm history clear Refer to Section 5 2 6 Basic parameters Droop pulses 10V 32768 pulses 9 A Droop pulses 10V 131072 pulses B Bus voltage 8V 400V 5 PARAMETERS Initial Settin Class Symbol Name and Function fi ee value range 18 DMD Status display selection Refer to Used to select the status display shown at power on
177. erN 0 35 VG1 parameterN 0 36 VG2 parameterNo 37 VIC parameterN 0 38 Auto tuning mode 2 PG1 parameterNo 7 PG2 parameterNo 35 VG1 parameterNo 36 VG2 parameterNo 37 VIC parameterNo 38 Manual mode 1 PG2 parameterN 0 35 wn o H E K 2 LJ H b i D 5 PARAMETERS value range CMX Electronic gear numerator 1 Oto Set the value of electronic gear numerator Setting 0 automatically sets the 65535 resolution of the servo motor connected Refer to Section 5 2 1 Kaal Electronic gear denominator NE Set the value of electronic gear denominator Refer to Section 5 2 1 65535 PED Movement complete output range 100 Oto Used to set the droop pulse range when the movement complete output range 10000 PED is output Position loop gain 1 4 to 1000 Increase the gain to improve tracking performance in response to the position 1 Count type Servo on position as home position command 2 Data setting type 5 Dog type rear end reference ZTY Home position return type Refer to Used to set the home position return system home position return direction and Name proximity dog input polarity and function fo corn SH position return system 3 Stopper type 6 Count type front end reference Used to set the gain of position loop 1 Refer to Chapter 8 0 Dog type 4 Home position ignorance 7 Dog cradle type Home position return direction 0 Address i
178. eration check the parameter settings Improper settings may cause some machines to perform unexpected operation The parameter settings must not be changed excessively Operation will be insatiable 4 Usage N CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately Any person who is involved in disassembly and repair should be fully competent to do the work Before resetting an alarm make sure that the run signal is off to prevent an accident A sudden restart is made if an alarm is reset with the run signal on Do not modify the equipment Use a noise filter etc to minimize the influence of electromagnetic interference which may be caused by electronic equipment used near the servo amplifier Use the servo amplifier with the specified servo motor The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking For such reasons as service life and mechanical structure e g where a ballscrew and the servo motor are coupled via a timing belt the electromagnetic brake may not hold the motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions N CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault use a servo motor with electromagnetic brake or an external brake
179. ervo amplifier system noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction The following techniques are required 1 Insert the radio noise filter F R BIF on the power cables Input cables of the servo amplifier 2 Insert the line noise filter F R BSF 01 FR BLF on the power cables of the servo amplifier When the cables of peripheral devices are connected to the servo amplifier to make a closed loop circuit leakage current may flow to malfunction the peripheral devices If so malfunction may be prevented by disconnecting the grounding cable of the peripheral device 2 Noise reduction products a Data line filter Noise can be prevented by installing a data line filter onto the encoder cable etc For example the ZCAT 3035 1330 of TDK and the ESD SR 25 of Tokin make are available as data line filters As a reference example the impedance specifications of the ZCAT3035 1330 TDK are indicated below This impedances are reference values and not guaranteed values Unit mm Unit in 3941 1 54 0 04 341 a 3440 04 10 to 100MHz 100 to 500MHz D o so 9 Loop for fixing the cable band 0 5140 04 1 18 0 04 Product name Lot number Outline drawing ZCAT3035 1330 14 35 14 OPTIONS AND AUXILIARY EQUIPMENT b Surge suppressor The recommended surge suppressor for installation to an AC relay AC valv
180. es stored in the file Use the file selection window to read 10 Parameter value storage Used to store all parameter values being displayed on the window into the specified file Use the file selection window to store 11 Parameter data list print Used to print all parameter values being displayed on the window Use the File menu on the menu bar to print 12 Parameter list window closing i Click the Close button to close the window If the Close button is clicked without 1 parameter value write or 4 parameter value batch write being performed the parameter value changed is made invalid 6 SERVO CONFIGURATION SOFTWARE 6 5 Simple Program 6 5 1 Program data The following screen is designed to set the program of the MR J 2S CL 1 How to open the setting screen Click Program Data on the menu bar and click Program Data in the menu jata Program Data Help Program Data Indirect Addressing 2 Explanation of Program Data window S g SN Program Data Filename Please push Read All button when you read the program from the servo amplifier Please push Edit button after selecting the program number when you edit the program Program No 1 Read All Write All d f a Reading the program a Click the Read All button to read the program stored in the servo amplifier b Writing the program b Click the Write All button to write the progr
181. essory screw d ml Op si ann For MR J2S 700CL e o Accessory screw 14 OPTIONS AND AUXILIARY EQUIPMENT For the MR RB50 MR RB51 install the cooling fan as shown Unit mm in amp Fan installation screw hole dimensions 2 M3 screw hole Top for fan installation Fan Terminal block Depth 10 or less Screw hole already d machined D S N 7 Thermal relay AR 3 8 W Bottom 82 5 40 1 58 S i 3 25 l llati f Recommended fan Vertical Horizontal installation Installation surface Toyo Denki s TL396A or equivalent installation 14 6 14 OPTIONS AND AUXILIARY EQUIPMENT 5 Outline drawing a MR RB0O32 MR RB12 Unit mm in TE1 Terminal block G3 G4 P C Terminal screw M3 Tightening torque 0 5 to 0 6 N m 4 to 5 lb in 156 6 14 TE1 LC H Regenerative Regenerative Resistance Variable dimensions Weight brake option _power W 2 kg ilo 30 15 119 99 Enero K abe dae 0 59 4 69 3 9 40 15 169 149 Beene wo wo S 0 59 6 69 5 87 b MR RB32 MR RB30 MR RB31 Unit mm in 79 7 05 Terminal block S P S LC d G3 G4 3 2 0 13 i Terminal i ee
182. et with the earth plate Cable l Earth plate Strip the cable sheath of the clamped area cutter R 9 E External conductor Clamp section diagram 14 36 14 OPTIONS AND AUXILIARY EQUIPMENT Outline drawing Unit mm Unit ml Earth plate Clamp section diagram 2 5 0 20 hole 17 5 0 69 installation hole EZ T A 30 1 18 S Lor less 10 0 39 coy 24708 0 940 Note M4 screw maul 35 1 38 Note Screw hole for grounding Connect it to the earth plate of the control box type A B c Accessory fittings Clamp fitting 100 86 30 70 AERSBAN DSET lamp A 2pcs A AERSBAN DSET 3 94 3 39 18 CAMP PS Ce 2 76 70 56 45 AERSBAN ESET B 1pc AERSBAN ESET 2 76 2 20 me alles e 1 77 14 37 14 OPTIONS AND AUXILIARY EQUIPMENT d Line noise filter FR BLF FR BSFO1 This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high frequency leakage current zero phase current especially within 0 5MHz to 5MHz band Outline drawing Unit mm Unit in Wind the 3 phase wires by the equal number of times in the FR BLF MR J2S 350CL or more same direction and connect the filter to the power supply side and output side of the servo amplifier The ef
183. etting frequency Hz 1 ratio of load inertia moment to servo motor inertia moment x2x 2 Speed integral compensation VIC parameter No 38 To eliminate stationary deviation against a command the speed control loop is under proportional 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 expression Speed integral compensation s 2000 to 3000 setting ms Speed control gain 2 setting 1 ratio of load inertia moment to servo motor inertia moment setting 0 1 2 For position control a Parameters The following parameters are used for gain adjustment Abbreviation Position control gain 1 Ratio of load inertia moment to servo motor inertia moment Speed control gain 2 Speed integral compensation b Adjustment procedure 1 Set an estimated value to the ratio of load inertia moment to servo motor inertia moment parameter No 34 ine Set a slightly smaller value to the position control gain 1 parameter ee No 7 Increase the speed control gain 2 parameter No 37 within the Increase the speed control gain vibration and unusual noise free range and return slightly if vibration
184. etting operations MODE UP DOWN SET siii L Used to set data Chapter7 Used to change the display or data in each mode Used to change the mode 1 0 signal connector CN 1A Used to connect digital I O signals SE EE 1 0 signal connector CN1B Used to connect digital I O signals Saale Communication connector CN 3 Chapter6 Used to connect a command device RS 422 RS232C Chapter15 and output analog monitor data Section14 1 4 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 TE 2 Section3 7 2 Used to connect the control circuit power supply Section14 1 4 Encoder connector CN2 Section3 3 Connector for connection of the servo motor encoder Section14 1 4 Name plate Section1 3 SN OOOOCCORS 24 Main circuit terminal block TE 1 Section3 7 2 x NS Used to connect the input power supply regenerative Section12 1 es brake option and servo motor Section14 1 1 Cooling fan Protective earth PE terminal Section3 10 Installation notch Ground terminal Section12 1 4 places 1 17 1 FUNCTIONS AND CONFIGURATION 1 6 2 Removal and reinstallation of the front cover To avoid the risk of an electric shock do not open the front cover while power is Z caution P p
185. ey Close f Hat 6 15 6 SERVO CONFIGURATION SOFTWARE 1 Servo motor speed setting a Enter a new value into the Motor speed input field and press the enter key 2 Acceleration deceleration time constant setting b Enter a new value into the Accel decel time input field and press the enter key 3 Servo motor start c d Hold down the Forward button to rotate the servo motor in the forward rotation direction Hold down the Reverse button to rotate the servo motor in the reverse rotation direction 4 Servo motor stop e Release the Forward or Reverse button to stop the rotation of the servo motor 5 Jog operation window closing f Click the Close button to cancel the jog operation mode and close the window 6 16 6 SERVO CONFIGURATION SOFTWARE 6 7 2 Positioning operation In the positioning operation mode do not rewrite data from the point table list screen or the servo amplifier s front panel Otherwise the set values are made invalid Click the Forward or Reverse button to start and rotate the servo motor by the preset moving distance and then stop Click Test on the menu bar and click Positioning on the menu ters Point Test Advanced function Joe Positioning Operation w o motor Forced output Demo mode Sinele step Feed Program Test When the above choices are made the
186. f the connectors refer to Section 3 8 3 For the servo motor connector refer to Chapter 3 of the Servo Motor Instruction Manual 3 SIGNALS AND WIRING Servo motor Connection diagram HC MF 053 B to 73 B HA F F053 B to 63 B HC UF 13 B to 73 B HC SF 121 B to 301 B HC SF 202 B to 702 B HC SF 203 B 353 B HC UF 202 B to 502 B HC RF S353 B to 503 B HC SF 81 B HC SF 52 B to 152 B HC SF 53 B to 153 B HC RF 103 B to 203 HC UF 72 B 152 B B Servo amplifier Servo motor O Note3 24VDC B1 Note2 Ly on Ze See EMG To be shut off when servo on SON switches off or by trouble ALM Encoder Encoder cable Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake 3 For the HA FF series connect the ground cable to the earth terminal of the servo motor Servo amplifier Servo motor 24VDC Y o oF Electro EMG magnetic To be shut off when servo on SON switches off or by trouble ALM Encoder Encoder cable a Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagneti
187. f the mechanical system You can set the gain decreasing frequency notch frequency and gain decreasing depth Mechanical Machine resonance point system a ee response i i ___4_____ Frequency Notch depth d Notch frequency Frequency 9 SPECIAL ADJUSTMENT FUNCTIONS You can use the machine resonance suppression filter 1 parameter No 61 and machine resonance suppression filter 2 parameter No 62 to suppress the vibration of two resonance frequencies Note that if adaptive vibration suppression control is made valid the machine resonance suppression filter 1 parameter No 61 is made invalid Machine resonance point Mechanical system response Frequency Frequency Parameter No 61 Parameter No 62 The machine resonance suppression filter is a delay factor for the servo system Hence vibration may increase if you set a wrong resonance frequency or a too deep notch 2 Parameters a Machine resonance suppression filter 1 parameter No 61 Set the notch frequency and notch depth of the machine resonance suppression filter 1 parameter No 61 When you have made adaptive vibration suppression control selection parameter No 63 valid or held make the machine resonance suppression filter 1 invalid parameter No 61 0000 Parameter No 61 of E frequency value value value value o imaia o ses f 00 ss i 675 oa 4500 o f so a cer a9 100 o 1500 f o a
188. fect of the filter on the power supply side is higher as the number of winds is larger The number of turns is generally four If the wires are too thick to be wound use two or more filters and make the total number of turns as mentioned above On the output side the number of turns must be four or less Do not wind the grounding wire together with the 3 phase wires The filter effect will decrease Use a separate wire for grounding Example NEB Servo amplifier an 2 supply p o o o L2 Line noise 4 L3 FR BSF01 for MR J2S 200CL or less filter Number of turns 4 110 4 33 Servo amplifier 95 3 74 l 2 5 0 20 Example 2 NFB T O o o o V Bee a NEES Eet RT E o o Line noise HfS Ach 65 2 56 filter O O Two filters are used Total number of turns 4 e Radio noise filter F R BIF for the input side only This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in LOMHz and lower radio frequency bands The FR BIF is designed for the input only Connection diagram Outline drawing Unit mm Unit in Make the connection cables as short as possible Leakage current 4mA Grounding is always required Red White Blue Green Servo amplifier NFB About 300 11 81 5 0 20 hole T E vt Radio noise filte
189. following example gives the operation procedure to change the home position return position data parameter No 42 to 12345 Note H Jb Press MODE three times Press UP or DOWN to choose parameter No 42 Wei w D Dal o L Press SET once Setting of lower 4 digits O Press MODE once i RK Li 5 Ss d JL Press SET once JL d The screen flickers e 1 LI A Press UP or DOWN to change the setting D oa Ch GE t ae ha alo RE fal Press SET once P z Enter the setting Du 0 ZE Seefe a W ss Press SET once Note The example assumes that the status display screen that appears at power on has been set to the servo motor speed in parameter No 18 When changing the parameter No 42 setting change its set value then switch power off once and switch it on again to make the new value valid 7 13 7 DISPLAY AND OPERATION 7 6 External I O signal display The ON OFF states of the digital I O signals connected to the servo amplifier can be confirmed 1 Operation Call the display screen shown after power on Using the MODE button show the diagnostic screen ie Press UP once LL SR LL KL SS settee External I O signal display screen 2 Display definition The segments of the seven segment LE Ds correspond to the pins EC ee SS Se CN1B CN1A
190. following window appears P TPAR SN Positioning mode a Motor speed bo rimin Temporary stop with SHIFT key Close 9 Forward d 0 5175 b Accelidecel time fi ooo ms 0 20000 Reverse e c Move distance fi 31072 pulse 0 9999999 Pause f 6 17 6 SERVO CONFIGURATION SOFTWARE 1 Servo motor speed setting a Enter a new value into the Motor speed input field and press the enter key 2 Acceleration deceleration time constant setting b Enter a new value into the Accel decel time input field and press the enter key 3 Moving distance setting c Enter a new value into the Move distance input field and press the enter key 4 Servo motor start d e Click the Forward button to rotate the servo motor in the forward rotation direction Click the Reverse button to rotate the servo motor in the reverse rotation direction 5 Temporary stop of servo motor f Click the Pause button to stop the servo motor temporarily Click the Forward and Reverse buttons to resume rotation 6 Positioning operation window closing 9 Click the Close button to cancel the positioning operation mode and close the window 6 18 6 SERVO CONFIGURATION SOFTWARE 6 7 3 Motor less operation When this operation is used in an absolute position detection system the home position cannot be restored properly unless the encoder
191. front cover For removal of the front cover refer to Section 1 6 2 Name Application Reference N Battery holder Contains the battery for absolute position data backup SENG Battery connector CON 1 Used to connect the battery for absolute position data Section4 5 backup En Display SC The 5 digit seven segment LED shows the servo Chapter7 ii g i g Operation section status and alarm number Used to perform status display diagnostic alarm and parameter setting operations ii e o MODE UP DOWN SET UU LUsed to set data Chapter7 Used to change the display or data in each mode Used to change the mode IO signal connector CN 1A Used to connect digital I O signals SE IO signal connector CN1B Used to connect digital I O signals Section3 3 Communication connector CN3 Chapter6 U sed to connect a command device RS 422 RS232C Chapter15 and output analog monitor data Section14 1 4 Name plate Section1 4 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables A Encoder connector CN2 Section3 3 Connector for connection of the servo motor encoder Section14 1 4 Main droit terminal block TE 1 Used to connect the input
192. g after detection of the proximity dog front end The position where the first Z phase signal is given after that is defined as a home position Hence if the proximity dog DOG is 10ms or longer there is no restriction on the dog length This home position return method is used when the required proximity dog length cannot be reserved to use dog type home position return or when the proximity dog DOG is entered electrically from a controller or the like 1 Signals parameters Set the input signals and parameters as follows Device Parameter used Manua nome de Automatic manual selection M DO MDO is switched on mode selection 0001 Count type home position return Count type home position return Parameter No 8 EE Eer Home position return direction Parameter No 8 Ree to Section ART 2 inthis sation and choose home position return direction 3 Refer to Section 4 4 1 2 in this section Dog input polarity Parameter No 8 Sndichaose doa fanut polarity Home position return speed Parameter No 9 Set speed until detection of dog Parameter No 10 Set speed after detection of dog Set when shifting the home position starting at the first Z phase signal given Home position shift distance Parameter No 11 after passage of the proximity dog front end and movement over the moving distance Moving distance after proximity Parameter Noda Set the moving distance after passage of dog proximity dog front end Home position return
193. g faults may occur at start up If any of such faults occurs take the corresponding action 11 1 1 Position control mode 1 Troubleshooting Start up sequence Investigation L Power on LED is not lit Not improved if connectors 1 Power supply voltage fault LED flickers CN1A CN1B CN2 and CN3 2 Servo amplifier is faulty are disconnected Improved when connectors Power supply of CNP1 cabling CN1A and CN1B are is shorted disconnected Improved when connector 1 Power supply of encoder CN2 is disconnected cabling is shorted 2 Encoder is faulty CN3 is disconnected shorted 2 Refer to Section 11 2 and remove cause Section 11 2 Switch on servo on Refer to Section 11 2 and remove cause Section 11 2 signal Servo motor shaft is 1 Check the display to see if 1 Servo on signal is not input Section 7 3 2 not servo locked the servo amplifier is Wiring mistake is free ready to operate 2 24VDC power is not Check the external 1 O supplied to COM signal indication to see if the servo on SON signal iSON Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7 speed fluctuations following procedure are large at low 1 Increase the auto tuning speed response level 2 Repeat acceleration and deceleration several times to complete auto tuning Large load inertia If the servo motor may be Gain adjustment fault Chapter 7 moment causes the run with safety repeat
194. he external output pins a Transmission Transmit command 1 2 and data No 4 0 D um b Reply The ON OFF statuses of the input pins are sent back Command of each bit is transmitted to the master station as hexadecimal data External input pin bit External input pin nl CN1B 16 CN1A 8 6 CN1B 7 a om 8 oa o og 15 21 15 COMMUNICATION FUNCTIONS 3 Read of the statuses of input devices switched on through communication Read the ON OFF statuses of the input devices switched on through communication a Transmission Transmit command 1 2 and data No 6 0 iz eo b Reply The slave station sends back the statuses of the input pins ee EE EE b1 bO Command of each bit is transmitted to the master station as hexadecimal data 24 Temporary stop restart STP Manual pulse generator LD Servoon Son 4 internal torque limit selection TL2 H Reverse rotation start GTA 3 ae EE a ee See ed Forced stop EMG multiplication 1 TPO 6 Manual pulse generator multiplication 2 TP 1 17 Automatic manual selection MDO 27 Gain switch CDP Proximity dog DOG Program No selection 1 DIO Program No selection 2 DI1 P 5 Proportion control selection PC 6 Reset RES R Ee 10lCurrerg position latch input LPS Forward rotation start ST1 SE 29 Program input 1 P11 30 Program input 2 P12 31 Program input 3 P1
195. he like 8 1 2 Adjustment using servo configuration software This section gives the functions and adjustment that may be performed by using the servo amplifier with the servo configuration software which operates on a personal computer Adjustment With the machine and servo motor You can grasp the machine resonance frequency and coupled the characteristic of the determine the notch frequency of the machine mechanical system can be measured by resonance suppression filter giving a random vibration command from You can automatically set the optimum gains in the personal computer to the servo and response to the machine characteristic This simple measuring the machine response adjustment is suitable for a machine which has large machine resonance and does not require much settling time Executing gain search under to and fro You can automatically set gains which make positioning positioning command measures settling settling time shortest characteristic while simultaneously changing gains and automatically searches for gains which make settling time shortest Response at positioning settling of a You can optimize gain adjustment and command Machine simulation machine can be simulated from machine pattern on personal computer analyzer results on personal computer Machine analyzer Gain search 8 GENERAL GAIN ADJUSTMENT 8 2 Auto tuning 8 2 1 Auto tuning mode The servo amplifier has a real time auto tun
196. home position setting again 2 Battery voltage low Change battery 3 Battery cable or battery is faulty Always make home position setting again Power was switched 4 Super capacitor of the absolute After leaving the alarm occurring for a few on for the first time position encoder is not charged minutes switch power off then on again in the absolute Always make home position setting again position detection system Regenerative Permissible 1 Wrong setting of parameter No 0 Setcorrectly sd alarm regenerative power 2 Built in regenerative brake resistor Connect Ge of the built in or regenerative brake option is not regenerative brake connected resistor or 3 High duty operation or continuous 1 Reduce the frequency of positioning regenerative brake regenerative operation caused the 2 Use the regenerative brake option of option is exceeded permissible regenerative power of larger capacity the regenerative brake option to be 3 Reduce the load exceeded Checking method Call the status display and check the regenerative load ratio 4 Power supply voltage is abnormal Review power supply MR J 2S OCL 260VAC or more MR J 2S LICL1 135VAC or more 5 Built in regenerative brake resistor Change servo amplifier or regenerative or regenerative brake option brake option faulty Regenerative 6 Regenerative transistor faulty Change the servo amplifier transistor fault A Checking method 1 The
197. ic brake The electromagnetic brake is provided for holding the motor shaft Do not use it for ordinary braking POINT For the power supply capacity operation delay time and other specifications of the electromagnetic brake refer to the Servo Motor Instruction Manual Note the following when the servo motor equipped with electromagnetic brake is used for applications requiring a brake to hold the motor shaft vertical lift applications 1 In the device setting of the Servo Configuration software make the electromagnetic brake interlock MBR available 2 Do not share the 24VDC interface power supply between the interface and electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake 3 The brake will operate when the power 24VDC switches off 4 While the reset RES is on the base circuit is shut off When using the servo motor with a vertical shaft use the electromagnetic brake interlock MBR 5 Turn off the servo on SON after the servo motor has stopped 1 Connection diagram Servo amplifier Servo motor Forced RA stop Q O z Ge ek Se 24VDC 2 Setting 1 In the device setting of the Servo Configuration Software make the electromagnetic brake interlock MBR available 2 Using parameter No 33 electromagnetic brake sequence output set a time delay Tb at servo off from electromagnetic brake operation to base circuit shut
198. ices Connector So Af Device name Functions Applications symbol pin No Forced stop EMG Turn EMG on to bring the motor to an Forced stop state in which the servo is switched off and the dynamic brake is operated Turn EMG off in the Forced stop state to reset that state In the factory setting state Forced stop EMG is preset to turn on automatically Refer to Section 6 6 2 c Servo on SON CN1B 19 Turn SON on to power on the base circuit and make the servo amplifier ready to operate Servo on Turn it off to shut off the base circuit and coast the servo motor servo off Reset RES CN1B 15 Turn RES on for more than 50ms to reset the alarm Some alarms cannot be deactivated by the reset signal Refer to Section 11 2 1 Turning RES on in an alarm free status shuts off the base circuit The base circuit is not shut off when 0100 is set in parameter No 55 Since this device is not designed for stopping Do not switch it on during operation 3 SIGNALS AND WIRING Devices Connector Device name Functions Applications SE pin No CN1B 16 To start operation turn LSP LSN on Turn it off to bring the motor to a sudden stop and make it servo locked Set OOOT in parameter No 22 to make a slow stop Refer to Section 5 2 5 Note Input signals rks Forward rotation stroke end Reverse rotation stroke end Program Input LSN Note 0 OFF 1 ON CN 1B 8 Turn PI1 on to resume the step stoppe
199. ier is placed in a servo off or forced stop status Operation can be resumed when servo on SON is turned on again or forced stop EMG is canceled wn D H E p T 2 LJ Hi D 5 PARAMETERS nitia Settin Class Symbol Name and Function Se ae value range OP1 Function selection 1 Used to select the Creter filter and absolute position detection system tae filter If external input signal causes chattering due to noise etc input filter is used to suppress it 0 None 1 0 88 ms 2 1 77 ms 3 2 66 ms 4 3 55 ms 5 4 44 ms Selection of absolute position detection system Refer to Section 4 5 0 Incremental system 1 Absolute position detection system ATU Auto tuning Refer to Used to selection the response level etc for execution of auto tuning Refer to Chapter 7 Name and oj Jol function LC puto tuning response level setting column level frequency guideline 1 Low response Middle response response 300Hz If the machine hunts or generates large gear sound decrease the set value To improve performance e g shorten the settling time increase the set value Gain adjustment mode selection For more information refer to Section 8 1 1 Set value Gain adjustment mode Description Interpolation mode GD2 parameterN 0 34 PG2 parameterNo 35 VG2 parameterNo 37 VIC parameterN 0 38 Auto tuning mode 1 PG1 parameterNo 7 GD2 parameterN 0 35 PG2 paramet
200. ike to make a home position return and that position is defined as a home position 1 Signals parameters Set the input signals and parameters as follows Device Parameter used Manual home position d Automatic manual selection M DO MDO is switched on return mode selection St t h ti OOO3 st t h ti t opper type home position Parameter No opper type home position return is return selected Home position return Refer to Section 4 4 1 2 and choose the home Parameter No 8 direction position return direction Home position return speed Parameter No 9 Set the speed till contact with the stopper Time from when the part makes contact with the stopper to when home position return data is obtained to output home position return completion ZP return torque limit execution of stopper type home position return Home position return acceleration deceleration Parameter No 41 time constant Home position return Used to set the current position on completion a Parameter No 42 We position data of home position return Select the program including the ZRT Program command that executes a home position return Stopper time Parameter No 44 Use the acceleration decel eration time constants set in parameter No 41 2 Timing chart The following shows the timing chart that starts after selection of the program including the ZRT command Automatic manual ON SE OFF Movement complete PED a Home position ON return
201. ime constant Machine speed te Time Lmax SE ech d AE See A ee 13 2 Lues Maximum COASTING distance isetare iaaa eieaa aaia aia ia aaa aa aai taahi mm in Vo Machine rapid teedrate A mm min in min Ju Servo Motor inertial moment kg cm2 oz in2 Ju Load inertia moment converted into equivalent value on servo motor shaft sic vara badder wiv an Glu eve had Eed deed Seege de kg cm2 oz in2 T AEE IEAI COMSCAIME wis fas EEE ERA E TA E E A E AE TE E A E s te lt Delay time of Control SQCtION EE s There is internal relay delay time of about 30ms 13 CHARACTERISTICS Time constant t ms Speed r min a HC KFS series 0 04 O 500 1000 1500 2000 2500 3000 Time constant t s 05 50500 TO Se Ze c HC SFS1000r min series 0 12 0 035 0 03 0 025 0 02 0 015 0 01 0 005 0 1 0 08 0 06 0 04 Time constant t s 0 02 10 153 50 500 1000 1500 2000 2500 3000 Speed r min e HC SFS3000r min series Time constant 152 202 0 500 1000 1500 2000 Speed r min g HC UFS 2000r min series Time constant t s Time constant T s 0 02 0 018 0 016 0 014 0 012 23 0 01 0 008 0 006 0 004 Pans 0 002 43 Time constant t s Time constant t s 73 13 500 1000 1500 2000 2500 3000 Speed r min b HC MFS series 0 045 0 04 0 035 0 03 0 025 0 02 0 015 0 01 10 152 0 005
202. in changing CDP input is ON 2 Command frequency is equal to higher than parameter No 69 setting 3 Droop pulse value is equal to higher than parameter No 69 setting 4 Servo motor speed is equal to higher than parameter No 69 setting 5 Gain changing condition parameter No 69 When you selected command frequency droop pulses or servo motor speed in gain changing selection parameter No 69 set the gain changing level The setting unit is as follows Gain changing condition Command frequency Droop pulses Servo motor speed 6 Gain changing time constant parameter No 70 You can set the primary delay filter to each gain at gain changing This parameter is used to suppress shock given to the machine if the gain difference is large at gain changing for example 9 7 9 SPECIAL ADJUSTMENT FUNCTIONS 9 5 4 Gain changing operation This operation will be described by way of setting examples 1 When you choose changing by external input a Setting Abbreviation Setting z a Position control gain 1 10 _ ads VG1 Speed control gain 1 1000 rad s Ratio of load inertia moment to 0 1 times servo motor inertia moment r Position control gain 2 PO as 2 2 ___ Speed control gain 2 3000 Speed integral compensation Se Ratio of load inertia moment to GD2B 0 1 times servo motor inertia moment 2 Position control gain 2 65 PG2B ition contro gal 70 changing ratio eed trol 2 ch ratio Speed integ
203. ing 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 Abbreviation Position control gain 1 SE Ratio of load inertia moment to servo motor inertia moment PHT P Position control gain 2 PHT GT Speedcontrotgaind o PGR Speadcontrotgain2 S 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 motor inertia moment is not more than 100 times The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance torque 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 mad
204. ion control gain 2 changing ratio parameter No 65 speed control gain 2 changing ratio parameter No 66 speed integral compensation changing ratio parameter No 67 Set the values of after changing position control gain 2 speed control gain 2 and speed integral compensation in ratio 100 setting means no gain change For example at the setting of position control gain 2 100 speed control gain 2 2000 speed integral compensation 20 and position control gain 2 changing ratio 180 speed control gain 2 changing ratio 150 and speed integral compensation changing ratio 80 the after changing values are as follows Position control gain 2 Position control gain 2 X Position control gain 2 changing ratio 100 180rad s Speed control gain 2 Speed control gain 2 X Speed control gain 2 changing ratio 100 3000rad s Speed integral compensation Speed integral compensation X Speed integral compensation changing ratio L00 16ms 4 Gain changing selection parameter No 68 Used to set the gain changing condition Choose the changing condition in the first digit If you set 1 here you can use the gain changing CDP external input signal for gain changing The gain changing signal CDP can be assigned to the pins using the servo configuration software Parameter No 68 Gain changing selection Gains are changed in accordance with the settings of parameters No 61 to 64 under any of the following conditions 0 Invalid 1 Ga
205. ion of servo motor refer to 2 in this section 4 OPERATION 4 4 Manual home position return mode 4 4 1 Outline of home position return Home position return is performed to match the command coordinates with the machine coordinates In the incremental system home position return is required every time input power is switched on In the absolute position detection system once home position return is done at the time of installation the current position is retained if power is switched off Hence home position return is not required when power is switched on again This servo amplifier has the home position return methods given in this section Choose the most appropriate method for your machine structure and application This servo amplifier has the home position return automatic return function which executes home position return by making an automatic return to a proper position if the machine has stopped beyond or at the proximity dog Manual motion by jog operation or the like is not required 1 Manual home position return types Choose the optimum home position return according to the machine type etc Home position return method General home position return method using a With deceleration started at the front end of a proximity dog proximity dog the position where the first Repeatability of home position return is Dog type home position Z phase signal is given past the rear end of the dog excellent return or a motio
206. ion return completion 13 Home position set has not been made after home position return position data parameter No 42 setting If the status is not any of 1 to 13 and the home position setting has already been completed at least once home position return completion ZP is placed in the same output status as ready RD msi M MBR turns off when the servo is switched off or an alarm occurs interlock When an alarm occurs they are turned off independently of the base circuit status Position range Position range POT is on when the current position is within the range set in parameters No 50 to 53 If the current position is within the set range the device is off when a home position return is not yet complete or while the base circuit is off during servo off alarm occurrence or alarm reset Warning When warning has occurred WNG turns on When there is no warning WNG turns off within 1s after power on Battery warning BWNG BWNG turns on when battery cable breakage warning AL 92 or battery warning AL 9F has occurred When thereis no battery warning BWNG turns off within 1s after power on Limiting torque TLC TLC SG are connected when the torque generated reaches the value set to the internal torque limit 1 parameter No 28 internal torque limit 1 parameter No 29 or analog torque limit TLA They are disconnected when the servo on SON switches off Temporary stop PUS PUS turns on when deceleration to a st
207. ion suppression control parameter No 63 or machine resonance suppression filter parameter No 61 62 may be used to suppress machine resonance Refer to Section 9 2 9 3 1 For speed control a Parameters The following parameters are used for gain adjustment b Adjustment procedure 1 Set an estimated value to the ratio of load inertia moment to servo Eesen motor inertia moment parameter No 34 Increase the speed control gain 2 parameter No 37 within the Increase the speed control gain vibration and unusual noise free range and return slightly if vibration takes place Decrease the speed integral compensation parameter No 38 within Decrease the time constant of the speed the vibration free range and return slightly if vibration takes place integral compensation the like and the desired response cannot be achieved response may be increased by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 2 and 3 8 GENERAL GAIN ADJUSTMENT eee c Adjustment description 1 Speed control gain 2 parameter No 37 This parameter determines the response level of the speed control loop Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate The actual response frequency of the speed loop is as indicated in the following expression Speed loop response _ Speed control gain 2 s
208. is stored The stored position data can be read by the communication function Refer to Section 15 12 12 The current position latch function set in a program is canceled at the end of that program It is also canceled when the operation mode is changed a forced stop is made an alarm occurs or the servo switches off It is not canceled when a temporary stop is merely made SPN 500 Speed Motor speed 500 r min STA 200 Acceleration time constant 200 ms STB 300 Deceleration time constant 300 ms MOV 1000 Absolute move command 1000 x 105 um LPOS Current position latch is set a STOP Program end Current position 300 x10S umn Es is stored e I 1 I Forward rotation Servo motor or min speed 1000 Current position ON f 4 Latched when LPS latch input LPS OFF Geen i edge by a 4 OPERATION j Indirect addressing using general purpose registers R1 R4 D1 D4 The set values of the SPN STA STB STC STD MOV MOVI MOVA MOVIA TIM and TIMES commands can be addressed indirectly The values stored in the general purpose registers R1 R4 D1 D4 are used as the set values of the commands Change the values of the general purpose registers using the communication command when the program is not being executed by the communication command Refer to Section 15 12 13 The data of the general purpose registers are erased at power off of the ser
209. l UO signal display E SE EE d Lit ON extinguished OFF Q Press MODE once 7 N 7 N KS N kengt Cam A een The segment above CN1A pin 18 is lit LI Ve Vv Ve WH Ve f Press UP once 7 M N WEN LS f SaN m ame Se mmm emm CN1A pin 18 is switched on CN1A pin 18 SG conduct L V R Yao Ko gl Ve WS JL Press DOWN once N IN Ke IN IN J N ene CN1A pin 18 is switched off J im L E L Press SET for more than 2 seconds 7 15 7 DISPLAY AND OPERATION 7 8 Test operation mode 7 8 1 Mode change The test operation mode is designed to confirm servo operation and not to confirm machine operation In this mode do not use the servo motor with the machine Always use the servo motor alone If any operational fault has occurred stop operation using the forced stop EMG The test operation mode cannot be used in the absolute position detection system Use it after choosing Incremental system in parameter No 1 The servo configuration software is required to perform positioning operation Test operation cannot be performed if the servo on SON signal is not turned OFF Call the display screen shown after power on Choose jog operation motor less operation in the following procedure Using the MODE button
210. l box together with the servo amplifier or run near the servo amplifier such devices may malfunction due to noises transmitted through the air The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 1 2 3 2 Provide maximum clearance between easily affected signal cables and the 1 O cables of the servo amplifier 3 Avoid laying the power lines Input cables of the servo amplifier and signal cables side by side or bundling them together 4 Insert a line noise filter to the I O cables or a radio noise filter on the input line 5 Use shielded wires for signal and power cables or put cables in separate metal conduits When the power lines and the signal cables are laid side by side or bundled together magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 4 5 6 2 Provide maximum clearance between easily affected signal cables and the I O cables of the servo amplifier 3 Avoid laying the power lines Input cables of the servo amplifier and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits When the power supply of peripheral devices is connected to the power supply of the s
211. larm and also allow about 30 minutes for cooling before resuming operation 2 Regenerative alarm If operation is repeated by switching control circuit power off then on to reset the regenerative AL 30 alarm after its occurrence the external regenerative brake resistor will generate heat resulting in an accident 3 Instantaneous power failure Undervoltage AL 10 occurs if power is restored after a 60ms or longer power failure of the control power supply or after a drop of the bus voltage to or below 200VDC If the power failure persists further the control power switches off When the power failure is reset in this state the alarm is reset and the servo motor will start suddenly if the servo on SON is on To prevent hazard make up a sequence which will switch off the servo on SON if an alarm occurs 4 Incremental system When an alarm occurs the home position is lost When resuming operation after deactivating the alarm make a home position return 3 18 3 SIGNALS AND WIRING 3 6 Interfaces 3 6 1 Common line The following diagram shows the power supply and its common line CN1A CN1B A 4 ALM etc D S DO 1 DI 1 Manual pulse generator MR HDP01 5V A B OV 15VDC 10 30mA Differential line driver output 35mA or less Analog input 10V max current CT PA Single phase 100 to 200VAC TXD Li TXD Le R
212. length multiplication parameter No 1 999999 999999 Position data setting range x10 um 4 OPERATION 4 2 2 Programming language The maximum number of program steps is 120 Though up to 16 programs can be created the total number of program steps is up to 120 The set program can be selected using Program No selection 1 DIO to Program No selection 4 I D3 Command list ses LS UM ase Use to set the command speed given to the motor for Oto GE Speed SPN Max ejenins positioning Motor speed Set value The set value shoud not be more than the maximum speed speed of the motor S pattern S pattern acceleration deceleration time constant Acceleration STD 0 to 100 Set this command when inserting an S pattern time Deceleration Set value constant for the acceleration deceleration time time constant constant of the program Use to set both the acceleration time constant and Accel eration STC Deceleration 0 to 20000 e Set value time constant motor is at a stop until it reaches the rated speed or the time from when the servo motor is running at the rated speed until it stops When this command is used the acceleration time constant and deceleration time constant are equal STA and STB commands can set the acceleration time constant and deceleration time constant individually It can not be changed during command Use to set the acceleration time The set value is the time from when the used se
213. letes the adjustment The adjustment procedure is as follows Auto tuning adjustment Acceleration deceleration repeated oad inertia moment ratio estimation value stable Conditions not satisfied Estimation of load inertia moment ratio is difficult Choose the auto tuning mode 2 parameter No 3 0200 and set the load inertia moment ratio parameter No 34 manually ot b A Adjust response level setting so that desired response is achieved on vibration free level Vv Acceleration deceleration repeated Requested performance satisfied No To manual mode 8 GENERAL GAIN ADJUSTMENT 8 2 4 Response level setting in auto tuning mode Set the response The first digit of parameter No 3 of the whole servo system As the response level setting is increased the trackability and settling time for a command decreases but a too high response level will generate vibration Hence make setting until desired response is obtained within the vibration free range If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100Hz adaptive vibration suppression control parameter No 63 or machine resonance suppression filter parameter No 61 62 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to Section 9 3 for adaptive
214. lso in the absolute position detection system if power is switched on at the servo motor speed of 500r min or higher position mismatch may occur due to external force or the like Power must therefore be switched on when the servo motor is at a stop b Test operation Using jog operation in the test operation mode of the Servo Configuration Software make sure that the servo motor operates Refer to Section 6 7 1 7 8 2 c Parameter setting Set the parameters according to the structure and specifications of the machine Refer to Chapter 5 for the parameter definitions and to Sections 6 4 and 7 6 for the setting method Setting Command system regenerative Absolute value command system brake option selection MR RB032 regenerative brake option is used When forward rotation start ST1 is valid address is incremented in CCW Feeding function selection direction Since command resolution is 10 times feed length multiplication factor of 10 times is selected 1000 Function selection 1 Absolute position detection system Moi Electronic gear numerator CMX 8192 From calculation result of formula 4 1 Electronic gear denominator CDV 5000 From calculation result of formula 4 1 After setting the above parameters switch power off once Then switch power on again to make the set parameter values valid d Program setting Set the program according to the operation pattern Refer to Section 4 2 for the program definition
215. ly For use of external power supply Servo amplifier Servo amplifier SG R Approx 4 70 Note b COM R Approx 4 7Q For a transistor SON Approx 5mA etc Switch om 24VDC Se VDD Vces lt 1 0V Iceo lt 100LA Note This also applies to the use of the external power supply 3 SIGNALS AND WIRING 3 7 Input power supply circuit When the servo amplifier has become faulty switch power off on the servo amplifier power side Continuous flow of a large current may cause a fire Use the trouble signal to switch power off Otherwise a regenerative brake transistor fault or the like may overheat the regenerative brake resistor causing a fire 3 7 1 Connection example Wire the power supply and main circuit as shown below so that the servo on SON turns off as soon as alarm occurrence is detected and power is shut off A no fuse breaker NFB must be used with the input cables of the power supply 1 For 3 phase 200 to 230VAC power supply Forced RA stop OFF ee eT LO ON NFB MG Servo amplifier 46 3 phase 200 to 230 VAC SEN ie ple Oo Ls Lu La Forced stop aYo EMG Servo on OD SON SG Trouble 3 SIGNALS AND WIRING 2 For 1 phase 100 to 120VAC or 1 phase 230VAC power supply Forced D stop OFF oN ee eT TO Power supply NFB MC 1 phase 100 to sik O Servo amplifier 1
216. m 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 15 11 1 b Reply ITT The alarm occurrence time is transferred in decimal Hexadecimal must be converted into decimal For example data IO UE 5 indicates that the alarm occurred 501 hours after start of operation 3 Alarm history clear Erase the alarm history Send command 8 2 and data No 2 0 8112 2110 15 30 15 COMMUNICATION FUNCTIONS 15 12 11 Current alarm 1 Current alarm read Read the alarm No which is occurring currently a Transmission Send command 0 2 and data No O 0 OI toxo b Reply The slave station sends back the alarm currently occurring For example 0032 means A 32 and OOFF A no alarm Alarm No is transferred in decimal 2 Read of the status display at alarm occurrence Read the status display data at alarm occurrence When the data No corresponding to the status display item is transmitted the data value and data processing information are sent back a Transmission Send command 3 5 and any of data No 8 0 to 8 E corresponding to the status display item to be read Refer to Section 15 11 1 b Reply The slav
217. mal relay protection characteristics 13 1 13 CHARACTERISTICS 13 2 Power supply equipment capacity and generated loss 1 Amount of heat generated by the servo amplifier Table 12 1 indicates servo amplifiers power supply capacities and losses generated under rated load For thermal design of an enclosure use the values in Table 13 1 in consideration for the worst operating conditions The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation When the servo motor is run at less than the maximum speed the power supply capacity will be smaller than the value in the table but the servo amplifier s generated heat will not change Table 13 1 Power supply capacity and generated heat per servo amplifier at rated output Note 1 Note 2 7 SEN eA EN Area required for heat dissipation Servo amplifier Servo motor Power supply Servo amplifier generated heat W capacity kVA HC KFS053 13 03 E os f a MR J 2S 10CL 1 H C M F S053 13 HC UFS13 eee a HC KFS23 o o os B o 5a MR J 2S 20CL 1 IST oo o s o z MR 25 40CL 1 Hc mFsa3 os a s o z3 ISS ER oo o s o z eon feet ee IS 1o 4 og 6 MR J 25 70CL nemes f ns E o o S s HC UFS72 73 Ee MR J 2S 100CL lHc sFsioz 103 1 5o s CTT w8 nessa 2 o u wi HC SFS201 Fee SR TT MR
218. meter No 14 Setting range 0 to 100ms 5 2 4 Analog output The servo status can be output to two channels in terms of voltage Use this function when using an ammeter to monitor the servo status or synchronizing the torque speed with the other servo 1 Setting Change the following digits of parameter No 17 Parameter No 17 E Analog monitor 1 MO1 output selection Signal output to across MO1 LG Analog monitor 2 MO2 output selection Signal output to across MO2 LG 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 Description Setting range mV Parameter No 31 Used to set the offset voltage for the analog monitor 1 MO1 output 999 to 999 Parameter No 32 Used to set the offset voltage for the analog monitor 2 MO2 output 5 PARAMETERS 2 Contents of a setting The servo amplifier is factory set to output the servo motor speed to analog monitor 1 and the torque to analog monitor 2 The setting can be changed as listed below by changing the parameter No 17 analog monitor output value Setting Ouren Setting Output item Servo motor speed Max speed A CCW direction 8 V gt 0 Max speed DIV CW direction Max torque ky A Driving in CCW direction B V 4 Servo motor speed CW direction 8 V gt 0 Max torque CCW direction lt 4 Max speed Driving in
219. missible duty for servo motor with no load value indication Section 5 1 in Servo Motor Instruction M anual duty m 1 2 x _fatedspeed times min running speed where m load inertia moment servo motor inertia moment From the permissible duty find whether the regenerative brake option is required or not Permissible duty lt number of positioning times times min Select the regenerative brake option out of the combinations in 1 in this section 14 1 14 OPTIONS AND AUXILIARY EQUIPMENT 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 brake option a Regenerative energy calculation Use the following table to calculate the regenerative energy CH p tf 1 cycle Q Ka S e E 7 g 9 Down Time E 8 tt 2 ple 3 lg ples Friction L kee Tpsdt Nie RV torque S Lu 42 bag 2 Q Driving TF 4 5 S 2 Tu g 2 o 3 O Regenerative Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor N m Energy J Uz M No 1 0 1047 E ath Tu 0 1047 wa ra a oh 9 55 x104 Tpsal TELE E1 2 No T1 Tpsa1 E2 0 1047 No T2 t L Jm No 1 0 1047 Se r Pr 9 55 x10 tee 2 EE O aD Mew y yO E420 NO regeneration 4 8 Ta Tu J L m No 1 0 1047
220. moving distance and home position shift distance after it passed the rear end is defined as a home position The position where the axis which had started The Z phase signal is not needed decelerating at the front end of a proximity dog has moved the after proximity dog moving distance and home position shift distance is defined as a home position The position where the first Z phase signal is issued Dog cradle type after detection of the proximity dog front end is defined as a home position Dog type rear end reference Count type front end reference Note The Z phase signal is a signal recognized in the servo amplifier once per servo motor revolution and cannot be used as an output signal 4 OPERATION 2 Home position return parameter When performing home position return set parameter No 8 as follows Parameter No 8 ilk Home position return Methodesssssssssssttsteeteteeete tees eee te teen teeeees 1 0 Dog type 1 Count type 2 Data setting type 3 Stopper type 4 Home position ignorance Servo on position as home position 5 Dog type rear end reference 6 Count type front end reference 7 Dog cradle type Home position return direction EE RE EEER EE ERR ER ERR EE EEEE KREE ER ER EE EER ER ER EEE EE ER el 2 0 Address increment direction 1 Address decrement direction Proximity dog input polarity DT 3 0 Dog is detected when DOG is turned off 1 Dog is detected when DOG is turned on 1 Choose
221. n 0 Response disable Data cannot be set back 1 Response enable Data can be set back 2 Group setting read Read the set group designation value from the slave station a Transmission Transmit command 1 F and data No 0 0 aur mg b Reply The slave station sends back the group setting requested deg Group designation 0 No group designation 1 Group a 2 Group b 3 Group c 4 Group d 5 Group e 6 Group f Response command enable 0 Response disable 1 Response enable 15 35 15 COMMUNICATION FUNCTIONS 15 12 15 Software version Reads the software version of the servo amplifier a Transmission Send command 0 2 and data No 7 0 OI Gro b Reply The slave station returns the software version requested Pel ede zee clea caLliey Space Software version 15 digits 15 36 APPENDIX App 1 Status indication block diagram ogeu JuaWOW Seu peo vlUOUEIDOIE uonisod jus ung Jayunoo SgY Uuomsod uolnjoned u0 UU jenueseyyig asind y eqp y6IH UOISOd UonpnioAe MO U0 UIUUM anejnuing Jejunoo SgY uonoes Duum Japooue olny uoljisod eynjosqy yoeqnpas peeds JOJOW OAI queuing peeds uonisod eg Joyesoueb DUEUIUOH yeab 20120 p ds asind puewwoo JOJOW OAee asind doo aalyeinwing uoneinayeo Ploy yed anjea er nb 0 nb
222. n 2 vic spees integral compensation ms _ ce ea e e tes netismmen ste Sunny servo motor inertia moment 2 times inertia moment after changing Le e Used to set the ratio of the after changing position ratio control gain 2 to position control gain 2 ee aa ae a Used to set the ratio of the after changing speed control ratio gain 2 to speed control gain 2 Speed integral compensation za Used to set the ratio of the after changing speed integral changing ratio compensation to speed integral compensation 68 cop Gain changing selection Seed Used to select the changing condition Used to set the changing condition values CDS Gain changing condition g You can set the filter time constant for a gain change at 70 CDT Gain changing time constant ms changing 9 SPECIAL ADJUSTMENT FUNCTIONS 1 Parameters No 7 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 changed 2 Ratio of load inertia moment to servo motor inertia moment 2 GD2B parameter No 64 Set the ratio of load inertia moment to servo motor inertia moment after changing If the load inertia moment ratio does not change set it to the same value as ratio of load inertia moment to servo motor inertia moment parameter No 34 3 Posit
223. n confirm the servo status during jog operation Pressing the MODE button in the jog operation ready status calls the status display screen With this screen being shown perform jog operation with the UP or DOWN button 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 jog operation ready status screen For full information of the status display refer to Section 7 2 In the test operation mode you cannot use the UP and DOWN buttons to change the status display screen from one to another 3 Termination of jog operation To end the jog operation switch power off once or press the MODE button to switch to the next screen and then hold down the SET button for 2 or more seconds 7 17 7 DISPLAY AND OPERATION 7 8 3 Positioning operation The servo configuration software is required to perform positioning operation Positioning operation can be performed once when there is no command from the external command device 1 Operation Connect EMG SG LSP SG and LSN SG to start positioning operation and connect VDD COM to use the internal power supply Pressing the Forward or Reverse button on the servo configuration software starts the servo motor which will then stop after moving the preset travel distance You can change the operation conditions on the servo configuration software The initial conditions and
224. n has been made over the home position The machine is less burdened shift distance starting from the Z phase signal is Used when the width of the proximity dog defined as a home position Note can be set greater than the deceleration distance of the servo motor With deceleration started at the front end of a Home position return method using a proximity dog the position where the first Z phase proximity dog signal is given after advancement over the preset Used when it is desired to minimize the moving distance after the proximity dog or a motion length of the proximity dog has been made over the home position shift distance starting from the Z phase signal is defined as a Data setting type home The position reached after any automatic motion is 1 Breet erter position return defined as a home position H y cog req Since the machine part collides with the machine be fully lowered The machine and stopper strength must be increased Count type home position return The position where the machine stops when its part is pressed against a machine stopper is defined as a home position Stopper type home position return Home position ignorance Servo on position as home position The position where servo is switched on is defined as a home position The position where the axis which had started The Z phase signal is not needed decelerating at the front end of a proximity dog has moved the after proximity dog
225. n stroke end Note 5 f Reverse rotation stroke end Note 3 7 Note 3 7 CN1B CN1B Program input 1 Oo Program output 1 Program input 2 OO Movement Forward rotation start oo comple Program No selection 1 Program No selection 2 Reset Trouble Note 6 Ready Note 8 Override Upper limit setting Note 9 Analog torque limit 2m 6 56ft or less gt Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver bot Encoder Z phase pulse E A Le differential line driver Note 11 Personal Servo Configuration computer Note 10 software Communication cable Monitor output Max 41mA meter Zero center 2m 6 56ft or less Note 1 3 SIGNALS AND WIRING Note 1 oO ON DD 1 11 12 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box Connect the diode in the correct direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop and other protective circuits CN1A CN1B CN2 and CN3 have the same shape Wrong connection of the connectors will lead to a fault The sum of currents that flow in the external relays should be 80mA max If it exceeds 80mA suppl
226. ncrement direction 1 Address decrement direction Basic parameters Proximity dog input polarity 0 Dog is detected when DOG is turned off 1 Dog is detected when DOG is turned on Home position return speed 500 r min Used to set the servo motor speed for home position return Refer to Section 4 4 Creep speed 10 r min Used to set the creep speed after proximity dog detection Refer to Section 4 4 Home position shift distance 0 to 65535 Used to set the shift distance starting at the Z phase pulse detection position inside the encoder STC_ S pattern acceleration deceleration time constant Oto 100 Set when inserting S pattern time constant into the acceleration deceleration time constant of the point table Refer to Section 5 2 3 This time constant is invalid for home position return SNO_ RS 422 station number setting Station Oto 31 Used to specify the station number for RS 422 multidrop communication Refer to Section 4 6 3 Always set one station to one axis of servo amplifier If one station number is set to two or more stations normal communication cannot be made 5 PARAMETERS Initial Settin Class Symbol Name and Function BEE value range 16 17 0 Invalid 1 Valid When alarm history clear is made valid the alarm history is cleared at next power on After the alarm history is cleared the setting is automatically made invalid reset to 0 Serial communication standard selection Ref
227. nerative brake resistor causing a fire 3 To prevent injury note the follow N CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal Otherwise a burst damage etc may occur Connect the terminals correctly to prevent a burst damage etc Ensure that polarity is correct Otherwise a burst damage etc may occur During power on or for some time after power off do not touch or close a parts cable etc to the servo amplifier heat sink regenerative brake resistor servo motor etc Their temperatures may be high and you may get burnt or a parts may damaged 4 Additional instructions The following instructions should also be fully noted Incorrect handling may cause a fault injury electric shock etc 1 Transportation and installation N CAUTION Transport the products correctly according to their weights Stacking in excess of the specified number of products is not allowed Do not carry the servo motor by the cables shaft or encoder Do not hold the front cover to transport the controller The controller may drop Install the servo amplifier in a load bearing place in accordance with the Instruction Manual Do not climb or stand on servo equipment Do not put heavy objects on equipment The controller and servo motor must be installed in the specified direction Leave specified clearances between the servo amplifier and control encl
228. ng of 8 for example the actually output A B phase pulses are as indicated below 131072 1 8 47 4096 pulse 28 TL1 Internal torque limit 1 100 O to 100 Used to limit servo motor torque on the assumption that the maximum torque is 100 When 0 is set torque is not produced 29 TL2 Internal torque limit 2 100 0 to 100 Used to limit servo motor torque on the assumption that the maximum torque is 100 When 0 is set torque is not produced Made valid by switching on the internal torque limit selection TL2 30 BKC Backlash compensation 0 pulse 0 to 1000 Used to set the backlash compensation made when the command direction is reversed This function compensates for the number of backlash pulses in the opposite direction to the home position return direction In the absolute position detection system this function compensates for the backlash pulse count in the direction opposite to the operating direction at power on 31 MOL Analog monitor 1 MOL offset mV 999 to U sed to set the offset voltage of the analog monitor 1 MO1 output 999 A B phase output pulses 32 MO2 Analog monitor 2 M O2 offset mV 999 to Used to set the offset voltage of the analog monitor 2 MO2 output 999 5 12 5 PARAMETERS Initial Settin Se e E E ET value range 33 Electromagnetic brake sequence output 100 ms 0to 1000 Used to set the delay time Tb between when the electromagnetic brake interlock MBR swit
229. not subject the servo amplifier to drop impact or shock loads as they are precision equipment Do not install or operate a faulty servo amplifier When the product has been stored for an extended period of time consult Mitsubishi 2 1 Environmental conditions 0 to 55 non freezing Operation rei E 32 to 131 non freezing fi 20 to 65 non freezing 4 to 149 non freezing Ambient Ta 90 RH or less non condensing humidity Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Ambience Altitude Max 1000m 3280 ft above sea level ek 5 9 m s or less Vibration 5 S ft s 19 4 ft s or less 2 INSTALLATION 2 2 Installation direction and clearances Do not hold the front cover to transport the controller The controller may drop The equipment must be installed in the specified direction 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 40mm J 1 6 in Geesen Wiring clearance a LL 10mm 10mm 0 4 in 0 4 in or more or more EEN Ze Down oe eM oo lo 004 o P D o 40mm 1 6 in or 7 U4 Uy 2 INSTALLATION 2 Installation of two or more servo amplifiers Leave a large cle
230. nput 2 P12 Program input 3 P13 Turns ON any of Program output 1 OUT1 to Program output 3 OUT 3 By setting the ON time with parameter No 74 to No 76 the signal can also be turned OFF in the preset External time signal ON OUTEN 1to3 output Set value Program output 1 OUT 1 Program output 2 OUT2 Program output 3 OUT3 Turns OFF any of Program output 1 OUT 1 to Program output 3 OUT3 that has been turned ON by the OUTON command auser Feral outor 455 Note 1 output Set value 1 Program output 1 OUT1 2 Program output 2 OUT2 3 Program output 3 OUT3 wen pant eet tosses emam E Note 1 point Set value to 999999 H executed Executes the next step when the moving distance set to the TRIPI command is traveled from when iini incementa afr 20000 Moian A AE NONN n MONA a Notet rp pon Set value t The command should be programmed after M OVI and MOVIA command otherwise program error occurs Makes a stop using the interrupt signal when the Interrupt preset moving distance is reached Use this ITP positioning ITP Oto lt 105 ym command in combination with the SYNC Note 1 4 Somhmand Set value 999999 command and describe it after SY NC An error will occur if this command is described after any other command 4 OPERATION Command Name Setting Setting Unit indirect Description range Addressing Executes the next step when the pulse cou
231. nt consumption 60mA max Pulse signal form 2 A phase and B phase signals with 90 phase difference 100pulse rev 2 Connection example Use an external power supply to supply power to the manual pulse generator Servo amplifier CN1B i VDD Ka OPC ul e i e ald PP SG NP Manual pulse generator MR HDP01 External 4 5 power supply GND SD 3 Terminal arrangement 5t0 5 to 12V 12V 0V A GG pn O B phase pulse output 14 28 14 OPTIONS AND AUXILIARY EQUIPMENT 4 Mounting Unit mm in 3 4 8 0 189 equally divided Panel cutting 5 Outline dimension drawing Unit mm in susie 3 M4 stud L10 P C D 72 equally divided e Packing t2 0 MANUAL TYPE SERIALNO gt 60 2 362 80 3 15 M3x6 may only be used 8 89 7 6 0 299 oeh 0 35 14 1 9 Battery MR BAT A6BAT Use the battery to build an absolute position detection system 14 29 14 OPTIONS AND AUXILIARY EQUIPMENT 14 2 Auxiliary equipment Always use the devices indicated in this section or equivalent To comply with the EN Standard or UL C UL CSA Standard use the products which conform to the corresponding standard 14 2 1 Recommended wires 1 Wires for power supply
232. nter is displayed _ _ Droop pulses E is added to the droop pulses in the CW rotation E Ga Se to The displayed number of pulses is not yet multiplied by the electronic gear value The override setting is displayed O Se 100 is displayed when override is invalid 916 200 Oto 200 Analog torque i V The voltage of the Analog torque limit TLA is displayed 0 00 to 10 00 0 00 to 10 00 limit voltage Regenerative L The ratio of regenerative power to permissible regenerative Oto 100 Oto 100 load ratio power is displayed in Effective load The continuous effective load torque is displayed The effective value is displayed relative to the rated torque 0 to 300 0 to 300 ratio of 100 The maximum torque generated during acceleration deceleration etc SE ratio The highest value in the past 15 seconds is displayed green Ge relative to the rated torque of 100 VE Torque that occurred instantaneously is displayed Aue The value of the torque that occurred is displayed in real 0 to 400 0 to 400 q time relative to the rate torque of 100 Position within one revolution is displayed in encoder Within one pulses revolution The value returns to 0 when it exceeds the maximum 0 to 99999 position low number of pulses The value is incremented in the CCW direction of rotation Note The within one revolution position is displayed in 100 pulse 0 to 131071 Within one increments of the encoder revolution The value returns to 0 when i
233. nter value COUNT External COUNT 999999 becomes greater than the count value set to the Note 1 pulse counter Set value to 999999 COUNT command COUNT 0 is clearing of the pulse counter Repeats the steps located between the FOR set value command and NEXT command by the preset number of times Setting 0 selects endless repetition FOR SET value NEXT Step repeat command Latches the current position on the leading edge of Input device current latch LPS LPOS 7 The latched current position data can be read by the Note 1 Position latch LPOS communication command There are some error values between the latched data and the actual exact position due to the sampling time and motor speed Dwell TIM Holds the next step until the preset time elapses command 1 to 2000 time Set value ZRT zeroing or mn n xeutes a manual home position return Progra Place the TIMS setting value command at thel og TIMES 0 1 to s beginning of the program and set the number of repeat Times A Somana Set value 10000 program execution times Setting 0 selects endless repetition Program stops signal and it must be at end of the STOP Program end STOP program Required Always describe this command on the last line Note 1 SYNC OUTON OUTOF TRIP TRIPI COUNT LPOS and ITP commands are available to be validated during command outputting 2 The SPN command is valid when the MOV MOVA
234. numbers in parameter No 57 The communication protocol will be free of station numbers Parameter No 57 a Protocol station number selection 0 With station numbers 1 No station numbers 15 COMMUNICATION FUNCTIONS 15 3 Protocol Whether station number setting will be made or not must be selected if the RS 232C communication function is used Note that choosing no station numbers in parameter No 57 will make the communication protocol free of station numbers Since up to 32 axes may be connected to the bus add a station number or group to the command data No etc to determine the destination servo amplifier of data communication Set the station number to each servo amplifier using the parameter and set the group to each station using the communication command Transmission data is valid for the servo amplifier of the specified station number or group When is set as the station number added to the transmission data the transmission data is made valid for all servo amplifiers connected However when return data is required from the servo amplifier in response to the transmission data set 0 to the station number of the servo amplifier which must provide the return data 1 Transmission of data from the controller to the servo T Poe T T 10 frames data T ze S 5S S E i Controller side Data 7 Check Station number O T Data T Master station E No sum or H Q X X O group CO Servo side
235. o Duuumoo0 peo oe ones peo yead A snoauejue su App 1 For CN1B App 2 Junction terminal block MR TB20 terminal block labels For CN1A APPENDIX N o gt oa co N dS1 HA VIL DS Hd GAdtLNO 9 el of ol SI of RI NS1 LSY NOOWS Id Zid LLS 01d AQA App 2 REVISIONS The manual number is given on the bottom left of the back cover Print Data Manual Number Revision J an 2003 SH NA 030034 A MODEL CODE MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 8310 This Instruction Manual uses recycled paper SH NA 030034 A 0301 MEE Printed in Japan Specifications subject to change without notice
236. o OD Instantaneous torque OE Within one revolution position low OF Within one revolution position high 10 ABS counter 11 Load inertia moment ratio 12 Bus voltage Status display of MR DP60 at power on 00 Current position initial value 01 Command position 02 Command remaining distance 03 Program No 04 Step No 05 Cumulative feedback pulses 06 Servo motor speed 07 Droop pulses 08 Override voltage 09 Analog torque limit voltage DA Regenerative load ratio OB Effective load ratio 0C Peak load ratio OD Instantaneous torque OE Within one revolution position OF ABS counter 10 Load inertia moment ratio 11 Bus voltage 5 22 5 PARAMETERS 5 2 3 S pattern acceleration deceleration In servo operation linear acceleration deceleration is usually made By setting the S pattern acceleration deceleration time constant parameter No 14 a smooth start stop can be made When the S pattern time constant is set smooth positioning is executed as shown below When the S pattern acceleration deceleration time constant is set the time from a start to the output of Movement complete PED increases by the S pattern acceleration deceleration time constant Acceleration time Deceleration time constant constant Rated d ee speed J Sg Preset speed Servo motor speed 0 r min Ta Time until preset speed is reached Tb Time until stop Ts S pattern acceleration deceleration time constant para
237. o motor with reduction gear N CAUTION Securely attach the servo motor to the machine If attach insecurely the servo motor may come off during operation The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage For safety of personnel always cover rotating and moving parts Never hit the servo motor or shaft especially when coupling the servo motor to the machine The encoder may become faulty Do not subject the servo motor shaft to more than the permissible load Otherwise the shaft may break When the equipment has been stored for an extended period of time consult Mitsubishi 2 Wiring N CAUTION Wire the equipment correctly and securely Otherwise the servo motor may misoperate Do not install a power capacitor surge absorber or radio noise filter FR BIF option between the servo motor and servo amplifier Connect the output terminals U V W correctly Otherwise the servo motor will operate improperly Do not connect AC power directly to the servo motor Otherwise a fault may occur The surge absorbing diode installed on the DC output signal relay must be wired in the specified direction Otherwise the forced stop EMG and other protective circuits may not operate Servo Servo amplifier amplifier COM COM 24VDC 24VDC Control Control output output signal signal 3 Test run adjustment N CAUTION Before op
238. oa as 2368 a8 1667 Po ns foc 35 aa 25 ac 1603 o f 900 oo mez as mas a issa Pos so foe saa a6 f asf ae a0 Notch depth Setting Depth Gain 40dB 7 Ges 1 8dB Shall ow 4cB 9 SPECIAL ADJUSTMENT FUNCTIONS If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower ones in order The optimum notch frequency is set at the point where vibration is minimal A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration The machine characteristic can be grasped beforehand by the machine analyzer on the servo configuration software This allows the required notch frequency and depth to be determined Resonance may occur if parameter No 61 62 is used to select a close notch frequency and set a deep notch b Machine resonance suppression filter 2 parameter No 62 The setting method of machine resonance suppression filter 2 parameter No 62 is the same as that of machine resonance suppression filter 1 parameter No 61 However the machine resonance suppression filter 2 can be set independently of whether adaptive vibration suppression control is valid or invalid 9 3 Adaptive vibration suppression control 1 Function Adaptive vibration suppression control is a function in which the servo amplifier detects machine resonance and sets the filter
239. of brake units to one servo amplifier Servo amplifier Servo amplifier Brake unit Resistor unit Brake unit Resistor unit P P P P N N PR PR WH 5m 16 404ft 5m 16 404ft 10m 32 808ft 10m 32 808ft or less or less or less or less 3 Outside dimensions a Brake unit FR BU Unit mm in Note Control circuit Operation e terminals display OO Main circuit A inal terminals th O PER DEE A Note Ventilation ports are provided in both side faces and top face The bottom face is open A Brake unit Ge weight kg Ib vse aol a alae na abel nla a 3 937 2 362 9 446 10 039 5 039 0 236 0 728 0 236 1 909 0 295 5 291 6 299 3 543 9 446 10 039 5 039 0 236 1 319 0 236 3 091 0 295 7 055 14 10 14 OPTIONS AND AUXILIARY EQUIPMENT b Resistor unit FR BR Unit mm in 2 oD T EE at A A S 25 Control circuit oS Note 2 s S gt Si terminas l 7 a 9 Main circuit 3 m 0 terminals F FR BR 55K C SIE Two eye bolts are provided Ay Ww at i EE T as shown below E AA 5 0 197 E D Ki S 204 7 ye bolt 8 031 5 lt gt vt A t
240. ommand system where a home position return is completed Program No 1 SPN 1000 Speed Motor speed 1000 r min STC 100 Acceleration time constant 100 ms MOV 5000 Absolute move command 5000 x 105 um Move command 1 SYNC 1 Step is suspended until Program input P11 turns ON STC 50 Acceleration deceleration time constant 50 ms MOV 7500 Absolute move command 7500 x 105 um Move command 2 STOP Program end Program No 2 SPN 1000 Speed Motor speed 1000 r min STC 100 Acceleration time constant 100 ms MOV 2500 Absolute move command 2500 x 105 um Move command 3 SYNC 1 Step is suspended until Program input P11 turns ON STC 50 Acceleration deceleration time constant 50 ms MOV 5000 Absolute move command 5000 x 105 um Move command 4 STOP Program end Automatic nanual ON HANNWM A selection MDO OFF ON Servo on SON OFF Note Note 0 r min ON 3ms or more 3ms or more Forward rotation iy afl i start ST1 OFF o Ly ER Program inputi ON re ms or more f 1 Sms or more f PI1 OFF PRERE i a TE l 5ms or more 5ms or more Program No ee 1 X i 2 KE 3msorless 3ms or less 3msorless 3ms or less l i 4 i i l 4 i 1 l Lo It Move tot 1 Move l 1 1 Move pai command 1 command l d Forward rotation command 2 d d 4 Servo motor i i 1 i CN tl speed Revers
241. on parameters parameters 1 Snell pama No 0 to 19 No 20 to 53 78 to 90 initial valu wm HE HE Write No19only a ee N Gite a a c pese o eoo tH we o m Note Reference 000E REESEN Basic parameters Note Set this parameter when making device setting using the Servo Configuration Software OP2 Function selection 2 0000 Refer to Used to select slight vibration suppression control Name and lol olo function fc Slight vibration suppression control selection column 0 Invalid 1 Valid dl manufacturer setting 0002 E d t change this value by any means OP4 Function selection A Refer to Used to select stop processing at forward rotation stroke end LSP reverse Name rotation stroke end LSN off and function ojojoj cum L Stopping method used when forward rotation stroke end LSP reverse rotation stroke end LSN device or software limit is valid Refer to Section 5 2 5 0 Sudden stop 1 Slow stop Serial communication time out selection 0 to 60 Used to choose the time out period of communication protocol 0 Notimeout check Check period setting s ce wn U H E K 2 T c b Si x 5 11 5 PARAMETERS Initial Settin Class Symbol Name and Function ee sian Se value range 24 FFC Feed forward gain Oto 100 Set the feed forward gain When the setting is 100 the droop pulses during operation at constant speed are nearl
242. on 0004 Output signal DO forced output 10 Data for test operation mode Command 9 2 A 0 Setting range_ Frame length o Input signal for test operation Refer to Section 15 12 7 Forced output from signal pin Refer to 2 A Setting range_ Frame length Writes the speed of the test operation mode j eration A 0 1 0 oat i S og op 0000 to 7F FF positioning operation AIO om Writes the acceleration deceleration time constant of the 00000000 to test operation mode jog operation positioning operation 7F FF FF FF Clears the acceleration deceleration time constant of the A 0 1 2 1EA5 test operation mode jog operation positioning operation AIO Dom Writes the moving distance in pulses of the test operation 80000000 to mode jog operation positioning operation 7F FF FFFF Temporary stop command of the test operation mode A 0 1 5 e p og 1EA5 4 operation positioning operation 11 Group setting Command 9 F Frame length four ot Setting of group atot 4a 15 15 15 COMMUNICATION FUNCTIONS 15 12 Detailed explanations of commands 15 12 1 Data processing When the master station transmits a command data No or a command data No data to a slave station the servo amplifier returns a reply or data according to the purpose When numerical values are represented in these send data and receive data they are represented in decimal hexadecimal etc Therefore dat
243. on Home position return direction Parameter No 8 and choose home position return direction Refer to Section 4 4 1 2 in this section Dog input polarity Parameter No 8 F and choose dog input polarity Home position return speed Parameter No 9 Set speed until detection of dog Dog type home position return Parameter No 8 Creep speed Parameter No 10 Set speed after detection of dog Set when shifting the home position Home position shift distance Parameter No 11 starting at the first Z phase signal after passage of proximity dog rear end Home position return acceleration deceleration time Parameter No 41 constants Home position return position Used to set the current position on Parameter No 42 y S data completion of home position return Select the program including the ZRT command that executes a home position return Use the acceleration decel eration time constants set in parameter No 41 2 Length of proximity dog To ensure that the Z phase signal of the servo motor is generated during detection of the proximity dog DOG the proximity dog should have the length which satisfies formulas 4 2 and 4 3 Wee E e PAT EEN 4 2 1 60 2 L Proximity dog length mm V Home position return speed mm min td Deceleration time s L2 Proximity dog length mm AS Moving distance per servo motor revolution mm 4 OPERATION 3 Timing chart The following shows the timing char
244. on block diagram of this servo is shown below Regenerative brake option 2 21 Note3 D Servo motor l Notez NFB DS RA z l O A z O Power supply i i l Set TN Le Regenerative Current 3 phase brak p P transistor detector 200to AN we CHARGE 230VAC lamp or 1 phase s 100 to 120VAC Control ci Electro power i Eo magnetic supply i 5 brake i Regenerative Base brake n amplifier Voltage Overcurrent Current Si X Zz detection protection detection a ice Encoder Ge Kr Eens sed d Current control Model adaptive control Speed SPN 1000 E STA 200 STB 300 MOV 500 SPN 1000 MOVA 1000 Position MOVA 0 control Position MR BAT command creation Optional battery for absolute position detection system EE e EE EE He OK E WR CNTR DE EE ee ue NEE EE Analog monitor 2 channels Controller D I O control Analog Servo on RS 422 RS 232C 2 channels Start Failure etc To other servo amplifier Note 1 The built in regenerative brake resistor is not provided for the MR J2S 10CL 1 2 For 1 phase 230VAC connect the power supply to L1 L2 and leave L3 open L3 is not provided for a 1 phase 100 to120VAC power supply 3 For MR J2S 350CL or less 1 2 1 FUNCTIONS AND CONFI
245. onal 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 expression Speed integral 2000 to 3000 compensation setting ms Speed control gain 2 setting 1 ratio of load inertia moment to servo motor inertia moment 2 setting x 0 1 8 GENERAL GAIN ADJUSTMENT 8 4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X Y table or the like In this mode the position control gain 2 and speed control gain 2 which determine command trackability are set manually and the other parameter for gain adjustment are set automatically 1 Parameter a Automatically adjusted parameters The following parameters are automatically adjusted by auto tuning Abbreviation Ratio of load inertia moment to servo motor inertia moment PHT Pa Position control gain 2 5 w Speed control gain 2 VIC Speed integral compensation b Manually adjusted parameters Thefollowing parameters are adjustable manually Position control gain 1 Speed control gain 1 2 Adjustment procedure Set
246. onductor of the shield cable 3 12 3 SIGNALS AND WIRING 3 4 Detailed description of signals devices 3 4 1 Forward rotation start Reverse rotation start Temporary stop Restart 1 A forward rotation start ST1 or a reverse rotation start ST2 should make the sequence which can be used after the main circuit has been established These signals are invalid if it is switched on before the main circuit is established Normally it is interlocked with the ready signal RD 2 A start in the servo amplifier is made when the external start signal changes from OFF to ON The delay time of the servo amplifier s internal processing is max 3ms The delay time of other signals is max 10ms 3ms or less 3ms or less d Vf Servo motor speed l WK l Forward rotation start ST1 f SE or reverse rotation start ST2 Temporary stop Restart STP _smsormore P 3 When a programmable controller is used the ON time of the start stop signal should be 5ms or longer to prevent a malfunction 4 During operation the forward rotation start ST1 or reverse rotation start ST2 is not accepted The next operation should always be started after the Movement complete PE D is output 3 13 3 SIGNALS AND WIRING 3 4 2 Movement complete If servo on occurs after a stop made by servo off alarm occurrence or Forced stop EMG ON during automatic operation Movement complete PED turn on To make a
247. ontact your sales representative Life guideline Smoothing capacitor Number of power on and number of forced i Relay Servo amplifier stop times 100 000 times Cooling fan 10 000 to 30 000hours 2 to 3 years Absolute position battery Refer to Section 4 5 a Smoothing capacitor Affected by ripple currents etc and deteriorates in characteristic The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its lifein 10 years of continuous operation in normal air conditioned environment b Relays Their contacts will wear due to switching currents and contact faults occur Relays reach the end of their life when the cumulative number of power on and forced stop times is 100 000 which depends on the power supply capacity c Servo amplifier cooling fan The cooling fan bearings reach the end of their life in 10 000 to 30 000 hours Normally therefore the fan must be changed in a few years of continuous operation as a guideline It must also be changed if unusual noise or vibration is found during inspection 10 1 10 INSPECTION MEMO 11 TROUBLESHOOTING 11 TROUBLESHOOTING 11 1 Trouble at start up Excessive adjustment or change of parameter setting must not be made as it will N CAUTION e geoip 9 make operation instable Using the optional servo configuration software you can refer to unrotated servo motor reasons etc The followin
248. ontrol code STX or SOH Station number Example or group s E a A 1 2 5 F T 5 2 X X 02H 30H 41H 31H 32H 35H 46H 03H STX or ETX Check SOH 30H 41H 31H 32H 35H 46H 03H 152H Checksum range Lower 2 digits 52 is sent after conversion into ASCII code 5 2 15 8 15 COMMUNICATION FUNCTIONS 15 7 Time out operation The master station transmits EOT when the slave station does not start reply operation STX is not received 300 ms after the master station has ended communication operation 100 ms after that the master station retransmits the message Time out occurs if the slave station does not answer after the master station has performed the above operation three times Communication error Sen 100ms 266 100ms Gen 100ms ads Time out ms ms ms ms Controll S S S E S 5 2 ace a 8 S 3 Se 3 2 ZS T ZS d z 2 Servo Slave station 15 8 Retry operation When a fault occurs 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 L A a Communication error Controller
249. op is started by Temporary stop restart STP PUS turns off when Temporary stop restart STP is enabled again to resume operation Program output 1 OUT1 CN1B 4 OUT1 turns on when the OUTON 1 command in the program is given OUTI turns off when the OUTOF EE is given The time to turn it off can be set in parameter No 74 Program output 2 OUT2 ee turns on when the OUTON 2 command in the program is given OUT2 KE off when the OUTOF command is given N The time to turn it off can be set in parameter No 75 Program output 3 OUT3 OUT3 turns on when the OUTON 3 command in the program is given OUT turns off when the OUTOF command is given The time to turn it off can be set in parameter No 76 3 10 3 SIGNALS AND WIRING 2 Input signal For the input interfaces symbols in 1 O column in the table refer to Section 3 6 2 Signal Connector Signal Functions Applications EDH Manual pulse CN1A 3 1A 3 U sed to connect the manual pulse generator M R H DP 01 generator a CN 1A 13 For details refer to Section 14 1 8 NP CN1A 2 NG Override VC CN1B 2 10 to 10V is applied to across VC LG to limit the servo motor speed Analog Apply 10 V for 0 override O V for 100 or 10 V for 200 input Analog torque limit CN1B 12 To use this signal set any of servo configuration software to make the external torque limit selection TLO available When the analog torque limit TLA is valid to
250. or M OVIA command is less than the set value of the ITP set value command the program proceeds to the next step without executing the ITP set value command When using the ITP command always place the SYNC command immediately before the ITP command 1 Program example 1 Speed Motor speed 500 r min Acceleration time constant 200 ms Deceleration time constant 300 ms Absolute move command 600 x105 um SPN 100 Speed Motor speed 100 r min MOVA 600 Absolute continuous move command 600 x105 um SYNC 1 Step is suspended until Program input P11 turns ON ITP 200 Interrupt positioning command 200 x105 um STOP Program end Forward rotation Servo motor speed Or min Program input ON P114 OFF by SYNC 1 a 4 19 4 OPERATION 2 Program example 2 If the moving distance of the ITP command is less than the moving distance necessary for deceleration the actual deceleration time constant becomes less than the set value of the STB command SPN 500 Speed Motor speed 500 r min STA 200 Acceleration time constant 200 ms STB 300 Deceleration time constant 300 ms MOV 1000 Absolute move command 1000 x 105 um SYNC 1 Step is suspended until Program input P11 turns ON a ITP 50 Interrupt positioning command 50 x 105 um b STOP Program end P1 Forward N S rotation ZS S Servo motor Or min GE speed Pt b 50 x 108 1m i 1
251. osure walls or other equipment Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing Provide adequate protection to prevent screws and other conductive matter oil and other combustible matter from entering the servo amplifier Do not drop or strike servo amplifier or servo motor Isolate from all impact loads When you keep or use it please fulfill the following environmental conditions i Conditions Environment Se Servo amplifier Servo motor 0 to 55 non freezing 0 to 40 non freezing z Operation 7 S Ambient 32 to 131 non freezing 32 to 104 non freezing temperature 20 to 65 non freezing 15 to 70 non freezing Storage S 4 to 149 non freezing 5 to 158 non freezing Ambient Operation 90 RH or less non condensing 80 RH or less non condensing humidity Storage 90 RH or less non condensing Ambience Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Max 1000m 3280 ft above sea level HC KFS Series HC MFS Series HC UFS13 to 73 HC SFS81 HC SFS52 to 152 HC SFS53 to 153 mis 5 9 or less GE ie HC SFS121 201 HC SFS202 352 HC SFS203 353 Y 49 HC UFS202 A 24 5 ot earem Vibration HC KFS Series HC MFS Series X Y 161 HC UFS 13 to 73 HC SFS81 HC SFS52 to 152 HC SFS53 to 153 X Y 80 ft s 19 4 or less Be HC SFS121 201 HC SFS202 352 HC SFS203 353 HC UFS202 Note Except the serv
252. otor travel region can be limited using the forward imi itch Section 5 2 5 rotation stroke end LSP reverse rotation stroke end LSN The travel region is limited using parameters in terms of address Software limit The function similar to that of a limit switch is limited by Section 5 2 9 parameter 1 4 Model code definition 1 Rating plate AC SERVO MR J2S 60CL POWER 600W Ir INPUT 3 2A 3PH 1PH200 230V 50Hz d Applicable power supply 3PH 1PH200 230V 60Hz 5 5A 1PH 230V 50 60Hz OUTPUT 170V 0 360Hz 3 6A Rated output current SERIAL A52kk2k22k2K gt K e PASSED Serial number Model Capacity 1 12 1 FUNCTIONS AND CONFIGURATION 2 Model MR J2S O CLO MR J2S 100CL or less MR J2S 200CL 350CL Series Power Supply Symbol Power supply None 3 phase 200 to 230VAC Note2 1 phase 230VAC Ger 1 phase 100V to 120VAC Note 1 Not supplied to the servo amplifier of MR J2S 60CL or more 2 Not supplied to the servo amplifier of MR J2S 100CL or more Program compatibility operation function EB Rated output P H Rated IE 10 100 100 1000 l j H 60 600 500 5000 W LU 70 750 700 7000 Rating plate Rating plate 1 5 Combination with servo motor The following table lists combinations of servo amplifiers and
253. output 2 OUT 2 is turned ON Program output 3 OUT 3 is turned ON Program end 500 r min 200 ms 300 ms 1000 x 10S u m ON puti OFF a 200ms d ON ut2 ae i b 100ms ON OFF c 500ms d 4 13 4 OPERATION 3 Program example 3 When the TRIP and TRIPI commands are used to set the position addresses where the OUTON and OUTOF commands will be executed SPN 1000 STA 200 STB 300 MOV 500 TRIP 250 OUTON 2 TRIP 400 OUTOF 2 TIM 10 MOVI 500 TRIPI 300 OUTON 2 STOP Forward rotation Servo motor speed Program output2 OUT2 Or min OFF Speed Motor speed Acceleration time constant Deceleration time constant Absolute move command Absolute trip point Program output 2 OUT 2 is turned ON Absolute trip point Program output 2 OUT 2 is turned OFF Dwell command time Incremental move command Incremental trip point Program output 2 OUT 2 is turned ON Program end 1000 r min 200 ms 300 ms 500 x 105 ml 250 X105 um 400 x 108 ym 100 ms 500 x 105 um 300 x 105 um el 300 X108 pm 100ms 8 a 250 X10S u m c 400 x108 mle g 2 4 14 4 OPERATION 4 Program example 4 POINT MOV cannot be used with TRI PI Note that the TRIP and TRIPI commands do not execute the next step unless the axis passes the preset address or
254. pe is required Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Decimal point position No decimal point Lower first digit usually not used Lower second digit Lower third digit Lower fourth digit Lower fifth digit Lower sixth digit D BONS 2 Status display data clear The cumulative feedback pulse data of the status display is cleared Send this command immediately after reading the status display item The data of the status display item transmitted is cleared to zero 8 1 0110 For example after sending command 0 1 and data No 8 0 and receiving the status display data send command 8 1 data No 0 0 and data 1EA5 to clear the cumulative feedback pulse value to zero 15 18 15 COMMUNICATION FUNCTIONS 15 12 3 Parameter 1 Parameter read Read the parameter setting a Transmission Transmit command 0 5 and the data No corresponding to the parameter No Data No definition 0 0 to b Reply The slave station sends back the data and processing information of the requested parameter No fol ha Ts Data is transferred in hexadecimal Decimal point position No decimal point Lower first digit Lower second digit Lower third digit Lower fourth digit Lower fifth digit OI ON e L Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Parameter write type 0 Valid after write 1 Valid when
255. position Software limit cannot be used with these functions 4 OPERATION 4 5 Absolute position detection system This servo amplifier contains a single axis controller Also all servo motor encoders are compatible with an absolute position system Hence an absolute position detection system can be configured up by merely loading an absolute position data back up battery and setting parameter values 1 Restrictions An absolute position detection system cannot be built under the following conditions 1 Stroke less coordinate system e g rotary shaft infinite positioning 2 Operation performed in incremental value command type positioning system 2 Specifications Electronic battery backup system Baiter 1 piece of lithium battery primary battery nominal 3 6V y KE MR BAT or A6BAT Maximum Maximum revolution range sid range Home position 32767 rev Note 1 Maximum speed at power failure 500r min Note 2 Battery backup time Approx 10 000 hours battery life with power off Note 3 Data holding time during batter 5 7 y 2 hours at delivery 1 hour in 5 years after delivery replacement Battery storage period 5 years from date of manufacture Note 1 Maximum speed available when the shaft is rotated by external force at the time of power failure or the like 2 Time to hold data by a battery with power off It is recommended to replace the battery in three years independently of whether
256. power is kept on or off 3 Period during which data can be held by the super capacitor in the encoder after power off with the battery voltage low or the battery removed or during which data can be held with the encoder cable disconnected Battery replacement should be finished within this period 3 Structure Servo amplifier Use standard models er motor Battery MR BAT or A6BAT Use a standard model Encoder cable ae When fabricating refer to 2 Section 14 1 4 4 OPERATION 4 Outline of absolute position detection data communication For normal operation as shown below the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions The absolute position detection system always detects the absolute position of the machine and keeps it battery backed independently of whether the general purpose programming controller power is on or off Therefore once the home position is defined at the time of machine installation home position return is not needed when power is switched on thereafter If a power failure or a fault occurs restoration is easy Also the absolute position data which is battery backed by the super capacitor in the encoder can be retained within the specified period cumulative revolution counter value retaining time if the cable is unplugged or broken Servo amplifier Program No selection
257. ption Set parameter No 2 according to the open to be used Parameter No 0 es of regenerative Not used MR RB032 MR RB12 MR RB32 MR RB30 MR RB50 MR RB31 MR RB51 OROARWNO 14 OPTIONS AND AUXILIARY EQUIPMENT 4 Connection of the regenerative brake option The regenerative brake option will generate heat of about 100 C Fully examine heat dissipation installation position used cables etc before installing the option For wiring use flame resistant cables and keep them clear of the regenerative brake option body Always use twisted cables of max 5m 16 4ft length for connection with the servo amplifier a MR 2S 350CL or less Always remove the wiring from across P D and fit the regenerative brake option across P C The G3 and G4 terminals act as a thermal protector G3 G4 are disconnected when the regenerative brake option overheats abnormally Servo amplifier Note 1 When using the MR RB50 forcibly cool it with a cooling fan 1 0m3 min DOx7 PO CO yore remove the lead from across P D Q Q Note2 5m 16 4 ft max Ze oO Fan Note 1 Regenerative brake option 92 or so 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 For the MR RB50 install the cooling fan as shown sie
258. put function device settings will display Click Yes button reads and displays the function assigned to each pin from the interface unit and extension IO unit Click No button displays the initial status of the interface unit and extension O unit Click Cancel button terminates the processing Click Yes button or No button displays the following two windows S MR J2S CL 9600bps MITSUBISHI Servo Configuration Software 00Station Eile System Monitor Alarm Diagnostics Parameters Test Advanced function Point data Program Data Help DIDO device setting SE File name Input pin Output pin L mu Function L CN1A19 Servo on EE CN18 8 Program input4 CN1B 9 Program input 2 CN1B 15 Reset Output device Input device function Output device function Select CN1A19 No function No function Input EMG Emergency stop IRD_ Ready ISON Servo on LM Trouble RES Reset INF In position Qutput LSP Fwd rot strk end A N Be rot strk end P Zeroing Complet GT Forward rot start MBR Emg brake output Read 1 ST2 Reverse rot start BR Dynamic brake MDO Auto manual slet POT Position range DOG Proximity dog NG Warning DIO Program No slet 1 BWNG Battery warning IDI Program No sict 2 TLC Limiting torque DD Program No slet 3 PUS Temporaly stop DIS Program No slet 4 A OVR Override slet OUT Program ou IL
259. r FR BIF 14 38 14 OPTIONS AND AUXILIARY EQUIPMENT 14 2 7 Leakage current breaker 1 Selection method High frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits Leakage currents containing harmonic contents are larger than those of the motor which is run witha commercial power supply Select a leakage current breaker according to the following formula and ground the servo amplifier servo motor etc securely Make the input and output cables as short as possible and also make the grounding cable as long as possible about 30cm 11 8 in to minimize leakage currents Rated sensitivity current gt 10 g1 l gn l ga K 1g2 Ilgm mA 14 2 K Constant considering the harmonic contents Leakage current breaker K Mitsubishi products Models provided with harmonic and surge Cable Servo amplifier reduction techniques Ig1 Ign General models Igl Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier F ound from Fig 14 1 92 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 14 1 Ign Leakage current when a filter is connected to the input side 4 4mA per one FR BIF Iga Leakage current of the servo amplifier Found from Table 14 5 Igm Leakage current of the
260. r No 43 ae distance after the axis has passed the proximity dog Home position return acceleration Use the acceleration deceler ation time constants set in parameter 8 Parameter No 41 deceleration time constants No 41 Home position return position data Parameter No 42 Ge set the current position on completion of home position Select the program including the Program ZRT command that executes a home position return 2 Timing chart The following shows the timing chart that starts after selection of the program including the ZRT command Automatic manual ON selection MD0 OFF ON Movement complete PED plete PED OFF Home position return ON eg completion ZP OFF Moving distance after proximity dog gt Home position return speed Home position shift distance l Koy Sse Creep speed E See e Kass SE EE Forward SN Servo motor speed rotation E e 0 r min 1 3ms or less _ Home position address Proximity dog DOG Parameter No 42 i I 1 ON Proximity dog DOG i OFF Forward rotation ON SE e ENEE start ST1 OFF 5ms or more The address on completion of home position return is the value automatically set in parameter No 42 home position return position data 4 OPERATION 4 4 9 Dog cradle type home position return The position where the first Z phase signal is issued after detection of the proximity dog front
261. r open 23 MITSUBISHI ag 168 6 61 7 0 28 SH e 1 65 vee HTC DD ll 6 0 24 Weight Servo amplifier Erca kg lb ee 70CL 7 3 75 MRJ2S 100cL TE1 Terminal screw M4 Tightening torque 1 2 N m 175 6 oz in TE2 lt Front D C P La L11 j N Tightening torque 0 3 to 0 4 N m 2 7 to 3 5 oz in PE terminals Terminal screw M4 Tightening torque 1 2 N m 175 6 oz in 12 OUTLINE DIMENSION DRAWINGS 3 MR J2S 200CL MR J2S 350CL Unit mm Unit in 6 90 24 mounting hole 90 3 54 70 2 76 195 7 68 Terminal layout 81888 Set eeng A Aao i A AGOS A7 D PE terminal Fan air orientation Weight Servo amplifier zess kg b GE 200CL 2 0 4 41 MRJ2S 350CL_ TE1 PE terminals Li l2 ts u vw Terminal screw M4 N Tightening torque 1 2 N m 175 6 oz in S Terminal screw M4 Tightening torque 1 2 N m 175 6 oz in TE2 uf o P c n Terminal screw M4 Tightening torque 1 2 N m 175 6 oz in 12 OUTLINE DIMENSION DRAWINGS 4 MR J2S 500CL 2 06 00 24 Unit mm mounting hole Unit in 0 24 130 5 12 0 24 70 200 7 87 win yd 118 4 65 5 lp Terminal layout MITSUBISHI TE1 aac ESE o eae SEF MEIS
262. racteristic of 3 Use servo motor that provides larger servo amplifier output 2 Servo system is instable and 1 Repeat acceleration hunting deceleration to execute auto tuning 2 Change auto tuning response setting 3 Set auto tuning to OF F and make gain adjustment manually 3 Machine struck something 1 Review operation pattern 2 Install limit switches 4 Wrong connection of servo motor Connect correctly Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W 5 Encoder faulty Checking method When the servo motor shaft is rotated with the servo off the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway AL BI Overload 2 Machine collision or 1 Machine struck something 1 Review operation pattern the like caused max 2 Install limit switches output current to 2 Wrong connection of servo motor Connect correctly flow successively for Servo amplifier s output terminals Change the servo motor several seconds U V W do not match servo motor s Servo motor locked input terminals U V W 1s or moref3 Servo system is instable and 1 Repeat accel eration deceleration to During rotation 2 55 hunting execute auto tuning OF mare 2 Change auto tuning response setting 3 Set auto tuning to OFF and make gain adjustment
263. ral compensation changing ratio 0001 Gain changing selection Changed by ON OFF of pin CN1A 8 b Changing operation Gain changing OFF ON i OF _ CDP After changing gain Change of Before changing gain each gain 1 CDT 100ms Position control gain 1 Speed control gain 1 1000 Ratio of load inertia moment f 4 0 ae 10 0 4 0 to servo motor inertia moment Position control gain 2 120 Speed control gain 2 3000 Speed integral compensation 20 9 SPECIAL ADJUSTMENT FUNCTIONS 2 When you choose changing by droop pulses a Setting Abbreviation Setting 2 2 Position control gain 1 99 JL mais Speed control gain 1 1000 Ratio of load inertia moment to 0 1 times H motor inertia moment ei Position control Position control gain2 2 rads Speed control gain 2 2 rad s Speed integral compensation EE Ratio of load inertia moment to GD2B 0 1 times servo motor inertia moment 2 Position control gain 2 65 PG2B ition contro gal 70 changing ratio Speed control gain 2 changin ratio VICB Speed integral compensation changing ratio Gain changing selection ee eee Changed a zi pulses e e os Gain changing condition Poco Gain changing time constant b Changing operation Command pulse Droop pulses Droop pulses pulses 0 Before changing gain Change of each gain Position control gain 1 Speed control gain 1 Ratio of load inertia momen
264. rated on the same bus Servo amplifier Controller such as personal computer MITSUBISHI RS 232C RS 422 converter NN Unavai Servo amplifier MITSUBISHI ik C Oho able as option To be prepared by customer 2 Cable connection diagram Wire as shown below RS 422 output unit RDP Note 1 Axis 1 servo amplifier CN3 connector Note 3 30m 98 4ft or less Note 1 Axis 2 servo amplifier CN3 connector RDN Servo amplifier MITSUBISHI To CN3 DE J SISID Axis 32 Station 31 Note 1 Axis 32 last axis servo amplifier CN3 connector Note 1 Connector set MR J2CN1 3M Connector 10120 3000VE Shell kit 10320 52F0 008 2 In the last axis connect TRE and RDN 3 30m 98 4ft or less in environment of little noise 15 1 15 COMMUNICATION FUNCTIONS 15 1 2 RS 232C configuration 1 Outline A single axis of servo amplifier is operated Servo amplifier MITSUBISHI RS 232C Controller such as person
265. rded as an incremental value for continuous movement inerenti Always describe this command e 999999 after the MOV command continuous move MOVA Set value x 10S ym ae f to 999999 Describing it after any other command command will result in an error This command has the same function as the MOVIA command 4 OPERATION 3 Program example SPN 1000 Speed Motor speed 1000 r min STA 200 Acceleration time constant 200 ms STB 300 Deceleration time constant 300 ms MOV 1000 Incremental move command 1000 x 10S um TIM 10 Dwell command time 100 ms SPN 500 Speed Motor speed 500 r min STA 200 Acceleration time constant 200 ms g STB 300 Deceleration time constant 300 ms h MOVI 1000 Incremental move command 1000 x 10S5 um i SPN 1000 Speed Motor speed 1000 r min j MOVIA 1000 Incremental continuous move command 1000 x 105s um k STOP Program end b Acceleration time c Deceleration time h Deceleration time constant constant constant 200ms 300ms o Acceleration time 300ms constant d Forward a Speed 200ms j Speed rotation Motor speed 7 Motor speed 1000r min f Speed Motor speed 1000r min 500r min S SC moror Or min d Incremental i Incremental k Incremental move command e Dwell command time move command move command 1000 x 10S um 100ms 500 X108 um 100
266. re reset to make a stop Sudden stop 0001 Droop pulses are drawn out to make a slow stop Slow stop 5 2 6 Alarm history clear The alarm history can be confirmed by using the Set up Software or communication function The servo amplifier stores one current alarm and five past alarms from when its power is switched on first To control alarms which will occur during operation clear the alarm history using parameter No 16 alarm history clear before starting operation Clearing the alarm history automatically returns to 0000 This parameter is made valid by switching power off then on after setting Parameter No 16 RE Alarm history clear 0 Invalid not cleared 1 Valid cleared 5 2 7 Software limit A limit stop using a software limit is made as in stroke end operation When a motion goes beyond the setting range the motor is stopped and servo locked This function is made valid at power on but made invalid during home position return This function is made invalid when the software limit setting is the same as the software limit setting A parameter error AL 37 will occur if the software limit setting is less than the software limit setting SSSL LLL LLLI GE SE Unmovable Movable area Movable Current position Software limit 5 PARAMETERS MEMO 26 6 SERVO CONFIGURATION SOFTWARE 6 SERVO CONFIGURATION SOFTWARE The Servo Configuration software MR2j W3 SETUPI51E Ver E1 or
267. ready B c RA2 EM1 OFF LON Lo oo l MC r v o o ES Note 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 14 12 14 OPTIONS AND AUXILIARY EQUIPMENT 3 Outside dimensions of the power return converters Unit mm in Mounting foot removable 2 oD hole w Mounting foot KS E T F movable Rating plate d Display Front cover panel lt m window Cooling fan jamm ai A WW IL Foye K ml kee i nr Heat generation area outside mounting dimension Power return Approx converter nea kal Ib 3 2 FR RC 15K aE 10 630 SN e e Fa ia a e 0 126 oe ne ER RC 30K 340 270 600 582 195 10 10 8 3 2 90 31 13 386 10 630 23 622 22 913 7 677 0 394 0 394 0 315 0 126 3 543 68 343 4 Mounting hole machining dimensions When the power return converter is fitted to a totally enclosed type box mount the heat generating area of the converter outside the box to provide heat generation measures At this time the mounting hole having the following dimensions is machined in the box Unit mm in Model a Bb o aa Ba a Vv erecask 200 412 10 200 432 een E 10 236 16 220 0 394 7 874 17 009 330 562 10 270 582 FR RC 30K Mounting hole ans 22 126 0 394 10 630
268. reduce noise during rotation 2 You want to increase the gains during settling to shorten the stop settling time 3 You want to change the gains using an external 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 9 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 68 and gain changing condition CDS parameter No 69 CDP Parameter No 68 External signal CDP Command pulse frequency Droop pulses Siw Model speed Changing Comparator CDS Parameter No 69 Valid GD2 value Valid PG2 value Valid VG2 value VIC Parameter No 38 Valid VIC value 9 SPECIAL ADJUSTMENT FUNCTIONS 9 5 3 Parameters When using the gain changing function always set O 0 40 in parameter No 3 auto tuning to choose the manual mode of the gain adjustment modes The gain changing function cannot be used in the auto tuning mode Parameter Abbrev St Ee Name Unit Description No iation Position control gain 1 Position and speed gains of a model used to set the response Speed control gain 1 level to a command Always valid 34 GD2 Ratio of load inertia moment to 0 1 Control parameters before changing servo motor inertia moment times Position control gai
269. regenerative brake option has overheated abnormally 2 The alarm occurs even after removal of the built in regenerative brake resistor or regenerative brake option 11 4 11 TROUBLESHOOTING Display Speed has exceeded 1 Input command pulse frequency Set command pulses correctly the instantaneous exceeded the permissible permissible speed instantaneous speed frequency Small acceleration deceleration Increase acceleration deceleration time time constant caused overshoot to constant be large Servo system is instable to cause 1 Reset servo gain to proper value overshoot 2 If servo gain cannot be set to proper value 1 Reduce load inertia moment ratio or 2 Reexamine acceleration deceleration time constant 4 Electronic gear ratio is large Set correctly parameters No 4 5 5 Encoder faulty Change the servo motor AL 23 Overcurrent Current that flew is 1 Short occurred in servo amplifier Correct the wiring higher than the output phases U V and W permissible current 2 Transistor IPM of the servo Change the servo amplifier of the servo amplifier faulty amplifier Checking method Alarm AL 32 occurs if power is switched on after U V and W are disconnected 3 Ground fault occurred in servo Correct the wiring amplifier output phases U V and W 4 External noise caused the Take noise suppression measures overcurrent detection circuit to misoper
270. reply data at the same time they may become faulty 4 OPERATION 4 7 Incremental value command system To use this servo amplifier in the incremental value command system the setting of parameter No 0 must be changed As the position data set the moving distance of target address current address Fixed pitch feed of infinite length is enabled in the incremental value command system Setting range 999999 to 999999 x 10S um STM feed length multiplication parameter No 1 Current address Target address ee Position data target address current address This section describes the points that differ from the absolute value command system factory setting in using this servo amplifier in the incremental value command system 1 Parameter setting Set parameter No 0 as shown below to select the incremental value command system Parameter No 0 Sakis T Incremental value command system 2 Commands The MOV and MOVA commands change as described below The other commands remain unchanged Hence MOV and MOVI have the same function and MOVA and MOVIA have the same function Setting Indirect Command Name Settin Unit Description command Name sonno Range vn Addressing The set value is regarded as an Incremental 999999 incremental value for movement MOV Set value 10ST um move command KEE to 999999 H This command has the same function as the MOVI command The set value is rega
271. rofessional Free hard disk space 30MB or more Serial port used Note 2 Personal computer os Windows 95 Windows 98 Windows Me Windows NT Workstation 4 0 Windows 2000 Professional English version Displa One whose resolution is 800 lt 600 or more and that can provide a high color 16 bit display pay Connectable with the above personal computer Keyboard Connectable with the above personal computer Connectable with the above personal computer Note that a serial mouse is not used Connectable with the above personal computer Communication cable MR CPCATCBL 3M When this cannot be used refer to 3 Section 14 1 4 and fabricate Note 1 Windows and Windows NT are the registered trademarks of Microsoft Corporation in the United State and other countries 2 On some personal computers this software may not run properly 6 SERVO CONFIGURATION SOFTWARE 2 Configuration diagram a For use of RS 232C Servo amplifier Personal computer Ud V WC Communication cable al CN3 CN2 Al Servo motor LAE To RS 232C connector b For use of RS 422 Up to 32 axes may be multidropped Servo amplifier Personal computer RS 232C RS 422 converter Note 1 Communication cable r4 Servo motor __ ON CN CNS CH To RS 232C Axis 1 SC connector Servo amplifier Servo motor TI al CND CNS le Axis 2 Servo amplifier Servo motor __ Aa CND
272. rol circuit terminal block and twisted cables are used for its wiring 2 For the MR J 2S 500CL or more the lead has been removed from across P C of the servo amplifier built in regenerative brake resistor and twisted cables are used for its wiring f When stroke end limit switches are used the signals across LSP SG and LSN SG are on during operation g 24VDC or higher voltages are not applied to the pins of connectors CN1A and CN1B h SD and SG of connectors CN1A and CN1B are not shorted i The wiring cables are free from excessive force 2 Environment Signal cables and power cables are not shorted by wire offcuts metallic dust or the like 3 Machine a The screws in the servo motor installation part and shaft to machine connection are tight b The servo motor and the machine connected with the servo motor can be operated 4 OPERATION 4 1 2 Startup VAN WARNING Do not operate the switches with wet hands You may get an electric shock Before starting operation check the parameters Some machines may perform unexpected operation UN CAUTION During power on or soon after power off do not touch the servo amplifier heat sink regenerative brake resistor servo motor etc as they may be at high temperatures You may get burnt Connect the servo motor with a machine after confirming that the servo motor operates properly alone For startup reference a single machine structure will be described Refer to this
273. roximity dog Po ees Not used in dog type home position return After setting the above parameters switch power off once Then switch power on again to make the set parameter values valid Create a program that executes a home position return Here create it as program No 1 Description ZRT Zeroing STOP Program end Set the input signals as listed below and switch on the forward rotation start ST1 to execute home position return Automaticranual sdecion mpo on Program operation mode isseleded ProgramNo seletiont Dio OFF program No1 is saetas Forward rotation strokeend Lsp on CCW rotation side imit swich istumedon Reverse rotation rokend Lat oN CW rotation side mit switchisturned on Seen SON ON Servoisswitchedon g Automatic operation Set the input signals as listed below and switch on the forward rotation start ST1 to execute automatic operation in accordance with program No 2 Automaticranval section moo on Automatic operation mode s sede Gees son on Servoisswitchedon Forward rotation strokeend Lsp oN CCW rotation side init switch istumedon Reverserctation strokeend L t ON Cw rotation side limit switch isturned on Program No setini Dio oN Too ars owais seca h Stop In any of the following statuses the servo amplifier interrupts and stops the operation of the servo motor When the servo motor used is equipped with an electromagnetic brake refer to Section 3 9 3
274. rque is limited in the full Analog servo motor output torque range Apply 0 to 10VDC across TLA LG input Connect the positive terminal of the power supply to TLA Maximum torque is generated at 10V Refer toin Section 3 4 4 Resolution 10bits 3 Output signal For the output interfaces symbols in LO column in the table refer to Section 3 6 2 Signal Connector Encoder Z phase pulse CN 1A 14 Outputs the zero point signal of the encoder One pulse is output per open collector servo motor revolution OP and LG are connected when the zero point position is reached Negative logic The minimum pulse width is about 400us For home position return using this pulse set the creep speed to 100r min or less Encoder A phase pulse CN 1A 6 Outputs pulses per servo motor revolution set in parameter No 27 in the differential line driver CN 1A 16 differential line driver system In CCW rotation of the servo motor the Encoder B phase pulse CN1A 7 encoder B phase pulse lags the encoder A phase pulse by a phase angle differential line driver CN1A 17 of 7 2 The relationships between rotation direction and phase difference of the A and B phase pulses can be changed using parameter No 58 Selen differential line driver LZR CN1A 15 terms of voltage Resolution 10 bits output terms of voltage Resolution 10 bits output 3 11 3 SIGNALS AND WIRING 4 Communication POINT Refer to Chapter 15 for the communic
275. rse 500 lt 1 OS um dee Motor speed g Absolute continuous rotation Hm 1000r min move command b Acceleration time constant 200ms 4 11 0 x108 um 4 OPERATION 2 Program example 2 Wrong usage In continuous operation the acceleration or deceleration time constant cannot be changed at each speed change Hence the STA STB or STD command is ignored if it is inserted for a speed change SPN 500 Speed Motor speed 500 r min STA 200 Acceleration time constant 200 ms STB 300 Deceleration time constant 300 ms MOV 500 Absolute move command 500 x 105 ml SPN 1000 Speed Motor speed 1000 r min STC 500 Acceleration deceleration time constant 500 ms Ignored MOVA 1000 Absolute continuous move command 1000 x 105 um e SPN 1500 Speed Motor speed 1500 r min STC 100 Acceleration deceleration time constant 100 ms i Ignored MOVA 0 Absolute continuous move command O x10S5 um STOP Program end b Acceleration time c Deceleration time constant 200ms constant 300ms Forward e Speed Pd rotation x Motor speed a Speed Motor speed 1000r min 500r min Servo motor Or min speed F R Reverse d Absolute move command oi Absolute continuous rotation E um move command h Speed j Absolute continuous 1000 x 108 um Motor speed move command 1500r min 0 X108 um c Input ou
276. rvo motor is at a stop until it reaches the rated speed It can not be changed during command output deceleration time constant The set value is the time from when the used servo Acceleration STA O to 20000 time constant Set value Use to set the deceleration time constant The set value is the time from when the servo motor is running at the rated speed until it stops It can not be changed during command output The set value is regarded as an absolute value for movement The set value is regarded as an absolute value for continuous movement Always use this command with the MOV command Deceleration STB time constant Set value EE Absolute move MOV 999999 STM u Absolute continuous MOVA 999999 105 p move Set value to 999999 command Incremental MOVI 999999 move X10S u Set value to 999999 command The set value is regarded as an incremental value for movement 4 OPERATION Command Name Setting Setting Unit Indiregt Description range Addressing Incremental The set value is regarded as an incremental value for continuous MOVIA 999999 movement GTM MOVIA move Set value to 999999 xen Always use this command with the MOVI command command Stops the next step until any of Program input 1 P11 to Program input 3 P13 turns ON after the Waiting output of SYNC synchronous E SOUT sync external SYNC Note 1 signal to Set value Ge Program input 1 P11 switch on Program i
277. s and to Sections 4 2 and 6 5 for the setting method Description SPN 2500 Speed Motor speed 2500 r min STA 200 Acceleration time constant 200 ms STB 300 Deceleration time constant 300 ms MOV 20000 Absolute move command 20000 x 105 um STOP Program end e Servo on Switch the servo on in the following procedure 1 Switch on main circuit control circuit power 2 Switch on the servo on SON When placed in the servo on status the servo amplifier is ready to operate and the servo motor is locked By using the sequence in the diagnostic mode in Section 7 3 the ready status can be shown on the servo amplifier display In the operation ready status the following screen appears 4 OPERATION f Home position return Perform home position return as required Refer to Section 4 4 for home position return types A parameter setting example for dog type home position return is given here Parameter Name Setting Description Dog type home position return is selected Home position return type Home position return is started in address incremented direction Proximity dog DOG is valid at OFF Home position return speed Motion is made up to proximity dog at 1000r min Creep speed Motion is made up to home position at 10r min Home position shift distance O No home position shift DEENEN es Used to set the current position on completion of home position return Moving distance after p
278. s off when power is switched off or the protective circuit is activated to shut off the base circuit Without alarm occurring ALM turns on within 1s after power on i i Be CN 1B 19 RD turns on when the servo is switched on and the servo amplifier is ready to operate Movement complete ED CN1B 6 PED turns on when the droop pulse value is within the movement complete output range and the command remaining distance is 0 Refer to Section 3 4 2 The movement complete output range can be changed with parameter No 6 INP turns on at servo on When a home position return is not completed PED is off in a servo off status Home position return CN 1A 18 ZP turns on at completion of a home position return completion In the absolute position system ZP turns on when the servo amplifier is ready to operate but turns off if 1 SON is turned off 2 EMG is turned off 3 RES is turned on 4 Alarm occurs 5 Limit switch opens 6 Home position set has not been made after the purchase of the product 7 Home position set has not been made after the occurrence of absolute position erasure AL 25 or absolute position counter warning AL E3 8 Home position set has not been made after the setting of the electronic gear value 9 Home position set has not been made after the absolute position systen was made valid or 10 The ST1 coordinate system 000 O in parameter No 1 has been changed 11 Software limit is valid 12 Home posit
279. sage J of 1 2 3t4 sitelt7 etotaltel c o ele ascucode GH i ty xk e m n ote at ri s r ulv For example 30H is transmitted in hexadecimal for the station number of 0 axis 1 4 Group Torun a o efa e fr algo ascens e o el aler For example 61H is transmitted in hexadecimal for group a 15 COMMUNICATION FUNCTIONS 15 5 Error codes Error codes are used in the following cases and an error code of single code length is transmitted On receipt of data from the master station the slave station sends the error code corresponding to that data to the master station The error code sent in upper case indicates that the servo is normal and the one in lower case indicates that an alarm occurred Error code ais Error name Description Remarks Servo normal Servo alarm WI a Normal operation Data transmitted was processed properly pi mw Parityerror Parity error occurred in the transmitted data Checksum error occurred in the transmitted data Character not existing in the specifications was transmitted Character error Negative response Command not existing in the specifications was Command error transmitted Data No not existing in the specifications was F f Data No error transmitted 15 6 Checksum The check sum is a ASCII coded hexadecimal representing the lower two digits of the sum of ASCI I coded hexadecimal numbers up to ETX with the exception of the first c
280. screw vs 318 12 52 0 67 0 39 ightening torque 1 2 N m 10 Ib in 100 3 94 Regenerative Regenerative Resistance Weight brake option power W KOl kg lb MR RB32_ 300 40 29 6 4 MR RB30 300 13 2 9 6 4 MR RB31_ 300 67 1 2 91 6 4 14 7 14 OPTIONS AND AUXILIARY EQUIPMENT c MR RB50 MR RB51 Unit mm in 7X14 slot Terminal block P 1 C G3 Ge 7 0 28 G4 12 116 4 57 Terminal screw M4 200 7 87 17 0 67 0 47 128 5 04 Tightening torque 1 2 N m 10 Ib in k Regenerative Regenerative Resistance Weight brake option power W o kg Ib 14 OPTIONS AND AUXILIARY EQUIPMENT 14 1 2 Brake unit The brake unit and resistor unit of other than 200V class are not applicable to the servo amplifier The brake unit and resistor unit of the same capacity must be combined The units of different capacities may result in damage The brake unit and resistor unit must be installed on a vertical surface in the vertical direction If they are installed in the horizontal direction or on a horizontal surface a heat dissipation effect reduces The temperature of the resistor unit casing rises to higher than 100 C Do not cause cables and combustibles to make contact with the casing The brake unit is the integration of the regenerative control and resistor and is connected to th
281. se value is determined by the following expression Rotation speed r min x 131 072 pulse Droop pulse value pulse Position control gain 1 setting b Speed control gain 1 parameter No 36 Set the response level of the speed loop of the model Make setting using the following expression as a guideline Speed control gain 1 setting Position control gain 1 settingx3 8 10 8 GENERAL GAIN ADJUSTMENT 8 5 Differences in auto tuning between MELSERVO J2 and MELSERVO J2 Super 8 5 1 Response level setting To meet higher response demands the MELSERVO 2 Super series has been changed in response level setting range from the MELSERVO J 2 series The following table lists comparison of the response level setting Parameter No 3 Response level setting e 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 8 5 2 Auto tuning selection The MELSERVO 2 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 Parameter No 3 Auto tuning selection d Auto tuning selection Gain adjustment mode Remarks MELSERVO J2 series MELSERVO J2 Super series Interpolation mode ae eee REES GER Position control gain 1 is fixed Autotuningmode2 1 f Ordinary auto tuning Auto tuning
282. section and start up the machine safely 1 Machine conditions P Is 1m 1 2 le PB PB 10mm 0 39inch Position data P 200mm 787 40inch Speed V 2500r min Ta Acceleration time constant Ta 200ms Servo motor HC MFS131072pulse rev Deceleration time constant Tb 300ms Regenerative Servo motor i brake option speed SS MR RB032 Program No 2 1 Absolute position detection system used 2 Command resolution 10um 3 Command system Absolute value command system 4 Electronic gear calculation CMX pulse _ 131072 _ 131072 131072 _ 327 68 4 1 CDV um 1 P 1000 KR S 10 1000 5000 1250 See CM X 32768 CDV 1250 5 External input signals are used by the program selection forward rotation start ST1 servo on SON and other commands 6 Program No 2 is used to execute program operation once 4 OPERATION 2 Startup procedure a Power on 1 Switch off the servo on SON 2 When main circuit power control circuit power is switched on PoS Current position appears on the servo amplifier display In the absolute position detection system first power on results in the absolute position lost AL 25 alarm and the servo system cannot be switched 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 A
283. securely Otherwise the servo motor may misoperate resulting in injury Connect cables to correct terminals to prevent a burst fault etc Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay designed for contro output should be fitted in the specified direction Otherwise the signal is not output due to a fault disabling the forced stop EMG and other protective circuits Servo amplifier Servo amplifier COM 24VDC Control output signal Use a noise filter etc to minimize the influence of electromagnetic interference which may be given to electronic equipment used near the servo amplifier Do not install a power capacitor surge suppressor or radio noise filter FR BIF option with the power line of the servo motor When using the regenerative brake resistor switch power off with the alarm signal Otherwise a transistor fault or the like may overheat the regenerative brake resistor causing a fire Do not modify the equipment CN1A CN1B CN2 and CN3 have the same shape Wrong connection of the connectors will lead to a failure Connect them correctly 3 SIGNALS AND WIRING 3 1 Standard connection example OO Servo amplifier Note 3 7 Note 3 7 CN1A CN1A Proximity dog Servo on Home position return completion Note 2 4 10m 32 79ft or less Forward rotatio
284. seeaeeaeeeeseeaesaeeessaesaeeessesaesaeeaseessetaesaseesieeeeas 11 2 11 2 Alarms and warning HIE EE 11 2 11 2 2 Remnedies for alanims ich veined dele Wie Babs ee ie ie a ee ae 11 3 11 2 3 uwEelEAre Wille CN 11 9 12 OUTLINE DIMENSION DRAWINGS 12 1 to 12 8 T2 T Servo Eu e ng 12 1 EA Wl e KC 12 6 13 CHARACTERISTICS 13 1 to 13 8 13 1 Overload protection characteristics 0 ccececeeceeeeeeeeeeeeeeeeeseeeeeeecaesaeeeseessesaeeaseessesaesaseeseeseeaseesaseetiees 13 1 13 2 Power supply equipment capacity and generated loss 13 2 13 3 Dynamic brake characteristlce nnna nnna nanan nn nannan nnana 13 4 13 4 Encoder cable flexing UC 13 6 13 5 Inrush Currents at Power On of Main Circuit and Control Circuit ee eeeceeeeeeeeeeeeeeteeeeeeees 13 7 E ele gl EE 14 1 14 1 1 Regenerative brake options eccceccececceecseeeeeseeceecseeeeeecsesaesaeeesessesaeeaseessessesaseeseessesaeeasataseetaes 14 1 T4 pe 14 9 14 173 Power e lge En E 14 11 14 1 4 Cables AN CONNECCOMS 2 eeceeseeceeceteeseeeeeeeseseanseeseeseeananseesecaeeansaesesseeassasseesecaseaseasesaesataeeaseaneeas 14 14 14 1 5 J unction terminal block MR TB20 c cccccccssssecssesssecssesssescseesseesseesseesseesseeseesseesseesseesseseaeees 14 22 14 1 6 Maintenance junction card MR ZCNZTMI 14 24 14 1 7 External digital display MR DP 14 26 14 1 8 Manual pulse generator MR HDPOL ccccessssssssseesessseessesessesseesaeseessesseesaeseseeesaesersenseneeas 14 28 T4 1 9
285. servo motor Found from Table 14 4 120 Table 14 4 Servo motor s Table 14 5 Servo amplifier s leakage current leakage current 100 example om example Iga 5 80 Ee kW current Ge Dee kW current aa 2 en 0 05 to0 5 0 1t00 6 ZS 0 6 to 1 0 0 7 to 3 5 aise ege 2 3 5_ 8 1422 3880 5 5 3060 1 150 00 Cable size mm Fig 14 1 Leakage current example Ig1 Ig2 for CV cable run in metal conduit Table 14 6 Leakage circuit breaker selection example Servo amplifier Rated sensitivity current of leakage circuit breaker mA MR J 2S 10CL to MR 2S 350CL i nr 2S 10CL1 to MRJ 2S 40CL1 MRJ 25 500cL i ttsid 2S 500CL MRJ 25 700CL 14 39 14 OPTIONS AND AUXILIARY EQUIPMENT 2 Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions 2mm x 5m 196 85inch 2mm x 5m 196 85inch ENY A Servo amplifier Servo motor MR J2S 60CL HC MFS73 Usea leakage current breaker designed for suppressing harmonics surges Find the terms of Equation 14 2 from the diagram Igl 20 0 1 ma 1000 I92 20 ee 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in Equation 14 2 Ig gt 10 0 1 0 0 1 1 0 1 0 1 2 4 mA According to the result of calculation use a leakage current breaker having the rated sensitivity current ol of 4 mA or more A leak
286. servo motors The same combinations apply to the models with electromagnetic brakes and the models with reduction gears Servo motors Servo amplifier f HC UFSO SE REENEN We e N SEN 72 152 202 PTS cc DR E Ke e ee ee RE is Oy E Ee ee ee EE WEE ee E ET TE EN E e e Ee DEE MR 2S 100cL_ r e Te _ MRJ 25 200cL_ _ gt 121 201 152 202 153 203 103 153 152 LU MR42s 350cL m a as2_ e os Ta MIEL 502 283 503 352 502 NS Zee EE Servo motors HA LFSO Note 1000r min 1500r min Mila Jl ZZ ZB MR 25 100cL_ ITT e aM 25 2000L E CC MR 25 350CL_ ap i MRJ 25 500cL_ ote 502 302 MRJ25 7o0cL_ ep ww Note 702 Note Consult us since the servo amplifier to be used with any of these servo motors is optional g E SC EE Servo amplifier 1 13 1 FUNCTIONS AND CONFIGURATION Saar ee ee eee ae 1 6 Structure 1 6 1 Part names 1 MR J2S 100CL or less Name Application Reference Battery holder Contains the battery for absolute position data backup SSC Battery connector CON 1 Used to connect the battery for absolute position data Section4 5 backup Display 2 N The 5 digit seven segment LED shows the servo Chapter7 i status and alarm number Z Operation section
287. sitivity 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 9 4 Low pass filter 1 Function When a ballscrew or the like is used resonance of high frequency may occur as the response of the servo system is increased To prevent this the low pass filter is factory set to be valid for a torque command The filter frequency of this low pass filter is automatically adjusted to the value in the following expression Speed control gain 2 settingx10 e A 21 X 1 Ratio of load inertia moment to servo motor inertia moment settingx 0 1 2 Parameter Set the operation of the low pass filter parameter No 60 Parameter No 63 Tlo TES Low pass filter selection 0 Valid automatic adjustment lt initial value 1 Invalid In a mechanical system where rigidity is extremely high and resonance is difficult to occur setting the low pass filter to be invalid may increase the servo system response to shorten the settling time 9 SPECIAL ADJUSTMENT FUNCTIONS 9 5 Gain changing function This function can change the gains You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation 9 5 1 Applications This function is used when 1 You want to increase the gains during servo lock but decrease the gains to
288. st be provided in accordance with the Canada Electrical Code and any applicable provincial codes lt lt About the manuals gt gt This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the MR J 2S CL for the first time Always purchase them and use the MR J 2S CL safely Relevant manuals MELSERVO Servo Motor Instruction Manual SH NA 3181 EMC Installation Guidelines 1B NA 67310 MEMO CONTENTS 1 FUNCTIONS AND CONFIGURATION 1 1 to 1 24 Abel HH giao elen te VE EE 1 1 Lt Function block diaga ugeruf uge EEGEN ive Ee ENEE 1 2 1 122 System Ke e nit IC gie NEE 1 3 RE Re Ko SVa EE EE 1 8 1 2 Servo amplifier standard specifications cceeeecceeeseeseeeeeeeeeeseeseeesseeeeeeessecaesaseesessesaeeaseessesaetanaetaseetaes 1 9 1 3 FUNCEION TIS sanoan aa aaa aaa aaa a a aaa aaa aeaa 1 11 E Aoo Ree o Kelc pino RE 1 12 1 5 Combination with Servo MOtOM cccececeececcseeeeeeeecseeaeeeseecsecaeeaseesesaesaseessessesaeeeseessesaeeaseesesaeeetaeeaseetaes 1 13 UR E gt Te EE 1 14 AOU PARE NAICS EE 1 14 1 6 2 Removal and reinstallation of the front COVED ccceeccceseeeseseeeeeeeeeecaeeeeeeteesaesaeeaseesessesaseateeeeeeaes 1 18 1 7 Servo system with auxiliary eulprmmet cece cseeseeeeeeceeeeeeeeeecaesaeeetessecaesaeeessesaesaseeseessetaetateeeeseeas 1 20 CSG Vie e ua lge e viele VE 2 1 2 2 Installation direction and ClEAPANCES 1 2 2 2 3 Keep out foreign EC EIERE 2 3 PRE oE SE A T E E E E
289. sts nimaa a es so scveccddusoeccvduabecdudat de vavsions civdebevevsateeaclvandesdeccs 15 11 15 11 1 Read comman dS EE 15 11 15 1152 Write commands EE 15 14 15 12 Detailed explanations Of commande 15 16 15 121 Data PROCESSING DEEN 15 16 AS VAD SEACLUSIOISPlAY EE 15 18 15 12 3 Parameter facta ist Veni a a ee tae Wee re T a a i 15 19 15 12 4 External I O Signal statusee cece ceceeseeseeeeeeceecaeeeeeeesecaesaeeessessesaseaseneseessetaeeaseeseesaeeateateeas 15 21 15 125 Device ON OFF areara haraa a e a a aa a aa aaa aeaa iaia 15 23 15 12 6 Disable enable of 1 0 devices DIO wo cece cccccsccsssscsssesssesssesscessceesscseeesseeesseeessessesesesseeeseneses 15 24 15 12 7 Input devices ON OFF test operation cceccscssscssssessessessessesseserssesssesesseseessessaesanseesens 15 25 15 12 8 Test operation Modesti anana a aa avier aaar aanaeio aani aian aa Ea aa aara aana 15 26 15 12 9 Output signal pin ON OFF output signal DO forced output eect eeeeeeeeeteteteeeeeee 15 29 15 1210 Alarm history EE 15 30 15 12 Current ala M EEN 15 31 15 12 12 Current position latch data 15 32 15 12 13 General purpose EC WEE 15 33 15 12 14 Servo amplifier group deslonation nna 15 35 15 12 15 S0ftWware CL NEE 15 36 App 1 Status indication block dar am App 1 App 2 J unction terminal block MR TB20 terminal block labas AE App 2 Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Ins
290. symbol pin No Program No selection 1 CN 1B 5 Select the program number from among those combined by DIO DI1 DI2 and DI3 to start operation on the leading edge of ST1 in the program operation mode SS Sep EC Program No selection 2 oe m os o om om 0 0 0 0 1 Program No selection 3 Program No selection 4 Note 0 OFF 1 ON JOverrideselection 1 ovr Turn OVR on tomake override vC valid yY O External torque limit e Turn TL on to make analog Ge a TLA valid Ee For details refer to Section 3 4 4 Internal torque limit Turn TL2 off to make parameter No 28 Internal torque limit 1 valid or turn it on selection to make parameter No 29 Internal torque limit 2 valid For detailes refer to Section 3 4 4 Proportion control PC Turn PC on to bring the speed amplifier from the proportional integral type to the proportional type If the servo motor at a stop is rotated even one pulse due to any external factor it generates torque to compensate for a position shift In such a case where the axis will be locked mechanically after Movement complete PED has turned off turning Proportion control PC on as soon as Movement complete PED turns off can suppress unnecessary torque that attempts to compensate for a position shift When the shaft is to be locked for a long time switch on the proportion control PC and External torque limit selection TL at the same time to make the torque less than the rated by
291. t to servo motor inertia moment Position control gain 2 120 SC Speed control gain 2 3000 SES 4000 gt 3000 gt 4000 Speed integral compensation 20 Se 50 CO amp 4 A N CH l CO D d l 9 SPECIAL ADJUSTMENT FUNCTIONS MEMO 10 10 INSPECTION 10 INSPECTION Before starting maintenance and or inspection make sure that the charge lamp is off more than 10 minutes after power off Then confirm that the voltage is safe in Ab the tester or the like Otherwise you may get an electric shock WARNING Any person who is involved in inspection should be fully competent to do the work Otherwise you may get an electric shock For repair and parts replacement contact your safes representative Do not test the servo amplifier with a megger measure insulation resistance or it may become faulty Do not disassemble and or repair the equipment on customer side 1 Inspection It is recommended to make the following checks periodically a Check for loose terminal block screws Retighten any loose screws b Check the cables and the like for scratches and cracks Perform periodic inspection according to operating conditions 2 Life The following parts must be changed periodically as listed below If any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please c
292. t exceeds the maximum 0 to 1310 position high number of pulses The value is incremented in the CCW direction of rotation Travel value from the home position in the absolute position 32768 to 32768 to ABS counter LS detection systems is displayed in terms of the absolute ae 32767 32767 position detectors counter value Load inertia dc dime The estimated ratio of the load inertia moment to the servo 0 0to 300 0 0 0to 300 0 moment ratio motor shaft inertia moment is displayed Bus voltage v T across P N of the main circuit converter is Oto 450 0 to 450 Note The MR DP60 can display the status without dividing it into the high and low orders The unit is pulse 7 4 7 DISPLAY AND OPERATION 7 3 Diagnosis mode 7 3 1 Display transition After choosing the diagnosis mode with the MODE button pressing the UP or DOWN button changes the display as shown below To Teaching A I L Sequence External I O signal display Output signal DO forced output Test operation mode Jog feed Test operation mode Positioning operation Test operation mode Motorless operation Test operation mode Machine analyzer operation KEE EE Lt Ee LI A aD ru Dat A To Sequence Software version Low Software version High For manufacturer setting Motor series ID Motor type ID Encoder ID 7 DISPLAY AN
293. t output signal Limiting torque TLC ii i No 26 torque limit offset 999 to 999mV No 59 function selection 2 Selection of the rotation direction in which torque limit is executed The torque limit is available in two types internal torque limit set in parameters and analog torque limit TLA using analog input signal This function limits torque on the assumption that the maximum torque of the servo motor is 100 No 28 internal torque limit 1 0 to 100 No 29 internal torque limit 2 0 to 100 Parameters Ka 1 Internal torque limits 1 2 Use parameter No 28 and 29 to set the internal torque limit values The following graph shows the torque relative to the setting Max Iorouek Torque 0 L 0 100 Torque limit value 2 Analog torque limit TLA By applying a voltage 0 to 10V to the analog torque limit TLA terminal limit values can be set from outside consecutively The following graph shows the relationship between input voltage and limit value Depending on the servo amplifier the limit value has about 5 variations to the input voltage As this may not cause torque to be limited sufficiently at less than 0 05V use this function at the voltage of 0 05V or more Refer to the following diagram when using the 15V power output P15R of the servo amplifier 100 Servo amplifier o T gt E a 2 2kQ E 1 OO 0 GL Japan Resistor RRS10 TLA application voltage V or equivalent T
294. t that starts after selection of the program including the ZRT command Movement complete PED Se Home position return ON completion ZP OFF Pe Home position return Parameter No 41 iHome position shift Parameter No 41 A di ee speed Parameter No 9 Deceleration time constant distance Parameter No 11 Acceleration time v Creep speed constant Parameter No 1 Forward Servo motor speed rotation 0 r min Home position E ex CH f 3ms or less f I Home position address Parameter No 42 I I I ON een UI Py oo Proximity dog DOG SC N 5ms or more Forward rotation start ST1 BE E e Z phase The address on completion of home position return is the value automatically set in parameter No 42 home position return position data 4 Adjustment In dog type home position return adjust to ensure that the Z phase signal is generated during dog detection Locate the rear end of the proximity dog DOG at approximately the center of two consecutive Z phase signals The position where the Z phase signal is generated can be monitored in Within onerevolution position of Status display 0 65536 0 Servo motor Z Vv Vv Vv phase l Proximity i f dog 1 Proximity dog ON l i DOG OF 4 OPERATION 4 4 3 Count type home position return In count type home position return a motion is made over the distance set in parameter No 43 moving distance after proximity do
295. takes place 4 Decrease the speed integral compensation parameter No 38 within Decrease the time constant of the speed the vibration free range and return slightly if vibration takes place integral compensation increased by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 3 to 5 8 GENERAL GAIN ADJUSTMENT c Adjustment description 1 Position control gain 1 parameter No 7 This parameter determines the response level of the position control loop Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling Position control _ Speed control gain 2 setting L wot gain 1 guideline 1 ratio of load inertia moment to servo motor inertia moment 3 5 2 Speed control gain 2 VG2 parameter No 37 This parameter determines the response level of the speed control loop Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate The actual response frequency of the speed loop is as indicated in the following expression Speed loop response _ Speed control gain 2 setting frequency H z 1 ratio of load inertia moment to servo motor inertia moment 2r 3 Speed integral compensation parameter No 38 To eliminate stationary deviation against a command the speed control loop is under proporti
296. ted RAM C EEPROM Selecting RAM writes the set values to the volatile memory In this case the set values are lost when the servo amplifier is powered off Selecting EEPROM writes the set values to the non volatile memory EEP ROM In this case the set values are not lost if the servo amplifier is powered off POINT The limited number of time to write to EE P ROM is 100 000 6 9 6 SERVO CONFIGURATION SOFTWARE c Read from the general purpose registers c Click the Read All button to read the values of the general purpose registers R1 to R4 D1 to D4 stored in the servo amplifier d Write to the general purpose registers d Click the Write All button to write the set values of the general purpose registers R1 to R4 D1 to D4 to the servo amplifier e Closing the Indirect Addressing window e Click the Close button to close the window 6 10 6 SERVO CONFIGURATION SOFTWARE 6 6 Device assignment method When using the device setting preset OOOE in parameter No 19 1 How to open the setting screen Click Parameters on the menu bar and click Device setting in the menu Parameter list Tuning Change list Detailed information IEU Parameter DEU Parameter D setting Making selection displays the following window Device setting E H Read device settings from servo amplifier Set parameter No 19 to 000E When opened offline the default input out
297. tegral compensation changing ratio Used to set the ratio of changing the speed integral compensation when gain changing is valid Made valid when auto tuning is invalid 5 18 5 PARAMETERS Initial Settin Class Symbol Name and Function eer value range CDP Gain changing selection Refer to Used to select the gain changing condition Refer to Section 9 3 Name and 0 00 function column Gain changing selection Gains are changed in accordance with the settings of parameters No 64 to 67 under any of the following conditions 0 Invalid 1 Gain changing CDP signal is ON 2 Command frequency is equal to higher than parameter No 69 setting Droop pulse value is equal to higher than parameter No 69 setting Servo motor speed is equal to higher than parameter No 69 setting Gain changing condition 10 to Used to set the value of gain changing condition command frequency droop 9999 pulses servo motor speed selected in parameter No 68 The set value unit changes with the changing condition item Refer to Section 9 5 70 CDT Gain changing time constant O to 100 Used to set the time constant at which the gains will change in response to the conditions set in parameters No 68 and 69 Refer to Section 9 5 Ee For manufacturer setting Ss el ee Don t change this value by any means 10ms_ 0 to 2000 10ms_ 0 to 2000 10ms 0 to 2000 0000h SR 3 A 21 74 OUT1 OUT1 output time
298. tem performed without home position 2 Review home position return speed creep 1 Positioning return speed moving distance after proximity operation was 2 Home position return speed could dog performed without not be decreased to creep speed home position 3 Limit switch was actuated during return home position return starting at Home position other than position beyond dog return ended abnormally In absolute position 1 Positioning operation was 1 Perform home position setting detection system performed without home position 2 Review home position setting speed creep 1 Positioning setting speed moving distance after proximity operation was 2 Home position setting speed could dog performed without not be decreased to creep speed home position 3 Limit switch was actuated during setting home position setting starting at Home position other than position beyond dog setting ended abnormally Home position Home position 1 Droop pulses remaining are Remove the cause of droop pulse setting error setting could not be greater than the in position range occurrence made setting clearing of droop pulses of droop pulses Reduce creep speed 3 Creep speed high Reduce creep speed Serial RS 232C or RS 422 time out error stopped for longer parameter No 23 setting parameter No 23 Serial Serial 1 eee Be Eeer Repair or change the cable error occurred between z i 2 Communication device e g Change
299. the analog torque limit TLA 3 SIGNALS AND WIRING Device name Functions Applications symbol pin No Temporary STP Turn STP on during program operation to make a temporary stop stop Restart Turn it on again to make a restart If any of Program inputs 1 to 3 P11 to PI3 is turned on during a temporary stop it is ignored When the program mode is switched to the manual mode during a temporary stop the remaining moving distance is erased During home position return and jog operation the temporary stop restart input is ignored Refer to Section 4 2 6 3 ial Manual pulse generator multiplication 1 Manual pulse Manual pulse generator generator multiplication factor multiplication 2 o 1 itiwe i o Iotims Note 0 OFF 1 ON Gain switch CDP Turn CDP on to change the load inertia moment ratio into parameter No 64 load Pee ee inertia moment ratio to servo motor 2 and the gain values into the values multiplied by parameter No 65 to 67 Turn LPS on during execution of the LPOS command to latch the current position input Used to select the multiplication factor of the manual pulse generator When it is not selected the parameter No 1 setting is made valid on its leading edge The latched current position can be read using the communication command 3 SIGNALS AND WIRING c Output devices Devices Connector Device name Functions Applications symbol pin No Trouble ALM CN1B 18 ALM turn
300. the cable wire breakage or short 3 11 11 TROUBLESHOOTING Faulty parts in the servo amplifier Change the servo amplifier AL 19 Memory error 3 ROM memory fault Checking method Alarm A 17 or A 18 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables AL LA Motor Wrong combination Wrong combination of servo amplifier U se correct combination combination of servo amplifier and servo motor connected error and servo motor AL 20 Encoder error 2 Communication 1 E connector CN 2 Connect oars pa l error occurred ae between encoder and 2 servo amplifier 3 Encoder cable faulty Repair or change the cable wire breakage or shorted AL 24 Main drcuit Ground fault 1 Power input wires and servo motor Connect correctly occurred at the servo output wires arein contact at main motor outputs U V circuit terminal block TE 1 and W phases of the 2 Sheathes of servo motor power Change the cable servo amplififer cables deteriorated resulting in ground fault 3 Main circuit of servo amplifier Change the servo amplifier failed Checking method AL 24 occurs if the servo is switched on after disconnecting the U V W power cables from the servo amplifier Absolute Absolute position 1 Reduced voltage of super capacitor After leaving the alarm occurring for a few position erase data in error in encoder minutes switch power off then on again Always make
301. the communication device servo amplifier and ronal Gamat vee EE communication ps H y p puter device e g personal computer Watchdog CPU parts faulty Fault of parts in servo amplifier Change servo amplifier Checking method Alarm 88888 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables 11 8 11 TROUBLESHOOTING 11 2 3 Remedies for warnings If AL E6 occurs the servo off status is established If any other warning occurs operation can be continued but an alarm may take place or proper operation may not be performed Use the optional servo configuration software to refer to the cause of warning AL 92 Open battery Absolute position 1 Battery cableis open Repair cable or changed detection system battery 2 Battery voltage dropped to 2 8V or less Change battery started without the servo amplifier being disable status powered off on parameter is reached operation range correctly software limit was executed 3 Software limit was reached during J OG Perform operation within operation or manual pulse generator software limit range operation Battery warning Voltage of battery for Battery voltage fell to 3 2V or less Change the battery A absolute position detection system reduced AL EO Excessive There is a possibility that Regenerative power increased to 85 or 1 Reduce frequency of regenerative regenerative power ma
302. the forward rotation start ST1 is switched on Servo motor rotation direction when forward rotation start ST1 is switched on 3 alue CW rotation with position data gt CCW rotation with position data Parameter No 1 setting c Feed length multiplication selection parameter No 1 Set the unit multiplication factor STM of position data The actual moving distance is the result of multiplying the entered position data by the unit multiplication factor Parameter No 1 setting Feed length multiplication STM Times Ae Position data x 1 Initial ue 1 Position data x 10 Position data x 100 0030 Position data x 1000 2 Operation Choose the program using DIO to DI3 and turn ON ST1 to perform positioning operation according to the set program At this time reverse rotation start ST2 is invalid Setting method Selection of program operation mode Automatic manual selection MDO MDO is switched on Program No selection 1 DIO Program No selection 2 DI1 Program No selection 4 DI3 Program No selection 5 DI4 Forward rotation start ST1 Turn ON ST1 tostart 4 25 DI1 Program selection Program No selection 3 DI2 Refer to Section 3 3 2 1 DI3 4 OPERATION 4 2 4 Program operation timing chart 1 Operation conditions The timing chart shown below assumes that the following program is executed in the absolute value c
303. the home position return method 2 Choose the starting direction of home position return Set 0 to start home position return in the direction in which the address is incremented from the current position or 1 to start home position return in the direction in which the address is decremented 3 Choose the polarity at which the proximity dog is detected Set 0 to detect the dog when the proximity dog device DOG is turned off or 1 to detect the dog when the device is turned on 3 Instructions 1 Before starting home position return always make sure that the limit switch operates 2 Confirm the home position return direction Incorrect setting will cause the machine to run reversely 3 Confirm the proximity dog input polarity Otherwise misoperation can occur 4 OPERATION 4 4 2 Dog type home position return A home position return method using a proximity dog With deceleration started at the front end of the proximity dog the position where the first Z phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z phase signal is defined as a home position 1 Signals parameters Set the input signals parameters and program as follows Device Parameter used Manual home position return H Automatic manual selection M D0 MDO is switched on mode selection 10 Dog type home position return is selected Refer to Section 4 4 1 2 in this secti
304. the signal cables Ground the shields of the encoder connecting cable and the control signal cables with cable camp fittings c Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits input and output circuits those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables and those transmitted through the power supply cables Noises produced LG Noises transmitted by servo amplifier in the air Noise radiated directly from servo amplifier Route 1 Noise radiated from the power supply cable Route 2 Noise radiated from servo motor cable Route 3 Magnetic induction N _noise 3 Routes 4 and 5 Static induction noise Route 6 ee Noise transmitted through Steen eee OU e channels power supply cable Noise sneaking from grounding cable due to Route 8 Instrument Servo motor 14 34 leakage current Sensor power supply Sensor 14 OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques When measuring instruments receivers sensors etc which handle weak signals and may malfunction due to noise and or their signal cables are contained in a contro
305. ting the heat dissipation area with Equation 13 1 assume that P is the sum of all losses generated in the enclosure Refer to Table 13 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the enclosure is directly installed on an insulated wall that extra amount must be added to the enclosure s surface area The required heat dissipation area will vary wit the conditions in the enclosure If convection in the enclosure is poor and heat builds up effective heat dissipation will not be possible Therefore arrangement of the equipment in the enclosure and the use of a fan should be considered Table 13 1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is operated at the ambient temperature of 40 C 104 F under rated load Outside Inside Air flow Fig 13 2 Temperature distribution in enclosure When air flows along the outer wall of the enclosure effective heat exchange will be possible because the temperature slope inside and outside the enclosure will be steeper 13 CHARACTERISTICS 13 3 Dynamic brake characteristics Fig 13 3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use Equation 13 2 to calculate an approximate coasting distance to a stop The dynamic brake time constant qt varies with the servo motor and machine operation speeds Refer to Fig 13 4 Forced stop EMG D T
306. tion Manual About processing of waste When you discard servo amplifier a battery primary battery and other option articles please follow the law of each country area A FOR MAXIMUM SAFETY This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident A EEP ROM life The number of write times to the EEP ROM which stores parameter settings etc is limited to 100 000 If the total number of the following operations exceeds 100 000 the servo amplifier and or converter unit may fail when the EEP ROM reaches the end of its useful life Write to the EEP ROM due to parameter setting changes Home position setting in the absolute position detection system Write to the EEP ROM due to device changes Write to the EEP ROM due to program changes COMPLIANCE WITH EC DIRECTIVES 1 WHAT ARE EC DIRECTIVES The E
307. tion display window screen This screen is used to select the slot numbers and functions assigned to the pins Choose the slot numbers in and The functions displayed below and are assignable s DIDO function display Input device Output device Input device function Output device function No function Ho function a D11 Program No slct 2 LC Limiting torque DI2 Program No slet PUS Temporaly stop BESSE OUTZ Program output 2 OUT Program output 3 ig te a tl a CDP Gan change slet PI2 Program input 2 i i b Move the pointer to the place of the function to be assigned Drag and drop it as is to the pin you want to assign in the DI DO device setting window 1 Assignment checking automatic ON setting a Press this button to display the screen that shows the slot by slot assignment list and enables auto ON setting Refer to this section 4 for more information 2 Quitting Click Close button to exit from the window b 6 13 6 SERVO CONFIGURATION SOFTWARE C Function device assignment checking auto ON setting display Click the button in the DIDO function display window displays the following window S Function device assignment check auto ON setting Input device functiong Output device function Already assigned Function jAssign Function ES Sa ER RR Rm rz ms OVR Function JAssignj Function ALM Not yet assigned
308. tions Unspecified ones may lead to a fault or fire 14 1 Options 14 1 1 Regenerative brake options The specified combinations of regenerative brake options and servo 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 MR RB032 MR RB12 MR RB32 MR RB30 ore Note brake resistor 409 409 409 139 eee MRL Ta e e e ee ee MRJ 25 20cL 10 30 10 e Tma MRJ 25 40cL D 10 30 10 TTT MR 25 60CL 10 30 10 MRJ2S 7ocL 29 30 10 30 TTT MRJ 2s 100cL 20 30 10 30 _ TTT MRJ 25 200cL ET E WE E CT MRJ2S 350CL 100 CT 30 50 Z MRJ2S 500CL 0 _ 30 50 eg KRISE E APO e be 500 Note Always install a cooling fan 2 Selection of the regenerative brake option a Simple selection method In horizontal motion applications select the regenerative brake option as described below When the servo motor is run without load in the regenerative mode from the running speed to a stop the permissible duty is as indicated in Section 5 1 of the separately available Servo Motor Instruction Manual For the servo motor with a load the permissible duty changes according to the inertia moment of the load and can be calculated by the following formula Permissible_ Per
309. tput command OUTON OUTOF trip point command TRI P TRI PI 1 Program example 1 As soon as the program is executed Program output 1 OUT1 is turned ON When the program ends Program output 1 OUT1 turns OFF SPN 1000 Speed Motor speed 1000 r min STA 200 Acceleration deceleration time constant 200 ms STB 300 Deceleration time constant 300 ms MOV 500 Absolute move command 500 x 105 ml OUTON 1 Program output 1 OUT 1 is turned ON a TIM 10 Dwell command time 100 ms MOV 250 Absolute move command 250 x105 um TIM 5 Dwell command time 50 ms b STOP Program end Forward rotation Servo motor Or min speed Dwell command time Dwell 100ms command ON time Program output 50ms OUT1 OFF a b 4 12 4 OPERATION 2 Program example 2 Using parameter No 74 to 76 Program output 1 OUT 1 to Program out 3 OUT3 can be turned off automatically OUT1 output time setting 20 OUT is turned off in 200ms a OUT2 output time setting OUT2 is turned off in 100ms b OUT3 output time setting OUT3 is turned off in 500ms d SPN 500 STA 200 STB 300 MOV 1000 OUTON 1 OUTON 2 OUTON 3 STOP Forward rotation Or min EZ Servo motor speed Program out out1 Program out out2 Program output3 out3 Speed Motor speed Acceleration time constant Deceleration time constant Absolute move command Program output 1 OUT 1 is turned ON Program
310. travels the preset moving distance SPN 500 Speed Motor speed 500 r min STA 200 Acceleration time constant 200 ms STB 300 Deceleration time constant 300 ms MOVI 600 Incremental move command 600 x105 um TRIPI 300 Absolute trip point 300 x 105 um OUTON 3 Program output 3 OUT 3 is turned ON SPN 700 Speed Motor speed 700 r min MOVIA 700 Incremental continuous move command 700 X105 um TRIPI 300 Incremental trip point 300 x 105 um OUTOF 3 Program output 3 OUT 3 is turned OFF STOP Program end a Incremental move command 900 600 x 10S um a MOVI 600 x 10S um e TRIPI 300 Forward b 300 x 10S um d Incremental continuous rotation F move command l 700 x 10S um Servo motor Senin 1 speed i l l i ON i Program output3 OUT3 OFF 4 15 4 OPERATION d Dwell TIM Tothe TIM setting value command set the time from when the command remaining distance is O until the next step is executed For reference the following examples show the operations performed when this command is used with the other commands 1 Program example 1 TIM 20 Dwell command time 200 ms SPN 1000 Speed Motor speed 1000 r min STC 20 Acceleration deceleration time constant 20 ms MOV 1000 Absolute move command 1000 x 105 um STOP Program end Forward rotation a 200ms Servo motor gr min speed Forward rotation ON start ST1
311. truction Manual 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 MEMO 1 FUNCTIONS AND CONFIGURATION 1 FUNCTIONS AND CONFIGURATION 1 1 Introduction The MR J 2S CL program compatible AC servo amplifier is based on the MR 2S CP AC servo amplifier with built in positioning functions and incorporates program driven single axis positioning functions These functions perform positioning operation by creating the position data target positions servo motor speeds acceleration and deceleration time constants etc as a program and executing the program The servo amplifier is the most appropriate to configure a simple positioning system or to simplify a system for example Up to 16 programs can be created The program capacity is 120 steps as a total of all programs All servo motors are equipped with an absolute position encoder as standard An absolute position detection system can be configured by merely adding a battery to the servo amplifier Once the home position has been set home position return is not required at power on alarm occurrence etc 1 FUNCTIONS AND CONFIGURATION 1 1 1 Function block diagram The functi
312. ttern accel eration deceleration time constant is ignored SPN 1000 STC 100 STD 10 MOV 2000 STOP Speed Motor speed Acceleration deceleration time constant Absolute move command Program end b Acceleration deceleration time constant 1000ms CH a Speed Motor speed Forward 1000r min rotation Servo motor Or min speed c S pattern acceleration deceleration time constant 10ms 4 10 S pattern acceleration deceleration time constant 1000 r min a 1000 ms b 10 ms c 2000 x105 um d dl b Acceleration deceleration time constant 1000ms d Absolute move command 2000 x 10S um 4 OPERATION b Continuous move command MOVA MOVIA MOV cannot be used with MOVIA and MOVI cannot be used with MOVA The MOVA command is a continuous move command for the M OV command After execution of the movement by the MOV command the movement of the M OVA command can be executed continuously without a stop The speed changing point of the MOVA command is the deceleration starting position of the operation performed by the preceding MOV and M OVA commands The acceleration deceleration time constant of the MOVA command is the value at execution of the preceding M OV command The MOVIA command is a continuous move command for the MOVI command After execution of the movement by the MOVI command the movement of the MOVIA command can
313. ttery connector Battery holder For MR J2S 500CL MR J2S 700CL 6 Parameter setting Set parameter No 2 Function selection 1 as indicated below to make the absolute position detection system valid Parameter No 2 Selection of absolute position detection system 0 Incremental system 1 Absolute position detection system 4 OPERATION 4 6 Serial communication operation The RS 422 or RS 232C communication function may be used to operate the servo amplifier from a command device controller such as a personal computer Note that the RS 422 and RS 232C communication functions cannot be used at the same time This section provides a data transfer procedure Refer to Chapter 15 for full information on the connection and transferred data between the controller and servo amplifier 4 6 1 Positioning operation in accordance with programs By selecting the program No and switching on the forward rotation start ST1 using the communication function positioning operation in accordance with programs can be started 1 Selection of programs Using the device forced output from the controller command 9 2 data No 6 0 choose programs from among No 1 to 16 2 Timing chart 5ms or more 5ms or more 5ms or more Wb E D E GEES CO TP 5 2 1x 4 5 3 Kg 4 5 Servo motor 4 AN speed 3ms 3 Program No 2 Program No 1 Program No 3 Transmission data Program No 2 selection 9 2
314. ually in response to the external input signal Refer to Section 7 9 4 Merely connecting the servo amplifier allows the resonance point of the mechanical system to be measured The servo configuration software MRZJ W3 SETUP151E or later is required for machine analyzer operation Indicates the version of the software Indicates the system number of the software Maker setting screen Do not perform operation on this screen 7 DISPLAY AND OPERATION Display Press the SET button to show the motor series ID of the servo motor currently connected For indication details refer to the optional MELSERVO Servo Motor Instruction Manual 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 Motor series Motor type Press the SET button to show the encoder ID of the servo motor currently connected For indication details refer to the optional MELSERVO Servo Motor Instruction Manual Encoder 7 DISPLAY AND OPERATION 7 4 Alarm mode The current alarm past alarm history and parameter error are displayed The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error Display examples are shown below 7 4 1 Display transition After choosing the alarm mode with the MODE button pressing the UP or DOWN button changes the
315. uelimitoffset tw k 27 ENR Encoder output pulses 2000 pulserev 28 TL1 Internaltorquelimita w x k 29 TL2 internaltorquelimit2 00 le Backlash compensation mor Analogmonitortoffset H Mo2 Analogmonitor2offset ooo o oo i MBR _ Electromagnetic brake sequence output 10 GD2 Ratio of load inertia moment to Servo motor inertia moment 7o PG2 Positinloopgain2 D vG1 Speediopgaini o Oo i 8 28 100 VG2 Speed loop gain 2 peed integral compensation East SE ms a Grand peed differential compensation Expansion parameters 1 jts J OG operation acceleration deceleration time constant 41 s Home position return operation acceleration deceleration time constant ms ms ms Home position return position data o x105 um Moving distance after proximity dog 1000 ms 0 100 70 35 177 17 80 100 100 Stopper type home position return stopper time 100 15 Stopper type home position return torque limit value LMP_ Software limit o ftom um Position range output address LNP Position range output address 5 PARAMETERS Customer Symbol Name and Function Initial value ER 55 opge Funcionselection6 cS 56 For manufacturer setting 0000S _ Function selection 8 58 oP9 Functionselection9 P gt 53 59 open FunctionselectionA oo E 60 S Ho manufacturer setting o m 61 NH1 Machine resonance
316. upply Review the power supply voltage dropped 2 There was an instantaneous MR J 2S OCL control power failure of 60ms or 160VAC or less longer MR J 2S OCL1 3 Shortage of power supply capacity 83VAC or less caused the power supply voltage to drop at start etc 4 Power was restored after the bus voltage had dropped to 200VDC Main circuit power switched on within 5s after it had switched off 5 Faulty parts in the servo amplifier Change the servo amplifier Checking method Alarm AL 10 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables AL 12 RAM memory fault Faulty parts in the servo amplifier Change the servo amplifier AL 13 Clock error Printed board fault Checking method Alarm any of AL 11 and 13 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables Memory error 2 EEP ROM fault Faulty parts in the servo amplifier Change the servo amplifier Checking method Alarm AL 15 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables 2 The number of write times to EEP ROM exceeded 100 000 AL 16 Encoder error 1 Communication 1 Encode connector CN 2 Connect correctly error occurred disconnected between encoder 2 Encoder fault Change the servo motor and servo amplifier 3 Encoder cable faulty Repair or change
317. vo amplifier Note that the data of the general purpose registers R1 R4 D1 D4 can be saved in the EEP ROM The setting ranges of the general purpose registers are the setting ranges of the instructions with which the general purpose registers are used The following explains the case where the general purpose registers are set as indicated below before execution of the program General purpose register Setting Description SPN 1000 Speed Motor speed 1000 r min STA D1 Acceleration time constant D1 200 ms STB D2 Deceleration time constant D2 300 ms MOVI R1 Incremental move command R1 1000 x 105 um TIM 10 Dwell command time 100 ms MOVI R2 Incremental move command R2 2000 x 105 um STOP Program end b D1 200ms c D2 300ms b D1 200ms c D2 300ms a 1000r min ES d 7 E 2 ae rotation Servo motor Or min A A speed d R1 1000 x10S5 um f R2 2000 x 10S5 um e Dwell command time 100ms 4 OPERATION 4 2 3 Basic setting of signals and parameters Create programs in advance using the Servo Configuration software Refer to Section 4 2 2 and Section 6 5 1 Parameter a Command mode selection parameter No 0 Make sure that the absolute value command system has been selected as shown below Parameter No 0 lte value command system initial value b ST 1 coordinate system selection parameter No 1 Choose the servo motor rotation direction at the time when
318. will be damaged 3 SIGNALS AND WIRING b Lamp load For use of internal power suppl For use of external power suppl Servo amplifier 24VDC Servo amplifier Do not connect VDD COM 3 Encoder pulse output DO 2 a Open collector system Interface Max output current 35mA Servo amplifier Servo amplifier 5 to 24VDC Ki eg Photocoupler OP Acs pugs b Differential line driver system 1 Interface Max output current 35mA Servo amplifier Servo amplifier Am26LS32 or equivalent 100Q High speed photocoupler We gt LAR LBR LZR 2 Output pulse Servo motor CCW rotation LA LAR tH a Le LB TLIN LILI LBR 5 LT LA T E ts LZ signal varies 3 8T on its leading edge dees A eae 400us or more OP L 2 3 21 3 SIGNALS AND WIRING 4 Analog input Input impedance 10 to 12kQ Servo amplifier i en P15R EE VC ete ol II _ 11 LG Approx Se To d i 0kQ 5 Analog output Output voltage 10V Max 1mA Max output current Resolution LObits Servo amplifier MO1 10kQ MO2 Reading in one or both directions LG 1mA meter a 6 Source input interface When using the input interface of source type all DI 1 input signals are of source type Source output cannot be provided For use of internal power supp
319. wiring The following diagram shows the wires used for wiring Use the wires given in this section or equivalent 1 Main circuit power supply lead 3 Motor power supply lead Servo amplifier Servo motor Power supply 6 Brake unit lead or ve st i Return converter ge L21 5 Electromagnetic brake lead 2 Control power supply lead Brake unit or B Electro Return converter magnetic B2 brake Regenerative brake option E 8 4 Regenerative brake option lead Encoder cable refer to Section 14 1 4 The following table lists wire sizes The wires used assume that they are 600V vinyl wires and the wiring distance is 30m 98 4ft max If the wiring distance is over 30m 98 4ft choose the wire size in consideration of voltage drop The alphabets a b c in the table correspond to the crimping terminals Table 14 2 used to wire the servo amplifier For connection with the terminal block TE2 of the MR J 2S 100CL or less refer to Section 3 11 The servo motor side connection method depends on the type and capacity of the servo motor Refer to Section 3 8 To comply with the UL C UL CSA Standard use UL recognized copper wires rated at 60 140 or more for wiring Table 14 1 Recommended wires ad Note 1 Wires mm Servo amplifier UE 2 L11 La 3U vew D AIP C DIBiI B2 MR J 2S 10CL 1 MR J 2S 20CL 1 MR J 2S 40CL 1 Me 1 25 AWG16 a MR J 2S 60CL f MR J 2S 70CL WI MR J 2S 1
320. y more of permissible regenerative power of positioning warning exceed permissible built in regenerative brake resistor or 2 Change regenerative brake regenerative power of regenerative brake option option for the one with larger A built in regenerative Checking method capacity brake resistor or Call the status display and check 3 Reduce load regenerative brake regenerative load ratio option warning overload alarm 1 or 2 alarm 1 or 2 occurrence level LEI Overload There is a possibility that L oad increased to 85 or more of overload Refer to AL 50 AL 51 May Occur Cause checking method Refer to AL 50 51 Encoder faulty Change servo motor AL E6 Servo forced stop EMG SG are open External forced stop was made valid Ensure safety and deactivate warning EMG SG opened forced stop AL E3 Absolute position Absolute position encoder 1 Noise entered the encoder Take noise suppression counter warning pulses faulty measures AL E9 Main circuit off Servo was switched on Switch on main circuit power warning with main circuit power off 11 9 11 TROUBLESHOOTING MEMO 10 12 OUTLINE DIMENSION DRAWINGS 12 OUTLINE DIMENSION DRAWINGS 12 1 Servo amplifiers 1 MR J2S 10CL to MR J2S 60CL MR J2S 10CL1 to MR J2S 40CL1 A 70 2 76 6 60 24 mounting hole B Unit mm 135 5 32 Unit in Terminal layout Terminal cover open MITSUBISHI OPEN
321. y application where the servo motor moves fix the cables encoder power supply brake supplied with the servo motor 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 The flexing lives of the cables are shown below In actuality provide a little allowance for these values For installation on a machine where the servo motor will move the flexing radius should be made as large as possible Refer to Section 13 4 for the flexing life 3 SIGNALS AND WIRING 3 SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work Before starting wiring switch power off then wait for more than 10 minutes and after the charge lamp has gone off make sure that the voltage is safe in the tester or like Otherwise you may get an electric shock Ground the servo amplifier and the servo motor securely Do not attempt to wire the servo amplifier and servo motor until they have been installed Otherwise you may get an electric shock The cables should not be damaged stressed excessively loaded heavily or pinched Otherwise you may get an electric shock Wire the equipment correctly and
322. y interface power from external When starting operation always connect the forward reverse rotation stroke end LSN LSP with SG Normally closed contacts Trouble ALM is connected with COM in normal alarm free condition The pins with the same signal name are connected in the servo amplifier When using override VC make the override selection OVR device available When using analog torque limit TLA make the external torque limit selection TL devices available When connecting the personal computer together with monitor outputs 1 2 use the maintenance junction card MR J2CN3TM Refer to Section 14 1 6 Use MRZJW3 SETUP 151E Ver E1 or more Connect to CN1A 10 when using the junction terminal block MR TB20 3 SIGNALS AND WIRING 3 2 Internal connection diagram of servo amplifier This section gives the internal connection diagram where the signal assignment is in the initial status Servo amplifier CN1A E CN1B Ea CN1B 24VDC VDD 3 ji prox 4 7kQ ST1 7 DI 8 prox 4 7 Pl2 9 CH prox 4 7 Di 14 ma RST 15 LSP 16 Hts prox 4 7kQ LSN 17 Lp SG 10 20 CN1A v OPC 11 PG 13 Approx 1009 Approx 1 2kQ pp 3 Hoot m NG 12 H Approx 1009 Approx 1 2kQ np 2 Hohe SD Casing CN1B
323. y the next window s Program Test loj x Program Name Input Devices Output Devices son _ om RD POT M LSP IT on TEC PUS M LSN E op WNG OUT Bw il Tr o ALM OUT2 Be ovr MBR OUT3 Tr pe stp DRB SOUT T RES TI TPO BWNG PED IT Ps B ZP B c CDP l zer TI pn V EMG P2 Display a TI won P3 b rT pos The signal can be turned ON or OFF by clicking the check button before the signal symbol 6 SERVO CONFIGURATION SOFTWARE 1 Displaying the program a Click the Display button to display the contents of the currently selected program No S Program display i 15 x Program No J SPNA DOD To close the window click the Close button 2 Closing the Program Test window b Click the OK button to close the Program Test window 6 SERVO CONFIGURATION SOFTWARE 6 8 Alarm history Click Alarms on the menu bar and click History on the menu 00bps MITSUBISHI Servo Con Diagnostics Para Displa History Amplifier data When the above choices are made the following window appears Latest Alarm First Alarm No Alarm Name Time hour Detail hex No alarm No alarm No alarm No alarm 1 Alarm history display The most recent six alarms are displayed The smaller numbers indicate newer alarms 2 Alarm history clear a Click the Clear button to clear the alarm history stored in the servo amplifier 3 Closing of alarm history window b
324. y zero However sudden acceleration deceleration will increase the overshoot As a guideline when the feed forward gain setting is 100 set 1s or more as the acceleration deceleration time constant up to the rated speed RER ME Used to set the offset voltage to analog override Iesse EST Used to set the offset voltage to analog torque limit TLA ENR Encoder output pulses 4000 pulse Used to set the encoder pulses A phase B phase output by the servo rey Pe amplifier Set the value 4 times greater than the A phase or B phase pulses You can use parameter No 58 to choose the output pulse designation 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 0000 initial value in parameter No 58 Set the number of pulses per servo motor revolution Output pulse set value pulses rev At the setting of 5600 for example the actually output A B phase pulses are as indicated below A B phase output pulses 2a 1400 pulse For output division ratio setting Set 1000 in parameter No 58 The number of pulses per servo motor revolution is divided by the set value Resolution per servo motor revolution Set value Expansion parameters 1 Output pulse pulses rev At the setti

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