Mitsubishi Electronics MR-J2-03A5 manual

General-Purpose A C Serv o J2-Jr Series J2-Jr Series MR-J2-03A5 HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 3200-B (9910) MEE Printed in Japan Specifications subject to change without notice. General-Purpose Interface MR-J2-03A5 Serv o Amplifier Instruction Manual B Serv o Amplifier Instruction Manual B[...]

A - 1 z Safety Instructions z (Alway s read these instruc tions befor e using the equipm ent.) Do not attempt to install, oper ate, maintain or inspect the servo am plifier and servo m otor until y ou have read through this Instruc tion Manual, Installation guide, Servo motor Ins truction Manual and appended docum ents caref ully and can use the eq[...]

A - 2 1. To pr event electric shock, note the f ollowing: WARNING y Before wiring or ins pection, s witch power off and wait for m ore than 10 m inutes. T hen, confir m the voltage is safe with voltage tester. O therwise, you may get an electric shock . y Connect the servo am plifier and s ervo m otor to ground. y Any person who is involved in wiri[...]

A - 3 4. Additional instr uctions The following instruc tions s hould also be f ully noted. Incorrec t handling m ay cause a fault, injury, electric s hock , etc. (1) Tr ansportation and inst allation CAUTION y Transpor t the products c orrectly according to their weights. y Stacking in exc ess of the specif ied num ber of pr oducts is not allowed.[...]

A - 4 CAUTION y Securely attach the servo m otor to the m achine. If attach ins ecurely, the servo m otor m ay com e off during operation. y The servo m otor with reduc tion gear m ust be installed in the s pecified dir ection to prevent oil leak age. y For safety of personnel, always cover rotating and m oving parts . y Never hit the servo motor o[...]

A - 5 (4) Usa ge CAUTION y Provide an external em ergency stop circuit to ens ure that oper ation can be stopped and power switched off im mediately. y Any person who is involved in disas sem bly and repair should be fully competent to do the work . y Before resetting an alarm , mak e sure that the r un signal is off to prevent an accident. A sudde[...]

A - 6 (7) Disposal CAUTION y Dispose of the produc t as general indus trial waste. (8) Gener al instruction y To illustrate details, the equipment in the diagram s of this Ins truc tion Manual m ay have been drawn w ithout covers and saf ety guards. W hen the equipm ent is operated, the covers and safety guards mus t be installed as specif ied. Ope[...]

A - 7 COMPLIANCE WITH EC DIRECTIVES 1. W HAT AR E EC DIRECT IVES? The EC Direct ives were issu ed to standardiz e the regulati ons of the EU countries and ens ure smooth distri bution of s afety-guarant eed products. In th e EU countries , the Machinery Di rective (effective i n January, 1995), EMC Directiv e (effectiv e in January , 1996) and Low [...]

A - 8 (5) Auxiliar y equipment and options (a) T he circuit protector used should b e the EN or IE C Standard-compl iant product of the model described in Section 12.2.2. (b) T he sizes of t he cables described in S ection 12.2 .2 meet the following requi rements. T o meet the other requ irements, f ollow Table 5 and Appe ndix C in EN 60204. y Ambi[...]

A - 9 CONFORMANCE WITH UL/C-UL STANDARD The standard models of the s ervo amplifier and servo motor comply wit h the UL/C-UL St andard. Unless otherwise s pecified, the ha ndling, performance, specificat ions, etc. of the UL/C-UL S tandard- compliant models a re the s a me as t hos e of the s t anda rd models . When using 24VD C powe r supply, o pt[...]

1 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 5 1.1 Introductio n ･･･････････････････････････････････････････････････････････････････････････ 1- 1 1.2 Functio n List ･････････[...]

2 4. OPERAT ION 4- 1 to 4- 6 4.1 When Switching Power On for the F irs t T ime ･････････････････････････････････････････････ 4- 1 4.2 Startup ･･･････････････････････････････････････?[...]

3 7.3 Gain Adjus tment by Aut o Tuning ････････････････････････････････････････････････････････ 7- 5 7.3.1 Adjustmen t method ･････････････････････････････････････?[...]

4 12.2.3 Relays ･･････････････････････････････････････････････････････････････････････････ 12- 11 12.2.4 Noise re duction te chniques ･･････････････････････?[...]

5 Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the op tional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the S ervo Motor Ins truction Manual are not included in the Serv o Amplifier In struction Manu al. 1. INTRODUCT ION 2. INSTALLAT ION 3. CONNECTORS U[...]

6 About the Manuals This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if yo u use the Gene ral-Purpose AC se rvo MR-J2- 03A5 for the f irst time. Always pu rchase them and use the MR-J2-03A5 safely. Relevant manuals Manual N ame Manual N o. MELSERVO-J2-Jr Series Installation Guide IB(NA)67426 MELSERVO Servo Motor [...]

1 - 1 1. FUNCTIONS AND CONFI GURATION 1. FUNCTIONS AND CONFIGURAT ION 1.1 Introduction The MELSERVO-J2-Jr series general-purpose AC servo has been deve loped as an ultracompact, small capacity servo system compatible with the MELSERVO-J2 s eries 24VDC power supply. It can be used in a wide range of fields from s emiconduct or equi pment t o sma ll [...]

1 - 2 1. FUNCTIONS A ND CONFIGURATION 1.2 Function List The follo wing table lists the f unction s of th e MR-J2-03A5. For d etails of the fu nctions, r efe r to the corresponding chapters and sect ions. Function Descript ion (Note) Control Mode Refer To Position c ontrol m ode MR-J2-03A5 is used as position contr o l servo . P Section 3. 1. 1 Sect[...]

1 - 3 1. FUNCTIONS A ND CONFIGURATION Function Descript ion (Note) Control Mode Refer To Servo configurat ion software Using a personal comp uter, parameter setting, test operati on, status displ ay, etc. can b e performed. P, S, T Se ction 12. 1. 3 Alarm co de ou tpu t If an alarm has oc curred, the cor responding alar m numbe r is output in 3-bit[...]

1 - 4 1. FUNCTIONS A ND CONFIGURATION 1.5 Parts Identif ication Used to set parameter dat a. Used to change the disp lay or data in eac h mode. Used to change the mode. Refer To Chapter6 Name/Ap plication Display The four-digit, sev en-segment LED shows the servo status and alarm number. UP DOWN SET I/O signal connector (CN1A) Used to connect digit[...]

1 - 5 1. FUNCTIONS A ND CONFIGURATION 1.6 Servo System with Auxiliary Equipment W ARNING y To pr event an electric shock , f it the supplied earth ter m inal (E) to the servo amplif ier (ref er to (2), Section 3.9) and alway s connect it to the earth (E) of the control box. Circuit protector MITSUB ISHI OPEN CN 1A CN 1B CNP1 CNP2 CNP 3 MELSERV O To[...]

2 - 1 2. INSTALLATION 2. INSTALLATION CAUTION y Stacking in exc ess of the lim ited number of produc ts is not allowed. y Install the equipment to inc om bustible. Installing them direc tly or close to com bustibles will led to a f ire. y Install the equipment in a load- bearing place in ac cordance with this Ins truction Manual. y Do not get on or[...]

2 - 2 2. INSTALLATION 2.2 Installation direc tion and clearances CAUTION y The equipment m ust be installed in the specif ied direction. Otherwise, a fault m ay occur. y Leave specified clearanc es between the servo am plif ier and c ontrol box ins ide walls or other equipm ent. (1) I nstallation of one s ervo am plifier 70mm (2.8 in .) MITSUBISHI [...]

2 - 3 2. INSTALLATION 2.3 Keep out foreign m aterials (1) Whe n installing the unit in a control box, pre vent dr ill chips and wire frag ments from e ntering th e servo amplif ier. (2) Prev en t oil, water, me tallic dust, etc. fr om en terin g the se rvo amplif ier th ro ugh open ing s in the co ntrol box or a fan installed on the ceiling. (3) Wh[...]

2 - 4 2. INSTALLATION 2.5 Using the DIN rail f or installation (1) F itting into the DIN rail Put the u pper catch on the D IN rail and push th e unit u ntil it clicks. Wall DIN rail Upper catch Wall DIN rail (2) Rem oval f rom DIN rail 1) Pul l down t he hook . 2) Pull it tow ard you. 3) Lift and re move the unit. Wall Hook 1) DIN rail Upper catch[...]

3 - 1 3. SIGNALS AND WI RING 3. SIGNALS AND W IRING W ARNING y Any person who is involved in wiring should be fully competent to do the work . y Before s tarting wiring, mak e sur e that the voltage is saf e in the tester m ore than 10 minutes after power-of f. O therwise, y ou may get an electric shock . y Ground the ser vo amplif ier and the ser [...]

3 - 2 3. SIGNALS AND W IRING 3.1 Standard connection ex ample POINT y For the connect ion of the power s upply sys tem, refer t o Section 3.7.1. 3.1.1 Position control m ode AD75P  (A1SD75P  ) 2m (6.5ft) max. 10m (32ft) max. RA1 RA2 RA3 Personal computer Pi n No. 21 4 22 5 23 7 26 8 25 24 18 13 2 12 8 10 19 Plate 18 15 5 PP PG NP NG CR SG RD [...]

3 - 3 3. SIGNALS AND W IRING Note: 1. To prevent an electric shock, fit the suppl ied earth terminal (E) to the s ervo amplifier and always connect it t o the earth (E ) of the control box. (Refer to s ection 3. 9.) 2. Co nnect the diode in the co rrect direction . If it is connecte d reve rsely, the servo amp lifier will be faulty and will not o u[...]

3 - 4 3. SIGNALS AND W IRING 3.1.2 Speed control m ode RA1 RA2 RA3 18 10 20 SP1 SG SG 1 2 3 P24M P24G P24L + − CN1A 15 5 14 8 9 16 17 Plate 20 1 11 EMG SON RES ST1 ST2 LSP LSN SD SG P15R SG LG 10 2 ALM 19 ZSP 6T L C 15 5 14 7 16 17 4 LZ LZR LA LAR LB LBR LG OP P15R SD 1 6 Plate CNP1 Serv o ampl ifier CN1B (Note1 ) CNP2 CNP3 13 Servo moto r + 8 7 [...]

3 - 5 3. SIGNALS AND W IRING 3.1.3 Torque c ontrol m ode (Note1) 2m (6.5f t) max. 10m(32 ft) ma x. Persona l computer (Note 7) Servo configuration software Zero sp eed Limiting torque (Note 2) Trouble 30m (98 ft) max. Encode r Z-p hase pu lse (differential line driver) Encode r A-phase pulse (differential line driver) Encode r B-phase pulse (differ[...]

3 - 6 3. SIGNALS AND W IRING 3.2 Internal Connection Diagram of Servo Am plifier 1 2 3 P24M P24G P24L CNP1 Serv o ampl ifier Approx.4.7k +15VDC CN1A CN1B CN1B CN1A CN1A CN1B CN1A PS SON SON SON SP2 SP2 5 7 PST PC ST1 RS2 TL ST2 RS1 RES EMG LSP LSN SG 8 9 14 15 16 17 10,20 CR SP1 SP1 SG SG SG 8 10,20 EMG EMG LSP LSN SG SG RES RES OPC PST PST LG LG S[...]

3 - 7 3. SIGNALS AND W IRING 3.3 I/O Signals 3.3.1 Connectors and s ignal arrangem ents POINT • The connect or pi n-outs s hown ab ove are vi ewed from th e cab le connect or wiring section side. • Refer to the n ext page for CN1A and CN 1B signal assignme nt. (1) Signal ar rangem ent Amplifier's internal wiring *The connector frames are c[...]

3 - 8 3. SIGNALS AND W IRING (2) CN1A and CN1B s ignal assignm ent The signal as signment of connector changes with t he control mode as indicated below; (Note2) I/O Signals in C ontrol M odes Connector Pin No. (Note1) I/O P P/S S S/T T T/P 1  LG LG LG LG LG LG 2 I NP NP/  /NP 3 I PP PP/  /PP 4  P15R P 15R/P15R P 15R P15R P15R P15[...]

3 - 9 3. SIGNALS AND W IRING Note: 1. I : Input signal, O: Output signal, -: Others (e . g. power) 2. P : Posit ion control mode, S: S peed control mode, T: Torque control mode, P /S: Pos ition/speed cont rol change mode, S/T: S peed/torque control change mode, T/P : Torque/position cont rol change mode 3. Set param eter No . 45 to use CR. 4. Set p[...]

3 - 10 3. SIGNALS AND W IRING 3.3.2 Signal explanations For the I/O interfaces (sym bols in I/O colu mn in the table ), refe r to Section 3.6.2. In the Control Mode fi eld of t he t ab le P : Posit ion cont rol mode, S: S peed control mode, T : Torque cont rol mode { : Deno tes that the signal may be used in the in itial setting statu s. ∆ : Deno[...]

3 - 11 3. SIGNALS AND W IRING Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PST Torque lim it TL CN1B 9 Torque limit se lection input device . Short TL-SG to m ak e the analog torque limit valid. For details, ref er to (2), section 3.4.1. DI-1 { ∆ Used to start the servo motor in any o f the fo llowing dir[...]

3 - 12 3. SIGNALS AND W IRING Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PST <Speed control mode> Used to s elect the command speed f or operation . (Note) Input s ignals SP2 SP1 Speed Comm and 0 0 Analog speed comma nd (V C) 01 Internal sp eed command 1 (paramet e r No . 8) 10 Internal sp eed comma[...]

3 - 13 3. SIGNALS AND W IRING Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PST Proportion control PC CN1B 8 Connect PC-SG to switch the speed amplifier from the proport ional i ntegral t ype to the p roporti onal typ e. If the servo motor at a stop is rotat ed even on e pulse due to an y external factor, i [...]

3 - 14 3. SIGNALS AND W IRING Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PST Analog tor qu e limit TLA To use thi s signal in the sp eed control mod e, set any of paramete r s N o . 43 to 48 to m ake TL available . When the analog torque limit (TL A) is valid, torque is limited in the full servo moto r ou[...]

3 - 15 3. SIGNALS AND W IRING (2) O utput signals Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PST Trouble ALM CN1B 18 ALM- SG are di sconnected when power is swit ched off or the protective circuit is activated to shut off the base circuit. Without alarm, AL M-SG ar e c onnecte d within 1 after powe r on. [...]

3 - 16 3. SIGNALS AND W IRING Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PST To use this s ignal, set  1 in parameter No . 49. This signal i s output when an alarm occurs. When there is n o alarm, respec tive ordinar y signals (RD, INP, SA, ZSP) are output. Alarm co de s and alarm name s are list[...]

3 - 17 3. SIGNALS AND W IRING Control Mode Signal S ymbol Connec - tor Pin No. Functions /Applic ations I/O Divisi on PS T Encoder Z-p hase pulse (Open collector) OP CN1A 14 Outp uts the z ero-point signal of the encod er. One pul se is outp ut per servo motor revolution. OP and LG are connected when the zero-point position is re ache d. ( Negative[...]

3 - 18 3. SIGNALS AND W IRING (3) Power s upply Control Mode Signal S ymbol Connec - tor Pin No. Functions /Applic ations I/O Divisi on PS T I/F inter n al powe r supply VDD CN1B 3 Used to output 24VDC fo r input inte rface . Connecte d with P24L inside the se rvo amplifie r . {{{ Digital I/F power supply i n pu t COM CN1A 9 CN1B 13 Used to input 2[...]

3 - 19 3. SIGNALS AND W IRING 3.4 Detailed Descr iption of the Signals 3.4.1 Position control m ode (1) Puls e train input (a) Input pulse wavef orm selectio n Encoder pulses may be input in any of t hree different forms, for which posi t ive or negative logic can be chosen. Set the command puls e train form in parameter No. 21. Arrow or in the tab[...]

3 - 20 3. SIGNALS AND W IRING (b) Connections and waveforms 1) Open collector syst em Connect as s hown below: 24V DC P24G PP NP SG SD Servo amplifi er P24L VDD OPC About 2k Ω About 2k Ω The exp lan ation assu me s th at the in pu t w ave f o rm ha s been se t to th e ne g ativ e log ic and f o rw ard and rev erse rotation pu lse trains (parame[...]

3 - 21 3. SIGNALS AND W IRING 2) Diffe rential line driver system Connect as s hown below: PP NP Servo amplifi er PG NG SD The exp lan ation assu me s th at the in pu t w ave f o rm ha s been se t to th e ne g ativ e log ic and f o rw ard and rev erse rotatio n pulse train s (parameter No.21 has be en set to 0010). For the d iffere ntial line dr iv[...]

3 - 22 3. SIGNALS AND W IRING (2) Torque lim it (a) Torque limit and gene rated torque By setting parameter No. 28 (internal to rque limit 1), torqu e is alw ays limited to the maximum value during opera tion. A relat ionship bet ween the limit value and servo mot or-generated torque is shown below . 0 01 0 0 Max. t orque Generated torque To rque l[...]

3 - 23 3. SIGNALS AND W IRING (b) Torque limit v alue sele ction Choose the to rque limit made valid by the intern al torque limit value 1 (paramete r No. 28) u sing the extern al torque limit sele ction ( TL) o r the torqu e limit made valid by th e analog to rque limit (TLA) as indica ted b elow: Torque Limi t V alue Made Valid (Note) TL If TL A [...]

3 - 24 3. SIGNALS AND W IRING 3.4.2 Speed control m ode (1) Speed s etting (a) Speed command and speed The s ervo motor is run at the speeds s et in the para meters or at t he speed set i n the applied volt age of the analog s peed command (VC). A rela ti onsh ip between t he analog s peed command (VC) appli ed voltage a nd t he servo mot or s peed[...]

3 - 25 3. SIGNALS AND W IRING (b) Speed selection 1 (S P1 ), s peed s electi on 2 (S P2 ) and s peed command va lue Choose any of the s peed sett ings made by the internal speed commands 1 to 3 using s peed selection 1 (SP1 ) and s peed s elect ion 2 (S P 2) or t he s peed set t ing ma de by t he ana log s peed command (V C). (Note) External Input [...]

3 - 26 3. SIGNALS AND W IRING 3.4.3 Torque c ontrol m ode (1) T orque contr ol (a) Torque command and generated torque A relati onship between t he applied volt age of the analog t orque command (TC) a nd the torque gene rated by the se rvo m otor is shown below . The maximum torque is generated at ± 8V. No te that the tor que gen erated at ± 8V [...]

3 - 27 3. SIGNALS AND W IRING (b) Analog torque command offset Using parame ter No. 30, the offse t voltage of -999 to +999mV can be ad ded to th e TC ap plied voltage as show n below . 0 + 8( − 8) Max. torque Generated torque TC applied voltage [V] Parameter No.30 offset range − 999 to + 999mV (2) Torque lim it By setting p arameter No. 28 ( i[...]

3 - 28 3. SIGNALS AND W IRING (b) Speed selection 1 (S P1 )/s peed s elect ion 2 (S P 2) a nd speed comma nd val ues Choose any of t he speed sett ings made by t he internal speed l imits 1 to 3 usi ng speed selecti on 1 (SP1) a nd s peed sel ecti on 2 (S P2 ) or the s peed s ett i ng made b y the s peed li mit comma nd (VL A). (Note) External Inpu[...]

3 - 29 3. SIGNALS AND W IRING 3.4.4 Position/speed contr ol change m ode Set 0001 in p arameter No . 0 to switch to the p osition/sp eed control ch ange mode. Th is fun ction is not avail ab le i n the a bs ol ute pos i ti on detect i on sys t em. (1) C ontrol change (LO P) Use control change (LOP ) to s witch between the pos it ion cont rol mode a[...]

3 - 30 3. SIGNALS AND W IRING (3) Speed s etting in speed control m ode (a) Speed command and speed The s ervo motor is run at the speed s et in parameter No. 8 (interna l speed command 1) or at the speed set in the applied voltage of the a nalog speed command (VC). A relat ionship bet ween analog speed command (VC) a pplied voltage a nd servo moto[...]

3 - 31 3. SIGNALS AND W IRING 3.4.5 Speed/torque control c hange mode Set 0003 in paramete r No. 0 to sw itch to the speed/to rque co ntrol change mode. (1) C ontrol change (LO P) Use control change (LOP) to swit ch between the speed control mode and the torque control mode from an exte rnal contact. Relatio nships be tween LOP-SG status and contro[...]

3 - 32 3. SIGNALS AND W IRING (4) Speed lim it in torque c ontrol m ode (a) Speed limit val ue an d speed The speed is limited to the limit va lue set in paramete r No. 8 (intern al speed limit 1) o r the v alue set in the appli ed voltage of t he ana log speed l imit (VLA). A relat ionshi p between t he anal og speed li mit (VLA) app lied vo ltage[...]

3 - 33 3. SIGNALS AND W IRING 3.4.6 Torque/pos ition control c hange mode Set 0005 in paramete r No. 0 to sw itch to the torque/po sition contro l change mo de. (1) C ontrol change (LO P) Use control change (LOP) t o switch between the torque control mode and the position control mode from an extern al contact. Relationship s betwee n LOP-SG status[...]

3 - 34 3. SIGNALS AND W IRING 3.5 Alarm Occur rence T iming Char t CAUTION y W hen an alarm has occur red, rem ove its c ause, m ake s ure that the operation signal is not being input, ensure saf ety, and reset the alarm before res tarting operation. When an alarm occurs in the s ervo amplifier, the base circuit is shut off and t he servo motor is [...]

3 - 35 3. SIGNALS AND W IRING 3.6 Interfac es 3.6.1 Com mon line The following di agra m s hows t he power s upply a nd it s common li ne. DC24V CNP1 P24G P24L CN1A CN1B CN1A CN1B DO-1 SG OPC SG P15R LG TLA VC e tc. SD OP LG MR MRR SD RA SM DI-1 CNP2 COM VDD ALM e tc. LG E CNP2 SD RDP RDN SDP SDN P24C CNP1 SG OPC PG x NG PP x NP Note: For th e open[...]

3 - 36 3. SIGNALS AND W IRING 3.6.2 Detailed descr iption of the interf aces This section gives the det ails of the I/O s ignal interfaces (refer to I/O Divisi on in the table) i ndicated in Section 3.3.2. Refer to this sec tion and conne ct the in terface s with the exte rnal equi pment. (1) D igital input interfac e DI-1 Give a si gnal wit h a re[...]

3 - 37 3. SIGNALS AND W IRING (3) Puls e train input interf ace DI-2 Provide a pul s e tra in s i gnal in t he open coll ector or di fferenti al li ne driver s ys tem. (a) Open collector system 1) Interface Servo amplifier P24 L Max. i nput pul se frequen cy 200k pps Approx. 1.2k Ω PP(N P) Approx. 10mA SG SD VDD OPC P24 G 24VDC 2) Conditio ns of [...]

3 - 38 3. SIGNALS AND W IRING (b) Differe ntial line d river sy stem 1) Interface SD PG(NG) PP(NP) Max.input pulse frequency 500kpps Servo amplifier Am26LS31 2) Con ditions o f the inp ut pulse 0.9 0.1 tc tHL tc tLH tF tLH = tHL < 0. 1 µ s tc > 0.7 µ s tF > 3 µ s (4) Enc oder pulse output DO-2 (a) Open collector system Interface Max. ou[...]

3 - 39 3. SIGNALS AND W IRING (b) Differe ntial line d river sy stem 1) Interface Serv o am plif ier Max.output current 35mA LA (LB,LZ) LAR (LBR,LZR) LG SD 150 Ω Am26LS32 or equivalent LA (LB,LZ) LAR (LBR,LZR) SD 100 Ω High-speed photocoupler Serv o am plif ier 2) Ou tput pu lse Servo motor CCW rotation LA LAR LB LBR LZ LZR T π /2 400 µ s or [...]

3 - 40 3. SIGNALS AND W IRING 3.7 Input Power Supply Circuit CAUTION y W hen the servo am plifier has becom e faulty, switch power off on the servo amplif ier power side. Continuous flow of a large c urrent m ay cause a fire. 3.7.1 Connection exam ple + − 24VDC 1 2 3 15 10 3 13 18 RA2 OFF RA1 ON RA1 RA2 RA2 P24M P24G P24L EMG SG CNP1 CN1B VDD COM[...]

3 - 41 3. SIGNALS AND W IRING 3.7.2 Explanation of s ignals Abbreviati on Signal Nam e Descript ion P24M Main circuit p ower input Power supp ly for main circui t P24G Powe r ground Main circuit p ower supply and control p ower suppl y. Connected to SG and LG inside the unit. P24L Control p ower input Control power supply and digital I/O po wer sup[...]

3 - 42 3. SIGNALS AND W IRING (3) F orced stop CAUTION y To stop operation and switch power of f im m ediately, provide a forced s top circuit. Make up a circuit which shuts off main circuit power as soon as EMG-SG are opened at a forced stop. To ensu re safe ty, always install a forc ed stop switc h acro ss EMG- SG. By disco nnec ting EMG- SG, th [...]

3 - 43 3. SIGNALS AND W IRING 3.8 Servo Motor with Electrom agnetic Brak e (1) Setting Using para meter No. 33 (elect romagnet ic b rak e s equence out put), set a t ime del ay from el ectr omagnet ic brake ope ration to base circuit shut- off as in th e timing ch art shown in (2) in this se ction. (2) O peration tim ing (a) Servo on signal command[...]

3 - 44 3. SIGNALS AND W IRING (c) Alarm occurrence Servo motor speed ON OFF Base cir cuit Electromagnetic brake(CNP2-9) Invalid (ON) Valid( OFF) Trouble (ALM) No(ON) Yes(O FF) Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake operation delay time(10ms) Electromagnetic brake (d) Main circuit power off When main ci rcuit power s[...]

3 - 45 3. SIGNALS AND W IRING 3.9 Grounding W ARNING y Ground the ser vo amplif ier and se rvo m otor secur ely . y To prevent an electric shock , always connect the earth term inal (E) of the servo amplif ier to the ear th (E) of the c ontrol box ( refer to (2) of this sect ion for the f itting method of the earth term inal). (1) C onnection diagr[...]

3 - 46 3. SIGNALS AND W IRING (2) F itting of earth ( E) term inal (AERSBAN- JR) As shown below , fit the e arth (E) termin al to the bo ttom or top of the se rvo amp lifier. Positioning boss Earth (E) t erminal AER SBAN-J R M4 screw 3.10 Instructions for the 3M Connector When fabrica ting an encoder ca ble or the li ke, securel y connect the shiel[...]

4 - 1 4. OPERATION 4. OPERATION 4.1 W hen Switching Power On for the F irst T ime Before sta rti ng operat ion, check t he foll owing: (1) W iring (a) A correct power supply is connected t o t he power input terminals (P 24M x P24G x P24 L) of the servo amplifier. (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in [...]

4 - 2 4. OPERATION 4.2 Startup W ARNING y Do not operate the switches with wet hands. You may get an electric shoc k. CAUTION y Before s tarting operation, chec k the par ameter s. Som e m achines m ay perform unexpected operation. y During power-on or soon af ter power-off , do not touch the ser vo motor as they may be at high temper atures. You m[...]

4 - 3 4. OPERATION (4) Ser vo on Switch t he s ervo on in t he foll owing procedure: (a) Switch on main circuit/control power. (b) Switch on the s ervo on si gnal (S ON) (short S ON-SG). When pl aced in t he servo-on sta tus, the s ervo amplifier is ready to operate and t he servo motor i s locked. (5) C omm and puls e input Entry o f a pu lse trai[...]

4 - 4 4. OPERATION 4.2.3 Speed control m ode (1) Power on (a) Switch off the s ervo on (SON) s i gnal . (b) When main circuit power/control circuit power is switched on, "r (motor speed)" appears on the parameter unit. (2) T est operation Using jo g ope ration in the "te st oper ation mo de" o f the Parame ter u nit, make su re [...]

4 - 5 4. OPERATION (6) Sto p In any of t he following s tatus es, the servo a mplifier i nterrupts an d stops the operation of t he servo motor: Refer to Section 3.8 , (2) for the servo motor equipped with electroma gnetic brake. Not e that simult aneous ON or si mul taneous OF F of stroke end (L SP, L S N) OFF and forwa rd rotation s tart (ST1 ) o[...]

4 - 6 4. OPERATION (4) Ser vo on Switch t he s ervo on in t he foll owing procedure: 1) Switch on main circuit/control power. 2) Switch on t he servo on s i gnal (SON) (s hort SON-S G). When plac ed in the servo-on st atus, the servo amplifier i s ready to operate a nd the servo motor is locked. (5) Sta rt Using speed selecti on 1 (SP1) a nd speed [...]

5 - 1 5. PARAMETERS 5. PARAMETERS CAUTION y Never adjus t or change the param eter values extrem ely as it will mak e operation instable. 5.1 Param eter List 5.1.1 Param eter write inhibit POINT y After se tting the paramete r No. 19 v alue, sw itch pow er o ff, the n on to make that setting valid. In the MR-J2- 03A5 serv o amplifie r, its paramete[...]

5 - 2 5. PARAMETERS 5.1.2 Lists POINT • For any para meter whos e symb ol i s preceded b y*, s et t he pa ramet er value and switch power o ff once , then switch it on again to make that paramete r setting v alid. For details of t he parameters, refer t o the corres ponding items. The symb ols in t he Cont rol M ode col umn of the t ab le i ndi c[...]

5 - 3 5. PARAMETERS No. Sym bol Name Control Mode Initial Value Unit Custom er Setting 20 *OP2 Function sele ctio n 2 P x S x T 0000 21 *OP3 F unc tio n selectio n 3 (Command pulse se lection) P 0000 22 *OP4 Function sele ctio n 4 P x S x T 0000 23 F F C Feed for ward gain P 0 % 24 ZSP Zero speed P x S x T5 0 r / m i n Anal og speed command max imu[...]

5 - 4 5. PARAMETERS (2) Details list Class No. Symbol Name and Func t ion Initial Value Unit Setting Range Control Mode 0 *STY Control mode, reg enerative br ake option selection Used to select the control mode a nd regenerative bra ke option. Select the control mode. 0:Positi on 1:Position and speed 2:Speed 3:Speed and torque 4:Torque 5:Torque and[...]

5 - 5 5. PARAMETERS Class No. Symbol Name and Func t ion Initial Value Unit Setting Range Control Mode 2 ATU Auto tuning: Used to s et the respons e level, etc. for ex ecution of a uto tuning . Auto tuning response level setting 0 If the macine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the set[...]

5 - 6 5. PARAMETERS Class No. Symbol Name and Func t ion Initial Value Unit Setting Range Control Mode 5 INP In-positio n range: Used to set the d roop pul se range i n which th e imposit ion (INP) signal will be output. 100 pulse 0 to 10000 P 6 PG 1 Posit ion loop g ain 1: Used to s et the gai n of posi tion loop 1. Increase the gain to im p rove [...]

5 - 7 5. PARAMETERS Class No. Symbol Name and Func t ion Initial Value Unit Setting Range Control Mode Internal sp eed command 3 : Used to s et speed 3 of interna l speed commands. S 10 SC3 Internal speed lim it 3: Used to s et speed 3 of interna l speed limits. 1000 r/min 0 to instan- taneous permi- ssible speed T Acceleration time constant: Used [...]

5 - 8 5. PARAMETERS Class No. Symbol Name and Func t ion Initial Value Unit Setting Range Control Mode 14 TQC Torque co m m and time constant: Used to set the constant of a low pass filter in response to the torque command. Torque command TQC TQC Time Afte r filtered TQC: Torque command time co nstant Torque 0m s 0 to 20000 T 15 *SNO Station number[...]

5 - 9 5. PARAMETERS Class No. Symbol Name and Func t ion Initial Value Unit Setting Range Control Mode 18 *DMD Status disp lay selec tio n: Used to sele ct the status display shown at powe r-o n. Selection of sta tus di splay at power-on 0: Cumulative f eedback pulses 1: Servo motor speed 2: Droop pulses 3: Cumulative c ommand pulses 4: Command pul[...]

5 - 10 5. PARAMETERS Class No. Symbol Name and Func t ion Initial Value Unit Setting Range Control Mode S 20 *OP2 Function selection 2: Used to select restart after i nstantaneous power fail ure, servo lock at a stop in speed contro l mode, and slight vibration suppression control. 0: Inv a lid 1: Valid If th e input p ower su pply voltage had redu[...]

5 - 11 5. PARAMETERS Class No. Symbol Name and Func t ion Initial Value Unit Setting Range Control Mode Expansion parameters 22 *OP4 Function selection 4: Used to s elect stop p rocessing a t LSP/LSN signa l off an d choose the machine res onance sup pression filter. Machine resonance suppression filter How to make a stop when LSP/LSN signal is val[...]

5 - 12 5. PARAMETERS Class No. Symbol Name and Func t ion Initial Value Unit Setting Range Control Mode 23 FFC Feed forward gain: Used to s et the fee forw ard ga in. When it is set to 100%, droo p pulses will not be generated in constan t-speed operati on. Note tha t sudd en accelera tion/decelera tion will increase o ve rshoot. When setting this [...]

5 - 13 5. PARAMETERS Class No. Symbol Name and Func t ion Initial Value Unit Setting Range Control Mode Anal og speed command off set: Used to s et the offset voltage of the a nalog sp eed command (VC). When aut omatic VC offset is used , the automa ticall y offset va lue is set to this parameter. The in itial value is the va lue provi ded by the a[...]

5 - 14 5. PARAMETERS Class No. Symbol Name and Func t ion Initial Value Unit Setting Range Control Mode 39 VDC Speed di fferenti al compens ation: Used to s et the di fferentia l compensa tion. Mad e valid when the p roportion cont rol signa l is swi tched on. 980 0 to 1000 P x S 40 Spare 0 P x S x T 41 *DIA Input signal automatic ON se lection: Us[...]

5 - 15 5. PARAMETERS Class No. S ym bol Name and Functi on Initial Value Unit Setting Range Control Mode 43 *DI2 Input signal sele ction 2 (CN1B-pin 5): This parameter is unavai labl e when pa rameter No. 42 is set to assign the contr o l c h ange signal (LOP) to CN 1B-pin 5. Allows any input signal to be assigne d to CN1B-pin 5. Note that the se t[...]

5 - 16 5. PARAMETERS Class No. Symbol Name and Func t ion Initial Value Unit Setting Range Control Mode 45 * DI4 Input signal sele ction 4 (CN1A-pin 8): This parameter is unavai labl e when pa rameter No. 42 is set to assign the contr o l c h ange signal (LOP) to CN 1 A-pin 8. Allows any input signal to be assigne d to CN1A-pin 8. The assignable si[...]

5 - 17 5. PARAMETERS Class No. Symbol Name and Func t ion Initial Value Unit Setting Range Control Mode Expansion parameters 49 *DO1 Output signal selection 1: Used to select the conne ctor pins to output the alarm code and warning (WNG). Setting of alarm cod e output 0 Connector Pins Alarm code i s output at alarm occu rrence. Set Value CN1B-19 CN[...]

5 - 18 5. PARAMETERS 5.2 Detailed Descr iption 5.2.1 Electronic gear POINT • The guideline of the el ectronic gear setti ng range is 1 50 < CMX CDV ＜ 50. If the set value is ou tside this range , noise may be g enerate d d uring accelerati on/deceleration or opera tion may not be performed at the preset speed and/or a ccelerat ion/ decelera [...]

5 - 19 5. PARAMETERS (2) Setting f or use of AD75P The AD75P also has the following el ectronic gear para meters. Normal ly, the servo ampl ifier side electronic gea r must al so be set due to the restri ction on the command pulse freq uency (differential 500kpps, ope n collector 200kpps). AP: Number of pul ses per mot or revolut ion AL: Moving dis[...]

5 - 20 5. PARAMETERS 5.2.2 Changing the status dis play scr een The st atus dis play item of the servo amplifi er display shown at power-on can be changed by changing the parame ter No . 18 setting s. The item displayed in the in itial status change s with the co ntrol mod e as follo ws: Control Mode Displayed I t em Position control mode Cumula ti[...]

5 - 21 5. PARAMETERS 5.2.3 Using for ward/reverse rotation s trok e end to change the stopping pattern The st opping pattern is factory-set to ma ke a sudden stop when the forward/ reverse rotation st roke end is made valid. A slow sto p can be made by changing the parameter No. 22 v alue. Parameter No.22 Setting Stopping Method  0 (initia[...]

6 - 1 6. DISPLAY AND OPERATION 6. DISPLAY AND OPERATION 6.1 Display Flowchart Use the dis play (4-digi t, 7-segment L ED) on the front panel of the servo ampli fier for stat us display, parameter setting, et c. Set the parameters before operation, diagnos e an alarm, confirm external sequences, and/or confir m the operation s tatus. Press t he &quo[...]

6 - 2 6. DISPLAY AND OPER ATION 6.2 Status Display The s ervo stat us during operati on is s hown on the 4-digit , 7-segment LED displ ay. Pres s the "UP or "DOWN" bu tton to change display d ata as desir ed. Whe n the require d data is se lected, th e co rrespo nding symbol appear s. Press the "SET" button to display its d[...]

6 - 3 6. DISPLAY AND OPER ATION The followi ng ta b le l is t s t he s ervo s ta tus es t hat may b e s hown: Name Symbol Unit Descript ion Displa y Range Cumul ative f eedback pulse s C pu lse Feedback pulses f rom the serv o motor encoder are counted and disp layed . The val ue in excess of ± 9999 is counted, bus since the servo amplifier displa[...]

6 - 4 6. DISPLAY AND OPER ATION 6.3 Diagnostic m ode Name Disp lay Descripti on Not ready . Indicates that the serv o am plifier is being initialized o r an alar m has occurred. Sequence Re ady. Indi cates tha t the servo wa s switched on after comp letion of initialization and the servo amplifier is re ady to o perate. External I/O signal display [...]

6 - 5 6. DISPLAY AND OPER ATION 6.4 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 t he parameter number in error. Display examples are shown below . Name Disp lay Descr iption Indica tes no occurrence of an ala rm. Current alarm In[...]

6 - 6 6. DISPLAY AND OPER ATION 6.5 Param eter m ode The servo amplifier is factory-s et in t he posi ti on control mode. Change t he parameter set tings when: x The control mode is changed; x The number of pulses per s ervo motor revoluti on is changed; or x The machine mount ed wit h the s ervo motor hunt s or operat ional performance i s furt he[...]

6 - 7 6. DISPLAY AND OPER ATION (b) 5-digit paramet er The fol lowing example s hows the opera tion procedure performed t o change the el ectronic gear deno minator (parame ter No. 4) into "12345": Call t he dis pl ay s creen s hown aft er power-on. Press MODE once. S elect parameter No. 4 with UP / DOWN. Press SET once. Press MODE once .[...]

6 - 8 6. DISPLAY AND OPER ATION 6.6 External I/O s ignal display The ON/OFF s ta tes of t he digi ta l I/ O si gnal s connected t o the s ervo a mpli fier can b e confirmed. (1) Operation Call t he dis pl ay s creen s hown aft er power-on. Press MODE o n ce. Pre ss UP o nce. ⋅⋅⋅⋅⋅⋅⋅ ⋅ External I/O signal displ ay screen (2) D isplay[...]

6 - 9 6. DISPLAY AND OPER ATION (a) Control modes and I/ O s igna ls (Note 2) Sym bol s of I/ O S ignals i n Cont rol Modes Connector Pin No. Signal Input/O utput (Note 1) I/O P P/S S S/T T T/P 8I C R C R / S P 1 (Note 3) SP1 SP1 (Note 3) SP1 SP 1/CR 1 4 O O P O PO PO PO PO P (Note 6, 8) 18 O INP INP / SA SA SA/  /INP CN1A (Note 8 ) 19 O RD R[...]

6 - 10 6. DISPLAY AND OPER ATION (3) D efault signal indic ations (a) Position control mode Lit: ON Ext ing ui sh ed: OFF Input signals Output signals TL (CN 1 B-9) Torque l imit PC (CN 1 B-8) Proportional control CR (CN 1 A-8) Clear RES (CN 1 B-14) Reset SON(CN 1 B-5) Servo- on LSN (CN 1 B-17) Reverse r otation str oke end EMG (CN 1 B-15) Forced s[...]

6 - 11 6. DISPLAY AND OPER ATION 6.7 Output signal for ced output (DO f orced output) POINT y When the se rvo syste m is used in a vertical lift ap plication, tu rning of f CNP2-9 (ele ctromagnetic brake ) will rele ase the ele ctromagn etic brake, causing a drop. T ak e drop preventi ve meas ures on the ma chine s i de. The output signal can b e f[...]

6 - 12 6. DISPLAY AND OPER ATION 6.8 Test oper ation m ode CAUTION y The tes t operation m ode is designed to c onfirm ser vo operation and not to confir m mac hine operation. In this m ode, do not use the s ervo m otor with the mac hine. y If any operational fault has occ urred, stop oper ation using the for ced stop (EMG ) signal. POINT y The S e[...]

6 - 13 6. DISPLAY AND OPER ATION 6.8.2 Jog operation Jog operation ca n be performed when t here is no command from t he externa l comma nd device. (1) Operation Connect EMG-SG t o st art jog operat ion and connect VDD-COM to us e the i nternal power suppl y. Hold dow n the "U P" or "DO WN" button to run the serv o moto r. Rele [...]

6 - 14 6. DISPLAY AND OPER ATION 6.8.3 Positioning operation POINT y The S ervo Configura ti on soft ware i s requi red to perform pos it i oning operation. Posit ioning operation ca n be performed once when there is no command from the external command device. (1) Operation Conne ct EMG-SG to start po sitioning operatio n and c onne ct VDD- COM to[...]

6 - 15 6. DISPLAY AND OPER ATION 6.8.4 Motor-less oper ation Without connecting the s ervo motor, you can provide output signal s or monitor the st atus dis play as if the servo motor is running in response to external input signals . This operat ion can be used to check the sequence of a hos t progra mmab le cont roll er or the l ik e. (1) Operati[...]

7 - 1 7. ADJUST M E N T 7. ADJUSTMENT 7.1 W hat Is Gain Adjus tment? 7.1.1 Diff erence between servo am plif ier and other drives Besides the servo ampli fier, there are other motor drives s uch as an inverter and s tepping driver. Among these dri ves, the s ervo a mpli fier req uir es ga in a djus tment . The inverter a nd stepping driver a re in [...]

7 - 2 7. ADJUSTMENT 7.1.2 Basics of the servo system Encoder Deviatio n counter − PG2 Positi on control section VG2 Speed control section Current control section Power control section −− Current loop Sp eed l oop Position loop Servo motor Moto r Command pulse train ++ + A general s ervo system configurati on is shown above. T he servo control[...]

7 - 3 7. ADJUSTMENT 7.2 Gain Adjus tment 7.2.1 Param eters requir ed for gain adj ustm ent Parameter No. Symbol Name No. 2 ATU Auto tuning No. 6 PG1 Position loop gain 1 No. 22 *OP4 Function selection 4 (mac hine resonanc e filter) No. 34 GD2 Ratio of loa d inertia m oment to m otor ine rtia mom ent No. 35 PG2 Position loop gain 2 No. 36 VG1 Speed [...]

7 - 4 7. ADJUSTMENT 7.2.3 W hat is auto tuning? The load i nertia moment is est imated from the angular speed ( ω ) and torque (T) in accordance with the equati on of motion (7. 1) used for motor a ccelerati on/decelerat ion. In act ualit y, the accel eration/ decelerati on charact eristics of the model and those of the act ual motor are compared [...]

7 - 5 7. ADJUSTMENT 7.3 Gain Adjust ment by Auto Tuning 7.3.1 Adjustm ent m ethod In the factory setting of the servo amplifie r, auto tu ning is v alid and th e resp onse se tting is "2". The initial se tting s pr ov ide su ff icien t tun ing fo r g en e ral machin es. Hig he r-le v el tu nin g can be p ro v ide d by adjusting the res po[...]

7 - 6 7. ADJUSTMENT 7.4 Manual Gain Adjus tment On some machines , gain adjustment ma y not be made by auto tuning or excellent gai n setting may not be made if gain adju stment is pe rformed by auto tuning. In this case, ad just the gains manually . Use any of the me thods g iven in this sec tion to ad just the gains. 7.4.1 W hen mac hine rigidity[...]

7 - 7 7. ADJUSTMENT 7.4.2 W hen the mac hine vibrates due to m achine r esonance f requency (1) Mac hine condition The serv o motor shaf t is oscillating at hig h frequ ency (100Hz o r more) . The servo motor shaft motion cannot be confirmed visually. However, if the machine generat es large noise and vibrates, make Adj ustment 1. If higher "r[...]

7 - 8 7. ADJUSTMENT 7.4.3 Load inertia m om ent is 20 or m ore tim es (1) Mac hine condition The machine ine rtia moment is 20 times o r more and the se rvo motor o scillates at low fre quency (5Hz or more). At this ti me, servo motor shaft vibration can be confirmed vis ually. This adjustme nt method is valid for th e follo wing machin es: (a) Mac[...]

7 - 9 7. ADJUSTMENT 7.4.4 W hen shortening the settling tim e (1) Mac hine condition The settlin g time will be increased by the g ains prov ided by auto tunin g. (2) Adj ustm ent procedure 1) Choose the response s et ti ng of s low res pons e. Set 0101 in paramete r No.2. 2) Alternate a start and a stop se veral times, ex ecute auto tun ing, and c[...]

7 - 10 7. ADJUSTMENT 7.4.5 W hen the sam e gain is used f or two or m ore axes (1) Mac hine condition To perform i nterpolation opera tion with t wo or more axes of servo ampl ifiers, t he position l oop gains of the axes ar e s et t o t he s ame va lu e. (2) Adj ustm ent procedure 1) To adjus t the gains of ea ch axis, adjus t the gains of a ll ax[...]

8 - 1 8. INSPECTION 8. INSPECTION W ARNING y Before star ting m aintenance/inspec tion, switch power of f, and after m ore than 10 seconds have elapsed, conf irm that the voltage is saf e in the tester or the like. Otherwise, you may get an electric shock . y Any person who is involved in inspec tion s hould be f ully com petent to do the work . Ot[...]

9 - 1 9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Trouble at Star t-Up CAUTION y Excess ive adjustm ent or change of param eter setting must not be m ade as it wi ll ma ke operation ins table. POINT y Us ing the optiona l Servo Configura tion software, you can refer to unrotat ed servo motor reasons , etc. The following faults may occur at s tart -up[...]

9 - 2 9. TROUBLESHOOTING No. Start-Up Sequenc e Fault Investi gat ion Possi bl e Caus e Refer To Rotation ripples (speed fluctuations) are larg e at low speed . Make gain adjustment in the follow ing proced ure: 1. Inc r e ase the auto tuning response level. 2. Re peat acce leratio n and deceleration several times to com plete auto tuning. Gain adj[...]

9 - 3 9. TROUBLESHOOTING (2) How to f ind the cause of position shif t Positioning unit (a) Ou tput pu lse co unter Q P CMX CDV (C) Servo on (SON), s troke end ( LSP/LSN) input (A) (b) Cumulative command p uls es Electronic gear (param eters No. 3, 4 ) C Servo moter SM Encoder L Machi ne (d) Machine stop p ositi on M (B) (c) Cumulative f eedback pu[...]

9 - 4 9. TROUBLESHOOTING 9.1.2 Speed control m ode No. Start-Up Sequenc e Fault Investi gat ion Possi bl e Caus e Refer To Not improv ed if conn ectors CN1A, CN 1B and CN P2 are disconnected. 1. Power supply voltage fault 2. Servo am plifier is faulty. Improv ed when connect ors CN1A and CN1B are disconnected. Power supply of CN 1 cabling is shorte[...]

9 - 5 9. TROUBLESHOOTING 9.1.3 Torque c ontrol m ode No. Start-Up Sequenc e Fault Investi gat ion Possi bl e Caus e Refer To Not improv ed if conn ectors CN1A, CN 1B and CN P2 are disconnected. 1. Power supply voltage fault 2. Servo am plifier is faulty. Improv ed when connect ors CN1A and CN1B are disconnected. Power supply of CN 1 cabling is shor[...]

9 - 6 9. TROUBLESHOOTING 9.2 W hen Alarm or W arning Has O ccurr ed 9.2.1 Alarm s and W arning lis t When a faul t occurs during operat ion, the corresponding a larm or warning is displayed. If any alarm or warning h as occurred, re fer to Se ction 9.2.2 or 9.2.3 an d take the ap propriate action. Set  1 in parameter No. 49 to output the a[...]

9 - 7 9. TROUBLESHOOTING 9.2.2 Rem edies for alarm s CAUTION y W hen any alar m has occ urred, elim inate its c ause, ens ure saf ety , then reset the alarm , and restar t operation. Otherwise, injur y may occur. POINT y When any of the following alarms has occurred, always remove its caus e and allow about 15 min utes for coo ling befo re resumin [...]

9 - 8 9. TROUBLESHOOTING Display Name Definition Cause Action A. 17 Board er ror 2 CP U / parts fault A. 18 Board e r r o r 3 Printe d board fault Faulty parts in the servo am plifier Alarm (A . 17 or A. 18) oc cur s if powe r is swit ched o n afte r connectors CN 1A, CN1 B, CNP2 , CNP3 a re disconn ected . Checking method Change the se rv o am pli[...]

9 - 9 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Puls e frequency of the command puls e is too hig h. C hange th e command puls e frequency to a proper v alue. 2. Noise en tered command pulses . Take actio n against noise. A. 35 Comm and puls e frequen cy error Input pul s e frequency of the command pulse is too hig h. 3. Command de[...]

9 - 10 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Mach ine struck someth ing. 1. Review operation p attern. 2. Install limit switche s. 2. Wrong connection of servo motor. Servo am plifie r ' s o u tput te r m inals U, V, W do not m atch servo motor's input term inals U, V, W. Connect correctly. 3. Servo syste m is instabl[...]

9 - 11 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Comm unic atio n cable fault (Open ca ble or short ci rcuit) Repair or ch ange the cab le. A. 8E Se r ial communication error Serial communication error occurred between s ervo amplifier and communication device ( e.g. personal computer). 2. Communication d evice (e.g. personal compu[...]

10 - 1 10. SPECIFICATIONS 10. SPECIFICATIONS 10.1 Servo Am plifier Standar d Specific ations Servo Amplifier Item MR-J2-03A5 Voltage 21.6 to 30VDC (instantane o us perm issible voltage 34V) HC-AQ0135D Continuous 0.8A, max. 2. 4A HC-AQ0235D Continuous 1.6A, max. 4. 8A Circuit powe r supply P o wer supply capacity HC-AQ0335D Continuous 2.4A, max. 7.2[...]

10 - 2 10. SPECIFICATIONS 10.2 Outline Dim ension Drawings 10.2.1 Servo am plif iers 5 (0.1 97) 5 (0.197) 5 5 (0.1 97) 2- φ 5 ( φ 0.197) hol e Servo Amp lifier Model Weight [kg] ([lb ]) MR-J2-03A5 0.2 (0.44) 90 (3.5 43) B2 B1 51 RDP P24M 62 RDN P24G 73 SDP P24L 84 SDN TRE 5 1 MR MRR 6 2 P5 LG 11 12 SD 10 4 7 3 UW 8 9 EV 1 SD 2 TXD LG 3 RXD 4 CNP1[...]

10 - 3 10. SPECIFICATIONS 10.2.2 Connectors (1) Connec tors f or CN1A/CN1B Model Connector : 10120-6000EL Shell kit : 10320-3210-000 [Unit: m m] ([Un it: in] ) 42.0 (1.65) 11.5(0.45) φ 6.7 ( φ 0.26) 20.9 (0.82) 2- φ 0.5 (0.02) 29.7 (1.17) Logo, etc. are indicated here. 33.0 (1.30) 10.0 (0.39) Model Connector : 10120-3000VE Shell kit : 10320-52F0[...]

10 - 4 10. SPECIFICATIONS (2) Connectors for CNP1/CNP2/CNP3 11.6 3.5 (0.138) 3 9.6 (0.378) 2.7 (0.106) A B 4.2 4.2 (0.165) 2.5 (0.098) 8.5 6.3 3 . 3 (0.13) 10.7 19.6 1 2 3 4 5 6 7 9 1 0 0.6 (0.024) 0.6 (0.024) R0.3 1.2 5.4 (0.213) 1 2 3 4 5 6 7 9 11 8 1 0 12 2 3 4 5 7 6 8 1 2 3 4 Mode l Variable Dime ns io ns A 9.6 ( 0.3 78) 5557- 04 R 5557- 08 R 5[...]

11 - 1 11. CHARACTERISTI CS 11. CHARACT ERIST ICS 11.1 Overload Protection Char acteristic s An electro nic thermal re lay is built in the servo amplif ier to protect th e servo moto r and servo amplifie r from overloads . The operat ion characteris tics of t he electronic t hermal relay ar e shown below. Overloa d 1 alarm (A. 50) occurs i f overlo[...]

11 - 2 11. CHARA CTERIST ICS 11.2 Dy nam ic Brak e Charac teristics When a n alarm, emergency s top or power failure occurs, the dynamic bra ke is operat ed to bring the s ervo motor to a su dde n stop. Fig. 11.2 sho ws th e patte rn in whic h the serv o moto r c omes to a sto p whe n th e dynamic brake is o perate d. Use Equatio n 11.1 to calculat[...]

11 - 3 11. CHARA CTERIST ICS 11.3 Encoder Cable Flexing Lif e The flexing life of the MR-JRCBL  M-H cable is shown below. This graph gives calcu lated valu es. Since they are not guar ant eed va lues , provi de a li tt l e al lowa nce for th ese va lu es. 1 × 10 8 4 7 10 20 40 70 100 200 Flex ing life [ times] Flexing radius [mm] 1 × 10 7 1 ×[...]

12 - 1 12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUX I LIARY EQU IPM EN T W ARNING y Before connecting any option or auxiliary equipment, switch power off , and after mo re than 10 sec onds have elapsed, c onfirm that the voltage is saf e in a tester or the like. Not doing s o can cause an elec tric s hock . CAUTION y Use the specified au[...]

12 - 2 12. OPTIONS AND AUX ILIAR Y EQUI PMEN T No. Product Model Descript ion Applic ation Servo ampli fier side connector (Molex make) Connect o r : 5557-12R-210 Term inal: 5556 Servo motor side connector (Molex make) Connecto r: 5559-12P-210 Term inal: 5558 1) Motor c able MR-JRCBL  M-H Refer to (2) in this section IP44 compliant Servo ampli f[...]

12 - 3 12. OPTIONS AND AUX ILIAR Y EQUI PMEN T (2) Motor cable CAUTION y If you have fabricated the m otor c able, connect it co rrectly. Otherwise, m isoperation or explosion m ay occur. POINT y The encoder ca bl e is not oil resi s ta nt. y Refer to s ecti on 11 .3 for t he fl exing l ife of t he motor ca bl e. Generally use the encoder ca ble av[...]

12 - 4 12. OPTIONS AND AUX ILIAR Y EQUI PMEN T (c) Connection diagram When fabricatin g the cable, use the reco mmende d wire (J14B1180) given in Section 12.2.1 and follow the connectio n diagram sho wn belo w. A cable of up to 30m may be fabricate d for this connection. 11 5 3 9 2 7 8 1 6 12 10 4 11 5 3 9 2 7 8 1 6 12 10 4 LG P5 B2 B1 U V W E MR M[...]

12 - 5 12. OPTIONS AND AUX ILIAR Y EQUI PMEN T (3) C omm unic ation cable POINT y Thi s ca bl e may not be us ed wit h s ome persona l comput ers. Aft er fully examining the sign als of the RS-232C conne ctor, ref er to this se ction and fabricate the cable. Select the communication cable acco rding to the shap e of the RS-232C co nnecto r of the p[...]

12 - 6 12. OPTIONS AND AUX ILIAR Y EQUI PMEN T 12.1.2 J unction term inal block (MR-T B20) (1) How to use the j unction term inal block Always use the junction termina l block (MR-T B20) with the juncti on terminal block cable (MR- J2TBL05M) as a set. A con nection example is shown below: Sarvo amplifier Junction termina l block MR-TB2 0 CN1A or CN[...]

12 - 7 12. OPTIONS AND AUX ILIAR Y EQUI PMEN T (4) J unction term inal block cable ( MR-J2T BL05M) Model: MR-J2TBL05M Cable length: 0.5[m] LG LG 10 B1 NP VC 0 A1 PP VDD 11 B2 P15R DO1 1 A2 SON 12 B3 TLC 2 A3 13 B4 PC 3 A4 COM TL 14 B 5 SG SG 4 A5 OPC P15R 15 B6 NG TLA 5 A6 PG COM 16 B7 RES 6 A 7 EMG 1 7 B8 LSP 7 A 8 LSN 18 B9 INP ALM 8 A9 ZSP 19 B [...]

12 - 8 12. OPTIONS AND AUX ILIAR Y EQUI PMEN T 12.1.3 Servo c onfigurations software The S ervo Configuration soft ware uses t he communication functi on of the servo ampli fier to perform parameter setting changes , graph display, t est operat ion, etc. on a pers onal computer. (1) Specif ications Item (Note 1) Desc ri pt ion Communic atio n signa[...]

12 - 9 12. OPTIONS AND AUX ILIAR Y EQUI PMEN T (b) Configuration diagra m 1) When using RS-232C CNP3 CNP2 Personal computer To RS-232C connector Communication cable Servo amplifier Servo mo t o r 2) When using RS-422 You can make mult idrop connect ion of up to 3 2 axes . Person al comp uter CNP1 CN P2 Servo amp lifier Servo motor Servo motor Servo[...]

12 - 10 12. OPTIONS AND AUX ILIAR Y EQUI PMEN T 12.2 Auxiliary Equipment Always use the dev ices indicated in this sectio n or e quivalent. To co mply w ith the EN Standard or UL/C- UL Sta ndard, use t he product s whi ch conform t o the corres ponding s t andard. 12.2.1 Rec omm ended wires (1) W ir es for power supply w iring The fol lowing diagra[...]

12 - 11 12. OPTIONS AND AUX ILIAR Y EQUI PMEN T 12.2.3 Relay s The followi ng rela ys sh ould b e used wi t h the i nt erfaces : Interfac e Select i on E xample Relay used espec ially fo r switching on -o ff input command (interface DI-1) signals To prevent defective con tacts , us e a relay f or small sig nal (twin contacts). (Ex.) OMRON : type G2[...]

12 - 12 12. OPTIONS AND AUX ILIAR Y EQUI PMEN T (c) Techniques for noi ses radia ted by the s ervo amplifier tha t caus e peripheral devices t o malfunction Noises produced by t he servo ampl ifier are clas sified into those radiated from the cabl es connected to the s ervo amplifier and its main circuit s (input and output circuits), those induced[...]

12 - 13 12. OPTIONS AND AUX ILIAR Y EQUI PMEN T Noise Transm iss ion Route Suppression Tec hniques 1) 2) 3) When measuring instrume nts, re ce ivers, senso rs, e tc. which handle weak signals and may malfu nction du e to noise and /or their sig nal cab les are conta ined in a control box t ogether with the servo amplifie r o r r un ne ar the servo [...]

12 - 14 12. OPTIONS AND AUX ILIAR Y EQUI PMEN T (b) Cable clamp fitting (AERSBAN-  SET) Generally, the earth of the shielded ca ble may onl y be connected to t he connector's SD t erminal. However, the effect can be increased by directly connect ing the cable t o an earth plate as s hown below. Instal l the ea rth plate nea r the servo ampl[...]

13 - 1 13. COMMUNICATI ON FUNCTIONS 13. COMMUNICAT ION FUNCTIONS The MR-J2- 03A5 has the RS-422 an d RS-232C serial co mmunication functio ns. These f unction s can be used to perform servo opera ti on, para meter cha nging, moni tor funct ion, etc. Howev er, the RS-422 and RS-232C commu nication f unctio ns can not be used toge ther. Se lect betw [...]

13 - 2 13. COMMUNICAT ION FUNCTIONS 13.1.2 RS- 232C configur ation (1) Outline A single ax is of servo amplifier is o perated . Controller such as personal computer RS-232C MITSUB ISHI OPEN CN1A CN1B CNP1 CNP2 CNP3 MELSERVO To CNP3 Servo amplifier (2) C able connection diagram Wire as shown below. The communicat ion cable for connection with t he p[...]

13 - 3 13. COMMUNICAT ION FUNCTIONS 13.2 Com munic ation Specif ications 13.2.1 Com m unication over view The MELSERVO-J2 s eries is designed to send a reply on receipt o f an instruction. The device which gives this instruction (e .g. perso nal compute r) is called a master statio n and the device wh ich sends a re ply in respon se to th e instruc[...]

13 - 4 13. COMMUNICAT ION FUNCTIONS 13.2.2 Param eter s etting When the RS-422/RS-232C commu nication functio n is used to op erate the serv o, set the commu nication specificatio ns of the servo amplif ier in the correspon ding parame ters. After s etting th e values of t hese pa rameters, th ey are made val id by s witching power off once, then o[...]

13 - 5 13. COMMUNICAT ION FUNCTIONS 13.3 Protocol Since up to 32 ax es may be connected to the bus, ad d a station n umber to the command, d ata No., etc. to determine the destinat ion servo amplifier of data communication. Set the stat ion number to each servo amplifier usin g the parameter. Tran smission d ata is valid f or the servo amplifie r o[...]

13 - 6 13. COMMUNICAT ION FUNCTIONS 13.4 Character Codes (1) C ontrol codes Code Name Hexadecimal (ASCII code) Description Personal Computer Terminal Key O peration (General) SOH STX ETX EOT 01H 02H 03H 04H start of head start of te xt end of text end of transmission ctrl + A ctrl + B ctrl + C ctrl + D (2) Codes f or data JIS8 uni t codes ar e used[...]

13 - 7 13. COMMUNICAT ION FUNCTIONS 13.5 Error Codes Error codes are used in the following cas es and an error code of s ingle-code lengt h is t ransmit ted. On receipt of dat a from the mast er stati on, the slave s tation s ends the error code correspondi ng to that data to the master s tation. The error code sent in upper-cas e indicates that th[...]

13 - 8 13. COMMUNICAT ION FUNCTIONS 13.7 Tim e-Out O peration The ma ster st ation tra nsmits EOT when the sl ave stat ion does not start reply operation (S TX is not receive d) 300[ms] af ter th e master station has e nded communicatio n ope ration. 100[ms] after th at, the master station r etransm its the me ssage. Tim e-ou t occu rs if the slave[...]

13 - 9 13. COMMUNICAT ION FUNCTIONS 13.9 Initialization After the slave station is switched on, it cannot re ply to communicatio n until the inte rnal initialization processing t ermina tes . H ence, at power-on, ordi nary communi cat ion s hould b e st ar ted a fter: (1) 1 s or mor e time h as elapse d after the slave station is sw itched on; and [...]

13 - 10 13. COMMUNICAT ION FUNCTIONS 13.11 Comm and and Data No. Lis t 13.11.1 Read comm ands (1) Status display (Comm and [0][1]) Command Data No. Description Displ ay Ite m Frame Length [0][1] [8][0] cumulative feedback pulses 12 [0][1] [8][1] servo motor spe ed 12 [0][1] [8][2] droop pulses 12 [0][1] [8][3] cumulative command pulses 12 [0][1] [8[...]

13 - 11 13. COMMUNICAT ION FUNCTIONS (5) Cur rent alarm (Com m and [0][2] ・ [3][5]) Command Data No. D escription Frame Length [0][2] [0][0] Current alarm number 4 Command Data No. Description Display Item Frame Length [3][5] [8][0] cumulative feedback pulses 12 [3][5] [8][1] servo motor spe ed 12 [3][5] [8][2] droop pulses 12 [3][5] [8][3] cumul[...]

13 - 12 13. COMMUNICAT ION FUNCTIONS (5) O peration m ode selection ( com m and [8][B]) Command Data No. Description Setting Range Frame Length [8][B] [0][0] Operat ion mode chang ing 0000: Exit from t est oper ation mode 0001: Jog operation 0002: Positioning operation 0003: Motor-less operat ion 0004: DO forced out put (out put sig nal for ced out[...]

13 - 13 13. COMMUNICAT ION FUNCTIONS 13.12 Detailed Explanations of Com m ands 13.12.1 Data processing When the maste r station transmits a command + data No . or a command + data No . + data to a slave station, t he servo amplifier returns a reply or data according to the purpos e. When numerica l va lues ar e represent ed in thes e s end dat a a [...]

13 - 14 13. COMMUNICAT ION FUNCTIONS (2) W riting the proc essed data When th e d ata to be w ritte n is hand led as de cimal, th e d e cimal po int p o sition must be sp ec ifie d. If it is not spec ified, the d ata cannot be writte n. When the data is handled as hex adecimal, spe cify "0" as the decimal point pos it ion. The data to be [...]

13 - 15 13. COMMUNICAT ION FUNCTIONS 13.12.2 Status display (1) Status display data read When the master station tr ansmits the d ata No. (ref er to the follo wing table for assignm ent) to the slave statio n, the slav e station se nds back th e data valu e and d ata proc essing in form ation. 1) Transmissio n Transmit command [0][1] and the data N[...]

13 - 16 13. COMMUNICAT ION FUNCTIONS 13.12.3 Param eter (1) Param eter read Read the parame ter settin g. 1) Transmissio n Transmit command [0][5] and t he data No. corres ponding to t he parameter No. The data No. is expressed in hexadeci mal equival ent of the data No. valu e corresponds to the parameter number. Comm and Data No. [0][5] [0][0] to[...]

13 - 17 13. COMMUNICAT ION FUNCTIONS (2) Para meter w ri te POINT y The number o f paramete r write times is re stricted to 100,000 time s. Write the param eter se tting. Write the value w ithin the setting range. Refer to Sectio n 5.1 for the settin g rang e. Transmit co mmand [8][4] , the data N o., and th e set d ata. The data No. is express ed [...]

13 - 18 13. COMMUNICAT ION FUNCTIONS 13.12.4 External I/O pin status es (DIO diagnos is) (1) Ex ternal input pin status read Read the ON/OF F s ta tus es of t he externa l i nput pins . (a) Tran smission Trans mit command [1 ][2] a nd dat a No. [4][0]. Comm and Data No. [1][2] [4][0 ] (b) Reply The ON/OFF s t at us es of t he i nput pi ns are s ent[...]

13 - 19 13. COMMUNICAT ION FUNCTIONS 13.12.5 Disable/enable of exter nal I/O signals (D IO) Inputs can b e disabl ed independently of the ext ernal I/O signal ON/ OFF. When i nputs are di sabled, the input signals are recog nized as follow s. Among th e external input sig nals, EMG, LSP an d LSN cann ot be disabled. Signal Status Extern al input si[...]

13 - 20 13. COMMUNICAT ION FUNCTIONS 13.12.6 External input signal O N/OFF ( Test oper ation) Each input signal can be tur ned on/off f or test operation. Tur n off the external input signals. Send com m and [9] [2], data No. [0] [0] and data. Comm and Data No. Set Data [9] [2] [0] [0] See below b31 b0 0: OFF 1: ON b1 Command of each bi t is transm[...]

13 - 21 13. COMMUNICAT ION FUNCTIONS 13.12.7 Test operation m ode (1) Ins tructions f or test oper ation m ode The test operation mode must be executed in the fol lowing procedure. If communication is int errupted for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a stop and s ervo-locked. To preve[...]

13 - 22 13. COMMUNICAT ION FUNCTIONS (2) J og operation Transmi t t he foll owing communica ti on commands : (a) Setting of jog operat ion da t a Item Com mand Data No. Data Speed [A][0] [1][0] Write the s peed [r/mi n] in hexa decima l. Accelerati on/decelerati on time constant [A][0] [1][1] Writ e the accelerati on/deceleration t ime constant [ms[...]

13 - 23 13. COMMUNICAT ION FUNCTIONS 13.12.8 Output signal pin ON/OFF (DO f orced output) In the test opera ti on mode, t he output s igna l pi ns ca n be t urned on/off i ndependentl y of t he servo s t at us. Using command [9 ][0], dis ab le t he out put s igna ls i n adva nce. (1) Choos ing DO for ced output in test operation m ode Transmit comm[...]

13 - 24 13. COMMUNICAT ION FUNCTIONS 13.12.9 Alarm hist ory (1) Alarm No. read Read the alarm No. wh ich occurred in the past. The alarm numbe rs and o ccurrence time s of No. 0 ( last alarm) to No . 5 (sixth alarm in the past) are read . (a) Tran smission Send command [3][3] a nd dat a No. [1][0 ] to [1 ][5]. Refer t o Sect ion 13 .1 1. 1. (b) Rep[...]

13 - 25 13. COMMUNICAT ION FUNCTIONS 13.12.10 Current alarm (1) Cur rent alarm read Read the alarm No. which is occurring currently. (a) Tran smission Send command [0][2] a nd dat a No. [0][0 ]. Comm and Data No. [0][2] [0][0 ] (b) Reply The slave station send s back the alarm curren tly occurring . 00 Alarm No. is transferred in decimal. For examp[...]

13 - 26 13. COMMUNICAT ION FUNCTIONS 13.12.11 Other com m ands (1) Ser vo motor end pulse unit absolute pos ition Read the a bs olut e pos it ion i n t he s ervo motor end pul se uni t. (a) Tran smission Send command [0][2] a nd dat a No. [9][0 ]. Comm and Data No. [0][2] [9][0 ] (b) Reply The sl ave s ta t ion s ends b ac k t he requ est ed s ervo[...]

REVISIONS *The manual numb er is given on t he bot tom left of the b ack cover. Print Data *Manual Number Revision Feb.,1999 SH(NA)3200-A First edition Oct.,1999 SH(NA)3200-B Deletio n of 2(3)(a) in COMPLIANCE WITH EC DIRECTIVES Section 1.3: Rating plate chang ed Section 3.2: Corrections made t o CN1B -4 and CN 1A-18 c onnect ions Section 3.3.1 (1)[...]

*The manual numb er is given on t he bot tom left of the b ack cover. Print Data *Manual Number Revision Section 10.2.2 (1): Addition of the outline drawings of c onnec tor 10120 -3000EL and shell kit 10320-52A0-008 Section 11.1: Addition of descri ption rela ted to load duri ng a stop Section 12.2.1 (2): Addition of finishing OD Changes made to th[...]

General-Purpose A C Serv o J2-Jr Series J2-Jr Series MR-J2-03A5 HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 3200-B (9910) MEE Printed in Japan Specifications subject to change without notice. General-Purpose Interface MR-J2-03A5 Serv o Amplifier Instruction Manual B Serv o Amplifier Instruction Manual B[...]