Bose MR-J2S- B manuel d'utilisation

General-Purpose A C Serv o J2-Super Series SSCNET Compatible MR-J2S- B Serv o Amplifier Instruction Manual B[...]

A - 1 Safety Instructions (Alwa ys read thes e instr uctions before us ing the equipm ent.) Do not attem pt to instal l, opera te, m ainta in or ins pect the s ervo am plifier an d servo m otor unt il you ha ve read throug h th is Ins truct ion Manua l, Ins tall atio n guid e, S ervo m otor Ins truct ion Manu al and app ende d docum ents caref ul l[...]

A - 2 1. To prevent electric shock, note the follow ing: WARNING Befor e wiri ng or insp ectio n, s witch power off and wait f or m ore th an 10 m inu tes. T hen, c onf irm the vol tage is saf e with vo ltage t ester. Ot herwis e, you m ay get an e lectric shoc k. Conn e ct th e se rvo a mpl i fie r and se rvo moto r to gr ound . Any pers on who is[...]

A - 3 4. Additional instruct ions The fol lowing instruc tions sho uld also be fu lly n oted . Inc orrec t han dling m ay caus e a f ault, inj ury, electr ic shock , etc. (1) Transportation and installation CAUTION Trans port the pr oducts correc tl y accordin g to their weights . Stack ing in exc ess of th e spec if ied num ber of pr oducts is not[...]

A - 4 CAUTION Secur el y att ach th e ser vo m otor to the m achi ne. If attac h ins ecure l y, the ser vo m otor m ay com e of f dur ing operat ion. The s ervo m otor with r educti on gear m us t be ins ta lled i n th e spec ified direc ti on to pr even t oi l leak age . For saf et y of per sonne l, a lwa ys co ver ro tating and m ov ing par ts. N[...]

A - 5 (4) Usa ge CAUTION Prov ide a f orc ed st op cir cuit to e nsure that oper atio n can be s topp ed and po wer s witch ed of f im m ediate ly. Any per son who is invol ved in dis ass em bly and re pair s houl d be f ull y com pete nt to do t he wor k. Befor e resettin g an alarm , mak e sure that the r un signa l is of f to pr event an acc ide[...]

A - 6 (6) Maintenance, inspection and parts replacement CAUTION W it h a ge, th e ele ctroly tic capa citor w ill det eriora te. To prev ent a seco ndary accide nt due t o a fault , it is recom mende d to r eplac e t he elec trol ytic c apac itor ever y 10 years when us ed in ge neral envir onm ent. Pleas e cons ult our s ales re prese ntat ive. (7[...]

A - 7 COMPLIANCE WITH EC DI RECTIVES 1. W HAT ARE EC DIRECTI VES? The EC directives were issued to standardize the regulations of t he EU countries and ensure smooth distribution of safet y-guaranteed products. In the EU countries, the machinery directive (effective in Jan uary, 199 5), EMC dir ective (ef fecti ve in Ja nuary, 1996) and low v oltag[...]

A - 8 (4) Power supply (a) Operate the servo amplifier t o meet the requirements of the overvolt age category II set forth in IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN standa rd sho uld be u sed in the power inpu t sec tion. (b) When s upplying interface power from external, use a 24VDC power supply w[...]

A - 9 (7) Auxi liar y equipm ent and op tions (a) T he no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant products of the models described in Section 12.2.2. (b) The size s of the cables de scribe d in Sect ion 12. 2.1 mee t the f ollow ing re quirem ents . To me et t he other requ ireme nts, f ollo w Table 5 and[...]

A - 10 CONFORMANCE WIT H UL/C-UL STANDA R D (1) Ser vo am pl ifiers an d servo m otors us ed Use the serv o amplif iers and se rvo motor s which co mply with the stand ard mod el. Serv o amp li fi er :MR -J2S -1 0B t o MR-J2 S -7 00B MR-J2S- 10B1 to MR-J2 S-40B 1 Servo motor :HC-K FS HC-M FS HC-S FS HC-RF S HC-UF S (2) Installation Install a fan of[...]

1 CONTENTS 1. FUNCT IONS AN D CONFIGU RATION 1- 1 to 1- 18 1.1 Intro duction ............................................................................................................... ............................... 1- 1 1.2 Fu nction b lock di agram ..............................................................................................[...]

2 4.2 Sta rt up ................................................................................................................... .................................. 4- 2 4.3 Servo amp lifier display .................................................................................................... ....................... 4- 4 4.4 Te st oper atio[...]

3 11. CH ARAC TERI STICS 11- 1 t o 11- 8 11.1 Ove rload pro tect ion charac teris tics ....................................................................................... ............ 11- 1 11.2 Po wer supply equip men t capacity and ge nerated lo ss .................................................................... 11- 3 11.3 Dyn amic b rake[...]

4 Opti onal S ervo Mo tor In structio n Manu al CON TENTS The rough table of contents of the optio nal ME LSERVO Servo Motor In struc tion Manua l is in troduced here for your reference. Note that the contents of the S ervo Motor Instruction Manual are not included in the Serv o Amp lifier Instru ct ion Man ual . 1. INTRODUCT ION 2. IN STALL ATIO N[...]

1 - 1 1. FUNCTIONS AND CONFIGURATI ON 1. FUNCTIONS A ND CONFIGURAT ION 1.1 Introduc tion The Mitsubish i MELSERVO-J 2-Super series general-pu rpose AC servo is b ased on the ME LSERVO-J2 series and has further higher performance and higher fun ctions. It is connected with a servo system controller or sim ilar device via a serial bus (SSCNET) and th[...]

1 - 2 1. FUNCTIONS A ND CONFIGU RATION 1.2 Func tion bloc k diagr am The function block diagram of this servo is shown below. RS-232C RA DS (MR-J2S-200B or more) Fa n Servo motor D C P NFB MC L 1 L 2 L 3 L 11 L 21 E2 Actual position control Actual spe ed control CN2 CON1 MR-BAT U V W U V W SM E1 (Note 1) CN1A CN1B D/A CN3 (Note 2) Power supply 3-ph[...]

1 - 3 1. FUNCTIONS A ND CONFIGU RATION 1.3 Serv o am plifier s tandard s pecif icati ons Servo Amplifier MR-J 2S- Item 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 10B1 20B1 40B1 Volta ge/frequ ency 3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC, 50/60Hz 3-phase 200 to 230VAC, 50/60Hz 1-phase 100 to 120VAC 50/60Hz Permissible voltage fluctuation [...]

1 - 4 1. FUNCTIONS A ND CONFIGU RATION 1.4 Func tion list The foll owing table l ists the functions of t his servo. For details of the functions, refer to the corresponding chapter s and se ction s. Function Description Refer to High-resolution encoder High-resolution encoder of 131072 pulses /rev is used as a servo motor encoder. Absolute position[...]

1 - 5 1. FUNCTIONS A ND CONFIGU RATION 1.5 Mode l code d efinit ion (1) Rating plate POWER MITSUBI SHI AC S ERVO MADE IN JAPAN MODEL MR-J 2S-60B MITSUBISHI ELECTRIC CORPORATION 600W 3.2A 3PH 1PH200- 230V 50 Hz 170V 0 -360Hz 3.6 A POWER : INPUT : OUTPUT : SERIAL : AC SE RVO TC3XXAAAAG5 2 PASSED Model Capacity Applicable power supply Rated output cur[...]

1 - 6 1. FUNCTIONS A ND CONFIGU RATION 1.6 Com bination with ser vo motor The follow ing table list s combinatio ns of servo ampl ifier s and se rvo moto rs. The same comb inat ions app ly to the mod els w ith e lectr om agnet ic br ake s and the m ode ls w ith re duct ion g ears . Serv o motor s HC-SFS HC-UFS Servo a mplifier HC-KFS HC-MFS 1000r/m[...]

1 - 7 1. FUNCTIONS A ND CONFIGU RATION 1.7 Structure 1.7.1 Parts ide ntificat ion (1) MR-J2S-100B or less Refer to Section13.3 Chapter4 Name/Ap plication Bat te ry h o lde r Contains the battery for absolute position data backup. Battery connector (CON1) Used to connect th e batter y for absolute pos ition dat a bac kup . Display The two-d igit, se[...]

1 - 8 1. FUNCTIONS A ND CONFIGU RATION (2) MR-J2S-200B MR- J2S-350B POINT The servo am plifier is s hown without the front cover. For removal of t he front cover, refer to Section 1.7.2. Refer to Section13.3 Chapter4 Name/Applicat ion Bat tery holde r Contains the battery for absolut e position data backup. Battery connecto r (CON1 ) Used to connec[...]

1 - 9 1. FUNCTIONS A ND CONFIGU RATION (3) MR-J2S-500B POINT The servo am plifier is s hown without the front cover. For removal of t he front cover, refer to Section 1.7.2. 1 C B 9 8 7 5 4 3 0 F D A B C D E F 0 1 2 3 4 5 6 7 8 9 Refer to Section13.3 Name/Ap plication Bat te ry h o lde r Contains the battery for absolute position data backup. Batte[...]

1 - 10 1. FUNCTIONS A ND CONFIGU RATION (4) MR-J2S-700B POINT The servo am plifier is s hown without the front cover. For removal of t he front cover, refer to Section 1.7.2. A B C D E F 0 1 2 3 4 5 6 7 8 9 1 C B 9 8 7 5 4 3 0 F D Refer to Name/Ap plication Battery connector (CON1) Used to connect th e battery for absolute pos ition data bac kup . [...]

1 - 11 1. FUNCTIONS A ND CONFIGU RATION 1.7.2 Rem oval an d reinst allatio n of the f ront co ver CAUTION T o avoid the r isk of an electr ic s hock , do not o pen th e fr ont co ver while p ower is on. (1) For MR-J2S-200B or more Front cover hook (2 places) Fro nt co ve r so cke t (2 places) 2) 1) Fro nt co ve r 2) 1) Removal of the f ront cover R[...]

1 - 12 1. FUNCTIONS A ND CONFIGU RATION (3) For MR-J2S-700B Fro nt co ve r so cke t (2 places) A) 1) Removal of the f ront cover Reinstallation of the f ront cover 1) Insert the two front cover hook s at the bott om into the so ckets of the se rvo amp lif ier. 2) Press the f ront cover against the serv o amplifier until the r emoving knob cl icks. [...]

1 - 13 1. FUNCTIONS A ND CONFIGU RATION 1.8 Servo system with auxiliar y equipm ent W ARNING To pre vent an elec tric shoc k, a lwa ys con nect t he pr otec tive eart h ( PE) t erm inal (term inal m ar k ed ) of the servo amplifi er to the prot ecti ve earth (P E) of the contr ol box. (1) MR-J2S-100B or less (a) F o r 3- phas e 20 0V t o 23 0VA C o[...]

1 - 14 1. FUNCTIONS A ND CONFIGU RATION (b) F or 1-p has e 10 0V t o 12 0VA C L 1 L 2 L 21 L 11 UV W D P C 1-phase 100VAC power supply No-fuse breaker (NFB) or fuse Mag netic contacto r (MC) To CN2 To CN3 To CN1B To CN1A Protective earth(PE) terminal Servo mo t o r Personal computer Servo configuration software MRZJW3- SETUP121 E Servo amplifier Re[...]

1 - 15 1. FUNCTIONS A ND CONFIGU RATION (2) MR-J2S-200B MR- J2S-350B L 1 L 2 L 3 L 11 L 21 U V W PC 3-phase 200V to 230VAC power supply No-fuse breaker (NFB) or fuse Mag netic contacto r (MC) To CN3 To CN1B To CN1A Servo amplifi er Regenerative brake optio n Options and auxiliary equi pment No-fuse br eaker Magnetic contactor Servo co nfi gu ra tio[...]

1 - 16 1. FUNCTIONS A ND CONFIGU RATION (3) MR-J2S-500B To CN1 A Options and auxi liary equipment No-fuse breaker Magnetic c ontactor Servo co nfig u rati on softw a re Regenera tive brak e option Refer to Section 12 .2.2 Section 12 .2.2 Section 12 .1.7 Section 12 .1.1 Options and auxi liary equipment Refer to Cables Section 12.2.1 Power fa ctor im[...]

1 - 17 1. FUNCTIONS A ND CONFIGU RATION (4) MR-J2S-700B W V Options and au xiliary equipment No-fuse br eaker Magnetic contactor Servo configur ati on software Regenerat ive brake op tion Refer to Section 12.2.2 Section 12.2.2 Section 12.1.7 Section 12.1.1 Options and au xiliary equipment Re fer to Cables Section 12.2.1 Power fact or i mpro ving re[...]

1 - 18 1. FUNCTIONS A ND CONFIGU RATION MEMO[...]

2 - 1 2. INSTALLATION 2. INSTALLA TION CAUTION Stack ing in exc ess of the lim ited n um ber of pr oduc ts is not allo wed. Instal l th e equi pm ent to incom busti bles. Inst alling t hem direc tl y or cl ose to com bustibl es will l ed to a fire. Instal l the equ ipm ent in a load- bea rin g place in accorda nce with this Ins tr uctio n Manual . [...]

2 - 2 2. INSTALLATION 2.2 Instal lation direc tion and clearanc es CAUTION The equ ipm ent must be i nsta lled in th e spec ified dir ecti on. O ther wise, a fault m ay occur. Leave s pecif ied cl earanc es bet we en the s erv o am plif ier a nd co ntro l box ins ide walls or other eq uipm ent. (1) I nsta llati on of one s er vo amp lifi er Control[...]

2 - 3 2. INSTALLATION (2) I nstal lati on of two or m ore ser vo am pl ifiers Leave a large clearance b etween the top of the s ervo amplifier and the internal surface of the control box, and install a fan to prevent the internal t emperature of the control box from exceeding the environm ental con ditio ns. Control box 30mm (1.2 i n.) or more 30mm[...]

2 - 4 2. INSTALLATION 2.4 Cable s tress (1) T he way of clampi ng the cable must be full y examined so that flexing stress and cable' s own weight stress are not appli ed to the cable connection. (2) In a ny application where the servo motor moves, the cables shoul d be free from excessive stress. For use in any application where the servo mot[...]

3 - 1 3. SIGNALS AND WIRI NG 3. SIGNALS AND W IRING W ARNING Any per son who is invol ved i n wir ing s houl d be f ull y com peten t to d o the wor k. Befor e st arting wiri ng, m ak e sure t hat t he vo ltag e is safe in t he test er m ore t han 10 minutes after po wer-of f. Other wise , you ma y get an electri c shoc k. Groun d the ser vo am pl [...]

3 - 2 3. SIGNALS AND WI RING 3.1 Conn ection ex ample of contr ol sig nal system POINT Refer to Section 3.5 for the connect ion of t he power supply syst em and to Section 3.6 for connection with the s ervo motor. Servo amplifier (Note 9) Servo configuration software (N ote 5) CN1A CN1B (Note 5) CS1 CN1A CN1B CN1A CN1B CN1A CN1B MR-J2S-B (2 ax i s [...]

3 - 3 3. SIGNALS AND WI RING Note 1. To prevent a n electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect th e diode in the corre ct direction. If it is con nected re versely , the servo amplifie r will be faulty a nd will not output si[...]

3 - 4 3. SIGNALS AND WI RING 3.2 I/O sign als 3.2.1 Connec tors a nd signal arrangem ents POINT The connector pin-out s shown ab ove are viewed from th e ca ble connector wiring section side. (1) Si gnal ar ran gem ent 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 RXD MO1 VDD LG SG COM TXD MO2 EM1 LG MBR 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 [...]

3 - 5 3. SIGNALS AND WI RING 3.2. 2 Si gn al ex plana ti on s For the I/O in terfaces ( symbols in I/O column in the table), refer to Section 3.4.2. (1) C onnect or applic ati ons Connector Nam e Functi on/Application CN1A Connector for bus cable from preceding axis. Use d for connection w ith the con trolle r or prece ding- axis servo amplifier. C[...]

3 - 6 3. SIGNALS AND WI RING 3.3 Alarm occ urrenc e timing c hart CAUTION W hen an al arm has occ urr ed, rem ov e its c aus e, m ake s ure tha t the oper atio n sign al is not be ing in put, en sure safety, an d reset the alarm befo re resta rting operat ion. When an a larm occurs in the servo amplifier, the bas e circuit is shut off and the servo[...]

3 - 7 3. SIGNALS AND WI RING 3.4 Interf aces 3.4.1 Comm on line The foll owing diagram sh ows t he power suppl y and its common li ne. To conform to the EMC directive, refer to the EMC Installat ion Guide li nes (IB(NA)673 10). EM1 SG MR MRR SD SM DI-1 COM VDD LG SD CN2 LG RS-232C LG RA Servo amplifi er 24V DC MBR <Isolated> LA . etc LAR .etc[...]

3 - 8 3. SIGNALS AND WI RING 3.4.2 Detai led desc ription of the interf aces This s ection gives the details of the I/ O signal int erfaces (refer to I/O Division in the table) indicated in Section s 3.2. 2. Refer to this sec tion and conn ect th e inter fac es with the exte rn al equip men t. (1) Digital inpu t interface DI-1 Give a signal with a [...]

3 - 9 3. SIGNALS AND WI RING (b) Lamp load 24VDC VDD COM R Servo amplifier MBR SG (3) En cod e r pul se outp ut DO -2 (Diff erenti al line dr iver sy stem) 1) Inte rface Max. output current: 35mA LA (LB , LZ ) LAR (LB R, L ZR) LG SD LA (LB , LZ ) LAR (LB R, L ZR) SD Servo amplifi er Servo amplifi er Am26LS32 or equiv alent High-speed photoco upler [...]

3 - 10 3. SIGNALS AND WI RING (4) Ana log output Output voltage : 10 V Max. output current : 1mA Resolu tion :1 0bit MO1 (MO2) LG SD A Servo amplifier Reading in one or both directi ons 1mA meter 10k[...]

3 - 11 3. SIGNALS AND WI RING 3.5 Power line circ u it CAUTION W hen the servo am plif ier has becom e f ault y, switc h p ower of f on the am plifi er power s ide. Cont inuous flo w of a lar ge cur rent m a y cause a fir e. Use the tro uble s ignal t o sw itch power off . Other wise, a re gener ative brak e trans istor fault or the lik e may o ver[...]

3 - 12 3. SIGNALS AND WI RING (2) For 1-phas e 100 t o 120V AC or 1-ph ase 230VA C powe r s uppl y EM1 COM OFF ON MC MC SK NFB MC L 1 L 2 L 3 L 11 L 21 VDD SG (Note 1) Alarm RA1 Controller emergency stop RA2 Forced stop Servo amplifier Forced stop Power supply 1-phase 100 to 120VAC or 1-phase 230VAC (Note 2) Note: 1. Configure up the power supply c[...]

3 - 13 3. SIGNALS AND WI RING 3.5.2 T erminals The posit ions and signal arrangements of the terminal blocks change with the capacity of the servo amplifie r. Refe r to Se ction 10. 1. Symbol Signal Description Supply L 1 , L 2 and L 3 with the f ollowing power: For 1-phase 230VAC, connect the power supply to L 1 /L 2 and le av e L 3 open. Servo a [...]

3 - 14 3. SIGNALS AND WI RING 3.5.3 Power -on se quence (1) Po wer-o n proc edur e 1) Alw ays wi re the po wer su pply as shown in a bove Se ction 3. 5.1 u sing th e magne tic cont actor wi th the main circuit power supply (3-phase 200V: L 1 , L 2 , L 3 , 1-phas e 230V: L 1 , L 2 ). Configure up an external s equence to switch off the magnetic cont[...]

3 - 15 3. SIGNALS AND WI RING 3.6 Conn ection of servo am plifier an d servo m otor 3.6.1 Connec tion ins tructi ons W ARNING Insula te th e con nectio ns of the p ower supp l y termina ls to pre vent a n el ectric shock . CAUTION Connec t the wires to the corr ect phas e term ina ls (U , V, W ) of the servo am plifier and ser vo m otor. O th erwis[...]

3 - 16 3. SIGNALS AND WI RING Servo m otor Connection diagram HC-KFS053 (B) to 73 (B) HC-MFS053 (B) to 73 (B) HC-UFS13 (B) to 73 (B) U V W Servo amplifier B1 B2 24VDC EM1 CN2 (Note 1) Encoder Ele ctro- ma g netic brake To be shut off w hen serv o- on sign al switches of f or by alarm s ignal Encoder cable U (Red) V (White) W (Black) (Gree n) Motor [...]

3 - 17 3. SIGNALS AND WI RING 3.6.3 I/O term inals (1) HC-KFS HC-MF S HC-UFS3 000r/m in s eries 24 13 4 Power suppl y connector ( molex) Without electr omagnetic brake 5557-04R-21 0 (receptac le) 5556PBT L (F ema le terminal) With electrom agnetic br ak e 5557-06R-21 0 (receptac le) 5556PBT L (F ema le terminal) Encoder cable 0.3m(0. 98ft) Power su[...]

3 - 18 3. SIGNALS AND WI RING (2) HC-SFS HC-RF S HC-UFS200 0 r/min s eries Servo motor side connectors Servo motor For power supply F or encoder Electromagnetic brake connector HC-SFS81(B) HC-SFS52(B) to 152(B ) HC-SFS53(B) to 153(B ) CE05-2A22- 23PD-B The c onnec t or for power is shared. HC-SFS121(B) to 301(B ) HC-SFS202(B) to 502(B ) HC-SFS203(B[...]

3 - 19 3. SIGNALS AND WI RING 3.7 Serv o motor with elec trom agnetic brak e CAUTION Configur e t he el ectrom agn etic br ak e oper atio n circ uit so that it is ac tivate d no t onl y by the s erv o am plif ier s igna ls but also b y an ext ern al for ced s top s igna l. EM1 RA 24VDC Contacts must be open when servo-on signal is off or when an al[...]

3 - 20 3. SIGNALS AND WI RING (3) T iming c harts (a) Servo-on command (from controller) ON/OFF Tb [ms] after the servo-on i s switched off, the servo lock is released and the servo motor coasts. If the electroma gnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a [...]

3 - 21 3. SIGNALS AND WI RING (c) Alarm occurrence Servo motor spee d ON OFF Base circui t Electromagnetic brake interlock (MBR) Invalid( ON) Vali d(OFF ) Trouble (ALM) No Yes Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake operation delay time Electromagnetic brake (10ms) (d) Both main and con trol circuit power supplies of[...]

3 - 22 3. SIGNALS AND WI RING 3.8 Groundi ng W ARNING Groun d the s erv o am plifier a nd ser vo m otor s ecur ely. To pre vent an elec tric shoc k, a lwa ys connec t t he pr otectiv e e arth ( PE) term inal of the ser vo am plif ier with th e pr otect ive earth (PE) of th e co ntrol box. The servo amplifier switches t he power transistor on-off to[...]

3 - 23 3. SIGNALS AND WI RING 3.9 Serv o amplif ier term inal block (T E2) wiring method (1) T erm inatio n of t he ca bles Solid wire: After the shea th has been stripped, the cable can be used as it is. (Cab le size: 0.2 to 2.5mm 2 ) Approx. 10mm Twiste d wire: Use the cable after str ippin g the shea th an d twi stin g the core. A t thi s tim e [...]

3 - 24 3. SIGNALS AND WI RING (2) Connection Insert the core of the cable into the opening and tighten the screw wit h a flat-blade screwdriver so that the cab le does not come off. (Tightening torque: 0.5 t o 0.6N m) Bef ore in sertin g the cable in to the opening, make sure that the screw of the terminal is ful ly loos e. When using a cabl e of 1[...]

3 - 25 3. SIGNALS AND WI RING 3.11 Control ax is select ion POINT The control a xis number set t o CS1 should be the sa me as the one set to the servo sys tem controller. Use the axis se lect switch (C S1) to se t the control axi s number for the servo. If the same nu mbers are set to different control axes in a si ngle communic ation system, t he [...]

3 - 26 3. SIGNALS AND WI RING MEMO[...]

4 - 1 4. OPERATION AND DISPLAY 4. OPERATION AND DISPLAY 4.1 W hen switch ing power on f or the firs t tim e Before starti ng operation, check the followi ng: (1) W iring (a) A correct power supply is connected to the power inpu t termin als ( L 1 , L 2 , L 3 , L 11 , L 21 ) of the servo amplifie r. (b) The servo mot or power supply terminals (U, V,[...]

4 - 2 4. OPERATION AND DISPLAY 4.2 Start up W ARNING Do not oper ate the switch es wit h wet hands . You m ay get an elec tric shock . Do not o per ate the co ntrol ler with the f ront c over rem oved . High- volt age term inals and ch argin g are a ex posed and you m a y get an e lectr ic s hock . During pow er-on or o perat ion, do n ot open the [...]

4 - 3 4. OPERATION AND DISPLAY (3) Servo-on Switch t he servo-on in t he followin g procedure: 1) Switch on m ain circui t/control power supply. 2) The controller transmits the servo-on command. When pla ced in the servo-on s tatus, th e servo amplifier is ready to operate and the servo motor is locked. (4) Home position return Always perform home [...]

4 - 4 4. OPERATION AND DISPLAY 4.3 Serv o am plifier d ispla y On the s ervo amplifier display (two-digit, seven-segment dis play), check the status of communication with the servo s ystem controller at power-on, check the axis number, and di agnos e a fa ult at occurrence of an alarm. (1) Display sequence Servo amplifier power O N Waiting for s er[...]

4 - 5 4. OPERATION AND DISPLAY (2) Indi cati on list Indication S tatus Description AA Initializing The s ervo a mplifie r was swi tched on wh en powe r to t he serv o system controll er is off. Ab Initializing Power to th e serv o syste m contr oller w as switch ed off during po wer-on of the servo amplifier. The axis No. s et to the s ervo system[...]

4 - 6 4. OPERATION AND DISPLAY 4.4 Tes t operatio n m ode CAUTION The tes t oper at ion m ode is des igne d for s erv o op erati on co nfir m ation an d not f or mac hine opera tio n conf irm ation. Do not use this mode with the mac hin e. Alwa ys use th e ser vo m otor al one. If an ope rat io n fa ul t occu rre d, u s e the fo r ced stop (EM1 ) t[...]

4 - 7 4. OPERATION AND DISPLAY (c) Program operation Positioni ng operation can be performed in two or more operation p atterns com bined, without using the servo system controller. Use this operation with the forced stop reset. This operati on may be used independently of whether the servo is on or off and whether the servo system controller is co[...]

4 - 8 4. OPERATION AND DISPLAY (2) C onfi gurat ion Configu ration shou ld be a s in Se ction 3.1. A lway s ins tall a force d stop swi tch to e nab le a s top at occurrence of an alar m. (3) Op erati on proc ed ure (a) Jog operation, positi oning operati on, program operation, DO forced output. 1) Switch power off. 2) Set CS 1 to “F”. When CS1[...]

5 - 1 5. PARAMETERS 5. PARAME TERS CAUTION Ne ver adj ust or chan ge the par am eter val ues extr emel y as it wil l mak e operatio n instab le. POINT When the servo amplifier is connected with the servo sy stem controller, the parame ter s ar e se t to the valu es o f the serv o sy ste m co ntr oller . Sw itch ing power off, then on makes the valu[...]

5 - 2 5. PARAMETERS (1) Item list Classi fi- cation No. Sym bo l Name (Note 1) Initial Value Unit Custom er setting 1 * AMS Amplifie r setting (Note 2) 0000 2 *REG Re gener ative br ake resistor 0000 3 0080 4 000 5 For manufact ur er setting 1 6 *FBP Feed back puls e numb er 0 7 * P OL Rot ati o n d i rec tio n se lec tio n 0 8 ATU Auto tuning 0001[...]

5 - 3 5. PARAMETERS (2) Details li st Classi fi- cation No. Sy mbol Name and Function Initial Value Unit Settin g Range 1 *AMS Amplifier setting Use d to selec t the abs o lute pos it i on de te c tion. Absolute position detect ion selection 0: Invalid (Used in incremental system. ) 1: Valid (Us ed in absol ute position de tection syst em.) 0 0 0 0[...]

5 - 4 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 7 * P OL Rota tio n di re c t io n s ele c ti on Used to select t he rotation dir ection of the s ervo motor. 0: Forward rotation (CCW) with the increase of the positioning address . 1: Reverse rotation (C W) with the increas e of the positioning a[...]

5 - 5 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 9 RSP Ser vo response Us e d to se l e c t th e re spo n se o f au to tu ni ng. Auto tuning response level sele ction If the machine hunts or generates la rge gear sound, decrease th e set val ue. To improve performance, e.g. shorten t he settling [...]

5 - 6 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 14 VG 1 Sp eed l oop ga in 1 Normally this parameter setting need not be changed. Higher s etting increases the response level but is liable to ge nerate vibration and/o r noise. When auto tuning mode 1,2 and int erpolation mode is selected, the re[...]

5 - 7 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 20 INP In-position range Use d to s et the droop pul se range in whic h the in-posit ion signal (INP) will be output t o the controller. Mak e setting in the feedback pulse unit (parameter N o. 6). For ex ampl e, wh en you want to set 10 m in the c[...]

5 - 8 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 24 *OP2 Optiona l fun ction 2 Used to sel ect sli ght vibrat ion s uppres sion c ontrol and m otor-les s operat ion Slight vibration suppression c ontrol selection Made valid when auto tuning selection is set to "0002" in parameter No.8. [...]

5 - 9 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 27 MO1 Analog monitor 1 offse t Used to s et the offs et volt age of the anal og m onitor ch1 o utpu t. 0m V 999 to 999 28 MO2 Analog monitor 2 offse t Used to s et the offs et volt age of the anal og m onitor ch2 o utpu t. 0m V 999 to 999 29 For m[...]

5 - 10 5. PARAMETERS Classi fi- cation No. Symbol Nam e and Function Initial Value Unit Settin g Range 38 *ENR E n cod er outpu t puls es Used to s et the enc oder p ulses (A-p hase, B -pha se) outpu t by t he servo amplifier. Se t th e va l ue 4 t im e s g r e ate r tha n the A-p h as e an d B- ph a se p u lse s . You can us e parameter No.33 to c[...]

5 - 11 5. PARAMETERS 5.3 Analog output The servo s tatus can be output to t wo channels in t erms of voltage. Use this functi on when u sing an ammeter to monitor the servo status or synchronizing the torque/speed wit h the other servo. (1) Setting Change the followi ng di gits of parameter No.22: Analog monitor ch2 out put selection (Signal output[...]

5 - 12 5. PARAMETERS (2) Setting descri ptio n The se rvo am plif ier is factor y-se t to ou tpu t the mo tor spe ed to ch1 and the ge nerate d tor que to ch2 . The se tting can be chang ed as lis ted be low by chan ging the p aramete r No.2 2 valu e: Refer to ( 3) in th is sect ion f or th e mea sure men t po int. Setting Output it em Description [...]

5 - 13 5. PARAMETERS (3) Ana log m on itor b lock diag ram PWM M Current control Speed control Current comm and Position control Dr oop p ul s e Differ- ent ial Command pulse frequency Bus voltage Speed comm and Command pul se Current feedback Position feedback Motor speed Current enco der Se r v o Mo t or Encoder Torque Differ- ent ial[...]

5 - 14 5. PARAMETERS 5.4 Replac em ent of MR-J 2- B b y MR-J2S- B When u si ng th e M R-J 2S- B on the servo s ystem controller peripheral software incompatibl e with the MR-J2 S- B, you ca nnot use s ome pa rame ter fu ncti ons. Read this secti on car efull y and set app ropri ate value s in the par ameter s. 5.4.1 Main m odif ications made to t h[...]

5 - 15 5. PARAMETERS 5.4.2 Exp lanation of the m odif ied param eters (1) Fe edback pu lse n um ber (p aram eter No. 6) This par amete r was newl y adde d to th e MR-J 2S- B. If the peripheral software of the servo system controller is no t comp atib le with the MR-J2 S- B, this parameter setting cannot be ch anged. When the servo motor used is the[...]

5 - 16 5. PARAMETERS (4) Mac hin e res onanc e suppr ess ion f ilter 1 (par am eter No . 18) The settings of this parameter were ch anged for the MR-J 2S - B . If the peripheral software of the servo system controller is not compatible with the MR-J2 S- B, the param ete r settin gs are as indicated below. The notch depth is 40d B. 0 0 1 2 3 4 5 6 7[...]

5 - 17 5. PARAMETERS (9) Opt ional func tion 6 (par am eter N o. 33) This par amete r was newl y adde d to th e MR-J 2S- B. If the peripheral software of the servo system controller is no t comp atib le wi th the MR- J2S- B, this parameter setting cannot be changed. Hence, the serial communication baudrate is “960 0 [bps]”, the ser ial communic[...]

5 - 18 5. PARAMETERS MEMO[...]

6 - 1 6. GENERAL GAI N ADJUSTMENT 6. GENERAL GAIN ADJUS TMENT 6.1 Diff erent adjus tm ent methods 6.1.1 Adjus tm ent on a sin gle s ervo am plif ier The gain ad justme nt in this sectio n can be mad e on a single servo amp lifier . For gain adjustme nt, f irst execute a uto tuning mode 1. If you are not satisfi ed with the results, execute auto tun[...]

6 - 2 6. GENERAL GAIN ADJUSTMENT (2) Adj ustm ent s equenc e a nd m ode us age Usage Used when you wa nt t o match the p osition gain (PG1) be tween 2 or mo re axes. No rmally not used for other purp oses. Allows adjustment by merely chan gin g the re spo nse leve l se tt ing . Fi r s t u se t his mo de to m ak e adjustment. Used when the c ondit i[...]

6 - 3 6. GENERAL GAIN ADJUSTMENT 6.1.2 Adjus tm ent using s ervo conf igur ation sof tware POINT When usi ng the machine anal yzer, set the servo am plifier's a xis number for "F". (R efer to Sect ion 3.1 1.) This se ctio n giv es the fun cti on s an d ad ju stmen t tha t may be per form ed by u si ng th e se rvo am plif ier wi th th[...]

6 - 4 6. GENERAL GAIN ADJUSTMENT 6.2 Auto tuning 6.2.1 Auto t uning m ode The servo amplifier has a real-time auto tuning function which estimates the machine characteristi c (load inerti a mome nt ra tio) in rea l ti me an d au tom atica lly sets the o ptim um g ain s acc ording to th at valu e. Thi s function permits eas e of gain adjust ment of [...]

6 - 5 6. GENERAL GAIN ADJUSTMENT 6.2.2 Auto t uning m ode o peration The block dia gram of real-t ime auto tuning is shown bel ow. 5 0 0 0 1 0 0 0 Servo motor Comma nd Automa tic se ttin g Control gains PG1,VG1 PG2,VG 2,VIC Current control Current feedback Load inertia mome nt Encoder Position/speed feedback Real-time auto tuning section Speed feed[...]

6 - 6 6. GENERAL GAIN ADJUSTMENT 6.2.3 Adjus tm ent procedur e b y auto tunin g Since auto tuning is made valid before shipment from the factory, simply running the servo mo tor autom atic ally sets the optim um gain s th at match the mac hine . Me rely chan gin g t he re spon se leve l setting value as re quire d comp lete s the adju stmen t. The [...]

6 - 7 6. GENERAL GAIN ADJUSTMENT 6.2.4 Respo nse lev el setti ng in auto tunin g m ode Set t he response (parameter No.9) of the whole servo syst em. As the re sponse level setting is increased, the trackabi lity and settling time for a co mmand decrea ses, but a too high re sponse level will generate vibration. Hence, make s etting until desired r[...]

6 - 8 6. GENERAL GAIN ADJUSTMENT 6.3 Manual m ode 1 (sim ple m anual a djustm ent) If you a re not satisfied with the adjustment of auto tuning, you can make simple m anual adjustment with three parameters. 6.3.1 Oper ation of m anual m ode 1 In this mode, set ting the thre e g ains of po sition cont rol g ain 1 ( PG1) , spe ed con trol g ain 2 ( V[...]

6 - 9 6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed con trol ga in 2 ( parame ter No . 16) This paramet er determines the response level of the speed control loop. Increasin g this value enhances response but a t oo high value will make the mechanical system liable to v ibrate. The actual respons e frequency of the speed loop is as[...]

6 - 10 6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Posi tio n contro l gain 1 (p arame ter No . 13) This paramet er determines the response level of the positi on control loop. Increasing po sition control g ain 1 impro ves tracka bili ty to a pos ition co mmand bu t a too hig h v alue will m ake overshooti ng liable to occur at the ti[...]

6 - 11 6. GENERAL GAIN ADJUSTMENT 6.4 Interpo latio n mode The i nterpolation mode is used to match the position control gains of the axes when performing the interpolati on operation of s ervo motors of two or more a xes for an X-Y table or the like. In this mode, the positio n control gain 1 and sp eed co ntrol ga in 1 wh ich de termin e command [...]

6 - 12 6. GENERAL GAIN ADJUSTMENT 6.5 Dif ferenc es in auto t uning between MELSER VO-J 2 and M ELSER VO-J2- Super 6.5 .1 Respon se level settin g To meet higher response demands, the MELSERVO-J 2-Super series has been changed i n response level setting range from the MELS ERVO-J2 series . The following table lists compari son of the response level[...]

7 - 1 7. SPECIA L ADJUSTMENT FUNCTI O NS 7. SPECIAL A DJUST MENT FUNCT IONS POINT The functions given in this chapter need not be used genera lly. Use them if you are no t satisfie d with the m achine statu s afte r makin g adju stmen t in the me thod s in Chap ter 6. If a me ch anica l sy stem ha s a na tur al r eson ance poin t, incr ea sing the [...]

7 - 2 7. SPECIAL ADJUSTMENT FUNCT IONS (2) Parameters Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter No. 18). 0 3 1 2 0 00 01 02 03 04 05 06 07 Invalid 4500 2250 08 09 0A 0B 0C 0D 0E 0F 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 1500 1125 900 750 642.9 500 450 409.1 375 346.2 321.4 300 562.5 28[...]

7 - 3 7. SPECIAL ADJUSTMENT FUNCT IONS 7.3 Adaptive v ibrat ion suppr ess i on co ntrol (1) Function Adaptiv e vibr ation su ppres sion con trol is a fun ction in wh ich the serv o amp lifier dete cts m achine reson ance and se ts the fil ter c har acter ist ics au tom at ically to suppr ess me ch anical sy ste m v ibra tion . Since the filter char[...]

7 - 4 7. SPECIAL ADJUSTMENT FUNCT IONS (2) Parameters The op eration of adapt ive vi bratio n sup pres sion co ntro l sele ction ( para meter N o.2 5). 0 0 Pa ra m et er N o. 25 Adaptive v ibration su ppression con trol selection 0: Invalid 1: Valid Machine resona nce frequency is always detected t o generate the f ilter in respon se to resonance, [...]

8 - 1 8. INSPECTION 8. INSPECTION W ARNING Befor e st arting m aint enanc e an d/or insp ectio n, m ake s ure th at th e char ge lam p is off more th an 10 m inut es af ter power-of f. T hen, c onf irm that th e vol tage is s afe in the t ester or th e lik e. O ther wise, you ma y get a n el ectric shock . Any pers on who is inv olved in inspec tio[...]

8 - 2 8. INSPECTION MEMO[...]

9 - 1 9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Alarm s and warnin g list When a fault occurs during operation, the corresponding alarm or w arning is displayed. If any ala rm or warning has occurred, refer to Section 9.2 or 9.3 and t ake the appropria te action. The al arms ma rked in the al arm de activ atio n colu mn can be de activ ated by th e[...]

9 - 2 9. TROUBLESHOOTING 9.2 Rem edies f or alarm s CAUTION W hen an y alarm has oc curre d, e lim inate its ca us e, ens ure s afet y, then r ese t the alarm , and r estar t oper ation . Ot herwis e, i njur y ma y occur. If an absol ute pos it ion er ase alarm (25) occur red, al ways m ake hom e p ositi on settin g ag ain. O ther wise, m isoper at[...]

9 - 3 9. TROUBLESHOOTING Display Name Definition Ca use A ction 17 Bo ard error 2 CPU/parts fault 19 Memory er ror 3 ROM memory f ault Faulty parts in the se rvo amplifier Checkin g meth od Alar m (1 7 or 19) occ ur s if powe r is sw itc hed o n afte r CN1A, CN 1B and CN3 connectors are disconn ected. Change the servo amplifier. 1A Motor combin ati[...]

9 - 4 9. TROUBLESHOOTING Display Name Definition Ca use A ction 1. Small acceleration/deceler ation time constant caused oversh oot to be large. Incr ease ac celerat ion /decel erati on tim e constant. 2. Servo system is instable to cause oversh oot. 1. Res e t se r v o g a in to pro per val ue . 2. If s ervo ga in cann ot be set to pr oper value: [...]

9 - 5 9. TROUBLESHOOTING Display Name Definition Ca use Action 1. Command give n is greater t han the max i mum sp eed of th e s er vo moto r. Review opra tion program. 2. Noise e ntered bus cable. Take action against noise. 35 Command frequ ency er ror Input fr equency of command pu lse is too high. 3. Se r vo sy s tem co n tro l ler fai lure Ch a[...]

9 - 6 9. TROUBLESHOOTING Display Name Definition Ca use A ction 1. Mac hine s truc k somet hing . 1. Re view operati on pa ttern. 2. Install limit switch es. 2. Wr ong c onnecti on of serv o mot or. Servo amplifier's output t erminals U, V, W do not ma t ch servo mo tor ' s in pu t term in al s U , V , W. Con nec t co rrec tly . 3. Servo [...]

9 - 7 9. TROUBLESHOOTING 9.3 Rem edies f or warn ings If E6, E7, E9 or EE occurs, the servo off status is establ ished. If any other warning occurs, operation can be continued but a n alarm may take place or proper operation may not be performed. Eliminate the cause of the warning according to this section. U se the optional servo configuration sof[...]

9 - 8 9. TROUBLESHOOTING MEMO[...]

10 - 1 10. OUTLINE DIMENSION DRAWINGS 10. OUTLINE DIMENSION DRA W INGS 10.1 Servo am plif iers (1) MR-J2S-10B to MR-J2S-60B MR- J2S -10B 1 to MR- J2S - 40B1 [Un it: m m] 6 ( 0.2 4) mounting hole A 70 (2.76) 135 (5.32) TE1 TE2 4(0.16) B 168 (6.61) 7 (0.28) 156 (6.14) 6 (0.24) 6 (0.24) C N 1 A OPEN L1 L2 L3 UV W MITSUBI SHI C N 1 B C N 2 E N C C N 3 [...]

10 - 2 10. OUTLINE DIMENSION DRAW INGS (2) MR-J2S-70B MR- J2S- 100B C N 1 A OPEN MIT SUBISH I C N 1 B C N 2 E N C C N 3 7 (0.28) C N 1 A OPEN L1 L2 L3 UV W MIT SUBISH I C N 1 B C N 2 E N C C N 3 [Unit: m m] ([Un it: in] ) 70(2.76) 70(2.76) 190(7.48) 22 TE1 TE2 6(0.24) 20 (0.79) Rating plate Terminal layout (Terminal cover open) 6 ( 0.24) mounting h[...]

10 - 3 10. OUTLINE DIMENSION DRAW INGS (3) MR-J2S-200B MR- J2S-350B MITSUB ISHI MITS UBISHI 70(2.76) 195(7.68) 90(3.54) 78(3.07) 6 168(6.61) 156(6.14) 6 6 ( 0.24) mounting hole Terminal layout 3-M4 screw TE1 12-M4 screw [Un it: m m] ([Unit: i n ]) TE2 PE terminal (0.24) (0.24) Fan air orientation Servo a mplifier W eight [kg]( [lb]) MR-J2S-200B MR-[...]

10 - 4 10. OUTLINE DIMENSION DRAW INGS (4) MR-J2S-500B [Uni t: m m] ([Unit : in] ) C N 2 C N 3 C N 1 A C N 1 B OPEN OPEN C N 2 C N 3 C N 1 A C N 1 B OPEN TE1 TE2 2- 6( 0.24) mounting hole 130(5.12) 118(4.65) 7.5 (0.5) (0.24) 6 (0 .24) 250(9.84) 235(9.25) 7.5 (0.5) 6(0.24) N.P. 70 (2.76) 6 20 (0.79) 200(7.87) (0.19) 5 Terminal layout N.P. Fan Fan Fa[...]

10 - 5 10. OUTLINE DIMENSION DRAW INGS (5) MR-J2S-700B C N 1 B C N 1 A C N 3 C N 2 TE2 OPEN C N 1 B C N 1 A C N 3 C N 2 TE1 2- 6( 0.2 4) mounting hole 7.5 (0.5) (0.39 ) 10 180(7.09) 160(6.23) (0.39) 10 70 (2.76) 200(7.87) 138(5.43) 62 (2.44) 6(0.24) Terminal layout [Unit: m m] ([Un it: in ] ) 20 (0.79) 350(13.8) 335(13.2) 7.5 (0.5) 6 (0.24) Fan air[...]

10 - 6 10. OUTLINE DIMENSION DRAW INGS 10.2 Connectors (1) Servo amplifie r side <3M > (a) Soldered type Model Connector : 10120-3000VE Shell kit : 10320-52F0-008 [Un it: mm] ([Un it: in] ) 10.0 (0.39) Logo, etc. are indicated here. 12.0(0.47) 22.0 (0.87) 39.0 (1.54) 23.8 (0.94) 14.0 (0.55) 12.7(0.50) 33.3 (1.31) (b) Threaded type [Un it: mm][...]

10 - 7 10. OUTLINE DIMENSION DRAW INGS (2) Bus cab le con nec tor <Hon da T sushi n Ind ustr y> 38.5 (1.516) 27.4 (1.079) 32.0 (0.906) HONDA 13.0 (0.512) RS 1 12.2 14.2 (0.559) 38.5 (1.516) 27.4 (1.079) 32.0 (0.906) HONDA 10.4 (0.409) 1.9 20.6 (0.811) 12.2 PCR-LS20LA1W PCR-LS 20LA1 [Uni t: mm ] (Unit: i n) 23.0 (0.906) (0.039) 1 (0.039) (0.07[...]

10 - 8 10. OUTLINE DIMENSION DRAW INGS MEMO[...]

11 - 1 11. CHARACTERISTI CS 11. CHARA CTE RISTICS 11.1 Overl oad prot ectio n character istic s An electroni c thermal relay is built in th e servo amplifi er to protect the servo motor and servo amplifier from overloa ds. The operation characteristi cs of the electronic thermal relay are shown Fi g 11.1 to 11.3. Overload 1 alarm (50) occurs if ove[...]

11 - 2 11. CHARA CTERIST ICS (3) MR-J2S-500B MR- J2S-700B 0 50 100 150 200 250 300 1 10 100 1000 10000 Load ratio [%] HC-SFS series HC-RFS series HC-UFS series Operation time[s] During rotation During servo l ock Fig 11.3 Electron ic therm al r elay pr otection c harac teristics 3[...]

11 - 3 11. CHARA CTERIST ICS 11.2 Power suppl y equipm ent c apacit y and gener ated loss (1) Am ount of he at g ener ated b y th e ser vo am plif ier Table 11.1 indicates servo amplifiers' power supply capacities and losses generated under r ated load. For thermal design of an enclosure, use the values in Table 11.1 in consideration for the w[...]

11 - 4 11. CHARA CTERIST ICS (2) H eat d issipa tion area f or e nclos ed ser vo am pl ifier The encl osed control box (hereafter called the control box) which will contain the servo amplif ier should be design ed to ensu re that it s temper ature ri se is w ithin 10 at the ambient temperature of 40 . (With a 5 (41 ) safety margin, the system shoul[...]

11 - 5 11. CHARA CTERIST ICS 11.3 D ynamic br ake c haracter istics Fig. 11 .5 shows t he pattern in which the servo motor comes to a stop when the dynamic brake is opera ted. Use Equati on 11.2 to calculate an approximate coast ing distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer [...]

11 - 6 11. CHARA CTERIST ICS 23 43 13 Spee d [r/mi n] 2 4 0 8 10 6 14 16 12 0 500 1000 1500 2000 2500 3000 Time c onsta nt [ms] 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02 0 500 1000 1500 2000 2500 3000 73 23 43 053 13 Speed [r/min] Time constant [s ] a. HC-KFS s eries b. HC-MFS s eries Time c onsta nt [s] 0.005 0.0 1 0.015 0.0 2 0.[...]

11 - 7 11. CHARA CTERIST ICS Use the dynamic brake at the l oad inertia moment indicated in the following table. If the load inertia mome nt is higher than this value, the bui lt-in dy namic b rake m ay burn. I f there is a po ssibili ty that the load inertia moment may exceed the value, contact Mitsubis hi. Servo amplifier Load inert ia moment rat[...]

11 - 8 11. CHARA CTERIST ICS MEMO[...]

12 - 1 12. OPTIONS AND AU XILIARY EQUIPMENT 12. OPTIONS AND AUX ILIARY EQUIPM ENT W ARNING Befor e connec tin g any opti on or aux iliar y equ ipm ent, m ak e sure t hat t he ch arge la mp is off mor e th an 10 minu tes a fter pow er-o ff, then confir m the volt age with a tester or th e lik e. Oth erw ise, you m ay ge t an el ectr ic sh ock . CAUT[...]

12 - 2 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) To make selection according to regenerative energy Use the following method when regeneration occurs continuousl y in vertical motion applications or when it is desired to make an in-depth selection of the regenerat ive brake opti on: a. Regenerative energy calculati on Use the following tabl e to [...]

12 - 3 12. OPTIONS AND AU X I LIARY EQU IPMENT Subtract the capacitor charging from the result of m ultiplying the sum total of regenera tive energies by the inverse effi ciency to calculat e the energy consumed by the regenerati ve brake opti on. ER [J] Es Ec Calculat e the power consumption of the regenerative brake option on the basis of single-[...]

12 - 4 12. OPTIONS AND AU X I LIARY EQU IPMENT (4) C onnect ion of the r eg enerat ive br ak e opti on The regenerat ive brake option will generat e heat of about 100 . Fully examin e h eat di ssip ation , instal lation position, used cabl es, etc. before installing the opti on. For wiring, u se flame-resistan t cables and keep them clear of the re[...]

12 - 5 12. OPTIONS AND AU X I LIARY EQU IPMENT When using the regenerati ve brake resistor option, remove the servo amplifi er's built-in regenerative brake resistor terminals (across P-C), fit them back to back, and secure them to the frame with the acce ssory screw as shown below. Mounti ng m ethod Ac cesso ry sc rew For MR-J2S-500B For MR-J[...]

12 - 6 12. OPTIONS AND AU X I LIARY EQU IPMENT (5) Outline drawing (a) MR-RB032 MR-R B12 LA 5 (0.20) LB TE1 6 (0.23) 6 (0.23) 156 (6.14) 168 (6.61) 144 (5.67) 12 (0.47) 6 (0.23) 12 (0.47) 20 (0.79) LD 1.6 (0.06) LC G3 G4 P C [Unit: mm (in)] 6 (0.24) mountin g hole MR-RB Variable dim ensions W eight Regenerative brake option Regenerative power[W] Re[...]

12 - 7 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.2 Br ake unit POINT The brake un it and re sisto r unit of o ther than 200V class are not applicable to the se rvo amplif ier. The bra ke unit and resist or unit of the s ame capacity must be combined. The units of different capacities may result in damage. The brake u nit and resisto r unit must [...]

12 - 8 12. OPTIONS AND AU X I LIARY EQU IPMENT The cabl es between t he servo amplifi er and brake unit and between the resistor unit and brak e unit should be as sho rt as po ssib le. The c ables longer than 5m (16.4 04ft) sho uld be tw iste d. If twis ted, the cables must not be long er th an 10m(32 .808f t). The cable si ze should be equal to or[...]

12 - 9 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) Resistor unit (FR-BR) [Unit : m m (in)] 33 (1.299) 204 (8.031) 40 (1.575) K (F) (F) BA 1 (0.039) C 5 (0.197) 2- D AA 5 ( 0.197) EE (E) A 5 (0.197) EE (E) (Note) Control circuit terminals Mai n cir cu i t terminals FR-BR-55K Two eye bolts are provided (as shown below). Eye bo lt BB 3 ( 0.118) B 5 (0[...]

12 - 10 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) C onnect ion exam ple Powe r supp ly 3 -ph ase 2 00V or 230VAC NFB MC Servo amplifier L 11 L 21 L 1 L 2 L 3 EM1 SG ALM Power re turn convert er FR-RC SK ON MC B C SG NPC RDY SE Alarm output RDY output A B C 5m(16.4ft) or less N/ P/ Operation ready MC OFF EM1 RA2 FR-RC Ready COM VDD RA2 Power facto[...]

12 - 11 12. OPTIONS AND AU X I LIARY EQU IPMENT (3) Outs ide dim ensio ns of t he p ower retur n co nvert ers [Unit : mm(in)] AA A C F K EE BA B E D 2- D hole Rating plate Fron t c ov er Display panel window Mounting foot (removable) Mounting foot movable Cooling fan Heat generation area outside mount in g dimensio n Power return converter AA ABB A[...]

12 - 12 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.4 Cabl es and c onnector s (1) Cable make-up The followi ng cables a re used for connection with the servo motor and other models. The brok en line areas in the diagram are not options. HC-SFS HC-RFS HC-UFS 2000r/min HC-KFS HC-MFS HC-UFS 3000r/min Perso nal computer (Note) 14) 15) Motion controll[...]

12 - 13 12. OPTIONS AND AU X I LIARY EQU IPMENT No. Product M odel Description Applic ation 1) Standard e ncoder cable MR-JCCBL M-L Refer to (2) in this section. Connector: 10120-3000VE Shell kit: 10320-52F 0-008 (3M or eq uivale nt) Housing: 1-172161-9 Connector pin: 170359-1 (AMP or equival ent) Standard flexing life IP20 2) Lo ng flexing life en[...]

12 - 14 12. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Application Connec tor: PCR-S20FS Shell kit : PCR-LS20 LA1 (Honda Tsushin) Connector: 10120-3000EL Shell kit: 10320-52F 0-008 (3M or eq uivale nt) 11) Connector set MR-J2CN1-A Refer to (4) in this section 12) Control signal connecto r set MR-J2CN 1 Connec tor: 10120-3000V[...]

12 - 15 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) Encode r cable CAUTION If you ha ve f abric ated t he enc od er ca ble, c onn ect it corr ectl y. Other wise, m isop erati on or e xpl osion m a y occur . POINT The encoder cabl e is not oil resistant. Refer to Secti on 11.4 for the fl exing life of t he encoder cable. Generally us e the encoder c[...]

12 - 16 12. OPTIONS AND AU X I LIARY EQU IPMENT MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL5M-H 19 11 20 12 18 2 7 17 9 1 7 8 1 2 3 9 P5 LG P5 LG P5 LG MR MRR BT LG SD MD MDR 6 16 4 5 MR-JC CBL10M -L to MR-JC CBL30M -L 19 11 20 12 18 2 7 17 9 1 7 8 1 2 3 9 P5 LG P5 LG P5 LG MR MRR BT LG SD MD MDR 6 16 4 5 MR-JCCBL10M-H to MR-JCCBL50M-H 19 11 20[...]

12 - 17 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-JHSCBL M- L MR- JHS CBL M-H MR-ENCBL M-H These encoder cables are used with the HC-SFS HC-RFS HC- UFS 2000r /mi n serie s serv o moto rs. 1) Model explanation L H 2 5 10 20 30 2 (6.56) 5 (16.4) 10 (32.8) 20 (65.6) 30 (98.4) Symbol Specifications Standard flexing life Long flexing life Symbol Ca[...]

12 - 18 12. OPTIONS AND AU X I LIARY EQU IPMENT MR-J HSCBL2 M-L MR-J HSCBL5 M-L MR-J HSCBL2 M-H MR-J HSCBL5 M-H MR-ENCBL2M-H MR-ENCBL5M-H MR-J HSCBL1 0M-L to MR-J HSCBL3 0M-L P5 LG P5 LG P5 LG MR MRR BAT LG SD MR-JHSCBL10M-H to MR-JHSCBL50M-H MR-ENCBL10M-H to MR-ENCBL50M-H Servo amplifier side Encoder side P5 LG P5 LG MR MRR P5 LG BAT LG SD 19 11 2[...]

12 - 19 12. OPTIONS AND AU X I LIARY EQU IPMENT (3) Co mmun i ca ti on cabl e POINT This cab le may not be used wit h some personal comput ers. After fully examining t he signals of th e RS-2 32C connector, refer to thi s section and fabricate the cable. (a) Model definition Model : MR-CPCATC BL3 M Cable le n g th 3 [m] ( 10 [ft] ) (b) Connection d[...]

12 - 20 12. OPTIONS AND AU X I LIARY EQU IPMENT (4) Bus cable CAUTION W hen f abricat ing the bus cab le, d o no t mak e incor rec t conn ectio n. Do ing s o can cause m isoperat ion or ex plosi on. When f abrica ting thi s cable , use the re commend ed cab le giv en in Se ction 12 .2.1 and f abrica te it in accordance with the connection diagram s[...]

12 - 21 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.5 Main tenanc e junct ion card ( MR-J2CN 3TM) (1) Usage The mai ntenance junction card (MR-J2CN3TM) is designed for use when a per sonal computer and analog monit or outputs are used at th e same time. CN3B CN3C CN3A CN3 A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6 Communication cable Maintenance junction[...]

12 - 22 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.6 Batter y (MR-BAT , A6B AT) Use the battery t o build a n absolute posi tion det e ct ion system.[...]

12 - 23 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.1.7 Ser vo conf igurati ons sof tware The servo configuration soft ware (MRZJW3-SETUP121E) uses the communication function of the s ervo amplifi er to perform par ameter settin g changes, graph display, test operation, et c. on a personal computer. (1) S pecif ica tions Item D escript ion Communica[...]

12 - 24 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2 Auxil iar y equipm ent Alway s use the d evice s indic ate d in th is sec tion or equ iva lent. To comply wi th the EN Stan dard or UL/C- UL Standard, use the products which conform to the corresponding standard. 12.2.1 Recom m ended wires (1) W ires for power supply wiring The followin g diagram[...]

12 - 25 12. OPTIONS AND AU X I LIARY EQU IPMENT Use wires 6) of the followi ng sizes wit h the brake unit (FR-B U) and power return converter (FR-RC). Model Wires[mm 2 ] FR-BU-15K 3.5(AW G12) FR-BU-30K 5.5(AW G10) FR-BU-55K 14(AWG6) FR-RC-15K 14(AWG6) Table 12. 2 Rec omm ended cr im ping term inals Servo am plifier side c rimping t erminals Symbol [...]

12 - 26 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.2 No-f use bre aker s, fus es, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instea d of the no-fuse breaker, use the one having the speci ficati ons given in this s ection. Fuse Servo amplifier No-fuse break er Clas s Cu[...]

12 - 27 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.4 Re lays The followi ng relays should be used with the int erfaces: Interface Selection exam pl e Relay used especially for switching on-off analog input command an d inpu t comm and (inte r face DI-1) signal s To pr event de fective co ntacts , use a re lay for small s ign al (twin contacts). ([...]

12 - 28 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) Reduction techniques for external noises that cause the servo amplifier to malfunction If there a re noise s ources (such as a magnetic contactor, an electromagneti c brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the fo[...]

12 - 29 12. OPTIONS AND AU X I LIARY EQU IPMENT Noise transm issi on rout e Suppression t echniques 1) 2) 3) When measuring instruments, receiv ers, s ensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cable s are contained in a control box together with the servo amplifier o r run near the servo amplifier, [...]

12 - 30 12. OPTIONS AND AU X I LIARY EQU IPMENT (b) Surge suppressor The recommended surge suppressor for i nstallation to an AC relay, AC valve, AC electromagnetic brake or the li ke near the servo ampli fi er is shown below. Us e this product or equival ent. MS Surge suppressor Relay This distance should be shor t (within 20cm(0.79 in.)). Surge s[...]

12 - 31 12. OPTIONS AND AU X I LIARY EQU IPMENT Outline drawing Earth plate Clamp section diagram (Note)M4 screw 11(0.43) 3 (0.12) 6 (0.24) C A 6 22(0.87) 17.5(0.69) 35(1.38) 35 (1.38) L or less 10(0.39) 30(1.18) 7 (0.28) 24 0 0.2 Note: Screw hole for grounding. Connect it to the earth plate of the cont rol box. (0.24) 24 0.3 0 (0.940) (0.940) [Uni[...]

12 - 32 12. OPTIONS AND AU X I LIARY EQU IPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiat ed from the power supply side and output side of the servo amplifier and als o in suppressing high-frequency leakage current (zero-phase current) especi ally w ithin 0.5 MHz to 5MH z band . Connection di agr[...]

12 - 33 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.7 Leak age cur rent br eaker (1) Selecti on method High-frequency chopper currents controlled b y pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor whi ch is run with a commercial power supp ly. Select a leakage [...]

12 - 34 12. OPTIONS AND AU X I LIARY EQU IPMENT (2) S elect ion exam ple Indicated below is an example of selecting a l eakage current break er under the followi ng conditions: SM Servo amplifier MR-J2 S-60B Se rvo m otor HC-MFS73 Ig1 Ig 2 Iga Ig m NV 2mm 2 5m 2mm 2 5m Use a leakage curren t breaker genera lly avail able. Find the terms of Equation[...]

12 - 35 12. OPTIONS AND AU X I LIARY EQU IPMENT 12.2.8 EMC f ilter For compliance with the EMC directive of t he EN standard, i t is recommended to u se the following filter: (1) Co mbi n at io n wi th the se r vo a mpl i fie r Recommended f ilter Servo a mplifier Model Leak age c urrent [mA] W eight [kg] MR-J2S-10B to MR-J2S-100B MR-J2S-10B1 to MR[...]

12 - 36 12. OPTIONS AND AU X I LIARY EQU IPMENT HF3040-T M HF-3050A-T M H J G C B A F E D L K L M C Dimension s [ mm(in ) ] Model AB C DEF G H J KLM HF3040A-TM 260 (10.23) 210 (8.27) 85 (3.35) 155 (6.10) 140 (5.51) 125 (4.92) 44 (1.73) 140 (5.51) 70 (2.76) M5 M4 HF3050A-TM 290 (11.42) 240 (9.45) 100 (3.94) 190 (7.48) 175 (6.89) 160 (6.30) 44 (1.73)[...]

13 - 1 13. ABSOLUTE POS ITION DETECTION SYSTEM 13. ABSOLU TE POSITION DE TECTION SYSTEM CAUTION If an abs olut e pos itio n eras e a larm ( 25) has occ urr ed, a lways p erf orm hom e posit ion s ett ing aga in. Not do ing s o can ca use r una way. 13.1 Featur es For normal operation, as shown below, the encoder consists of a detector designed to d[...]

13 - 2 13. ABSOLUTE POSITION D ETEC TION SY STEM 13.2 Specif ic ati ons (1) Specifi cation li st Item Descripti on System Electronic battery backup syst em Battery 1 pi ece of li th ium battery ( pri mary ba tte ry, nomina l 3.6V) Type: MR-BAT or A6BAT Maxim um revolu tion ran ge Home pos ition 32767 rev. (Note 1) Max imum speed at power fa ilure 5[...]

13 - 3 13. ABSOLUTE POSITION D ETEC TION SY STEM 13.3 Batter y inst al lat ion proc ed ure W ARNING Befor e star ting b atter y ins ta llatio n proce dur e, m ak e sure th at th e charg e lam p is off more t h an 10 mi nu te s aft e r pow e r -o ff. Then , con fi r m th at th e v ol ta ge is sa fe in th e tester or th e lik e. Oth erw ise, you m ay[...]

13 - 4 13. ABSOLUTE POSITION D ETEC TION SY STEM 13.4 Confir m ation of abso lute p osition detec tio n data You can confirm the absolute po sition data with servo configuration software (MRZJW3-SETUP121E). Choose "Diagnost i cs" and " Absol ute Encoder Data" to open the absolute positi on data dis play screen. (1) Ch oosing &qu[...]

REVISIONS *The manual numb er is given on the bottom left of t he b ack cover. Print Data *Manual Number R evision Sep., 2000 SH(NA )030007-A First edition Jan., 2001 SH(NA)030007-B Servo amplifier: Addit ion of MR-J2S-50 0B and MR-J2S-700B Servo motor: Add ition of HC-K FS73, HC-SFS502, HC -SFS702, HC-RFS353, HC-RFS503, H C-UFS502 and HC-UFS352 Se[...]