Mitsubishi Electronics MR-J2M-P8B manuel d'utilisation

General-Purpose AC Servo MODEL MR-J2M-P8B MR-J2M- DU MR-J2M-BU SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET Compatible J2M Series G[...]

A - 1 Safety Instructions (Always read these inst ructio ns before using the equipment.) Do not attempt to install, operate , maintain or inspec t the units until you have read through this Instruction Manual, Installation Guide, Servo Motor Instruct ion Manual and appended documents carefully and can use the equipment properly. Do not use the unit[...]

A - 2 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage is safe with voltage tester . Otherwise, you may get an electr ic shock. Connect the base unit and servo motor to ground. Any person who is involved in wiring and inspection shoul[...]

A - 3 4. Additional instructions The following instructions should also be fully no te d . Incorrect handling may cause a fau lt, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their masses. Stacking in excess of the specifie d number of products is not a llowed. Do not carry t[...]

A - 4 (2) Wiring CAUTION Wire the equipment correctly and securely. O therwise, the servo motor may misoperate . Do not install a power capacitor, surge absorber or r adio noise filter (FR-BIF option) between the servo motor and drive unit. Connect the output terminals (U, V, W) correctly. O therwise, the servo motor will operate improperly. Connec[...]

A - 5 (4) Usage CAUTION Provide a emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should b e fully competent to do the work. Before resetting an ala rm, make sure that the run sig nal of the servo amp lifier is off to prevent an accident. A sudde[...]

A - 6 (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the drive uni t will deteriorate. To pr event a secondary accident due to a fault, it is recommended to replace the electr olytic capacitor ever y 10 years when used in general environment. Please consult our sales representative. (7) General ins[...]

A - 7 About processing of waste When you discard servo amplifier, a battery (primary batt ery), and other option articles, please follow the law of each country (area). FOR MAXIMUM SAFETY These products have been manufactured as a general-purpose par t for general industries, and have not been designed or manufactured to be incorporated in a device[...]

A - 8 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machin ery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive[...]

A - 9 (3) Environment Operate MELSERVO-J2M at or above the conta min ation level 2 set forth in IEC60664-1. For this purpose, install MELSERVO-J2M in a control box whic h is protected against water, oil, carbon, dust, dirt, etc. (IP54). (4) Power supply (a) Operate MELSERVO-J2M to meet the requirements of the overvoltage category II set forth in IE[...]

A - 10 CONFORMANCE WITH UL/C-UL STANDARD The MELSERVO-J2M complies with UL508C. (1) Unit and servo motors used Use the each units and servo motors wh ich comply with the standard model. Drive unit :MR-J2M- DU Interface unit :MR-J2M-P8B Base unit :MR-J2M-BU Servo motor :HC-KFS HC-MFS HC-UFS (2) Installation Install a fan of 100CFM (2.8m 3 /min)air f[...]

1 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-10 1.1 Over view ................................................................................................................... ................................ 1- 1 1.2 Function bl ock diag ram ..................................................................................................[...]

2 4. OPERATION AND DISPLAY 4- 1 to 4-10 4.1 Normal indica tion .......................................................................................................... .......................... 4- 1 4.1.1 Displa y sequ ence......................................................................................................... ..................[...]

3 9. TROUBLESHOOTING 9- 1 to 9-10 9.1 Alarms and warning list .................................................................................................... ..................... 9- 1 9.2 Remedies for al arms ........................................................................................................ ........................ 9- 3 [...]

4 Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional ME LSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in this Instruction Manual. 1. INTRODUCTION 2. INSTALLATION 3. CONNECTORS USED FOR SERVO MOTOR WI[...]

1 - 1 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Overview The Mitsubishi general-purpose AC servo MELSERVO- J2M series is an AC servo which has realized wiring-saving, energy-saving and space-saving in addi tion to the high performance and high functions of the MELSERVO-J2-Super series. Conne cted with a servo system cont rol[...]

1 - 2 1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram W RS-232C D/A NFB MC U V W M L 11 L 21 L 1 L 2 L 3 CNP3 P N C CNP1A U V M CN1A CN1B CN3 CNP2 CN2 CNP2 CN2 W U V M CNP2 CN2 CON3A-3H CON3A-3H CON3A-3H FR-BAL Power supply 3-ph ase 200 t o 230VAC (Note) 1-ph ase 200 t o 230VAC Base unit Interface unit I/F Control I/F Control Controller o[...]

1 - 3 1. FUNCTIONS AND CONFIGURATION 1.3 Unit standard specifications (1) Base unit Model MR-J2M-BU4 MR-J 2M-BU6 MR-J2M-BU8 Number of slots 4 6 8 Voltage/frequency 3-phase 200 to 230V AC or 1-phase 200 to 230VAC, 50/60Hz Permissible voltage fluctuation 1-phase 170 to 253VAC Permissible frequency fluctuation Within 5% (Note) Control circuit power su[...]

1 - 4 1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the Reference field. (1) Drive unit (Abbreviation DRU) Function Description Reference High-r esolu tion enc oder High-r esolut ion enc oder of 13 1072 pu lses/r ev is us ed as a se rvo moto r encod er.[...]

1 - 5 1. FUNCTIONS AND CONFIGURATION 1.5 Model code definition (1) Drive unit (a) Rating plate 400W DC270V-311V 170V 0-360Hz 2.3A N9Z95046 MR-J2M-40DU SON ALM MODEL POWER INPUT OUTPUT SERIAL TC300A***G51 MITSUBISHI E LECTRIC Model Capacity Applicable powe r supply Rated output current Serial number Rating plate Rating plate (b) Model code 100 200 4[...]

1 - 6 1. FUNCTIONS AND CONFIGURATION (3) Base unit (a) Rating plate MITSUBISHI MADE IN JAPAN MR-J2M-BU4 3PH 200-230 INPUT : SERIAL: 14A 50/60Hz N87B9 5046 BC336 U246 MODEL MITSUBISHI ELECTRIC PA SSED Model Applicable powe r supply Serial number Rating plate (b) Model code 61 9 2 0 4 8 1600 2400 3200 1280 2560 MR-J2M-BU Symbol 4 6 8 Number of slots [...]

1 - 7 1. FUNCTIONS AND CONFIGURATION 1.7 Parts identification (1) Drive unit Statu s indi cator LE D Indicates the status of the drive unit. Blinking green: Servo off status Steady green: Servo on status Blinking red: Warning status Steady red: Alarm status CN2 Encoder co nnector Connect the servo moto r enco der CNP2 Servo motor connector For conn[...]

1 - 8 1. FUNCTIONS AND CONFIGURATION (3) Base unit The following shows the MR-J2M-BU4. CNP1B Control circuit power input con nector CNP1A Regenerative brake option conne ctor CNP3 Main circuit power input connector CON1,CON2 Interface unit connectors CON3B Second slo t connector CON3D Fourth slot connector CON4 Option slot connect or CON5 Batte ry [...]

1 - 9 1. FUNCTIONS AND CONFIGURATION 1.8 Servo system with auxiliary equipment WARNING To prevent an electric shock, alwa ys c onnect the protective ear th (PE) terminal (terminal marked ) of the base unit to the protective ear th (PE) of the contro l box. L 21 C P L 2 L 1 L 3 L 11 Options and auxiliary equipment No-fuse breake r Magnetic contactor[...]

1 - 10 1. FUNCTIONS AND CONFIGURATION MEMO[...]

2 - 1 2. INSTALLATION AND START UP 2. INSTALLATION AND START UP CAUTION Stacking in excess of the limited number of products is no t allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing plac e in accordance with this Instruction Manual. Do not[...]

2 - 2 2. INSTALLATION AND START UP 2.2 Installation direction and cle arances CAUTION The equipment must be installed in the specified direction. Otherwise, a fault may occur. Leave specified clearances between each unit and control box inside walls or other equipment. (1) Installation of one MELSERVO-J2M 40mm(1.57inch) or more 40mm(1.57inch) or mo[...]

2 - 3 2. INSTALLATION AND START UP (3) Others When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that MELSERVO-J2M is not affected. Install MELSERVO-J2M on a perpendicular wa ll in the correct vertical direction. 2.3 Keep out foreign materials (1) When installing th[...]

2 - 4 2. INSTALLATION AND START UP 2.5 Mounting method (1) Base unit As shown below, mount the base unit on the wa ll of a control box or like with M5 screws. Wall (2) Interface unit/drive unit (MR-J2M-40DU or less) The following example gives installation of the drive unit to the base unit. The same also applies to the interface unit. Sectional vi[...]

2 - 5 2. INSTALLATION AND START UP 3) 3) Sectional view Wall 3) Tighten the M4 screw supplied for the ba se uni t to fasten the drive unit to the base unit. POINT Securely tighten the drive unit fixing screw. Sectional view Wall (3) Drive unit (MR-J2M-70DU) When using the MR-J2M-70DU, install it on two slot s of the base unit. The slot number of th[...]

2 - 6 2. INSTALLATION AND START UP 2.6 When switching power on for the first time Before starting operation, check the following: (1) Wiring (a) Check that the control circuit power cable, ma in circuit power cable an d servo motor power cable are fabricated properly. (b) Check that the control circuit power cable is connected to the CNP1B connecto[...]

2 - 7 2. INSTALLATION AND START UP 2.7 Start up WARNING Do not operate the switches with we t hands. You may get an e lectric shock. Do not operate the controller with the front cover removed. High-voltage terminals and charging area exposed and you may ge t an electric shock. During power-on or operation, do not open the front cover. You may get a[...]

2 - 8 2. INSTALLATION AND START UP (2) Parameter setting Set the parameters according to the structure and spec ifications of the machine. Refer to Chapter 5 for the parameter definitions. (3) Checking the axis number On the interface unit display, chec k that the slot numbers and axis numbers are as set. Set the drive unit axis numbers in the IF U[...]

2 - 9 2. INSTALLATION AND START UP 2.8 Control axis selection POINT The control axis number set to the IFU param eter software should be the same as the one set to the ser vo system controller. Set the control axis numbers of the drive uni ts in the IFU parameters No. 11 to 18. Setting the same control axis numbers in a single communication system [...]

2 - 10 2. INSTALLATION AND START UP MEMO[...]

3 - 1 3. SIGNALS AND WIRING 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, make sure tha t the voltage is safe in the tester more than 15 minutes after power-off. Otherwise, you may get an electric shock. Ground the base unit and the servo motor securely. Do not a[...]

3 - 2 3. SIGNALS AND WIRING 3.1 Connection example of cont rol signal system POINT Refer to Section 3.4 f or the connectio n of the power supply syst em and to Section 3.5 for connecti on with the servo mo tor. EM1 20 A 4M O 1 14 MO2 7M O 3 11 LG SD 8 VIN A A CON4 CON5 MR-J2M -BT SG 3 13 MBR RA CN3 CN3 CN2 CN4A CN4B Inter face unit (Note 5) (Note 5[...]

3 - 3 3. SIGNALS AND WIRING Note 1. To pr event an el ectric shock, al ways connec t the protectiv e earth (PE) termi nal (terminal ma rked ) of the base u nit to the protective earth (P E) of the co ntrol box. 2. C onnect the diode in t he correct di rection. If i t is connec ted revers ely, the i nterface unit will be faul ty and wil l not output[...]

3 - 4 3. SIGNALS AND WIRING 3.2 I/O signals of interface unit 3.2.1 Connectors and signal arrangeme nts POINT The pin configurat ions of the connec tors are as viewed from the cable connector wiring section. 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 RXD MO1 LG SG VIN TXD MO2 EM1 LG MBR 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 1 2[...]

3 - 5 3. SIGNALS AND WIRING 3.2.2 Signal explanations For the I/O interfaces (symbols in I/O colu mn in t he table), refer to Section 3.2.3. (1) Connector applications Connector Name Function/Application CN1A Connector for bus cable from preced ing axis. Used for conn ection with the controller or preced ing-axis servo amplifier. CN1B Connector for[...]

3 - 6 3. SIGNALS AND WIRING 3.2.3 Interfaces (1) Common line The following diagram shows the power supply and its common line. MR LG SD SG VIN DI-1 RA TXD RXD RS-232 MRR LG SD M E LG SD SG RA MBR Interface unit 24VDC SON .etc Base unit Drive unit Extension IO unit Ground 24VDC LAR.etc LA.etc Differential line driver outp ut 35mA ma x. Servo motor S[...]

3 - 7 3. SIGNALS AND WIRING (2) Detailed description of the in terfaces This section gives the details of the I/O signal interfac es (refer to I/O Division in the table) indicated in Section s 3.2.2 . Refer to this section and connect the in terfaces with the external equipment. (a) Digital input interface DI-1 Give a signal with a relay or open co[...]

3 - 8 3. SIGNALS AND WIRING 2) Lamp load VIN R SG MBR 24VDC 10% Interface unit (c) Analog output Output voltage : 4V Max. output current :0.5mA Resolution :10bit A SD Inter face unit MO1 (MO2 M03) 10k 1mA meter which deflects unidirectionally or bidirectionally LG[...]

3 - 9 3. SIGNALS AND WIRING 3.3 Signals and wiring for extensi on IO unit 3.3.1 Connection example POINT The pins without symbols can be assigned an y devices using the MR Configurator (ser vo configur ation softwar e). RA2 RA4 RA1 9 10 34 35 MR-J2M-D01 RA3 LA1 LG LAR1 LB1 LBR1 LZ1 LZR1 LA2 LAR2 LB2 LBR2 LZ2 LZR2 LA3 LAR3 LB3 LBR3 LZ3 LZR3 LA4 LAR4[...]

3 - 10 3. SIGNALS AND WIRING RA8 RA10 RA7 9 10 34 35 MR-J2M -D01 RA9 50 LA5 LG 25 LAR5 49 LB5 24 LBR5 48 LZ5 23 LZR5 47 LA6 22 LAR6 46 LB6 21 LBR6 45 LZ6 20 LZR6 44 LA7 19 LAR7 43 LB7 18 LBR7 42 LZ7 17 LZR7 41 LA8 16 LAR8 40 LB8 15 LBR8 39 LZ8 14 LZR8 SD 1 2 3 4 5 6 7 8 26 27 28 29 30 31 32 33 SG VIN CN4A-11 (Note 2) CN4B (Note 2) CN4B plate Encode[...]

3 - 11 3. SIGNALS AND WIRING 3.3.2 Connectors and signal configuration s (1) Signal configurations POINT The pin configurat ions of the connec tors are as viewed from the cable connector wiring section. CN4A LB1 49 LA2 47 LZ2 45 LB3 43 LA4 41 LZ4 39 SG 37 35 33 31 29 27 LA1 50 LZ1 48 LB2 46 LA3 44 LZ3 42 LB4 40 LG 38 VIN 36 34 32 30 28 26 LBR1 24 L[...]

3 - 12 3. SIGNALS AND WIRING 3.3.3 Output signal explanations For the IO interfaces (system in I/O colu mn in the table), refer to section 3.2 .3. Signal Symbol Connector pin No. Function/Applications I/O division LA1 CN4A-50 DO-2 Encoder A-phase pulse 1 LAR1 CN4A-25 LB1 CN4A-49 Encoder B-phase pulse 1 LBR1 CN4A-24 LZ1 CN4A-48 Encoder Z-phase pulse[...]

3 - 13 3. SIGNALS AND WIRING Signal Symbol Connector pin No. Function/Applications I/O division Electromagnetic brake interlock 1 MBR1 CN4A-9 Electromagnetic brake interlock 2 MBR2 CN4A-10 Electromagnetic brake interlock 3 MBR3 CN4A-34 Electromagnetic brake interlock 4 MBR4 CN4A-35 Electromagnetic brake interlock 5 MBR5 CN4A-9 Electromagnetic brake[...]

3 - 14 3. SIGNALS AND WIRING 3.4 Signals and wiring for ba se unit CAUTION When each unit has become faulty, switch power off on the base unit power side . Continuous flow of a large current ma y cause a fire. Switch power off at detection of an alarm. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake [...]

3 - 15 3. SIGNALS AND WIRING (2) For 1-phase 200 to 230VAC power supply EM1 VIN OFF MC SK NFB MC SG 1 L 1 L 2 L 3 2 3 1 L 11 L 21 2 CNP3 CN3 ON MC (Note 1) Alarm RA1 Controlle r forced stop RA2 Forced stop (Note 2) Power supply 1-ph ase 200 to 230VAC Forced stop 24VDC MELSERVO-J2M CNP1B Note 1. Configure up th e power suppl y circuit which switches[...]

3 - 16 3. SIGNALS AND WIRING 3.4.2 Connectors and signal configuration s POINT The pin configurat ions of the connec tors are as viewed from the cable connector wiring section. 1 3 2 2 3 1 N P C L 3 L 2 L 1 1 2 3 L 11 L 21 CNP1A Base unit (X type ) (Y type ) The connector frames are connected to the PE (earth) terminal of the base unit. CNP1B CNP3 [...]

3 - 17 3. SIGNALS AND WIRING 3.4.3 Terminals Refer to Section 10.2.1 for the layouts and si gnal configurations of the terminal blocks. Connector Pin No. Code Connection target (Application) Description 1L 1 2L 2 CNP3 3L 3 Main circu it power (1) When us ing a three -phase po wer suppl y Supply L 1 , L 2 and L 3 with three-phase, 200 to 230VAC, 50 [...]

3 - 18 3. SIGNALS AND WIRING 3.4.4 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3. 4.1 using the magnetic contactor with the main circuit power supply (3-phase 200V: L 1 , L 2 , L 3 , 1-phase 200 to 230VAC: L 1 , L 2 ). Configure up an external sequence to switch off the ma gnetic contactor as s[...]

3 - 19 3. SIGNALS AND WIRING 3.5 Connection of drive unit and servo motor 3.5.1 Connection instruction s CAUTION Connect the wires to the correct phase terminals (U, V, W) of the drive unit and servo motor. Otherwise, the servo motor will operate improperly. Do not connect AC power suppl y directly to the servo motor . Otherwise, a fault may occur.[...]

3 - 20 3. SIGNALS AND WIRING 3.5.3 I/O terminals (1) Drive unit POINT The pin configurat ions of the connec tors are as viewed from the cable connector wiring section. 19 P5 20 P5 10 9 BAT 17 MRR 18 P5 8 7 MR 15 LG 16 MDR 6 MD 5 13 14 4 3 11 12 LG 2 1 LG 24 13 V UW CNP2 CN2 3M Molex LG CNP2 CN2 Drive unit Connector Cable side conn ector Model M ak [...]

3 - 21 3. SIGNALS AND WIRING 3.6 Alarm occurrence timing chart CAUTION When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. As soon as an alarm occurs, make the Servo off status and in terrupt the ma in circuit power. When an alarm occur[...]

3 - 22 3. SIGNALS AND WIRING 3.7 Servo motor with electromagnetic brake CAUTION Configure the electromagnetic brake operation ci rcuit so that it is activated not only by the interface unit signa ls but also by an e xternal forced stop (EM1). EM1 RA 24VDC Contacts must be open when servo-off, when an alarm o ccurrence and when an electromagnetic br[...]

3 - 23 3. SIGNALS AND WIRING (3) Electromagnetic brake interlock signal There are the following electromagnetic brake interl ock signals. The MR-J2M-D01 is required to use MBR1 to MBR8. Load the MR-J2M-D01 to the option slot of the base unit. Signal Symbol Connector Pin No. Description Electromagnetic brake interlock MBR CN3-13 Electromagnetic brak[...]

3 - 24 3. SIGNALS AND WIRING (b) Electromagnetic brake interlock 1 to 8 (MBR1 to MBR8) By adding an extension IO unit, you can use th e electromagnetic brake interlock (MBR) for each axis. The timing chart is as shown in (4) of this section. (4) Timing charts (a) Servo-on command (fr om controller) ON/OFF Delay time (Tb) [ms] after the servo-on is [...]

3 - 25 3. SIGNALS AND WIRING (c) Alarm occurrence ON OFF (10ms) Servo motor speed Base circuit Invalid(ON) Valid(OFF) No(ON) Yes(OFF) Dynamic brake Dynamic brake Electromagnetic brake operat ion d elay tim e Electromagnetic brake Trou ble ( ALM) Electromagnetic brake Electr oma gnet ic brake i nter lock (MBR MBR1 to MBR8) (d) Both main and control [...]

3 - 26 3. SIGNALS AND WIRING 3.8 Grounding WARNING Ground the base unit and servo motor securely. To prevent an electric shock, always connec t the protective ear th (PE) terminal o f the base unit with the protective earth (PE) of the control box. The base unit switches the power tran sistor on-off to supply power to the servo motor. Depending on [...]

3 - 27 3. SIGNALS AND WIRING 3.9 Instructions for the 3M connector When fabricating an encoder cable or the like, secure ly connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath External conductor Pull back the external conductor to cover th e s[...]

3 - 28 3. SIGNALS AND WIRING MEMO[...]

4 - 1 4. OPERATION AND DISPLAY 4. OPERATION AND DISPLAY On the interface unit display (5-digit, seven-segment di splay), check the status of communication with the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm. 4.1 Normal indication When powered on, the MELSERVO-J2M is placed in th e auto[...]

4 - 2 4. OPERATION AND DISPLAY 4.1.1 Display sequence @ in the diagram denotes the slot number of the base unit and # the axis number of the drive unit. @# @# @# @# @# @# @# @# ** MELSERVO-J2M power ON Waiting for s ervo syste m controller power to swit ch ON Servo system controller power ON Initial dat a communica tion with servo system controller[...]

4 - 3 4. OPERATION AND DISPLAY (1) Indication list (Note 1) Indication Status Description @ Ab# Initializing MELSERVO-J2M was switched on when power to the servo sy stem controller is off. @ AA# Initializing Power to the servo system controller was switched off during power-on of MELSERVO-J2M. The axis No. set to the servo system controller does no[...]

4 - 4 4. OPERATION AND DISPLAY 4.2 Status display mode of interface unit 4.2.1 Display flowchart Use the display (5-digit, 7-segment LED) on the fr ont panel of the interface unit for status display, parameter setting, etc. Set the pa rameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. The [...]

4 - 5 4. OPERATION AND DISPLAY 4.2.2 Status display of interface unit MELSERVO-J2M status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change di splay data as desired. When the required data is selected, the corresponding symbol appears. Press the "SET" button to d[...]

4 - 6 4. OPERATION AND DISPLAY 4.2.3 Diagnostic mode of interface unit Name Display Description External I/O signal display 1) 2) 3) Shows the ON/OFF states of the ex ternal I/O signals and whether a forced stop command fr o m the servo system controller is present or not. 1) Forced stop command from servo system controller Absent: On Present: Off [...]

4 - 7 4. OPERATION AND DISPLAY 4.2.4 Alarm mode of interface unit The current alarm, past alarm hi story and paramete r error are displayed. The lower 2 digits on the display indicate the alarm number that has occu rred or the parameter numb er in error. Display examples are shown below. Name Display Description Indicates no occurrence of an alarm.[...]

4 - 8 4. OPERATION AND DISPLAY 4.2.5 Interface unit parameter mode The parameters whose abbreviations are marked* ar e made valid by changing the setting and then switching power off once and switching it on again. Refer to Section 5.2.2. The following example shows the operation procedur e performed after power-on to change the serial communicatio[...]

4 - 9 4. OPERATION AND DISPLAY 4.2.6 Output signal (DO) forced output POINT This function is availabl e during test operation. The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, etc. This operation must be performed in the servo off state. Call the display screen shown aft[...]

4 - 10 4. OPERATION AND DISPLAY MEMO[...]

5 - 1 5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parame ter values extremely as it will make operation instable. POINT When MELSERVO-J2M is connected with the servo system controller, the parameters are set to the values of the servo system controller. Switching power off, then on makes the values set on the MR C on fig ura tor [...]

5 - 2 5. PARAMETERS 5.1.2 Lists POINT For any DRU parameter wh ose symbol is pr eceded by*, set th e DRU parameter value and switch power off once, then switch it on again to make that parameter setting valid. The parameter is set when communication between the servo syst em controller and servo amplifier is established (b * is displayed). A fter t[...]

5 - 3 5. PARAMETERS Classifi- cation No. Sym bo l Name (Note) Initial Value Unit Custome r setting 41 500 42 0000 43 0111 44 20 45 50 46 0 47 0 48 For manufacturer setting 0 49 *CDP Gain changing selection 0000 50 CDS Gain changing condition 10 (Note ) 51 CDT Gain changing time constant 1 ms 52 GD2B Ratio of load inertia moment to Servo motor inert[...]

5 - 4 5. PARAMETERS (2) Details list Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 1 *AMS Amplifier setting Used to select the absolute position detection. Absolute position detection selection 0: Invalid (Used in incremental system. ) 1: Vali d (Us ed in ab solut e posi tion detection system.) 0 0 0 0000 Refer to [...]

5 - 5 5. PARAMETERS Classifi- cation No. S ymbol Name and Function Initial Value Unit Setting Range 7 *POL Rotation direction selection Used to select the rotation direction of th e servo motor. 0: Forward rotation (CCW) with the in crease of the positioning address. 1: Reverse rotation (CW) with the increase of the positioning address. CCW CW 0 Re[...]

5 - 6 5. PARAMETERS Classifi- cation No. S ymbol Name and Function Initial Value Unit Setting Range 9 RSP Servo response Used to select the response level of auto tuning. Auto tuning respo nse level selec tion If the machine hunts or generates large gea r sound, decrease the set value. To improve performance, e.g. shorten the settling time, increas[...]

5 - 7 5. PARAMETERS Classifi- cation No. S ymbol Name and Function Initial Value Unit Setting Range 14 VG1 Speed loop gain 1 Normally this par ameter setting n eed not be changed. Higher setting increases the response le vel but is liable to generate vi bration and/or noise. When auto tuning mode 1,2 and in terpolation mode is selected, the result [...]

5 - 8 5. PARAMETERS Classifi- cation No. S ymbol Name and Function Initial Value Unit Setting Range 20 INP In-position range Used to set the droop pulse range in which the in-position (INP) will be output to the controller. Make setting in the feed back pulse unit (parameter No. 6). For example, wh en you want to set 10 m in the conditions that the[...]

5 - 9 5. PARAMETERS Classifi- cation No. S ymbol Name and Function Initial Value Unit Setting Range 25 LPF Low-pass filter/adaptive vibration suppression control Used to select the low-pass filter and adaptive vibration suppression control. (Refer to Chapter 7.) 0 Low-pass filter selection 0: Valid (Automatic adjustment) 1: Invalid When you choose [...]

5 - 10 5. PARAMETERS Classifi- cation No. S ymbol Name and Function Initial Value Unit Setting Range 33 *OP6 Option function 6 Used to select the serial communication baudrate, serial communication response delay ti me setting and encoder output pulse setting. 0 Encoder output pulse setting selection (refer to parameter No.38) 0: Output pulse setti[...]

5 - 11 5. PARAMETERS Classifi- cation No. Symbol Name and Function Initial Value Unit Setting Range 39 For manufacturer setting Do not change this value by any me ans. 0 DRU Parameter blocks write inhibit Setting Operation Operation from controller Operation from MR Configurator (servo configuration software) Reference 0000 (initial value) Write DR[...]

5 - 12 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 41 500 42 0000 43 0111 44 20 45 50 46 0 47 0 48 For manufacturer setting Do not change this value by any me ans. 0 49 *CDP Gain changing selection Used to select the gain changing condition. (Refer to Section 7.5.) 0 00 Gain changing sel ection Gains are change[...]

5 - 13 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 60 *OPC Optional function C Use to select the encoder output p ulse direction. 0 Encoder pulse out put phase ch anging Changes the phases o f A, B-phas e encode r pulses out put . Servo motor rotation di rection Set value CCW CW 0 1 A phase B phase A phase B ph[...]

5 - 14 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 62 0000 63 400 64 100 65 1 66 1 67 0 68 0 69 0 70 0 71 0 72 0 73 0 74 0 Expansion DRU par ameters 2 75 For manufacturer setting Do not change this value by any me ans. 0[...]

5 - 15 5. PARAMETERS 5.2 Interface unit 5.2.1 IFU parameter write inhibit POINT Use the unit operation section pushbutton switches or M R Co nf igu ra tor (servo configuration software) to set the IFU parameters of the interface unit. They cannot be set from the servo system controller. Use the unit pushbutton switches or MR Configurator ( servo co[...]

5 - 16 5. PARAMETERS (2) Details list Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 0 *BPS Serial communication function selection, alarm history clear Used to select the serial communi cation baudrate, select various communication conditions, an d clear the alarm history. 0 Serial baudrate selection 0: 9600 [bps] [...]

5 - 17 5. PARAMETERS Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 3 *MD1 Analog monitor 1 output Choose the signal to be output to an alog monitor 1. 0 0 Analog monitor 1 selectio n 0: Servo motor speed ( 4V/max. Servo motor speed) 1: Torque ( 4V/m ax. To rque) 2: Servo motor speed ( 4V/max. Servo motor speed) 3: [...]

5 - 18 5. PARAMETERS Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 5 *MD3 Analog monitor 3 output Choose the signal to be output to an alog monitor 3. 0 0 Analog monitor 3 selectio n 0: Servo motor speed ( 4V/max. Servo motor speed) 1: Torque ( 4V/m ax. To rque) 2: Servo motor speed ( 4V/max. Servo motor speed) 3: [...]

5 - 19 5. PARAMETERS Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 9 *SSC SSCNET type selection Select the network type of the interface unit. 02 SSCNET type select ion 00: SSCNET3.5ms 01: SSCNET1.7ms 02: SSCNET0.8ms 12: SSCNET 0200 Refer to name and function column. POINT When using motion controller Q series, set[...]

5 - 20 5. PARAMETERS Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 11 *SL1 Slot 1 axis number selection Choose the axis number of th e drive unit connected to th e first slot of the base unit. (Ref er to Section 2.8) Axis number set value 1 In the initial setting, the first axis is set to the first slot. 0000 0000 [...]

5 - 21 5. PARAMETERS 5.2.3 Analog monitor The servo status can be output to 3 channels in te rms of voltage. Using an ammeter enables monitoring the servo status. (1) Setting Change the following digits of IFU pa rameter No.3 to 5: IFU par ame ter N o. 3 Analog monitor 1 selection (Signal output to across MO1-LG) Axis n umber of a nalog monit or 1 [...]

5 - 22 5. PARAMETERS Setting Output item Data Setting Output item Data 2 Servo motor speed 4[V] 0 CW direction CCW direction Max. speed Max. speed 9 Droop pulses ( 4V/32768pulse) 4[V] 32768[ pulse] 0 4[V] 32768[pu lse] CCW directio n CW dire ction 3 Torque (Note) 4[V] 0 Driving in CW dire ction Driving in CCW directi on Max. torque Max. torque A Dr[...]

5 - 23 5. PARAMETERS (3) Analog monitor block diagram PWM M Current control Speed control Current command Position control Droop pul s e Differ- ential Bus voltage Speed command C ommand pulse Current feedback Position feedback Current encoder Servo Motor Encoder Torque Differ- ential Speed command Servo motor speed[...]

5 - 24 5. PARAMETERS 5.2.4 Test operation mode CAUTION The test operation mode is designed for servo operation confirmation and no t for machine operation confirmation. Do not use this mode with the machine. Always use the servo motor alone. If an operation fault occu rred, use the forced stop (EM1) to make a stop. By using a personal computer and [...]

5 - 25 5. PARAMETERS 1) Operation pattern Item Initial value Setting range Travel [pulse] 100000 0 to 9999999 Speed [r/min] 200 0 to max . speed Acceleration/deceleration ti me constant [ms] 1000 1 to 50000 2) Operation method Operation Screen control Forward rotation start "Click Forward" button. Reverse rotation start "Click Revers[...]

5 - 26 5. PARAMETERS (e) Output signal (DO) forced output Output signals can be switched on/off forcibly inde pendently of the servo status. Use this function for output signal wiring check, etc. Exercise control on the DO forced output screen of the MR Configurator (servo configuration software). (3) Configuration Configuration should be as in Se [...]

6 - 1 6. GENERAL GAIN ADJUSTMENT 6. GENERAL GAIN ADJUSTMENT 6.1 Different adjustment methods 6.1.1 Adjustment on a MELSERVO-J2M The gain adjustment in th is section can be made on MELSERVO-J2M . For gain adjustme nt, first execute auto tuning mode 1. If you are not satisfied with th e results, exe cute auto tuning mode 2, manual mode 1 and manual m[...]

6 - 2 6. GENERAL GAI N ADJUSTMENT (2) Adjustment sequence and mode usage Usage Used when you want to match the position gain 1 (PG1) between 2 or more axes. Normally not used for other purposes. Allows adjustment by merely changing the response level setting. First use this mode to make adjustment. Used when the cond itions of auto tuning mode 1 ar[...]

6 - 3 6. GENERAL GAI N ADJUSTMENT 6.1.2 Adjustment using MR Configur ator (servo configuratio n software) This section gives the functions and adjustment that may be performed by using MELSERVO-J2M with the MR Configurator (servo configuration soft ware) which operates on a personal computer. Function Descrip tion Adjustment Machine analyzer With t[...]

6 - 4 6. GENERAL GAI N ADJUSTMENT 6.2 Auto tuning 6.2.1 Auto tuning mode MELSERVO-J2M has a real-time auto tuning function which esti mates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of MELSERVO-J2M. (1) Auto tuni[...]

6 - 5 6. GENERAL GAI N ADJUSTMENT 6.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Servo motor Command Automa tic sett ing Control gains PG1,VG1 PG2,VG2,VIC Current control Curren t fee dback Load inertia momen t Encoder Position/speed feedb ack Real -tim e aut o tuning sect ion Speed feedback Load inertia[...]

6 - 6 6. GENERAL GAI N ADJUSTMENT 6.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match th e machine. Merely changing the response level setting value as required completes the adjust ment. The adjustment procedure is[...]

6 - 7 6. GENERAL GAI N ADJUSTMENT 6.2.4 Response level setting in auto tuning mode Set the response (DRU parameter No .9) of the whol e servo system. As the response level setting is increased, the trackability and settling time for a co mmand decreases, but a too high response level will generate vibration. Hence, make setting until desi red respo[...]

6 - 8 6. GENERAL GAI N ADJUSTMENT 6.3 Manual mode 1 (simple manual adjustme nt) If you are not satisfied with the adjustment of auto tuning , you can make si mple manual ad justment with three DRU parameters. 6.3.1 Operation of manual mode 1 In this mode, setting the th ree gains of position co ntrol gain 1 (PG1), speed control gain 2 (VG2) and spe[...]

6 - 9 6. GENERAL GAI N ADJUSTMENT (c) Adjustment description 1) Speed control gain 2 (DRU parameter No . 16) This parameter determines the re sponse level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as in[...]

6 - 10 6. GENERAL GAI N ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (DRU parameter No. 13) This parameter determines the re sponse level of the position control loop. Increasing position control gain 1 improves trackability to a po sition command but a too high value will make overshooting liable to occur at the time of settlin[...]

6 - 11 6. GENERAL GAI N ADJUSTMENT 6.4 Interpolation mode The interpolation mode is used to match the positi on control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 1 and speed control gain 1 which determine command trackabilit[...]

6 - 12 6. GENERAL GAI N ADJUSTMENT MEMO[...]

7 - 1 7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need n ot be used generally. Use them if you are not satisfied with the ma chine status after making adjustment in the methods in Chapt er 6. If a mechanical system has a natural resonance leve l point, inc reasing the servo system respon[...]

7 - 2 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters Set the notch frequency and notch depth of the machine resonance suppression filter 1 (DRU parameter No. 18). 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 2[...]

7 - 3 7. SPECIAL ADJUSTMENT FUNCTIONS 7.3 Adaptive vibrati on suppression control (1) Function Adaptive vibration suppression control is a function in which the drive unit detects machine resonance and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set a[...]

7 - 4 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppressi on control selection (DRU parameter No.25). DRU parameter No. 25 Adaptive vibration suppression control selection 0: Invalid 1: Valid Machine resonance frequency is always detected to generate the filter in respons e to resonance, suppressing machine [...]

7 - 5 7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation. 7.5.1 Applications This function is used when: (1) You want to inc rease the gains d uring servo loc k but decrea se t[...]

7 - 6 7. SPECIAL ADJUSTMENT FUNCTIONS 7.5.3 Parameters When using the gain changi ng function, always set " 4 " in DRU parameter No.2 (auto tuning) to choose the manual mode 1 of the gain adjustment mode s. The gain changing function cannot be used in the auto tuning mode. DRU Parameter No. Abbrevi ation Name Unit Description 13 PG1 P osi[...]

7 - 7 7. SPECIAL ADJUSTMENT FUNCTIONS (1) DRU Parameters No. 12 to 17 These parameters are the same as in ordinary manua l adjustment. Gain changi ng allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and speed integral compensation to be changed. (2) Ratio of load inertia [...]

7 - 8 7. SPECIAL ADJUSTMENT FUNCTIONS 7.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting DRU Parameter No. Abbreviation Name Setting Unit 13 PG1 Position control gain 1 100 rad/s 14 VG1 Speed control gain 1 1000 rad/s 12 GD2 Ratio of load inertia mome[...]

7 - 9 7. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting DRU Parameter No. Abbreviation Name Setting Unit 13 PG1 Position contro l gain 1 1 00 rad/ s 14 VG1 Speed con tr ol g ain 1 1000 rad/s 12 GD2 Ratio of loa d inertia mo ment to servo motor inertia moment 40 0.1 times 15 PG2 Position contro l gain 2 1 20 ra[...]

7 - 10 7. SPECIAL ADJUSTMENT FUNCTIONS MEMO[...]

8 - 1 8. INSPECTION 8. INSPECTION WARNING Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 15 minutes a fter power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. Any person who is involved in inspection s hould be fu lly competent to do t[...]

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

9 - 1 9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Alarms and warning list POINT The alarm/warning wh ose indicat ion is not given does not exist in that unit. When a fault occurs during operation, the correspondi ng alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 9.2 or 9.3 and take the appropriate action. After [...]

9 - 2 9. TROUBLESHOOTING Alarm deactivation Display Name Error reset CPU reset A.10 Undervoltage A.12 Memory error 1 A.13 Clock error A.14 Watchdog A.15 Memory error 2 A.16 Encoder error 1 A.17 Board error A.19 Memory error 3 A.1A Motor combination error A.1B Axis set error A.1C Base unit bus error 1 A.1D Base unit bus error 2 A.1E Drive unit mount[...]

9 - 3 9. TROUBLESHOOTING 9.2 Remedies for alarms CAUTION When any alarm has occurred, eliminate it s cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injur y may occur. If an absolute position erase (A.25) occu rred, always make home position setting again. Otherwise, misoperation may occur. As soon as an alarm occurs, [...]

9 - 4 9. TROUBLESHOOTING Display IFU DRU Nam e Definition Cause Action @A.12# Memory error 1 RAM, memory fau lt @A.13# Clock error Printed board fau lt. @A.14# Watchdog CPU/parts fault @A.15# Memory error 2 EEP-ROM fault Faulty parts in the dri ve unit. Checking method Alarm (any of A.12 to 15) occurs if power is switched on after disc onnect ion o[...]

9 - 5 9. TROUBLESHOOTING Display IFU DRU Nam e Definition Cause Action 1. Encode r connector ( CN2) disconne cted. Connect correctly. 2. Encoder fa ult. Change the servo motor. @A.20# Enco der error 2 Communicatio n error occurred between encoder and drive unit. 3. Encoder c able faul ty. (Wire breakage or shorted) Repair or change cabl e. 1. Power[...]

9 - 6 9. TROUBLESHOOTING Display IFU DRU Nam e Definition Cause Action 1. Sma ll ac celera tion /decel erati on tim e constant caus ed overs hoot to be large. Increase accelerat ion/ deceleration time consta nt. 2. Serv o syste m is inst able to c ause overshoot. 1. Reset servo gain to proper value. 2. If servo gain cannot be set to prop er valu e:[...]

9 - 7 9. TROUBLESHOOTING Display IFU DRU Nam e Definition Cause Action 1. Interface uni t fault ca used the IFU parameter se tting to be re written. Change th e interface un it. 2. There is a IFU pa rameter whose value was set to outside the setti ng range by the controller. Change t he IFU parame ter va lue to within the setting range. FA.37 IFU p[...]

9 - 8 9. TROUBLESHOOTING Display IFU DRU Nam e Definition Cause Action 1. Mach ine stru ck som ething. 1. Rev iew op eration patte rn. 2. Install limit switches. 2. Wron g con nect ion of servo m otor. Drive unit's output U, V, W d o not match servo moto r's input U, V, W. Connect correctly. 3. Serv o syste m is inst able and hunting. 1. [...]

9 - 9 9. TROUBLESHOOTING Display IFU DRU Nam e Definition Cause Action 1. Drive unit having la rge load is adjacent. 1. Change the slot of the drive unit whose load is large. 2. Reduce the load. 3. Reex amin e the op erati on pattern. 4. Use a servo motor whose output is large. 2. Serv o syste m is inst able and hunting. 1. Repeat accelera tion/ de[...]

9 - 10 9. TROUBLESHOOTING 9.3 Remedies for warnings POINT When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and servo motor may become faulty . If the power of the servo amplifier is switched OFF/ON duri ng the alarms, allow more than 30 minutes fo[...]

10 - 1 10. OUTLINE DRAWINGS 10. OUTLINE DRAWINGS 10.1 MELSERVO-J2M configuration example The following diagram shows the MR-J2M-BU8 base un it where one interface unit and eight drive units are installed. 25 (0.98) 240 (9.45) 30 (1.12) 50 (1.67) 35 (1.38) 130 (5.12) 158 (6.22) 28 (1.10) Appro x. 70 ( 2.76) 130 (5.12) 10 (0.39) 10 (0.39) 130 (5.12) [...]

10 - 2 10 OUTL INE DRA WINGS 10.2 Unit outline drawings 10.2.1 Base unit (MR-J2M-BU ) L 3 A B C N P 3 C N P 1 B C N P 1 A B CNP3 L 21 N A P C 1 2 3 3 L 2 2 L 1 1 L 11 [Unit: mm] ([Unit: in]) Base Unit MR-J2M-BU4 230 (9.06 ) Variable Di mension s Mass [kg]([lb]) 1.1 (2.43) A B 218 (8.58) MR-J2M-BU6 290 (11.42) 1.3 (2.87) 278 (10.95) MR-J2M-BU8 350 ([...]

10 - 3 10 OUTL INE DRA WINGS 10.2.3 Drive unit (MR-J2M- DU) (1) MR-J2M-10DU to MR-J2M-40DU MITSUBI SHI C N 2 C N P 2 MITSUBIS HI MELSERVO SON ALM CNP2 2 4 V 13 UW (1 (0.04)) Appro x. 70 ( 2.76) 13 8.5 ( 5.45) 130 (4.72) 6.5 (0.26) 5 (0.20) 5 (0.20) 4.5 ( 0.18) mounti ng ho le 30 (1.18) 130 (5 .12) 120 (4.72) Mass: 0.4kg (0.88lb) NAME PLATE NAME PLA[...]

10 - 4 10 OUTL INE DRA WINGS 10.2.4 Extension IO unit (MR-J2M-D01) C N 4 B C N 4 A [Unit: mm] ([Unit: in] ) Mass: 0.2k g ( 1.10l b ) 25 (0.89) (1 (0.04)) 130 (5.12 ) 120 (4.72) Approx. 80 (3.15 ) 138.5 (5.45) 130 (4.72 ) 6.5 (0.26) 5 (0.20) 120 (4.72) 5 (0.20) 2- 4.5 ( 0.18) mounting hole NAME PLATE 5 (0.20) Mounting screw: M4 Tighte ning tor que:1[...]

10 - 5 10 OUTL INE DRA WINGS 10.3 Connector (1) CN1A CN1B CN2 CN3 connector <3M> (a) Soldered type Model Connector : 10120-3000VE Shell kit : 10320-52F0-008 [Unit: mm] ([Unit: in]) Logo, etc . are indicated here. 22.0 (0.87) 39.0 (1.54) 23.8 (0.98) 33.3 (1.31) 14.0 (0.55) 12.7 (0.50) 12.0 (0.47) 10.0 (0.39) (b) Threaded type Model Connector :[...]

10 - 6 10 OUTL INE DRA WINGS (c) Insulation displacement type Model Connector : 10120-6000EL Shell kit : 10320-3210-000 2- 0.5 ( 0.02) 33.0 (1.3) 42.0 (1.65) 29.7 (1.17) 20.9 (0.82) 11.5 6.7 ( 0.26) [Unit: mm] ([Unit: in]) Logo, etc. are indicat ed here . (0.45)[...]

10 - 7 10 OUTL INE DRA WINGS (2) CN4A CN4B connector <3M> (a) Soldered type Model Connector : 10150-3000VE Shell kit : 10350-52F0-008 Logo, etc. are indicated here. [Unit: mm] ([Unit: in]) 41.1 (1.62) 39.0 (1.54) 23.8 (0.94) 52.4 (2.06) 18.0 (0.71) 12.7 (0.50) 17.0 (0.67) 46.5 ( 1.83 ) 14.0 (0.55) (b) Threaded type Model Connector : 10150-300[...]

10 - 8 10 OUTL INE DRA WINGS (3) CNP1A CNP1B connector <Tyco Electronics> Model CNP1A housing : 1-178128-3 CNP1B housing : 2-178128-3 Contact : 917511-2 (max. sheath OD: 2.8 [mm]) 353717-2 (max. sheath OD: 3.4 [mm]) Applicable tool : 91560-1 (for 917511-2) 937315-1 (for 353717-2) AMP 0-3 3 2 1 X 5.08 (0.2) 29.7 (0.12) 7.15 (0.28) 16.3 ( 0.06 [...]

10 - 9 10 OUTL INE DRA WINGS (5) CNP1 CNP2 CNP3 connector 11.6 3.5 (0.138 ) 3 9 . 6 ( 0 . 3 7 8 ) 2.7 (0 .106) A B 4.2 4 . 2 ( 0 . 1 6 5 ) 2 . 5 ( 0 . 0 9 8 ) 8 . 5 6 . 3 3 . 3 ( 0 . 1 3 ) 1 0 . 7 1 9 . 6 1 2 3 4 5 6 7 9 1 0 0.6 (0.024) 0 . 6 ( 0 . 0 2 4 ) R0.3 1.2 5.4 ( 0.213 ) 1 2 3 4 Model Variab le Dime nsion s A 9.6 (0.378) 5557-04R 4.2 (0.165[...]

10 - 10 10 OUTL INE DRA WINGS (6) Bus cable connector Honda Tsushin Industry HDR type Model HDR Number of Pins Connector Connector case (Note) Crimping terminal 14 HDR-E14M G1 HDR-E14LPA5 26 HDR-E26M G1 HDR-E26LPA5 Wire straightening tool : FHAT-0029 Insulation displacement tool : FHPT-0004C Note. Not av ailable from us and to be supplied by the cu[...]

11 - 1 11. CHARACTERISTICS 11. CHARACTERISTICS 11.1 Overload protection characteristic s An electronic thermal relay is built in the drive unit to protect th e servo motor and drive unit from overloads. Overload 1 alarm (A.50) occurs if overload operat ion performed is above the electronic thermal relay protection curve shown in any of Figs. 13.1, [...]

11 - 2 11. CHARACTERISTICS 11.2 Power supply equipment capacity and g enerated loss (1) Amount of heat generated by the drive unit Table 11.1 indicates drive unit's power supply capaci ties and losses generated under rated load. For thermal design of an enclosure, use the values in Table 11.1 in co nsideration for th e worst operating conditio[...]

11 - 3 11. CHARACTERISTICS (2) Heat dissipation area for enclosed drive unit The enclosed control box (hereafter called the cont rol box) which will contain the drive unit should be designed to ensure that its temperature rise i s within 10 at the ambient temperature of 40 . (With a 5 (41 ) safety margin, the system should operate within a maximum [...]

11 - 4 11. CHARACTERISTICS 11.3 Dynamic brake characteristics Fig. 11.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 11.2 to calculate an approximate co asting distance to a stop. The dynamic brake time constant varies with the servo motor and machin e operation speeds. (Refer to Fig. 1[...]

11 - 5 11. CHARACTERISTICS 0 14 16 2 4 8 10 6 12 0 500 1000 1500 2000 2500 3000 13 73 23 43 053 Speed [r/min] Time constant [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 13 43 23 053 73 Speed [ r/min] Time constant [s] a. HC-KFS series b. HC-MFS series Speed [r/min] Time constant [s] 0 0.01 0.02 0.0[...]

11 - 6 11. CHARACTERISTICS 11.4 Encoder cable flexing life The flexing life of the cables is shown below. This graph calculated values. Si nce they are not guaranteed values, provide a little allowance for these values. 1 10 7 5 10 7 1 10 8 5 10 6 1 10 6 5 10 5 1 10 5 5 10 4 1 10 4 5 10 3 1 10 3 a b F l e x i n g l i f e [ t i m e s ] 4 7 10 20 40 [...]

12 - 1 12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or au xiliary equipment, make sure tha t the charge lamp is off more than 15 minutes after power-off, then confirm the voltag e with a tester or the like. O therwise, you may get an e lectric shock. CAUTION Use the specified auxiliary[...]

12 - 2 12. OPTIONS AND AU XILIARY EQUI PMENT Calculate the total of the 3000r/min-equivalent in ertia moments of the axes to be decelerated simultaneously, and find the maximum tota l of 3000r/min-equivalent inertia moments. Also find the sum total of permissible load iner tia moments of the drive units installed on the same base unit. (Maximum tot[...]

12 - 3 12. OPTIONS AND AU XILIARY EQUI PMENT (b) To make selection accord ing to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative brake option: 1) Regenerative energy calculation Use the following table to calcul[...]

12 - 4 12. OPTIONS AND AU XILIARY EQUI PMENT <Entry example> Timing 1) 2) 3) 4) 5) 6) 7) 8) First axis E1 E2 E3 E4 E1 E2 E3 E4 Second axis E1 E2 E3 E4 E1 E2 E3 E4 Third axis E1 E2 E3 E4 E5 E6 E7 E8 Fourth axis E4 E4 E1 E2 E3 E4 E4 E4 Fifth axis E4 E4 E4 E4 E4 E1 E2 E3 Sixth axis E1 E2 E2 E3 E4 E4 E1 E2 Seventh axis E1 E2 E2 E3 E4 E4 E1 E2 Eig[...]

12 - 5 12. OPTIONS AND AU XILIARY EQUI PMENT (3) Connection of the regenerative brake op tion POINT When using the MR-R B54, cooling by a fan is required. Please obtain a cooling fan at your discretion. Set DRU parameter No.2 according to the option to be used. The regenerative brake option will cause a temperature rise of 100 degrees relative to t[...]

12 - 6 12. OPTIONS AND AU XILIARY EQUI PMENT (4) Outline drawing (a) MR-RB032 MR-RB14 LA 5 (0.20) LB TE1 6 (0.2 3) 6 ( 0 . 2 3 ) 1 5 6 ( 6 . 1 4 ) 1 6 8 ( 6 . 6 1 ) 1 4 4 ( 5 . 6 7 ) 1 2 ( 0 . 4 7 ) 6 ( 0 . 2 3 ) 1 2 ( 0 . 4 7 ) 20 (0.79) LD 1.6 (0.06) LC G3 G4 P C [Unit: mm (in)] 6 (0.24) mounting hole MR-RB TE1 Terminal block G4 G3 C P Terminal s[...]

12 - 7 12. OPTIONS AND AU XILIARY EQUI PMENT (b) MR-RB34 Mounting screw G4 G3 C P Terminal screw: M 4 Tightening torque: 1.2 [N m] (10.6 [ lb in]) 100 (3. 94) 90 (3.54) 10 (0.39) 7 8.5 (0.34) 8.5 (0.34) 125 (4.92) 150 (5.91) 142 (5.59) 17 (0.67) 318 (12.52) 335 (13.19) 79 (7.05) G4 G3 C P [Unit: mm (in) ] Terminal block Tightening torque: 5.4 [N m][...]

12 - 8 12. OPTIONS AND AU XILIARY EQUI PMENT 12.1.2 Cables and connectors (1) Cable make-up The following cables are used for connectio n with the servo motor and other models. The broken line areas in th e diagram are not options. HC-KFS HC-MFS HC-UFS 3000r/min 4) (Note) 12) CNP3 CN1A CN1B CN3 CN2 CNP2 CN2 CNP2 13) 14) 15) BU IFU DRU DRU CON5 17) [...]

12 - 9 12. OPTIONS AND AU XILIARY EQUI PMENT No. Product Model Description Application 1) Standar d encoder cable MR-JCCBL M-L Refer to (2) (a) in this section. Standard flexing life IP20 2) MR-JCCBL M-H Refer to (2) (a) in this section. Connector: 10120-3000VE Shell kit: 10320-52F0-008 (3M or equivalent) Housing: 1-172161-9 Pin: 170359-1 (Tyco Ele[...]

12 - 10 12. OPTIONS AND AU XILIARY EQUI PMENT No. Product Model Description Application 15) Power supply connector MR-PWCNK3 Plug: 5557-04R-210 Terminal: 5556PBT3L (for AWG16) (6 pcs. ) (Molex) Servo motor power cable Y Housing: 2-178128-3 (5 pcs.) Contact: 917511-2 (max. sheath OD 2.8 [mm] 15 pcs.) (Tyco Electronics) For CNP1B X Housing: 1-178128-[...]

12 - 11 12. OPTIONS AND AU XILIARY EQUI PMENT (2) Encoder cable CAUTION If you have fabrica ted the encoder cable, connect it correctly. Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to Section 11.4 for the fl exing life of the encoder cabl e. When the encoder cabl e is used, the sum of the r es[...]

12 - 12 12. OPTIONS AND AU XILIARY EQUI PMENT P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 18 P5 LG MD 6 LG 1 BAT 9 SD 1 2 8 9 P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 MR-JCCBL2M-L MR-J CCBL5M -L MR-JCCBL2M-H MR-JCCBL5M-H 18 P5 LG MD 6 LG 1 BAT 9 SD 1 2 8 9 P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 18 P5 LG MD 6 LG 1 [...]

12 - 13 12. OPTIONS AND AU XILIARY EQUI PMENT (b) MR-JC4CBL M-H POINT When using this encoder cable, set " 1 " in DRU parameter No. 23. 1) Model explanation 30 Cable Length [m(ft)] 50 Symbol 30 (98.4) 50 (164.0) 40 40 (131.2) Model: MR-JC4CBL M-H Long fl exi ng life 2) Connection diagram The signal assignment of the encoder connector is a[...]

12 - 14 12. OPTIONS AND AU XILIARY EQUI PMENT When fabricating an encoder cable, use the reco mmended wires given in Section 12 .2.1 and t he MR-J2CNM connector set for encoder cable fabricat ion, and fabricate an encoder cable as shown in the following wiring diagram. Referring to th is wiring diagram, you can fabricate an encoder cable of up to 5[...]

12 - 15 12. OPTIONS AND AU XILIARY EQUI PMENT (3) Communication cable POINT This cable may not be used w ith some personal c omputers. After full y examining the sig nals of the RS-23 2C connector, refer to th is section and fabricate the cable. (a) Model definition Model : MR-C PCATCBL3 M Cable length 3[m](10[ft]) (b) Connection diagram Half -pit [...]

12 - 16 12. OPTIONS AND AU XILIARY EQUI PMENT (4) Bus cable CAUTION When fabricating the bus cable, do no t make incorrect connection. Doing so can cause misoperation or explosion. When fabricating this cable, use the recommended cable given in Section 12.2.1 and fabricate it in accordance with the connection diagram shown in this section. The over[...]

12 - 17 12. OPTIONS AND AU XILIARY EQUI PMENT (b) MR-J2HBUS M 1) Model definition Model:MR- J2HBUS M 05 1 0.5 (1.64) 1 (3.28) 5 5 (16.4) Cable Length [m(ft)] Symbol 2) Connection diagram MR-J2HBUS M 10120-6000EL(Connector) 10320-3210-000(Shell kit) 10120 -600 0EL(Con nec tor) 10320- 3210-0 00(She ll kit) 1 11 2 12 3 13 4 14 5 15 Plate 6 16 7 17 8 1[...]

12 - 18 12. OPTIONS AND AU XILIARY EQUI PMENT (c) Q172J2BCBL M(-B) When using the battery uni t Q170BAT, use the Q172J2BCBL M-B. For the Q170BAT, refer to the Motion Controller Q Series User's Manual (IB(NA)0300021). 1) Model definition Model:Q1 72J2BCBL M- 05 Cable Length [m(ft)] 5 Symbol 0.5 (1.64) 5 (16. 4) 1 (3.2 8) 1 Conne cti on of B att[...]

12 - 19 12. OPTIONS AND AU XILIARY EQUI PMENT 2) Connection diagram HDR-E26MG1(Connector) HDR-E26-LPA5(Conne ctor case) 10120-6000EL(Connector) 10320-3210-000(Connector case) 14 3 16 2 15 13 26 6 TD1 TD1* LG LG RD1 RD1* LG BT EMG12 EMG12* 1 RD Plate 12 1 11 4 14 5 9 7 17 RD* LG LG TD TD* LG BT EMG EMG* SD 2 19 RD Plate 12 1 11 4 14 5 9 7 17 RD* LG [...]

12 - 20 12. OPTIONS AND AU XILIARY EQUI PMENT (5) Battery cable When fabricating, use the recommended wire give n in Section 12.2.1 and fabricate as in the connection diagram shown in this section. (a) Definition of model Model: M R-J2MBTCBL M Symbol Cable Length L [m(ft)] 0.3 (0 .1) 1 (3.2 8) 03 1 (b) Outline drawing L 11 0 20 11 (c) Connection di[...]

12 - 21 12. OPTIONS AND AU XILIARY EQUI PMENT 12.1.3 Maintenance junction card (MR-J2C N3TM) (1) Usage The maintenance junction card (MR-J2CN3TM) is de signed for use when a personal computer and analog monitor are used at the same time. DC24V A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6 LG LG MO1 MO2 CN3A CN3 CN3B A 10k 4M O 1 14 MO2 7M O 3 11 LG SD A 10k [...]

12 - 22 12. OPTIONS AND AU XILIARY EQUI PMENT (3) Outline drawing 3(0.12) 41.5(1.63) 75(2. 95) 88(3.47) 100( 3.94 ) M R - J 2 C N 3 T M CN3A CN3B CN3C A1 B1 A6 B6 TE1 [Unit: mm] ([Unit: in]) Mass: 1 10g(0. 24Ib ) 2- 5.3(0.21)(mounting hole)[...]

12 - 23 12. OPTIONS AND AU XILIARY EQUI PMENT 12.1.4 MR Configurator (servo configuratio ns software) POINT Required to assign de vices to th e pins of CN4A and CN4B of the MR- J2M-D01 extension IO unit. The MR Configurator (servo configuration software) us es the communication function of the interface unit to perform parameter setting change s, g[...]

12 - 24 12. OPTIONS AND AU XILIARY EQUI PMENT (b) Configuration diagram BU IFU Person al com pute r CN3 CN2 To RS-232C connector Communication cable Servo motor DRU (First axis) DRU (Eighth axis) Servo motor CN2[...]

12 - 25 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2 Auxiliary equipment Always use the devices indicated in this section or eq uivalent. To comply with the EN Standard or UL/C- UL(CSA) Standard, use the products which conform to the corresponding standar d. 12.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wi[...]

12 - 26 12. OPTIONS AND AU XILIARY EQUI PMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 12.2 Wires for option cables Characteristics of one core Type Model Length [m(ft)] Core size [mm 2 ] Number of Cores Structure [Wires/mm] Conductor resistance[ /mm] Insulation coating ODd[...]

12 - 27 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2.3 Power factor improving reactors The input power factor is improved to be about 90%. Make selection as describe d below according to the sum of the outputs of the servo motors connected to one base unit. W W1 C RX S Y T Z H 5(0.2) D1 Installatio n screw D 5(0.2) [Unit : mm] FR-BAL L 1 L 2 L 3 MC R[...]

12 - 28 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2.4 Relays The following relays should be used with the interfaces: Interface Selection example Relay used for digital input signals ( interface DI-1) To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for di gital output sign als (int[...]

12 - 29 12. OPTIONS AND AU XILIARY EQUI PMENT (b) Reduction techniques for external nois es that cause MELSERVO-J2M to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of nois e) near MELSERVO-J2M and MELSERVO-J2M may malfunction, the following countermeasures [...]

12 - 30 12. OPTIONS AND AU XILIARY EQUI PMENT Noise transmission route Suppression techniques 1) 2) 3) When m easurin g inst rument s, rec eivers, senso rs, etc . which handle weak sig nals an d may malfunction due to noise and/or th eir signal ca bles are co ntained i n a contro l box to gether wit h the MELSERVO-J2M or run ne ar MELSERVO-J 2M, su[...]

12 - 31 12. OPTIONS AND AU XILIARY EQUI PMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near MELSERVO-J2M is show n below. Use this product or equivalent. Surge suppress or MC Surge suppress or Relay Surge suppresso r This distance should be short (within 20[...]

12 - 32 12. OPTIONS AND AU XILIARY EQUI PMENT Outline drawing Earth plate Clam p sec tion d iagr am (Note)M4 screw 1 1 ( 0 . 4 3 ) 3 ( 0 . 1 2 ) 6 ( 0 . 2 4 ) C A 6 22(0.87) 17.5(0.69) 35(1. 38) 3 5 ( 1 . 3 8 ) L or less 10(0.39) 3 0 ( 1 . 1 8 ) 7 ( 0 . 2 8 ) 2 4 0 0 . 2 Note. Screw hole for grounding. Co nnect it to the earth plate of the control [...]

12 - 33 12. OPTIONS AND AU XILIARY EQUI PMENT (d) Line noise filter (FR-BSF01) This filter is effective in suppre ssing noises radiated from the po wer supply side and output side of MELSERVO-J2M and also in suppressing high-fr equency leakage current side (zero-phase current) especially within 0.5MHz to 5MHz band. Connection diagram Outline dra w [...]

12 - 34 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2.7 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents a re la rger than those of the motor which is run with a commercial power supply. Select a leakage current[...]

12 - 35 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2.8 EMC filter For compliance with the EMC directive of the EN standa rd, it is recommended to use the following filter: (1) Combination with the base unit Recommended filter Base unit Model Leakage current [mA] Mass [kg(lb)] MR-J2M-BU4 MR-J2M-BU6 MR-J2M-BU8 SF1253 57 1.37 (3.02) (2) Connection examp[...]

12 - 36 12. OPTIONS AND AU XILIARY EQUI PMENT MEMO[...]

13 - 1 13. ABSOLUTE POSITION DETECTION SYSTEM 13. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If an absolute position erase (A.25) or an absolute position counter warning (A.E3) has occurred, always perform home position setting again. No t doing so can cause runaway. 13.1 Features For normal operation, as shown below, the encoder co nsists of a det[...]

13 - 2 13. ABSOLUTE POSITI O N DETECTION SYSTEM 13.2 Specifications (1) Specification list POINT The revision (Edit ion 44) of the Dang erous Goods Rule of the International Air Transport Ass ociation (IAT A) went into effec t on January 1, 2003 and was enforced immedi ately. In this rule, "provis ions of the lithium and lithium ion batteries&[...]

13 - 3 13. ABSOLUTE POSITI O N DETECTION SYSTEM 13.3 Confirmation of absolute position detection data You can confirm the absolute posi tion data with MR Configurator (servo configuration software). Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen. (1) Click "Diagnostics&quo[...]

13 - 4 13. ABSOLUTE POSITI O N DETECTION SYSTEM MEMO[...]

App - 1 A PPENDIX App 1. Status indication block diagram PWM M low high CMX CDV Instantaneous ly occurring torque Effecti ve load torque Peak loa d factor Effect ive valu e calculatio n Peak hold Command pulse frequency Cumulative command pulses PP, NP Droop p ulses Servo mot or speed Bus voltage Comma nd pulses Electr onic gear Position control Sp[...]

REVISIONS *The manual nu mber is given on th e bottom left o f the back cover. Print Data *Manual Number R evision Apr., 2001 SH(NA)030012-A First edi tion Jan., 2002 SH(NA)030012-B Addition of FOR MAXIMUM SAFETY CONFORMANCE WITH UL/C -UL STAN DARD: C apacitor discharge time changed to 1[mi n] Addition of (6 ) Attachmen t of a serv o motor Section [...]

Print Data *Manual Number R evision Jan., 2002 SH(NA)030012-B Section 12.2.6 (2) (b): Di ode mounting diagram modi fication Section 12.2.7 (1): Our leakage current breaker product model name changing Addition of MR-J2M -70DU to Ta ble 12.4 Sectio n 12.2.8 (2): A ddition of the cas e wit h 1-phase 200 to 230VAC power supply Section 13.2 (1 ): Reexam[...]

Print Data *Manual Number R evision Apr., 2003 SH(NA )030012-D Section 9.2: Reexamination of cause and action i n FA. 12 t o 15 Addition of cause and action to FA. 37 Reexamination of A. 50# definition Addition of "During rotation: 2. 5s or more " to A.51 # Section 10.3 (3): Chan ge to applicabl e tool 91 560-1 Sectio n 10.3 (6 ): Add iti[...]

Print Data *Manual Number R evision Oct., 2005 SH(NA)030012-G S ect ion 9.3 : Re exa min atio n of Cau se 2 of D RU p aram et er N o.@ A. 92# Partial addition of the caus e of IFU parameter No.FA. 9F Correction of the contents of IFU parameter No.FA. E9 Section 10.2: Addition of mount ing screw and tightening torque Section 11.1: Reexamination of C[...]

HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030012-G (0510) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE[...]