Furuno MR-J2S-A manuale d’uso

MELSERVO Servo Amplifiers and Motors Instruction Manual MR-J2S- 쏔 A INDUSTRIAL AUTOMATION Art. no.: 138918 2001 02 15 Version C[...]

A - 1 Safety Instructions (Alwa ys read t hese instruct ions b efore us ing t he equipm ent.) Do not attem pt to install, ope rate, m aintain or ins pect the serv o amplif ier and ser vo motor unt il you hav e read throug h this I nstruct ion M anual, Ins tallat ion gu ide, Ser vo motor Instr uction Manual a nd a ppende d doc uments caref ul l y an[...]

A - 2 1. To prevent electric shock, note the follow ing : WARNING Befor e wirin g or insp ection, s witc h power off and wait f or more th an 10 m inutes. Then, c onfirm the vol tage is saf e with v oltage t ester. Otherwis e, y ou ma y get an e lectric shock . 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 in[...]

A - 3 4. Additional instruct ions The fol lowing ins tructions sho uld als o be ful ly noted . Incor rect h andling ma y c ause a f ault, injur y , elec tric shock , etc. (1) Transportation and installation CAUTION Trans port the pro ducts correc tly accor ding to their weights . Stack ing in ex cess of the s pecif ied num ber of products is no t a[...]

A - 4 CAUTION Secur ely att ach the ser vo m otor to th e mac hine. If at tach ins ecure ly, the ser vo m otor ma y come of f during operat ion. The s ervo motor with reductio n gear m ust b e insta lled in t he sp ecified direct ion to pr event oil leak age. For saf ety of person nel, al ways co ver rotat ing an d moving parts . Never hit the s er[...]

A - 5 (4) Usa ge CAUTION Prov ide an extern al emergenc y stop c ircuit to ensure th at oper ation ca n be sto pped and power sw itched off imm ediately. Any per son who is involv ed in dis assem bly a nd repa ir shou ld be f ully c ompete 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[...]

A - 6 (6) Maintenance, inspection and parts replacement CAUTION W i th ag e, the electroly tic capacit or will d eteriorat e. To prevent a seco ndary acciden t due to a fault , it is recom mended to r eplac e the e lectrol y tic c apaci tor ever y 10 years whe n used i n gener al envir onment. Pleas e consu lt our s ales represe ntati ve. (7) Dispo[...]

A - 7 COMPLIANCE WITH EC DIRECTIVES 1. WHAT AR E EC DI RE C TIVES ? The EC directives were issu ed to standardize the regulations of t he EU countries a nd ensure smooth distribution of safet y-guaran teed products. In the EU countries, the machinery directive (effective in Jan uary, 1 995), EMC directi ve ( effect ive in Ja nuary, 1996 ) and l ow [...]

A - 8 (4) Power supply (a) Operate the servo amplifier t o meet the requirements of the overvolta ge c at egory II set forth in IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN Standa rd shou ld be u sed in t he pow er input section . (b) When s upply ing in terfa ce power from external, use a 24VDC power su[...]

A - 9 (7) Auxi liary equ ipment and op tions (a) T he no-fuse breaker and magnetic contact or used should be the EN or IEC standard-compliant products of the models described in Section 13.2.2. (b) The size s of the cable s describe d in Section 13.2.1 mee t the fo llowing re quireme nts. To meet t he other requ iremen ts, follo w Table 5 and Appe [...]

A - 10 CONFORMANCE WITH UL/C-UL STANDARD (1) Ser vo am plifier s and s ervo m otors us ed Use the servo amp lifiers and serv o motor s which comp ly with the s tandard mo del. Servo amplifi er :MR-J2S-1 0 A to MR-J 2 S-700A MR-J2S-10A1 to MR-J2S -4 0A1 Servo motor :HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS (2) Installation Install a fan of 100CF M air flo[...]

1 CONTENTS 1. FUNCT IONS AND CO NFIGURATION 1- 1 to 1- 18 1.1 Intro duction............................................................................................................... ............................... 1- 1 1.2 Fu nction block diagram ..................................................................................................[...]

2 3.8.2 Co nnection d iagram....................................................................................................... .................. 3- 49 3.8.3 I/O termina ls ............................................................................................................ ........................ 3-51 3.9 Servo motor w ith elec tromag[...]

3 7. GEN ERAL G AIN ADJU STMENT 7- 1 to 7-12 7.1 Diffe rent adju stment methods ............................................................................................... ................ 7- 1 7.1.1 Adju stment on a sing le servo amplif ier ................................................................................... ....... 7- 1 7.1.2 A[...]

4 12. CH ARACT ERISTICS 12- 1 t o 12- 8 12.1 Ove rload pro tection chara cteristic s ....................................................................................... ............ 12- 1 12.2 Po wer supply equipmen t capacity and generate d loss .................................................................... 12- 3 12.3 Dyn amic bra ke cha[...]

5 14.12 D etailed explana tions of comm ands ........................................................................................ ....... 14-14 14.12.1 Data p rocessing ........................................................................................................ .................. 14- 14 14.12.2 Statu s display ......................[...]

6 Optional Servo Motor Inst ruction Manual CONTENTS The rough table of co ntents of the optional MELSERVO Servo Motor Instruc tion Manual i s in troduced here for your reference. Note that the contents of the Servo Motor Instructi o n Manual are not included in the Servo Ampl ifier Ins truction M anual. 1. INTRODUCT ION 2. IN STALLAT ION 3. CONNECT[...]

1 - 1 1. FUNCTIONS AND CONFIGURATI ON 1. FUNCTIONS A ND CONFIGURAT ION 1.1 Introduc tion The Mitsubish i MELSERVO-J2-Supe r series general-pu rpose AC servo is based on the ME LSERVO-J2 series and has further higher performance and higher fun ctions. It has position control, speed control and torque control modes. Further, it can perform operation [...]

1 - 2 1. FUNCTIONS A ND CONFIGURAT ION 1.2 Func tion block diagram The function block diagram of this servo is shown below. Regenerative brake Ba se amplif ier Volt age detection Overcurrent protectio n Encode r Dynamic brake Current detector CHARGE lamp RA DS Control power supply (MR-J2S-200A or more) Fan Electro- mag netic brake Servo motor D C P[...]

1 - 3 1. FUNCTIONS A ND CONFIGURAT ION 1.3 Serv o amplif ier standard s pecif ications Servo Amplifier MR-J 2S- Item 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 10A1 20A1 40A1 Volta ge/frequen cy 3-phase 200 to 230VAC, 50/60H z or 1-phase 230VAC, 50/60Hz 3-phase 200 to 230V AC, 50/60Hz 1-phase 100 to 120VAC 50/60Hz Permissible vo ltage fluctuation[...]

1 - 4 1. FUNCTIONS A ND CONFIGURAT ION 1.4 Func tion list The foll owing table lists the functions of t h is servo. For details of the functions, refer to the corresponding chapter s and sec tions. Function Description (Not e) Control m ode Refer to Position control m o de This se rvo is used as p osition control servo . P Section 3.1.1 Section 3.4[...]

1 - 5 1. FUNCTIONS A ND CONFIGURAT ION Function Description (Not e) Control m ode Refer to Ret u rn conver ter Used when th e r e g enerativ e brak e opt ion can not pr ovide enough regen erative p ower. Can be used with the MR-J2S-500A MR-J2S-700A. P, S, T Section 13.1.3 Alarm h i st ory clear A larm hist ory is cl ea red. P, S, T Para m eter No .[...]

1 - 6 1. FUNCTIONS A ND CONFIGURAT ION (2) Model MR–J2S–100A or less MR–J2S–200A 350A General-purpose inter face Rated output Rating plate Rating plate MR–J2S – Series A Note:1. Not supplied to the servo amplifier of MR-J2S-60A o r more. 2. Not supplied to the servo am pl ifi er of MR-J2S-100A or more. Power Supply Power supply None 3-p[...]

1 - 7 1. FUNCTIONS A ND CONFIGURAT ION 1.7 Structure 1.7.1 Parts identif ication (1) MR-J2S-100A or le ss Used to set data. Used to change the disp lay o r da ta i n eac h mode. Used to change the mode. Refer to Section15.3 Chapter6 Name/Ap plication Bat te ry hol der Contains the battery for absolute position data backup. Battery connector (CON1) [...]

1 - 8 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-J2S-200A MR- J2S-3 50A POINT The servo am plifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Used to set data. Used to change t he display or dat a in each mod e. Used to change t he mod e. Refer to Section15.3 Chapter6 Name/Applicat ion Bat tery holde r Co[...]

1 - 9 1. FUNCTIONS A ND CONFIGURAT ION (3) MR-J2S-500A POINT The servo am plifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. MODE UP DOWN SET MODE UP DOWN SET Name/Application Refer to Battery connector ( CON1) Used to c onnect the batter y for absolute po sition data backup. Section15.3 Battery hold e[...]

1 - 10 1. FUNCTIONS A ND CONFIGURAT ION (4) MR-J2S-700A POINT The servo am plifier is shown without the front cover. For removal of the front cover, refer to next page. MODE UP DOWN SET MODE UP DOWN SET Name /Applica tion Refer to Battery connecto r (CON1) Used to conn e ct the batt ery for absolute positio n data backup. Section15.3 Battery h olde[...]

1 - 11 1. FUNCTIONS A ND CONFIGURAT ION 1.7.2 Rem oval and rei nstallatio n of the front c over CAUTION T o avoid the r isk of an electric shoc k, do no t open the fron t cover wh ile po wer is on. (1) For MR-J2S-200A or more Front cover hook (2 places) Front cove r socket (2 places) 2) 1) Front cove r 2) 1) Removal of the fr ont cover Reinstallati[...]

1 - 12 1. FUNCTIONS A ND CONFIGURAT ION (3) For MR-J2S-700A Front cover socket (2 p lac es ) A) 1) Removal of the front cover Reinstallation of the front cove r 1) Inser t the t wo front co ver hooks at the botto m into th e soc kets of the servo a mplifier. 2) Press th e front cover against the servo amplifier until the rem ov ing knob clicks. 1) [...]

1 - 13 1. FUNCTIONS A ND CONFIGURAT ION 1.8 Servo system with auxiliar y equipm ent W ARNING To preve nt an e lectric s hock , always c onnect t he pr otective eart h (PE) ter minal (term inal m a rk ed ) of t he ser vo amplif ier to the pr otect ive earth ( PE) of the co ntrol box. (1) MR-J2S-100A or le ss (a) F o r 3- phas e 20 0V t o 23 0VA C or[...]

1 - 14 1. FUNCTIONS A ND CONFIGURAT ION (b) F or 1-phase 10 0V t o 120V A C 1-phase 100V to 120VAC power supply No - f use br eake r (NFB) or fuse Mag netic contactor (MC) To CN2 To CN3 To CN1B Junction terminal block To CN1A L 21 L 11 Protective eart h(PE) terminal Servo motor Personal computer UV W Servo configuration software MRZJW3-SETUP121E Se[...]

1 - 15 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-J2S-200A MR-J2S-350A or m ore Power fact or improving reactor (FR-BAL) 3 -phase 200V t o 230VAC power supply No-fuse breaker (NFB) or fuse Mag netic contactor (MC) To CN 2 To CN3 To CN1B Junction terminal block To CN1A L 1 L 2 L 3 L 21 L 11 Servo amplifi e r Regenerative brake option PC UV W Options an[...]

1 - 16 1. FUNCTIONS A ND CONFIGURAT ION (3) MR-J2S-500A To CN1 A Options and auxi liary equipment No-fuse breaker Magnetic c o ntactor Servo co nfigura t ion softw are Regenera tive brake op tion Refer to Section 13.2.2 Section 13.2.2 Section 13.1.8 Section 13.1.1 Options and auxi liary equipment Refer to Cables Section 1 3.2.1 Power fa ctor improv[...]

1 - 17 1. FUNCTIONS A ND CONFIGURAT ION (4) MR-J2S-700A W V Options and au xiliary equipment No-fuse br eaker Magnetic contactor Servo configur ati on software Regenerat ive brake option Refer to Section 13.2.2 Section 13.2.2 Section 13.1.8 Section 13.1.1 Options and au xiliary equipment Refer to Cables Section 13.2.1 Power factor impro ving reacto[...]

1 - 18 1. FUNCTIONS A ND CONFIGURAT ION MEMO[...]

2 - 1 2. INSTALLATION 2. INSTALLA T ION CAUTION Stack ing in ex cess of the l imited n umber of prod ucts is no t allo wed. Instal l the e quipm ent to inc ombus tibles. Ins tallin g them direct ly or clos e to com bustibles will led to a fire. Instal l the equi pment in a load- bear ing place in accorda nce with this Instruc tion Manual . Do not g[...]

2 - 2 2. INSTALLATION 2.2 Instal lation dir ection and clearances CAUTION The equ ipment m ust be insta lled in the s pecif ied direc tion. Ot herwise, a fault m ay occur. Leave s pecifie d clearanc es bet ween th e servo amplif ier and contro l box inside walls or other equi pment. (1) I nstallat ion of one ser vo amp lifier Control box Co ntrol b[...]

2 - 3 2. INSTALLATION (2) I nstallat ion of two or m ore ser vo am plifiers Leave a large clearance between t he top of the s ervo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceedi ng the environm ental cond itions. Control box 30mm (1. 2 in.) or more 30mm (1[...]

2 - 4 2. INSTALLATION 2.4 Cable s tress (1) T he wa y of clamping the cabl e m ust be fully exa m ined so that flex ing st re ss and cable's own wei gh t stress are not appli ed to the cable connection. (2) In a ny applicati on where the servo motor move s, t he cables should be free from excessive stress. For use in any application where the [...]

3 - 1 3. SIGNALS AND WIRI NG 3. SIGNALS AND WIRING W ARNING Any per son who is involv ed in wir ing sh ould be f ull y compete nt to d o the work. Befor e starting wiring , switch power off , then wait f or mor e than 10 minut es, and after t he char ge lam p has go ne off, m ak e sure that the vol tage is s afe i n the tes ter or lik e. Other wise[...]

3 - 2 3. SIGNALS AND WIRING 3.1 Standar d connect ion exam ple POINT Refer to Section 3.7.1 for the connection of t he power supply system and to Section 3.8 for connection with the s e rvo motor. 3.1.1 Pos ition control m ode (1) FX-10GM VDD RA1 RA2 RA3 18 15 5 14 8 9 16 17 12 EMG SON RES PC TL LSP LSN SD SG P15R LG 10 11 ALM 19 ZSP 6T L C CN1B 13[...]

3 - 3 3. SIGNALS AND WIRING Note: 1 . To prevent an electric shock, alwa ys connect the protect ive earth (PE) terminal (t ermin al marked ) of the servo amplifi er to the protective eart h (PE) of the control box. 2. Connect the diode in the correct direct ion. If it is connected reversely, the s e rvo amplifier will be faul ty and wi ll not outpu[...]

3 - 4 3. SIGNALS AND WIRING (2) AD75P (A1SD75P ) VDD RA1 RA2 RA3 18 15 5 14 8 9 16 17 1 11 EMG SON RES PC TL LSP LSN SD SG P15R LG 10 12 ALM 19 ZSP 6T L C 14 7 16 17 4 LA LAR LB LBR LG OP P15R SD 1 6 CN1B CN3 13 COM 3 TLA (N ot e 4, 9) CN1A 4 13 3 SD LG 14 MO1 LG MO2 CN3 A A COM INP LZ CR PG NP NG RD SG PP LZR SD LG 1 26 8 24 5 21 4 22 7 23 3 25 6 [...]

3 - 5 3. SIGNALS AND WIRING Note: 1 . To prevent an electric shock, alwa ys connect the protect ive earth (PE) terminal (t ermin al marked ) of the servo amplifi er to the protective eart h (PE) of the control box. 2. Connect the diode in the correct direct ion. If it is connected reversely, the s e rvo amplifier will be faul ty and wi ll not outpu[...]

3 - 6 3. SIGNALS AND WIRING 3.1.2 Speed control m ode RA1 RA2 RA3 18 10 SP1 SG CN1A 15 5 14 8 9 16 17 1 11 EMG SON RES ST1 ST2 LSP LSN SD SG P15R LG 10 2 ALM 19 ZSP 6T L C 15 5 14 7 16 17 4 LZ LZR LA LAR LB LBR LG OP P15R SD 1 6 CN3 13 8 7 SP2 VC 12 TLA 19 18 SA RD RA5 RA4 CN1A 3 VDD COM 9C O M 4 13 3 SD LG 14 MO1 LG MO2 CN3 A A Speed se lection 1 [...]

3 - 7 3. SIGNALS AND WIRING Note: 1 . To prevent an electric shock, alwa ys connect the protect ive earth (PE) terminal (t ermin al marked ) of the servo amplifi er to the protective eart h (PE) of the control box. 2. Connect the diode in the correct direct ion. If it is connected reversely, the s e rvo amplifier will be faul ty and wi ll not outpu[...]

3 - 8 3. SIGNALS AND WIRING 3.1.3 T orque control m ode RA1 RA2 RA3 18 10 SP1 SG 15 5 14 9 8 10 1 11 EMG SON RES RS1 RS2 SG SD P15R LG 12 ALM 19 ZSP 6V L C 15 5 14 7 16 17 4 LZ LZR LA LAR LB LBR LG OP P15R SD 1 6 CN1B CN3 13 8 7 SP2 TC 2 VLA 19 R D RA4 CN1A 3 VDD COM 9C O M 4 13 3 SD LG 14 MO1 LG MO2 CN3 A A Speed s election 1 Serv o am pl ifier CN[...]

3 - 9 3. SIGNALS AND WIRING Not e: 1. To prevent an electric shock , always connect t he protective earth (PE ) terminal of the (t ermin al marked ) servo amplifier t o the protecti ve earth (PE) of the control box. 2. Connect t he d iode in the correct direction. If it is connected reversely, the servo ampli f ier will be faulty an d will not outp[...]

3 - 10 3. SIGNALS AND WIRING 3.2 Interna l connect ion diagram of ser vo amplifier The foll owing is the internal connec tion dia gr am where the signal assi gnmen t has been made in the initial status in each contro l mode. 13 3 DC 15V CN1A CN1B CN1B CN1A CN1A CN1B CN1A PS SON SON SON SP2 SP2 5 7 PST PC ST1 RS2 TL ST2 RS1 RES EMG LSP LSN SG 8 9 14[...]

3 - 11 3. SIGNALS AND WIRING 3.3 I/O sign als 3.3.1 Connec tors and si gnal arrangem ents POINT The connector pin-out s shown above are vi ewed from the ca ble connector wiring section side. Refer to the next page for CN1A and CN1B sig nal assignme nt. (1) Si gnal arr angem ent 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 RXD MO1 TRE LG LG RD[...]

3 - 12 3. SIGNALS AND WIRING (2) C N1A and CN1B signal assig n men t The signal assi gnment of connector changes with the control mode as indicated below; For the pins which are given parame ter No.s in the related par ameter column, their signals can be changed using those parameters. (Note2) I/O S ignals in cont rol modes Connector P i n No. (Not[...]

3 - 13 3. SIGNALS AND WIRING Note: 1. I : Input sig nal, O: Output signal 2. P : P osition control mode, S: Speed control mode, T : Torque control mode, P /S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode 3. By setting parameters No. 4 3 to 48 to m ake TL avail able, TLA can be u[...]

3 - 14 3. SIGNALS AND WIRING 3.3.2 Sign al explanat ions For the I/O in terfaces (symbo ls in I/O column in the table), refer to Section 3.6. 2. In the control mode field of the tabl e P : Position control mode, S : Speed control mode, T: Torque c ontrol mode : Deno tes th at the signal may be u sed in the in itial setting statu s. : Deno te s tha [...]

3 - 15 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PST Outside torque limit selection TL CN1B 9 Torque l imit selecti on disconn e cting TL-SG makes int ernal torqu e limit 1 (parameter No. 28) valid and connecting t hem makes analog torque limit (TLA) valid. For details, refer to (5)[...]

3 - 16 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions /Applicat ions I/O divisi on PST Speed sel ect i on 1 SP1 C N1 A 8 <Speed co ntrol mod e> Used to sele ct the co mmand speed f or op era ti on. When using SP3, make it usable by making th e setting of paramete r No. 43 to 48. DI-1 (Note) Input signals Spee[...]

3 - 17 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PST Proport ion control PC CN1 B 8 Connect PC-SG to switch th e speed amplifier from the propo rtional integra l type t o the p roporti onal typ e. If the serv o motor a t a st op is r otated ev en one pulse d ue to a ny external fact[...]

3 - 18 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PST <Position/ speed c o ntrol change mode> Used to sele ct t he c ontrol m ode in the p osition/sp eed cont rol change m ode. (Note) LOP Control mode 0P o s i t i o n 1 Speed Note .0 : LO P-SG off (op en) 1: LOP-SG on (short) &[...]

3 - 19 3. SIGNALS AND WIRING (2) Output signals Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PST Trouble ALM CN1B 18 ALM- SG are di sconne cted when p o w er is sw itched off or the protective circuit is activated to shut off the base ci rcuit. Without alarm, ALM-SG are connected within 1 after power on. DO[...]

3 - 20 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PST To use t his signal, set " 1 " in parame ter No.49. This signal is output when an alarm occurs. When there is no alarm, respective ordinary signals (RD, INP, SA, ZSP) are output. Alarm codes and alarm names are listed be[...]

3 - 21 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PST Encod er Z- p ha se pulse (Open collector ) OP CN1A 14 Output s the zer o-point signal of the enco der. One pul se is output per servo mo tor revol ution . OP and LG are co nnect ed when the zero- point pos ition i s reach ed. (Ne[...]

3 - 22 3. SIGNALS AND WIRING (4) Power supply Control mode Signal Symbol Connec - tor pi n No. Functions/Applicat ions I/O divisi on PST I/F internal power s upply VDD CN1B 3 Used to outp ut 24V 10% to across VDD-SG. When using this power supply for digital int er face, connect it with COM. Permis sible curr ent : 80mA Digital I/F power supply i n [...]

3 - 23 3. SIGNALS AND WIRING 3.4 Deta iled desc ription of th e signals 3.4.1 Pos ition control m ode (1) Pul s e tr ai n in pu t (a) Input pulse waveform selection Encoder pulses may be input in any of th ree different forms, for which positive or negati ve logic can be cho sen. Set the command pul se train form in par ameter No. 21. Arrow or in t[...]

3 - 24 3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collect or system Connect as shown be low: Appro x. 1.2k Appro x. 1.2k SG SD NP PP OPC VDD Servo amplifier The explanat i on assumes t hat the in put waveform has been set t o the negative l ogic and forward and reverse rotati on pu lse trains (paramet er No.21 has been set to 0010)[...]

3 - 25 3. SIGNALS AND WIRING 2) Diffe rentia l line dr iver sy stem Connect as shown be low: PP NP Serv o am plif ier PG NG SD The explanat i on assumes t hat the in put waveform has been set t o the negative l ogic and forward and reverse rotati on puls e trains (par ameter No.21 has b een set to 0010 ). For th e differe ntial line driv er, the wa[...]

3 - 26 3. SIGNALS AND WIRING (2) In-position (INP) PF-SG are connected when the number of droop pulses in the deviati on counter falls within the preset in-posit ion range (paramet er No. 5). INP-SG may remain connected when low-speed operation is performed with a large value set as the i n-positi on range. Servo -on (SON ) Alarm Droop pulses In po[...]

3 - 27 3. SIGNALS AND WIRING (5) Torque limit (a) Torque limit and generated torque By sett ing param eter No . 28 ( intern al tor que limi t 1), to rque i s alway s limi ted to the max imum value during operati o n. A rela tionship between t he limit valu e and servo mo tor-generated torque is shown below. 0 0 100 Max. torque Generated torque Torq[...]

3 - 28 3. SIGNALS AND WIRING 3.4.2 Speed control m ode (1) Speed setting (a) Speed command and speed The servo mo tor is run at the s peeds set in the parameters or at the speed set in the applied voltage of the analog speed command (V C). A relationship bet ween the analog speed comm and (VC) applied voltage and the servo motor speed is shown belo[...]

3 - 29 3. SIGNALS AND WIRING (b) Spe ed sele ction 1 (SP1) , spee d select ion 2 (S P2) and speed command value Choose a n y of the speed settings m ade by the internal s peed commands 1 to 3 using speed sel ec tion 1 (SP1) and speed s election 2 (SP2) or the speed s etting made by the anal og speed command (VC). (Note) External input signal s SP2 [...]

3 - 30 3. SIGNALS AND WIRING 3.4.3 T orque control m ode (1) Torque control (a ) T o rq u e c omm a nd an d g en e r a t ed to rq u e A relationship between t he applied voltage of the a n alog t orque command (TC) and the t orque generated by the servo motor is shown below. The maximum torque is generated at 8V. Note that the to rque g enera ted a[...]

3 - 31 3. SIGNALS AND WIRING (b) Analog torq ue comma nd offs e t Using pa rameter No. 30, t he offset voltage of 999 to 999mV can be ad ded to the TC applied volta g e as shown below. 0 8( 8) Max. torque Generated torque TC applied vol tage [V] Parameter No.30 offset rang e 999 t o 999mV (2) Torque limit By sett ing para meter No . 28 (in ternal t[...]

3 - 32 3. SIGNALS AND WIRING (b) Speed selectio n 1(SP1) /speed selectio n 2(SP2)/ speed se lection 3( SP3) and spe ed limit values Choose a ny of th e speed settings m ade by the internal s peed limits 1 to 7 using speed selecti on 1(SP1 ), speed s e lection 2( SP2 ) an d speed sel ection 3(SP3) or the s peed setti ng made by the speed limit comma[...]

3 - 33 3. SIGNALS AND WIRING 3.4.4 Pos ition/speed co ntrol chan ge mode Set "00 01" in par amete r No. 0 to swi tch to the po sition /spee d contro l chang e mod e. Thi s func tion i s not availa ble in the ab solute position de tectio n system. (1) C ontrol ch ange (LO P) Use control change ( LOP) to s w itch between the position con tr[...]

3 - 34 3. SIGNALS AND WIRING (3) Sp ee d se tting i n sp eed co nt rol mod e (a) Speed command and speed The s ervo motor is run at t he speed set in parameter No. 8 (in ternal speed command 1) or at the speed set in the applied vo ltage of t he analog speed com mand (VC). A relationship between a nalog speed command ( VC) appl ied voltage and serv[...]

3 - 35 3. SIGNALS AND WIRING 3.4.5 Speed /torque con trol chang e mode Set "00 03" in par ameter No. 0 to switc h to the spe ed/tor que con trol chang e mode . (1) C ontrol ch ange (LO P) Use control change ( LOP) to switch between the speed cont ro l mode and the torque con trol mode from an exte rnal con tact. Relation ships be tween LO[...]

3 - 36 3. SIGNALS AND WIRING (4) Sp ee d li mit in t orq ue con trol mode (a) Speed limit valu e and speed The speed is limited to the limit val ue set in para meter No. 8 (internal speed limit 1) or the valu e set i n the appli ed voltage of th e anal og speed li mit (VLA). A relationship between the analog speed limit ( VLA) applied voltage and t[...]

3 - 37 3. SIGNALS AND WIRING 3.4.6 T orque/positi on control ch ange m ode Set " 0005" in param eter N o. 0 to switc h to th e torqu e/po sition c ontro l change mode. (1) C ontrol ch ange (LO P) Use control change (LO P) to switch between the torque con trol mode and the position control mode from an external contact. Rela tionships betw[...]

3 - 38 3. SIGNALS AND WIRING 3.5 Alarm occur rence timing c hart CAUTION W hen an alarm has oc curred , remov e its c ause, m ake sur e that t he oper ation sign al i s not be ing in put, en sure safety , and reset the alarm before r est arting operat ion. When an a l arm occ urs in the servo amplifier, the base circuit is shut off and the servo mo[...]

3 - 39 3. SIGNALS AND WIRING 3.6 Interf aces 3.6.1 Comm on line The foll owing diagram shows the power supply and its common l ine. DC24V CN1A CN1B CN1A CN1B DO-1 SG OPC PG NG SG P15 R LG TLA VC et c. SD OP MR MRR SM DI- 1 COM VDD ALM .e tc LG SD RDP RDN SDP SDN LG CN3 RA CN2 SD MO1 MO2 LG SG TXD RXD RS-232C RS-422 (Note) Ana log i nput ( 10V/max. [...]

3 - 40 3. SIGNALS AND WIRING 3.6.2 Detai led descript ion of the interfac es This s ec ti on g ives the deta ils of the I/O signal interfaces (refer t o I/O Divisi on in the table) indi cated in Section s 3.3.2. Refer to this sec tion and conn ect the interfac es with th e extern al equip ment. (1) Digital inpu t interface DI-1 Give a signal with a[...]

3 - 41 3. SIGNALS AND WIRING (b) Lamp load For use of internal p ower suppl y For use of external po wer suppl y 24V DC VDD COM R Servo amplifi er ALM, e tc . SG COM SG R 24VDC 10% Servo amplifier ALM, et c. VDD 24VDC Do not connect VDD-COM. (3) Pul s e trai n in pu t inte r fac e DI- 2 Provide a pulse train signal i n the open collector or differe[...]

3 - 42 3. SIGNALS AND WIRING (b) Differential line driver syst em 1) Inte rface SD PG(NG) PP(NP) Max. input pulse frequency 500kpps Serv o am plif ier Am26LS31 or equivalent About 100 2) Condit ions of th e input pulse 0.9 PP PG tc tHL tc tLH tF tLH tHL 0.1 s tc 1 s tF 3 s NP NG 0.1 (4) En cod e r pul se output D O- 2 (a) Open collector s ystem Int[...]

3 - 43 3. SIGNALS AND WIRING (b) Differential line driver syst em 1) Inte rface Max. output current: 35mA LA (LB, LZ) LAR (LBR, LZR) LG SD LA (LB, LZ) LAR (LBR, LZR) SD Servo amplifi er Servo amplifi er Am26LS32 or equiv a lent High-sp eed photocoupler 150 100 2) Outp ut pu lse Servo motor CCW rotation LA LAR LB LBR LZ LZR T /2 400 s or more OP LZ [...]

3 - 44 3. SIGNALS AND WIRING (7) Sourc e inpu t interfac e When u sing the inp ut inte rface of so urce ty pe, all Dl-1 in put s ignals are of source type. Source output cannot be provided. For use of internal power supply For us e of ex ternal power supply SG COM 24VDC VDD TR R: Approx. 4.7 SON, etc. (Note) For a transistor Approx. 5mA V CES 1.0V [...]

3 - 45 3. SIGNALS AND WIRING 3.7 Input power suppl y circuit CAUTION W hen the s ervo am plifier has bec om e fault y , switc h po wer off on the s ervo amplif ier p ower si de. Con tinuous flow of a larg e curr ent ma y cause a fire. Use the tro uble signa l to sw itch po wer off . Otherwis e, a re generat ive br ake trans istor fau lt or the lik [...]

3 - 46 3. SIGNALS AND WIRING (2) For 1-phas e 100 t o 120VA C or 1-p hase 10 0 to 12 0VAC po wer sup ply RA OFF ON MC MC SK NFB MC L 1 L 2 L 3 L 11 L 21 EMG SON SG VDD COM ALM RA Power supply 1-phase 100 to 120VAC or 1-phase 230VAC Eme rge ncy s top Servo -on (Note) Servo amplifier Trouble Emerge ncy stop Note : Not provided for 1-phase 100 to 120V[...]

3 - 47 3. SIGNALS AND WIRING 3.7.2 T erminals The posit ions and signal arrangements of the termina l blocks change with the capacity of the servo amplifie r. Refer to Section 11.1. Symbol Signal Description Supply L 1 , L 2 and L 3 with the f o llo wing power: For 1-phase 230VAC, connect the power supply to L 1 /L 2 and leav e L 3 open . Servo a m[...]

3 - 48 3. SIGNALS AND WIRING 3.7.3 Power -on seque nce (1) Po wer-on proce dure 1) Alw ays wire the po wer sup ply as shown in above Section 3.7.1 u sing the magn etic contactor wi th the m ain circuit power supply (three-phase 200V: L 1 , L 2 , L 3 , sing le-phase 230V: L 1 , L 2 ). C onfigure up an extern al sequence to switch off th e magnetic c[...]

3 - 49 3. SIGNALS AND WIRING 3.8 Conn ection of s ervo am plifier and s ervo m otor 3.8.1 Connec tion instr uctions W ARNING Insulate the con nections of th e power s uppl y termina ls to pre vent a n electr ic shock . CAUTION Connec t the wires to the corr ect phas e term inals ( U, V, W ) of the servo amplifi er and ser vo m otor. Oth erwise, the[...]

3 - 50 3. SIGNALS AND WIRING 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 EMG CN2 (Not e 1 ) Encoder Electro- ma g netic brake To be shu t off when servo on signal switches off or by ala rm sign al Encoder cable U (Red) V (White) W (Black) (Gre en) Motor Ser[...]

3 - 51 3. SIGNALS AND WIRING 3.8.3 I/O term inals (1) HC-KFS HC-MF S HC-UFS300 0r/min s eries 24 13 4 Power suppl y co nnector (Molex make ) Without electromagnet ic brake 5557-04R-21 0 (receptacle ) 5556PBT L (F ema le terminal) With electrom agnetic brake 5557-06R-21 0 (receptacle ) 5556PBT L (F ema le terminal) Encoder cable 0. 3m Power suppl y [...]

3 - 52 3. SIGNALS AND WIRING (2) HC-SFS HC-RF S HC-UFS2000 r/m in series Servo motor side connectors Servo motor For pow er supply For encoder Elect ro magnetic brake connector HC-SFS81(B) HC-SFS52(B) to 152(B ) HC-SFS53(B) to 153(B ) CE05-2A22- 23PD-B The c onnect or for power is shared. HC-SFS121(B) to 301(B ) HC-SFS202(B) to 502 (B ) HC-SFS203(B[...]

3 - 53 3. SIGNALS AND WIRING 3.9 Serv o motor with electrom agnetic brak e CAUTION Configur e th e electrom agnet ic brak e oper ation circ uit so that it is ac tivated not onl y by the ser vo amplif ier signa ls but also b y an extern al emerge ncy stop s ignal. EMG RA 24VDC Contacts must be open w hen servo-on signal i s off or when an alarm (tro[...]

3 - 54 3. SIGNALS AND WIRING (3) T i m ing charts (a) Servo-on signal comm and (from controller) ON/OFF Tb [ms] after the s ervo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electr om agnetic brak e is made valid in the servo lock status, the b r ake li fe may be shorter. Therefore, when usin g the [...]

3 - 55 3. SIGNALS AND WIRING (c) Alarm occurrence Servo motor speed ON OFF Base cir cuit Electromagnetic brake inte rlock (MBR) Invalid (ON) Valid( OFF) Trouble (ALM) No(ON) Yes(O FF) Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake operation delay time Electromagnetic brake (10ms) (d) Both main and con trol circuit power sup[...]

3 - 56 3. SIGNALS AND WIRING 3.10 Gro unding W ARNING Ground th e serv o ampl ifier a nd ser vo motor securel y. To pre vent an electric shock , alwa y s con nect the protec tive ear th (PE) term inal of the ser vo am plifier with the p rotect ive e arth (P E) of th e contr ol box. The servo amplifier switches the power t ransistor on-off to s up p[...]

3 - 57 3. SIGNALS AND WIRING 3.11 Ser vo amplif ier term inal block (TE2) wirin g method (1) T erminati on of t he cabl es Solid wire: After the shea th has been stripped, t he cable can be used as it is. (Cabl e 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 - 58 3. SIGNALS AND WIRING (2) Connection Insert the core of the cable into the opening and tighten the screw wit h a flat-bla de screwdriver so that the cabl e does not come off. (Tightening torque: 0.5 t o 0.6N m) Before in serting the cable into t he opening, make sure that the screw of the terminal is ful ly loos e. When using a cabl e of 1.5[...]

4 - 1 4. OPERATION 4. OPERATION 4.1 W hen switching po wer on f or the first 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 ) o f the servo amplifie r. (b) The servo mot o r power supply terminals (U, V, W) of t h e servo ampl[...]

4 - 2 4. OPERATION 4.2 Startup W ARNING Do no t operat e the switch es with wet h ands. Yo u may get an elec tric shoc k. CAUTION Befor e starti ng oper ation, c heck th e param eters. Some m achin es ma y perform unexpec ted oper atio n. Duri n g powe r- on fo r so me a fte r powe r- o ff, do no t tou ch or cl o se a pa rt s (c able et c. ) to th [...]

4 - 3 4. OPERATION (4) Servo-on Switch t he servo-on in the following procedure: 1) Switch on m ain circuit/control power supply. 2) Switch on the servo-on signal (SON). When placed in the servo-on status, t he servo amplifier is ready to operate a nd the servo motor is locked. (5) C omm and puls e input Entry o f a pu lse tr ain fr om the p o siti[...]

4 - 4 4. OPERATION 4.2.3 Speed control m ode (1) Power on 1) Switch off the servo-on (SON) signal. 2) When main circ uit power/control circu it power is switched on, the display shows "r (servo motor spee d)", an d in tw o sec ond l ater, show s data . (2) T est oper ation Using jog operation in the test operati on mode, make sure th at t[...]

4 - 5 4. OPERATION (6) Stop In any of the followin g statuses, the s ervo amplifier interrupts and stops the operati on of the servo motor: Refer to Section 3.9, (2 ) for the servo motor equipped with el ec tromagneti c brake. Note that simulta neous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation start (ST1) o r rev erse r[...]

4 - 6 4. OPERATION (4) Servo-on Switch t he servo-on in the following procedure: 1) Switch on m ain circuit/control power supply. 2) Switch on the servo-on signal (SON) (short SON-S G). When placed in the servo-on status, t he servo amplifier is ready to operate a nd the servo motor is locked. (5) Start Using speed selection 1 (SP1) and speed s ele[...]

5 - 1 5. PARAMETERS 5. PARAME TERS CAUTION Ne ver adjust or change the par ameter values ex tremel y a s it will m ake operatio n instab le. 5.1 Param eter list 5.1.1 Par ameter writ e inhibit POINT After se tting the parameter No. 19 value, switch po wer of f, then o n to make tha t setting valid. In the MR-J2S-A servo amplifier, its parameters ar[...]

5 - 2 5. PARAMETERS 5.1.2 Lists POINT For any para meter whose symbol is preceded b y *, set the paramet e r value and s witch power off once, then switch i t on aga i n to mak e t h at parameter se tting valid. The s ymbols in t he control mode column of the table i ndicate the following modes: P : Posi tion con trol mode S : Speed control mo de T[...]

5 - 3 5. PARAMETERS No. Symbol Name Cont rol mode Initial value Unit Cust omer setti ng 20 *OP2 Function selecti on 2 P S 0000 21 *OP3 F unction s e lection 3 (Command puls e selection) P 0000 22 *OP4 Function selecti on 4 P S T 0000 23 FFC Fee d forwar d gain P 0 % 24 ZSP Zero sp eed P S T5 0 r / m i n Anal og speed command maximu m spe ed S (Not [...]

5 - 4 5. PARAMETERS No. Symbol Name Cont rol mode Initial value Unit Cust omer setti ng 50 For m anufactur er setting 0000 51 *OP6 Function selecti on 6 P S T 0000 52 For m anufactur er setting 0000 53 *OP8 Function selecti on 8 P S T 0000 54 *OP9 Function selecti on 9 P S T 0000 55 *OP A Function selection A P 0000 56 SIC Se rial communication tim[...]

5 - 5 5. PARAMETERS (2) Details li st Class No. Symbol Name and function Initial value Unit Setting range Control mode Control mod e , reg enerative brake op tion selection Used to select the control mode and rege nerative bra ke opti on. Select the co ntrol mode. 0:Position 1:Position and speed 2:Speed 3:Speed and torque 4:Torque 5:Torque and posi[...]

5 - 6 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 2 ATU Auto tuning Used to s election the respo nse level, etc. f or executi o n of auto tuning. Re f er to C hapte r 7. Auto tuni ng res p on se level setting If the machin e hunts or generates large gear soun d, decr ease the set value. To im p rov[...]

5 - 7 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 5 INP In-position range Used to s et the i n-positi on signa l (INP ) ou tput range i n the c ommand pul se in cre m ent s pr io r to e le ct r o nic gear c alc u lat io n. For ex ample, when you wa nt to s et 10 m in the conditions that the ballscr[...]

5 - 8 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode Internal speed command 2 Used to set sp eed 2 of inter nal spe ed co mmands. S 9S C 2 Internal speed limit 2 Used to set sp eed 2 of i nternal speed li mits. 500 r/min 0 to instan- tane ous permi- ssible speed T Internal speed command 3 Used to set [...]

5 - 9 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 14 TQC Torque comma nd ti me consta nt Us ed to set the const ant of a low pa ss fi lter in re spon se to th e tor que comman d. Torque command TQC TQC Time Afte r filtered TQC: Torque command time co nstant Torque 0m s 0 to 20000 T 15 *SNO Station [...]

5 - 10 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode Basic pa rameters 17 MOD Analo g monit or output Us e d to se lect ion th e si g nal pr ovid ed to the an alog moni to r out put. (Ref er to S ection 5.3 ) ch1 ch2 Settin g 0 Analog monitor outpu t selection Servo motor spee d ( 8V/ max. speed) 1 T[...]

5 - 11 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 18 * DMD St a tus disp l ay se lec tion Used to select t he status display shown at p ower-on. Selection of status display at power-on 0: Cumulative feedback pulses 1: Servo motor speed 2: Droop pulses 3: Cumulative command pulses 4: Command pulse [...]

5 - 12 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode Paramet er block Used to select the ref erence an d w rite ran ges of the p arameters . Operati on can be p erformed for the parameters marked . Set value Operation Basic paramet er s No. 0 to No. 19 Expansion paramet ers 1 No. 20 to No. 49 Expansi[...]

5 - 13 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 21 *OP3 Function selecti on 3 (Command p ulse selection) Used to sele ct the in put form of the pul se trai n input s ignal. (Ref er to S ection 3.4 .1.) Command pulse train input form 0: Forward/reverse rotation pulse train 1: Signed pulse train 2[...]

5 - 14 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 23 FFC Feed for war d gain Used to set the fe e d forward gain. At the setting of 100%, droop pulses during constant-speed oper ation will be almost “zero”. Note that sud den acc elerati on/decel eration w ill increas e oversh oot. As a guideli[...]

5 - 15 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode Anal og speed command offs et Used to set t he offs et volta ge of th e anal og speed comma nd (V C). For exampl e, if CC W rotat ion is p rovided by sw itching on forwa rd rotation start (ST1) with 0V ap plied to VC, set a n e gative value. When a[...]

5 - 16 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 39 VDC Spee d di ffer ential compe nsation Used to set the d ifferential compensation. Mad e valid w hen the p roport ion c ontrol sig nal is s wit ched on. 980 0 to 1000 P S 40 For manufactur er setting Must not be changed. 0 P S T 41 *DIA Input s[...]

5 - 17 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 43 *DI2 Input signal sele ction 2 (CN1B-5) This paramete r is unavailable when parameter No.42 is s et to assign the control change signal (L OP) to CN1B-pin 5. Allows any input signal t o be assigned to CN1B-pin 5. Note that t he setting digit and[...]

5 - 18 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 45 * DI4 Input signal selection 4 (C N 1A-8) Allows any input signal t o be assigned to CN1A-pin 8. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43). Position control mode Input signals of CN1[...]

5 - 19 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode Expansio n parameters 1 49 *DO1 Output signal selection 1 Used to select the c onnector pins to output the alarm cod e, warning (WNG) and battery warning (BWNG). Setting of alarm code output Connector pins Set value CN1B-19 CN1A-18 CN1A-19 0 ZSP IN[...]

5 - 20 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 50 For manufactur er setting Must not be changed. 0000 51 *OP6 Function selecti on 6 Used to s elect th e op eration to be p erfor med wh en the al arm res et signal switches o n. 0 00 Operation to be performed when the alarm reset si gnal switches[...]

5 - 21 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 55 *OPA Function sele ction A Used to sele ct t he p ositi on co mmand accelera tion/d ecelerat ion t ime constant (paramet e r No. 7) c ontrol syst em. 00 0 0: Primary delay 1: Linear acceleration/deceleration Position command acceleration/deceler[...]

5 - 22 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 60 LPF Lo w-pass filter/adaptive vibr ation suppression control Used to selection t he low-pass filter and adap tive vibration supp ression control . (Ref er to Chapter 8.) 0 Low-pass f ilte r sel ec t ion 0: Valid ( Automatic adjus tment) 1: Inval[...]

5 - 23 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode 65 *CDP Gain changing selection Used to select the gain changing condition. (Refer t o Section 8.3.) 0 00 Gain changing selection Gains are changed in a ccordance with the settings of parameters No. 61 to 64 u nder any of the f ol lo wing condition[...]

5 - 24 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range Control mode Internal speed command 5 Used to set sp eed 5 of inter nal spe ed co mmands. S 73 SC5 Internal speed limit 5 Used to set sp eed 5 of i nternal speed li mits. 300 r/min 0 to in- stanta- neous perm i- ssible speed T Internal speed command 6 Used to s[...]

5 - 25 5. PARAMETERS 5.2 Deta iled desc ription 5.2.1 Elec tronic gear CAUTION W rong sett ing ca n lead to unexp ected fas t rotat ion, ca using i njur y . POINT The guideli ne of the electroni c gear setting ra nge is 50 1 CDV CMX 500. If the set value is outside t his range, noise may be genera t ed during accelerati on/ deceleration or operati [...]

5 - 26 5. PARAMETERS (b) Conveyor setting exampl e For rotation in incremen ts of 0.01 per pulse Machine sp ecificatio ns Table : 36 0 /rev Reduction ratio: n 4/64 Servo motor resolution: P t 131072 [pulse s/re v] Table Timi ng belt : 4/64 Servo motor 131072 [p ulse/rev] CDV CMX Pt 131072 65536 1125 0.01 4/64 360 ...................................[...]

5 - 27 5. PARAMETERS (3) Set ting f or use of AD75 P The AD75P also has the following electronic gear paramet ers. Norm al ly, the servo amplifier side electronic gear must also be set due to the restriction on the command pulse frequency (differential 400kpuls e/s, open coll ect or 200kpuls e/s). AP: Number of pulses per motor revolution AL: Movin[...]

5 - 28 5. PARAMETERS To rotate the servo motor at 3000r /min in the open co llector system ( 200kpul se/s), set the electro nic gear as fo llows CDV CMX N 0 f 60 pt f : Input pulses [pulse/s] N 0 : Servo motor speed [r/ min] Pt : Servo motor resolu t ion [pulse/rev] CDV CMX 3000 60 200 131072 CDV CMX 3000 60 131072 200 60 200000 3000 131072 409 6 1[...]

5 - 29 5. PARAMETERS 5.2.2 Anal og output The servo s tatus can be output to two channels in t erm s of voltage. Use this function when using 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.17: Analog monitor c h1 output selection (Signal outpu[...]

5 - 30 5. PARAMETERS (2) Set content The servo a mplifie r is f actory -set t o outpu t the motor speed to ch1 and th e tor que to ch2. The se tting can be ch anged a s listed below by chang ing the paramete r No. 17 value: Refer to Appendix 2 for the measurement point. Setting Out put item Des cription Setting Output item Description 0 Motor s pee[...]

5 - 31 5. PARAMETERS (3) Ana log m onitor b lock diagram PWM M Current control Speed control Current comm and Position control Dr oop pu ls e Differ- ent ial Command pulse frequency Bus voltage Speed comm and Command pul se Current feedback Position feedback Motor speed Current enco der Serv o Mot or Encoder Torque[...]

5 - 32 5. PARAMETERS 5.2.3 Usin g forward/r everse rota tion strok e end to cha nge the stopp ing pattern The st opp ing pattern is factory-s e t to make a sudden stop when the forward/reverse rotation st roke end is made valid. A slow stop can be m ade by changing the p arameter No. 22 value. Parameter No. 22 Setting Stopping method 0 (initial val[...]

5 - 33 5. PARAMETERS 5.2.5 Pos ition sm oothing By setting the po sition command acceleration/dece leration time constant (parame ter No.7), you can run the servo motor smoothly in response to a s udden position command. The foll owing diagrams show the operation patterns of th e servo motor in response to a position command when you have set the p[...]

5 - 34 5. PARAMETERS MEMO[...]

6 - 1 6. DISPLAY AND O PERATION 6. DISPLAY AND OPERATION 6.1 Displ ay flowchart Use the display (5-digit, 7-segment LE D) on the front panel of the servo ampli f ier for status dis play, paramete r setting , etc. Set the parame ters befo re operation , diagnose an al arm, confir m exter nal sequences, and/or confirm the operati on status. Press the[...]

6 - 2 6. DISPLAY AND OPER ATION 6.2 Status disp la y The servo s tatus during operation is shown on t he 5- digit, 7-s egmen t L ED display. Press t he "UP" or "DOWN" button to ch ange display data as desired. When the required d ata is selected, the corresponding symbo l appear s. Pres s the "SET " button to display i[...]

6 - 3 6. DISPLAY AND OPER ATION 6.2.2 St atus displa y list The foll owing table lists the servo status e s t h at may be s hown: Refer to Appendix 2 for the measurement point. Name Symbol Uni t Descripti on Displa y range Cumulative feedback pulse s C pulse Feedba ck pul ses from t he serv o motor encoder are cou nted and disp layed. The val ue in[...]

6 - 4 6. DISPLAY AND OPER ATION Name Symbol Uni t Descripti on Displa y range Within one-revoluti on posit i on h igh Cy2 100 pulse Th e withi n one-revolution position is displayed in 100 pulse incr em en t s of the en cod er. The va lue r eturns t o 0 when it exce eds the maxi mum numb er of pulse s. The va l ue is i nc rem ented in the CCW direc[...]

6 - 5 6. DISPLAY AND OPER ATION 6.3 Diagnos tic mode Name Di splay Descript ion Not r eady. Indicates that the servo amplifier is be ing initializ e d o r an ala rm has occurred. Sequence Ready. Indi cates tha t th e servo w as switc hed on aft er compl etion of initialization and the se rvo amplifier is ready to oper ate. External I/O signal displ[...]

6 - 6 6. DISPLAY AND OPER ATION Name Di splay Descript ion Motor s eries Press the "SET" butt on to s how t he mot or seri es ID of the ser vo motor c urrently connect ed. For indication d etails, refer to the optional MELSERVO Servo Motor Instru ction Manual. Motor type Press the "SET" button to show th e motor type ID of the s[...]

6 - 7 6. DISPLAY AND OPER ATION 6.4 Alarm mode The current alarm, past al arm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number tha t has occurred or the parameter num ber in error. Display example s are shown below. Name Di splay Descr iption Indi cates no occurren ce of an alarm. Current alarm [...]

6 - 8 6. DISPLAY AND OPER ATION 6.5 Param eter m ode The parameters whose abbr eviations are marked* are made valid by chang ing the setting and then switching power off once and switching it on aga in. Refer to Section 5. 1.2. (1) Op eration exampl e The followin g example shows the operati on procedure performed after power-on to change the contr[...]

6 - 9 6. DISPLAY AND OPER ATION 6.6 Externa l I/O signa l displa y The ON/OFF stat es of the digital I/O s ign als connected to the servo amplifi er can be confirmed. (1) Operation Call t he display screen s hown after power-on. Using t he "MODE" button, sh ow the dia gno stic s creen. Press UP once. External I/O signal display screen (2)[...]

6 - 10 6. DISPLAY AND OPER ATION (a) Control modes and I/O signals (Note 2) Sym bols of I/O si gnals in control m odes Connector Pin No. Signal input/out put (Note 1) I/O P P/S S S/T T T/P Relat ed paramet er 8 I CR CR/SP 1 SP1 SP 1 SP1 SP1/CR No .43 to 48 1 4 O O PO PO P O PO PO P 18 O INP INP/SA SA SA/ /INP No.49 CN1A 1 9 O R DR DR DR DR DR D N o[...]

6 - 11 6. DISPLAY AND OPER ATION (3) De fa ul t si gn al indi ca tio n s (a) Position control mode Lit: O N Extinguish ed:OFF Input signals Output signals TL (CN 1 B-9) Tor que limit PC (CN 1 B-8) P roportional control CR (CN 1 A-8) Clear RES (CN 1 B-14) Reset SON(CN 1 B-5) S ervo-on LSN (CN 1 B-17) Reverse rotation stroke end LSP (CN 1 B-16) Forwa[...]

6 - 12 6. DISPLAY AND OPER ATION 6.7 Output s ignal (DO) forced ou tput POINT When the servo system is used i n a vertica l lift appli cat ion, turni ng on the electromagnet ic brake interl ock signal after assi gning it to pin CN1B-19 will releas e the electr omagnetic brak e, causi ng a drop. Take drop preventive measures on the machine side. The[...]

6 - 13 6. DISPLAY AND OPER ATION 6.8 Tes t operation m ode CAUTION The test operat io n mode is d esig ned to c onfir m serv o ope rat ion and not t o co nfir m ma chine opera tion. I n this mode, d o not us e the servo motor wit h the mac hine. Alwa ys use the servo m otor alone. If an y operati onal f ault has occurr ed, stop operati on using the[...]

6 - 14 6. DISPLAY AND OPER ATION 6.8.2 Jog o peration Jog operation can be performed when there is no command from the external command device. (1) Operation Conne ct EMG-SG to start jo g operatio n and con nect VDD- COM to use the interna l power su pply. Hold dow n the "U P" or "DOWN " button to run the se rvo motor. Release i[...]

6 - 15 6. DISPLAY AND OPER ATION 6.8.3 Pos itioning oper ation POINT The servo configuration soft ware is required to perform positioning operation. Positioni ng operation can be performed once when th ere is no command from the external command device. (1) Operation Conne ct EMG-SG to start posi tioning ope ration and c onnect VD D-COM to u se the[...]

6 - 16 6. DISPLAY AND OPER ATION 6.8.4 Motor -less operati on Without connec tin g t he servo motor, you can provide output signals or monitor the status dis play as if the servo motor is running in response to external input s ignals. This operation can be used to check the sequence of a host program mable contro ller or the like. (1) Operation Af[...]

7 - 1 7. GENERAL GAI N ADJUSTMENT 7. GENERAL GAIN ADJUS T MENT POINT For use in t he torque control mode, you need n ot make gain adjustment. 7.1 Diff erent adjustm ent methods 7.1.1 Adjus tment on a single s ervo am plifier The gain ad justmen t in this sectio n can be made on a single servo amplif ier. For gain adjustmen t, fir st execute a uto t[...]

7 - 2 7. GENERAL GAIN ADJUSTMENT (2) Adj ustment seque nce and mode us age Usage Used when yo u want t o match the p o sition gain (PG1) be tween 2 or more axes. No rmally n ot u s ed for other purpos es. Allows adjustment by merely chan gin g th e re spon se le ve l se t ting . Fi r st u se th is mode to mak e adjustment. Used when th e condit ion[...]

7 - 3 7. GENERAL GAIN ADJUSTMENT 7.2 Auto tuning 7.2.1 Auto t uning m ode The servo amplifier has a real-time a u to tuning function which estimat e s the machine characteristi c ( load inerti a momen t ratio) in real time an d au tomati cally se ts the optim um gain s acco rding to th at value . Thi s function permits eas e of gain adjust ment of [...]

7 - 4 7. GENERAL GAIN ADJUSTMENT 7.2.2 Auto t uning m ode operation The block dia gram of real-t ime auto tuning is shown bel ow. Servo motor 7 0 1 0 Comma nd Automa tic sett ing Control gains PG1, VG1 PG2,VG2, VIC Current control Current feedback Load inertia mome nt Encoder Position/speed feedback Real-time auto tuning section Speed feedback Load[...]

7 - 5 7. GENERAL GAIN ADJUSTMENT 7.2.3 Adjus tment proc edure b y auto tunin g Since auto tuning is made valid before shipment from the factory, simply running the servo mo tor autom atica lly se ts the o ptimum gain s that match the m achine . Mere ly chan ging the resp onse level setting value as require d comple tes the adju stment. The adju stm[...]

7 - 6 7. GENERAL GAIN ADJUSTMENT 7.2.4 Respo nse level s etting in auto tuning m ode Set the response (The first digit of parameter No.2) of the whole servo system. As the re spons e level setting is increased, the trackability and settling time for a command decre as e s , but a too high response level w i ll g en e r ate v ibr ation. Hence, ma ke[...]

7 - 7 7. GENERAL GAIN ADJUSTMENT 7.3 Manual m ode 1 ( simple m anual adj ustment) If you a re not satisfied with the adjustment of auto tuning, you c an make simple manual adjustment with three parameters. 7.3.1 Oper ation of m anual m ode 1 In this mode, se tting th e three gains o f posi tion con trol gain 1 (PG1) , spee d contro l gain 2 ( VG2) [...]

7 - 8 7. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed contro l gain 2 ( parame ter No. 3 7) This p aramet er det erm ines the response level of the speed control loop. Increasing this value enhances res pon se b ut a too high value will make the mechani c al s ystem liable to vib r at e. The actual response frequency of the speed loop[...]

7 - 9 7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Po sition co ntrol g ain 1 (p arameter No . 6) This paramet er determines t he response level of the positi on control loop. Increasing position control g ain 1 imp roves trackabi lity to a posit ion comman d but a too hig h valu e w ill make overshooti ng liable to occur at the time of[...]

7 - 10 7. GENERAL GAIN ADJUSTMENT 7.4 Interpo lation m ode The i n terpolati on mode is u sed t o match the position control gains of the a xes when performing the interpolati o n operat ion of s ervo motors of two or more axes for an X-Y table or the like. In this mode, the positio n control gain 2 and sp eed co ntrol ga in 2 wh ich de termin e co[...]

7 - 11 7. GENERAL GAIN ADJUSTMENT 7.5 Dif ferences in au to tuning between M ELSERVO- J2 and MEL SERVO-J 2-Super 7.5 .1 Response level settin g To meet higher response demands, t he MELSERVO-J2-Super series has been changed in response level setting range from the MELS ERVO-J2 series. The follow ing table lists compari son of the respo nse level se[...]

7 - 12 7. GENERAL GAIN ADJUSTMENT MEMO[...]

8 - 1 8. SPECIA L ADJUSTMENT FUNCTI O NS 8. SPECIAL A DJUST MENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use t hem if you are not sat isfied with the mach ine sta tus after m aking adjustm ent in the me thods in Ch apter 7. If a me chan ical sy stem h as a n atur al reson ance point, incre asing the ser vo sy[...]

8 - 2 8. SPECIAL ADJUSTMENT FUNCT IONS You can use the machine resonance suppression filter 1 (paramet er No. 58) and machine resonance suppression filt er 2 (paramet er No. 59) to suppress the vibrat ion of two resonance frequencies. Note that if adapti ve vibr ati on suppression control is made vali d, the machine resonance suppression filter 1 ([...]

8 - 3 8. SPECIAL ADJUSTMENT FUNCT IONS POINT If the frequency of machine resonance i s unknown, decrease the notch frequency from higher t o lower ones in order. The opti mum notch freque ncy is set a t the point w here vibra tion is minimal. A deeper notch has a higher eff ect on machine resonance suppres sion but increases a p hase delay and may [...]

8 - 4 8. SPECIAL ADJUSTMENT FUNCT IONS (2) Parameters The op eration of adapt ive vi bration sup pressio n contro l selec tion (p arameter No .60). 0 0 Pa rame te r N o. 60 Adaptive vibr a tion suppression control selection Choosing "valid" or "held" in adaptive vibration suppression control select ion makes the ma chine resonan[...]

8 - 5 8. SPECIAL ADJUSTMENT FUNCT IONS 8.5 Gain c hanging f unction 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 operat ion. 8.5.1 Ap plications This function is used when: (1) Yo u want to increase the gains durin g servo lock but de crea[...]

8 - 6 8. SPECIAL ADJUSTMENT FUNCT IONS 8.5.3 Par ameters When using the gain changing function, always set " 4 " in parameter No.2 (auto tuning) to choose the manual mode of the gain adjustment modes . The gain changing function cannot be used in the auto tuning mode. Para m ete r No. Abbrevi ation Nam e Unit Des cription 6 PG1 Position c[...]

8 - 7 8. SPECIAL ADJUSTMENT FUNCT IONS (1) Para m eters No. 6 , 3 4 to 38 These paramet ers are the same as in ordinary manual adjustment. Gain cha nging all ows the values of ratio of load inertia moment to servo motor inertia moment, position control ga in 2, speed control gain 2 and speed in tegral compen sation to be ch anged. (2) R atio of l o[...]

8 - 8 8. SPECIAL ADJUSTMENT FUNCT IONS 8.5.4 Gai n changing o peration This op eratio n will be descri bed by w ay of se tting e xample s. (1) W hen you c hoose c hanging by exter nal i nput (a) Setting Parameter No. Abbreviat i on Nam e Setting Unit 6 PG1 Positi on control gain 1 100 rad /s 36 VG1 Spee d control gain 1 1000 rad/ s 34 GD2 Rati o of[...]

8 - 9 8. SPECIAL ADJUSTMENT FUNCT IONS (2) W hen you choose chan ging b y droop p ulses (a) Setting Parameter No. Abbreviat i on Name Setting Unit 6 PG 1 Position control gain 1 1 00 ra d/s 36 VG1 Speed contro l g a i n 1 1000 rad/s 34 GD2 Rat io of load inerti a mom ent to servo motor inertia moment 40 0.1 times 35 P G2 P osition control gain 2 12[...]

8 - 10 8. SPECIAL ADJUSTMENT FUNCT IONS MEMO[...]

9 - 1 9. INSPECTION 9. INSPECTION W ARNING Befor e starti ng maint enanc e and/ or inspec tion, m ake sur e that th e charg e lam p is off more th an 10 m inutes af ter po wer-off . Then, co nfirm that the voltage is saf e in the t ester or t he lik e. Oth erwise, you m ay get a n elec tric shoc k. Any pers on who is in volved in inspect ion shoul [...]

9 - 2 9. INSPECTION MEMO[...]

10 - 1 10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 Troub le at start- up CAUTION Exc essive a djustm ent or c hange of param eter se tting m ust not be m ade as it will mak e operat ion inst able. POINT Using the optional servo configuration software, you can refer to unrotated servo motor reasons, etc. The following fault s may occur at start-up.[...]

10 - 2 10. TROUBLESHOOTING No. Start -up sequence Fault Invest igation Possible c ause Refer t o Rotation ripples (speed fluctuations) are la rge at low speed . Make gain adjustment in the follow ing pr ocedur e: 1. Inc rease t he aut o tun ing respons e level. 2. Repeat acceleration and decele ration sev e ral times to complete auto tuning. Gain a[...]

10 - 3 10. TROUBLESHOOTING (2) H ow to find the c ause of p ositio n shift Positioning unit (a) Outp ut pulse counte r Q P CMX CDV (C) Servo-on (SON), s troke e nd (L SP/LSN) i nput (A) (b) Cu mulative comma nd p ulse s Electronic gear (parame ters No. 3, 4) C Servo motor SM Encoder L Machine (d) Machine sto p p osition M (B) (c) Cumulative f eedba[...]

10 - 4 10. TROUBLESHOOTING 10.1.2 Spee d control m ode No. Start -up sequence Fault Inves tigation Poss ible cause Refer t o Not i mproved i f conn ectors CN1A, CN1B, CN2 and CN3 are di sconn ected . 1. Power supply voltage fault 2. Servo amplifier is faulty. Improv ed when con nectors CN1A and CN1B are discon nected. Power supply of CN1 cabling is[...]

10 - 5 10. TROUBLESHOOTING 10.1.3 T orque contr ol mode No. Start -up sequence Fault Inves tigation Poss ible cause Refer t o Not i mproved i f conn ectors CN1A, CN1B, CN2 and CN3 are di sconn ected . 1. Power supply voltage fault 2. Servo amplifier is faulty. Improv ed when con nectors CN1A and CN1B are discon nected. Power supply of CN1 cabling i[...]

10 - 6 10. TROUBLESHOOTING 10.2 W hen alarm or warning has oc curred POINT Configu re up a circuit w hich will d ete ct th e tro uble ( A LM) signal and turn off the servo-o n (SON) signal at occurrence of a n alarm. 10.2.1 Alar ms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm o[...]

10 - 7 10. TROUBLESHOOTING 10.2.2 Rem edies for al arms CAUTION W hen any alar m has oc curred, elim inate its caus e, ensur e safet y, then r eset t he alarm , and rest art oper ation. O therwis e, injur y ma y occur. If an absolut e posit ion eras e alarm (AL.2 5) occ urred, always m ake hom e pos ition settin g agai n. Other wise, misoper ation [...]

10 - 8 10. TROUBLESHOOTING Display Name Definition Cause Action AL.17 Board erro r 2 CPU/parts fa ult AL.19 Memory er ror 3 ROM memo ry fault Faulty parts in the servo amplifier Checkin g meth od Alarm (AL.17 or AL.19) occurs if power is switch e d on afte r CN1A, CN1B and CN3 connectors are disconne cted. Change the servo amplifier. AL.1A Mo tor c[...]

10 - 9 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Input co mm and pulse frequen c y exce eded th e per missibl e instantaneous sp e ed freq uency. Set comman d pu lses correctl y . 2. Small acceleration/deceler ation time constant caused overshoot to be large. Incr ease a ccelerat ion /decel erati on time constant. 3. Servo system [...]

10 - 10 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Pu lse fr equ ency of t he com mand pulse is too high . Cha nge the command pulse fr equen cy to a proper value. 2. Noise e ntered command pulses. Take action against noise. AL.35 Co mmand puls e frequ ency error Input pul s e frequ ency of th e command pu lse is too high. 3. Comm [...]

10 - 11 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Mac hine st ruck so methi ng. 1. Rev iew opera tion p atte rn. 2. Install limit switch e s. 2. Wr ong conn ection of s erv o motor. Servo amplifier's output t e rminals U, V, W do not ma t ch se rv o mo tor' s inpu t term ina l s U, V, W . Con nect co rrectl y. 3. Servo s[...]

10 - 12 10. TROUBLESHOOTING Display Name Definition Cause Action 88888 Watc hdog CPU, part s faulty Fault of parts in servo amplifier Checkin g meth od Alarm (88888) occurs if power is switched on after CN1A, CN1B and CN3 connec tors are disconne cted. Change servo amplifier. 10.2.3 Rem edies for warnings If AL.E6 or AL.EA occurs, the servo off sta[...]

11 - 1 11. OUTLINE DIMENSION DRAWINGS 11. OUTLINE DIMENSION DRA W INGS 11.1 Servo am plifiers (1) MR-J2S-10A to MR-J2S-60A MR- J2S -10A 1 to MR-J2S -4 0A1 [Un i t: m m ] 6 ( 0.24) mou nting 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 [...]

11 - 2 11. OUTLINE DIMENSION DRAW INGS (2) MR-J2S -70A MR- J2S-100A 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) Name plate Terminal layout (Terminal cover open) 6 ( 0.24) mounting hol[...]

11 - 3 11. OUTLINE DIMENSION DRAW INGS (3) MR-J2S -200A MR-J2S-350A MITSUBIS HI MITSUBISHI 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 Ter minal layo ut TE1 [Uni t: mm] ([Uni t: i n ]) TE2 PE te rminal (0.24) (0.24) Fan air orientation Servo a mplifier W eight [kg]( [lb]) MR-J2S-200A MR-J2S-350A 2.0 (4.41) [...]

11 - 4 11. OUTLINE DIMENSION DRAW INGS (4) MR-J2S-500A [Unit: m m] ([Un it: 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( 0.2 4) 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 Te rm i nal layout N.P. Fan Fa [...]

11 - 5 11. OUTLINE DIMENSION DRAW INGS (5) MR-J2S-700A 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. 24) 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 [...]

11 - 6 11. OUTLINE DIMENSION DRAW INGS 11.2 Connectors (1) Servo amplifie r side <3M > (a) Soldered type Model Connector : 10120-3000VE Shell kit : 10320-52F0-008 [Uni t: mm] ([Uni t: i n ]) 10. 0 (0.39) Logo, etc. are indicated here. 12.0(0.47) 22.0 ( 0 .8 7 ) 39.0 (1.54) 23.8 (0.94) 14. 0 (0.55) 12. 7(0. 50) 33.3 ( 1 .3 1) (b) Threaded type[...]

11 - 7 11. OUTLINE DIMENSION DRAW INGS (2) Bus cable c onnec tor <Hon da Ts ushin> 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 [Un it: mm] (Unit: i n) 23.0 (0.906) (0.0 39) 1 (0.039) (0.075) 1 (0.039) [...]

11 - 8 11. OUTLINE DIMENSION DRAW INGS MEMO[...]

12 - 1 12. CHARACTERISTI CS 12. CHARA CTE RISTICS 12.1 Overl oad protec tion charac teristics An electroni c thermal relay is buil t in the servo ampli fier to protect t he servo motor and servo amplifi er from overloads. The operation charact er istics of the electronic thermal relay are shown below. Overload 1 alarm (AL.50) occurs if overload ope[...]

12 - 2 12. CHARA CTERISTICS (3) MR-J2S-500A MR- J2S-7 00A 0 5 0 100 150 200 250 300 1 10 100 1000 10000 Load ratio [%] HC-SFS se ries HC-RFS series HC-UFS series Operation time[s] During rotation During servo l ock Fig 12.3 Electronic thermal r elay protec tion charac teristics 3[...]

12 - 3 12. CHARA CTERISTICS 12.2 Power suppl y equipment c apacity and generated los s (1) Am ount of heat g enerat ed b y the ser vo am plifier Table 12.1 indicates servo amplifiers' power supply capacities and losses generated under r ated load. For thermal design of an enclosure, use the values in Table 12.1 in consideration for the worst o[...]

12 - 4 12. CHARA CTERISTICS (2) H eat diss ipation area for encl osed ser vo ampl ifier The encl o sed con trol box (hereafter ca lled the control box) which will contain the servo amplifier should be design ed to ensu re that it s temper ature ri se is w ithin 10 at th e ambient temperat u re of 40 . (With a 5 (41 ) safety margin, t he system shou[...]

12 - 5 12. CHARA CTERISTICS 12.3 D y n amic br ake charac teristics Fig. 12 . 4 s hows the pattern in which the s ervo motor comes to a st op when the dynamic brake is operat ed . Use Equati on 12.2 t o calculate an approximate coast ing dista nce to a stop. T he dynamic brake time constant varies with the servo motor and machine operation speeds. [...]

12 - 6 12. CHARA CTERISTICS 23 43 13 Spee d [r/min] 2 4 0 8 10 6 14 16 12 0 500 1000 1500 2000 2500 3000 Time c onstant [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 ser ies Time constant [s] 0.005 0.01 0.015 0.02 0.025 0.03[...]

12 - 7 12. CHARA CTERISTICS Use the dynamic brake at the l oad inert ia 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 inertia moment rati[...]

12 - 8 12. CHARA CTERISTICS MEMO[...]

13 - 1 13. OPTIONS AND AU XILIARY EQUIPMENT 13. OPTIONS AND AUXILIARY EQUIPMENT W ARNING Before co nnectin g any option or auxiliar y equi pment, m ake s ure that t he ch arge la m p is off more t han 10 minu tes afte r pow er-off, then confi rm t he vol tage with a tester or the like. Oth erwise, you m ay get a n electr ic shoc k. CAUTION Use t he[...]

13 - 2 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) To make selection according to regenera ti ve energy Use the following method when regeneration occurs continuousl y in vertical motion applic ati ons 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[...]

13 - 3 13. OPTIONS AND AU X I LIARY EQU IPMENT Subtract the capacitor charging from the result of multiply ing 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-[...]

13 - 4 13. OPTIONS AND AU X I LIARY EQU IPMENT (4) C onnectio n of th e regene rative brak e option The regenerat ive brake opti on will generat e heat of ab ou t 100 . Fully ex amine heat di ssipation , instal lation position, used cables, etc. before instal ling the option. For wiring, use flame-resistant cables and keep t hem clear of t he regen[...]

13 - 5 13. OPTIONS AND AU X I LIARY EQU IPMENT When using the regenerati ve brake resis tor option, remove the servo amplifier's built-in regenerative brake resistor terminals (across P-C), fit them back to back, and secure them to the frame with the accessory screw as shown below. Mounti ng meth od Ac cess ory scr ew For MR-J2S-500A For M R-J[...]

13 - 6 13. 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 [Uni t: mm (in)] 6 (0.24) mounting h ole MR-RB Variable dim ensions Weight Regenerative brake option Regenerat ive power[W] R[...]

13 - 7 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.2 Br ake unit POINT The brake un it and res istor unit of other than 200V class are not applicable to the servo amplifier. The bra ke unit and resistor unit of the same capacit y must be combined. The units of different capacities may result in damage. The brake u nit and res istor unit must be in[...]

13 - 8 13. OPTIONS AND AU X I LIARY EQU IPMENT The cabl es between the s ervo amplifi er and brake unit and between the resistor unit and brake unit should be as short a s possib le. The cab les longe r than 5m(16.4 04ft) should be twis ted. If twis ted, the cables must no t be long er th an 10m(32 .808f t). The cable si ze should be equal to or la[...]

13 - 9 13. 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.[...]

13 - 10 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) C onnectio n exam ple Powe r supply 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 converter 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 factor [...]

13 - 11 13. OPTIONS AND AU X I LIARY EQU IPMENT (3) Outs ide d imensio ns of t he power retur n convert ers [Unit : mm (in)] AA A C F K EE BA B E D 2- D hole Rating plate Fron t c over Display panel window Mounting foot (removable) Mounting foot movable Cooling fan Heat generation area outside mount ing dimensio n Power return converter AA ABB AC D[...]

13 - 12 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.4 Cabl es and conn ectors (1) Cable make-up The followi ng cables a re used for connection with the servo motor and other models. Those indicat ed by broken lines i n the figure are not options. HC-SFS HC-RFS HC-UFS 2000r/min HC-KFS HC-MFS HC-UFS 3000 r/min CN1A CN1B CN2 CN3 1) 2) 3) 4) 5) 7) 8) [...]

13 - 13 13. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic a tion 1) Standard encoder cable MR-JCCBL M-L Refer to (2) in this section. Connector: 10120-3000VE Shell kit: 10320-52F 0-008 (3M or equiv alent) Housing : 1-172161-9 Connector pin : 170359-1 (AMP or equival ent) Standard flexing life IP20 2) Long flexing life enc[...]

13 - 14 13. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic a tion 9) Control sig nal connecto r set MR-J2CN1 Connector: 10120-3000VE Shell kit: 10320-52F 0-008 (3M or equiv alent) Qty: 2 each Connector: HIF 3BA-20D-2.54R (Hiro se Electric) Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or equiv alent) 10) Junction t[...]

13 - 15 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) Encode r cable CAUTION If you hav e fabric ated t he encod er cab le, conn ect it correct ly. Other wise, m isoperati on or ex plosion m ay occ ur. POINT The encoder cabl e is not oil resis tant. Refer to Secti on 12.4 for the flexing li fe of the encoder cabl e. Generally us e the encoder cable a[...]

13 - 16 13. 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-JCCBL10M-L to MR-JCCBL30M-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 [...]

13 - 17 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-JHSCBL M- L MR-JH SCBL M-H MR-ENC BL M-H These encoder cables are used with the HC-SFS HC-RFS HC -UF S2000r/mi n series serv o motors. 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 Cable[...]

13 - 18 13. OPTIONS AND AU X I LIARY EQU IPMENT MR-JHSCBL2M-L MR-JHSCBL5M-L MR-J HSCBL2M- H MR-J HSCBL5M- H MR-ENCBL2M-H MR-ENCBL5M-H MR-JHSCBL10M-L to MR-JHSCBL30M-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 amplifi er side En coder side P5 LG P5 LG MR MRR P5 LG BAT LG SD 19 11 20 12 7[...]

13 - 19 13. OPTIONS AND AU X I LIARY EQU IPMENT (3) Co mmun i ca ti on cabl e POINT This cab le m ay not b e used with some personal computers. After fully examining t he signals of the RS-232C connect or, refer to thi s section and fabricate the cable. (a) Model definition Model : MR-CPCATC BL3 M Cable len g th 3 [m] ( 10 [ft] ) (b) Connection dia[...]

13 - 20 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.5 Junc tion term inal block (MR-T B20) POINT When usin g the junction t erminal block, you cannot use SG of CN1A-20 and CN1B-20 . Use SG of CN1 A-4 and CN1B- 4. (1) H ow to use the junc tion ter mina l block Always use the junct ion terminal block (MR-TB20) wit h the junct ion terminal block ca b[...]

13 - 21 13. OPTIONS AND AU X I LIARY EQU IPMENT (4) Ju nction t erminal block c able (M R-J2TBL M) Model : MR-J 2TBL M Cabl e length [m(ft )] Symbol 05 1 0.5 (1.64) 1 (3.28) Junction terminal block side connector (Hir ose Electric) HIF3BA-20D-2.54R (connector) Servo ampli fier side (CN1A CN1B) connector (3M) 10 B1 0A 1 11 B2 1A 2 12 B3 2A 3 13 B4 3[...]

13 - 22 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.6 Main tenance junc tion card ( MR-J2CN3T M) (1) Usage The mai n tenance junction card (MR-J2CN3TM ) is desi gned for use when a personal computer and analog monit or outputs are used at th e same time. Communication cable Maintenance junct ion card (MR-J2CN3TM) CN3A CN3B CN3C A1 A2 A3 A4 B4 B3 B[...]

13 - 23 13. OPTIONS AND AU X I LIARY EQU IPMENT (4) Bus cable (MR-J2HBUS M) 10120-6000EL (connector) 10320-3210-000 (shell ki t) LG LG RD TD LG LG EMG BAT SD MR-J2HBUS0 5M MR-J2H BUS1M MR-J2H BUS5M 1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20 1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20 10120-6000EL (connector) 10320-3210-000 (shell kit[...]

13 - 24 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.8 Ser vo configur ations sof tware The servo configuration software uses the communication function of the servo amplifier to perform parameter setting changes, graph di splay, test operation, e tc. on a personal compu ter. (1) S pecific ations Item D escripti on Communication signal Conforms to [...]

13 - 25 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Configuration diagram 1) Wh en using RS-23 2C CN3 CN2 Personal computer To RS-232C connector Communication cable Servo amplifi er Servo mo t or 2) Wh en using RS-42 2 You can make multidrop connection of up to 32 axes. Personal computer CN3 CN2 Servo amplifier Servo mo t o r Servo mo t o r Servo m[...]

13 - 26 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2 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. 13.2.1 Recom mended wires (1) W ires for p ower supply wiring The followin g diagram[...]

13 - 27 13. 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 13. 2 Recom mended cr imping term inals Servo am plifier side crim ping terminals Symbol Cri[...]

13 - 28 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.2 No-f use break ers, fus es, magnetic c ontactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When u sing 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-fu s e breaker Class C[...]

13 - 29 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.4 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 (interface DI-1) signals To preven t de fective con t act s , use a relay for smal l s ign al (twin contacts). (E[...]

13 - 30 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Redu ction te chnique s for ex ternal noi ses tha t cause the servo amplifier to malfu nction If there a re noise sources (such as a magnet ic con tactor, an electromagnetic brak e, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction[...]

13 - 31 13. 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 n oise and/or their signal cables are containe d in a control box together with the servo amplifier o r run near the s ervo amplifier[...]

13 - 32 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Surge suppressor The recommended surge suppressor for installation 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. Relay This distance should be short (within 20cm(0.79 in.)). Surge suppressor MS Surge sup[...]

13 - 33 13. 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 th e control box. (0.24) 24 0.3 0 (0.940) (0.940) [Uni[...]

13 - 34 13. 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 fro m the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phas e current) especi ally wi thin 0.5 MHz to 5MHz ban d. Connection di agr[...]

13 - 35 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.7 Leak age current breaker (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 which is run with a commercial power supp ly. Select a leakage cur[...]

13 - 36 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) S electio n 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-60A Servo motor HC-MFS73 Ig1 Ig 2 Iga Ig m NV 2mm 2 5m 2mm 2 5m Use a leakage curren t breaker generally available. Find the terms of Equation (13[...]

13 - 37 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.8 EMC f ilter For compliance with the EMC Directive of the EN Standard, it is recommended to use 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 Leakage current [mA] Weight [kg]([lb]) MR-J2S-10A to MR-J2S-100A MR-J2S-10A1 to MR[...]

13 - 38 13. OPTIONS AND AU X I LIARY EQU IPMENT HF3040-T M HF-3050A-TM H J G C B A F E D L K L M C Dimension s [ mm(in ) ] Model AB CD E F G H J K LM 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[...]

14 - 1 14. COMMUNICATION FUNCTI ONS 14. COMMUNICATION FUNCT IONS This servo amplifi er h as the RS-422 and RS-232 C serial communi cati on functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc. However, the RS-422 and RS-232C communication functions ca n not be used t ogether. Sel ec t between [...]

14 - 2 14. COMMUNICATION FUNCTIONS 14.1.2 R S-232C conf iguration (1) Outline A singl e axis of servo a mplifier is operat ed. CHARGE MITSUBISHI RS-232C Controller such a s persona l computer Servo a mplif ier To CN3 (2) Ca bl e co nn e cti o n di ag ra m Wire as shown below. The communication cable for connection with the personal computer (MR- CP[...]

14 - 3 14. COMMUNICATION FUNCTIONS 14.2 Comm unication specif ications 14.2.1 Com municatio n overvie w This servo amplifier is designed t o send a reply on receipt of an instruction. The device which g ives this instruc tion (e.g . persona l computer ) is calle d a ma ster sta tion and the devi ce whic h sends a reply in response t o the instructi[...]

14 - 4 14. COMMUNICATION FUNCTIONS 14.2.2 Par ameter s etting When th e RS-422/ R S-23 2C communication functi on is used to operate the servo, set the communi cation specif ication s o f the servo amplifier in th e correspon ding parame ters. After setti ng the values of these parameters, they are made valid by swit ching power off once, then on a[...]

14 - 5 14. COMMUNICATION FUNCTIONS 14.3 Protoc ol POINT Whether st ation nu mber setting w ill be made o r not must be selected if the RS-232C com municatio n function is used. Note that choo sing "no station nu mbers" in par ameter No. 53 w ill make the co mmunication protocol free o f sta tion numbers as in the M R-J2-A servo ampli fier[...]

14 - 6 14. COMMUNICATION FUNCTIONS (2) T ransmis sion of d ata requ est from the co ntroller to the s ervo S O H S T X E T X S T X E T X Controller side (Master statio n) Servo side (Slave station) 10 frames Command Data No. Check sum Error code Data* Check sum 6 frames (data ) Station number or group Station number or group (3) R ecover y of com m[...]

14 - 7 14. COMMUNICATION FUNCTIONS 14.4 Charact er codes (1) C ontrol co des Code name H exadecimal (ASCII code) Descrip tion Personal com puter ter min al key operatio n (General) SOH STX ETX EOT 01H 02H 03H 04H start of he ad start of tex t end of t e xt end of tran smission ctrl A ctrl B ctrl C ctrl D (2) Codes for data JIS8 un it codes are u se[...]

14 - 8 14. COMMUNICATION FUNCTIONS 14.5 Error codes Error codes are u sed in the following cases and an error code of single-code leng th is transmitted. On receipt of data from the mast er station, the slave stat ion sends the error code corresponding to that data to the master statio n. The error code sen t in upper ca se ind icates that the serv[...]

14 - 9 14. COMMUNICATION FUNCTIONS 14.7 Tim e-out operat ion The master stat ion transmits E OT when the slave station does not start reply operation (STX is not received) 3 00[ms] after t he master station has ended communication operati o n. 100[ms] after that, the maste r statio n retran smit s the me ssage. Ti me-ou t occurs if the slave statio[...]

14 - 10 14. COMMUNICATION FUNCTIONS 14.9 Initia liza tion After th e slave st ation i s swi tched on , it c annot r eply to comm unica tion un til the intern al ini tializ ation processing terminates. Hence, at power-on, ordinary communication should be started after: (1) 1s or more time has elapsed a fter the slave stati on is switched on; and (2)[...]

14 - 11 14. COMMUNICATION FUNCTIONS 14.11 Comm and and dat a No. list 14.11.1 R ead comm ands (1) Sta tus dis pla y (Comm and [0][ 1]) Command Data No. Description Display item Frame length [0][1] [8][0] cumulative feedback pulses 12 [0][1] [8][1] servo motor spe ed 12 [0][1] [8][2] droop pulses 12 [0][1] [8][3] cumulative command pulses 12 [0][1] [...]

14 - 12 14. COMMUNICATION FUNCTIONS (5) C urrent al arm (C ommand [0 ][2] [3][ 5]) Command Data No. Descripti on Frame length [0][2] [0][0] Current alarm number 4 Command Data No. Descri ption Displ ay item Frame length [3][5] [8][0] cumulative feedback pulses 12 [3][5] [8][1] servo motor speed 12 [3][5] [8][2] droop pulses 12 [3][5] [8][3] cumulat[...]

14 - 13 14. COMMUNICATION FUNCTIONS (5) Op eration m ode se lection (Com mand [8][ B]) Command Data No. Description Setting range Frame length [8][B] [0][0] Operation mode changing 0000: Exit from t est oper ation mode 0001: Jog operation 0002: Positioning operation 0003: Motor-less operat ion 0004: Output sig nal (DO ) forced outp ut 0000 to 0004 [...]

14 - 14 14. COMMUNICATION FUNCTIONS 14.12 Detai led explan ations of com mands 14.12.1 D ata process ing When th e maste r statio n tran smits a com mand data No . or a co mmand data No . data to a slav e station, the servo amplifier returns a reply or data according to the pur pose. When numerical values are represented in these send data and rece[...]

14 - 15 14. COMMUNICATION FUNCTIONS (2) Wr iting the proces sed data When th e data to be wri tten i s handle d as d ecimal , the d ecimal poin t posi tion mu st be specifie d. If it is not spec ified , the d ata cann o t be w ri tte n. Wh en the dat a is han dle d a s hex adec ima l, sp ecify "0" a s the decimal point position. The data [...]

14 - 16 14. COMMUNICATION FUNCTIONS 14.12.2 Stat us dis pla y (1) Stat us displa y data read When the master stat ion transmits the data No. (refer to the followi ng tabl e for assi gnment) to the slave station, the slave sta tion sends back t he data val ue and data processing information. 1) Transm issio n Trans mit comman d [0][1] a nd the data [...]

14 - 17 14. COMMUNICATION FUNCTIONS 14.12.3 Param eter (1) Parameter read Read the parame ter setting . 1) Transm issio n Transmit command [ 0][5] and the data No. corresponding to the par ameter No. The data No. is express ed in hexadecimal equivalent of the data No. val ue corresponds to the parameter nu mber. Comm and Data No. [0][5] [0][0] to [[...]

14 - 18 14. COMMUNICATION FUNCTIONS (2) Parameter write POINT The number of parameter write times i s restricted t o 1,000,000 times. Writ e t he parameter sett ing. Write the val ue within the s etting range. Refer to Secti on 5.1 for the setting range. Trans mit com mand [ 8][4], the d ata No ., and th e set data. The data No. is express e d in h[...]

14 - 19 14. COMMUNICATION FUNCTIONS 14.12.4 Ex ternal I/O pin statuses (D IO diagn osis) (1) Ex ternal input p in status read Read the ON/OFF stat us es of the external i nput pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. Comm and Data No. [1][2] [4][0] (b) Reply The ON/ O FF st atuses of the i nput pins are s ent back. b31 b0[...]

14 - 20 14. COMMUNICATION FUNCTIONS 14.12.5 D isable/enabl e of externa l I/O signals (DIO) Inputs can b e disabled independently of t he external I/O si gn al ON/OFF. When inputs are disabled, t he input signals a re recognized as follows. Am ong the external input signals, E MG, LSP and LSN cannot be disabled. Signal St atus Exte rnal inp ut si g[...]

14 - 21 14. COMMUNICATION FUNCTIONS 14.12.6 Ex ternal inp ut signal O N/OFF (test o peration) Each input signal can be turned on/off for test operation. Turn off the external input signals. Send command [9] [2], data No. [0] [0] and da ta. Comm and Data N o. Set data [9][2] [0][0] See below b31 b0 0: OFF 1: ON b1 Comma n d of ea ch b it i s tra nsm[...]

14 - 22 14. COMMUNICATION FUNCTIONS 14.12.7 T est operation m ode (1) I nstructio ns for test o peratio n mode The test operati on mode mu st be executed in the following procedure. If communication is interrupted for long er than 0. 5s duri ng tes t operatio n, the servo am plifier cause s the mo tor to be decele rated to a stop a nd servo-locked.[...]

14 - 23 14. COMMUNICATION FUNCTIONS (2) Jo g oper ation Transmit the following commun ication commands: (a) Setting of jog operat ion data Item Comm and Data No. Data Speed [A][0] [1][0] Write the s peed [r/min] in hexadecimal. Accelerati on /decelerat i on time constant [A][ 0] [1][1] Write the acceleration /deceleration time con stant [ms] in hex[...]

14 - 24 14. COMMUNICATION FUNCTIONS 14.12.8 Ou tput signal pin ON/OFF ou tput signal (DO) f orced output In the test operation mode, the output signal pins can be turned on/off independentl y of the servo status. Using command [ 9][0], d isable the outp ut sig nals in advanc e. (1) C hoosing DO force d outpu t in tes t oper ation m ode Transmit com[...]

14 - 25 14. COMMUNICATION FUNCTIONS 14.12.9 Alar m history (1) Alarm No. read Read the alarm No. which occurred in the p ast. The alarm numbers and occurrence times of No. 0 (la st alarm) to No. 5 (sixth alarm in the past) are re ad. (a) Transmission Send command [3][3] and data No. [1][0] to [1][5]. Refer to Section 14.11.1. (b) Reply The alarm No[...]

14 - 26 14. COMMUNICATION FUNCTIONS 14.12.10 Cur rent alarm (1) Current alarm read Read the alarm No. which is occurring current ly. (a) Transmission Send command [0][2] and data No. [0][0]. Comm and Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm curren tly occurring. 00 A la rm No . is tra nsfer red in dec ima l. For examp[...]

14 - 27 14. COMMUNICATION FUNCTIONS 14.12.11 O ther comm ands (1) S ervo m otor end puls e unit abs olut e posit ion Read the absol ute positi on i n the servo motor end pulse unit. Note that overflow will occur in the positi on of 16384 or more revolutions from the home position. (a) Transmission Send command [0][2] and data No. [9][0]. Comm and D[...]

14 - 28 14. COMMUNICATION FUNCTIONS MEMO[...]

15 - 1 15. ABSOLUTE POS ITION DETECTION SYSTEM 15. ABSOLU TE POSITION DETECTI ON SYSTEM CAUTION If an absolute pos ition er ase alarm (AL.25) has occurre d, always perf orm hom e posit ion se tting a gain. Not doin g so can cause r unawa y. 15.1 Outl ine 15.1.1 Fea tures For normal operation, as shown below, the encoder consists of a detector desi [...]

15 - 2 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.2 Specif ic ati ons (1) Spec ificat ion list Item Descripti on System Electr onic battery bac kup system Battery 1 pi ece of lithium ba tte ry ( primary ba tte ry, nominal 3.6V) Type: MR-BAT or A6BAT Maxim um revoluti o n range Home posi tion 32767 rev. (Note 1) Max imum speed at p ower failur e 5[...]

15 - 3 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.3 Batter y inst al lat ion proc ed ure W A RNING Before s tarting batter y insta llation procedur e, m ake sur e that the c harge lamp 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 the like. Oth erwise, you m ay get a n e[...]

15 - 4 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.4 Standar d connec tion diagram CR SG RA2 CN1B-3 CN1B-13 COM CN1B-16 LSP CN1B-17 LSN CN1B-7 TL CN1B-14 RES CN1B-10 SG CN1B-5 SON CN1B-15 EMG CN1B-8 ABS M CN1B-9 ABSR CN1B-4 DO1 CN1B-19 ZSP CN1B-6 TLC VDD SG CN1A-10 CN1B-3 VDD CN1A-19 RD CN1A-4 P15R CN1A-14 OP CN1A-8 CN1A-20 CN1A-3 PP CN1A-13 PG CN[...]

15 - 5 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.5 Signal ex pla nat ion When the absolute posit ion d a ta i s t r ans ferred, the signals of connector CN1 change as described in t his section. They return to the previous status on complet i on of data transfer. T he other signals are as describe d in Sec tion 3 .3.2. For the I/O in terfaces (s[...]

15 - 6 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.6 Startup pr ocedur e (1) Battery in stalla tion. Refer to Sectio n 15.3 install ation of absolu te po sition b ackup battery . (2) Paramete r setting Set "1 "in parameter No. 1 of the servo amplifi er and switch power off, then on. (3) R esetting of abs olute positi on eras e alarm (AL.[...]

15 - 7 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7 Absolut e pos ition data tr ans f er protoco l POINT After swit ching on the ABS trans fer mode (ABSM), t urn on the servo-on signal (SON). When the ABS transfer mode i s off, tu rni ng on the servo-on signal (SON) does not switch on the base circui t . 15.7.1 Data tr ansfer procedure Each time [...]

15 - 8 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.2 T ransfer m ethod The sequence in which the bas e circuit is t urned ON (servo-on) when it is in the OFF stat e due to the servo-on signal (SON) goi ng OFF, an emergency stop, or alarm, is explai ned below. In the absol ute position detection syst em, every time the servo-on (S ON) signal is t[...]

15 - 9 15. ABSOLUTE POSITION D ETEC TION SY STEM 1) The ready signal (R D) is turned ON when the ABS transfer mode signal (ABS M) is turned OFF after transm ission of the ABS da ta. While the re ady sig nal (RD ) is O N, the ABS tra nsfer m ode signal ( ABSM) inpu t is not accep ted. 2) Even if the servo-on (SON) signal is turned ON before the ABS [...]

15 - 10 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) Detail ed description of abs ol ute position data trans fer OFF ON OFF ON OFF ON OFF ON OFF ON 3) 4) 5) 7) (Note) 1) 2) 6) Servo-on (p rog ramm abl e co ntr oller ) Servo-on (SON) ABS transfer mode (ABSM) ABS request (ABSR) Send data ready (TLC) Transmission (ABS) dat a Note: If t he servo-on si[...]

15 - 11 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) Checksum The check sum is the code which is used by the programmable controller to check for errors in the received ABS data. The 6-bi t check sum is transm itted fol l owing the 32-b it ABS data . At the programmable controll er, calculat e the sum of the received ABS data using t he ladder pro[...]

15 - 12 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Transmission erro r (a) Time-out warning(AL.E5) In the ABS transfer mode, the time-out processing shown b elow is executed at the servo. If a time- out error occurs, an A BS time-out warning (AL.E5) is output. The ABS time-out warning (AL.E5) is cleared when the ABS transfer mode (AB SM) changes[...]

15 - 13 15. ABSOLUTE POSITION D ETEC TION SY STEM 3) ABS transfer mode finish-time time-out check If the ABS t ransfer mode signa l is no t turne d OFF w ithin 5s af ter the last re ady to send signa l (19th signal for ABS data transmis si on) is t urned ON, it is regarded as the transmiss ion error and the ABS time-out warning (AL.E5) is output. O[...]

15 - 14 15. ABSOLUTE POSITION D ETEC TION SY STEM (3) At the time of alarm reset If an al arm occur s, turn OF F the servo-o n (SON) s ignal by detectin g the alarm ou tput (A LM). If an al arm has o ccurred, the ABS transf er mode signal (ABSM) c annot be accepte d. In the reset state , the ABS tr ansfer mode sign al (ABSM) can be inpu t. OFF ON O[...]

15 - 15 15. ABSOLUTE POSITION D ETEC TION SY STEM (4) At t he tim e of em ergency stop r eset (a) If the power is switched ON in the emergency stop state The emergency stop state can be reset while th e ABS data is being transferred. If the emergency stop state is reset whi le the ABS data is transm itted, the bas e circuit is turned ON 80[ ms] af [...]

15 - 16 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) If emergency stop is activated during servo-on The ABS transfer mode si gnal (ABSM) is permissibl e while in the emergency stop stat e. In this case, the bas e circuit and the ready signal (R D) are turned ON after the emergency stop state is reset. OFF ON OFF ON OFF ON OFF ON OFF ON 80[ms] OFF [...]

15 - 17 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.3 Hom e positio n setting (1) D og t y pe hom e posit ion re turn Preset a home position return creep speed at which the machine will not be given impact. On detection of a zer o pul se, the h ome po sition sett ing sign al (CR) is tur ned from off to on. A t the s ame tim e, the servo amplifie[...]

15 - 18 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Data set type home position return Move the machine to the positi on where the home position is to b e set by performing manual operati on such as jog operation to t urn the motor shaft more tha n one revolution. W h en the home posi tion setti ng signal (CR) is on for longer than 20 ms, th e st[...]

15 - 19 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.4 Use of servo m otor with elec tromagnetic brake The timing charts at power on/off and servo-on (SON) on/off are given below. Prese t " 1 " in pa rameter No. 1 to ma ke the electr omagne tic br ake in terlock signal ( MBR) u sable. When the ABS transf er mode is ON, the electr omagne[...]

15 - 20 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.5 How to process the a bsolute position data at detection of strok e end The servo amplifier stops the acceptance of the command pulse when stroke end (LSP LSN ) is de tecte d, clears the droop pulses to 0 at the same time, and stops t he servo motor rapidly. At this time, the programmable cont[...]

15 - 21 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.8 Exam ples of use 15.8.1 M ELSEC-A1S (A 1SD71) (1) Instruction s The absol ute coordinat e system (programmable control ler coordinat e system) of the A1SD71 (AD71) only covers the range in which the address increas es (positi ve coordinate val ues ) on moving away from the machine home position[...]

15 - 22 15. ABSOLUTE POSITION D ETEC TION SY STEM If the addres s of the mach ine hom e posi tion i s chang ed to an y coo rdinate value other than "0", the programm able co ntroller coordin ate sy stem wi ll be as illustr ated be low. The power should be turned ON/OFF in the range in which the address increases on moving away from the ho[...]

15 - 23 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) Slot arrangement The sequence programs presented in this s ection show I/O numbers (X, Y) assuming the arrangement of module s on the main ba s e unit is as illustrated bel ow. A1SD71 is mount ed at I/O slots 0 and 1, a 16-po int inpu t modu le at slo t 2, an d 16-po int outp ut modu le at slo t[...]

15 - 24 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Connec tion diagram PULSE- R PULSE- F PGO DOG RDY 16B 16A 15B 15A 9B 9A 5B 6B 0 1 2 3 4 5 7 COM 8 9 A B C D E F COM NC NC 6 0 1 2 3 4 5 7 6 8 9 A B A1SD7 1-S2 A1SY4 0 A1SX4 0 A1SC PU A1S62P INPU T AC100/ 200 COM1 COM2 (Note 3) (Not e 2) 12A CLEAR SD NP PP SG RD P15R CR SG 19 4 8 10 20 3 2 Plate [...]

15 - 25 15. ABSOLUTE POSITION D ETEC TION SY STEM (3) Seq uence program exam ple (a) Conditions This sampl e program is an ABS s equence program example for a single axis (X axis). To transmit the ABS data usi ng the OFF-to-ON change of the servo-on signal as the trigger. 1) When the servo-ON signal and the GND of the power supply are shorted, the [...]

15 - 26 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) ABS data transfer program for X a xis This seq uence program example assumes the followi ng conditions: Parame ters o f the A1 SD71-S 2 (AD7 1) po sitioni ng modu le 1) Un it sett in g : 3 pulse (PLS) 2) Trave l per pu lse : 1 1 pulse To select the unit other than the pulse, conversi on into the[...]

15 - 27 15. ABSOLUTE POSITION D ETEC TION SY STEM M8 M12 PLS M12 X34 M9 Y43 X35 Y43 X33 M0 D0 K16 MOV M0 Y41 C1 1 1 2 2 C2 RST M9 M3 RST M8 RST Y48 D1 K3 MOV D2 K0 MOV D5 K0 MOV D9 K0 DMOV A0 K0 DMOV Y4B RST C0 RST C1 RST Y41 Settin g retr y fl ag Resetting retry counter ABS data transmi ssion retry con trol Servo-on request Retry flag reset reques[...]

15 - 28 15. ABSOLUTE POSITION D ETEC TION SY STEM C0 C1 Y41 D3 A0 DMOVP K1 D8 K7872 H0001 FROMP M13 PLS M13 M4 C0 C1 2 2 3 3 A0 K0 MOVP D8 H0004 WAND A1 H8000 WAND D4 NEG D4 K1 D3 NEG D4 K1 D5 K1X30 MOV D5 H0003 WAND A0 D5 WOR K2 FOR M5 PLS D1 D8 K4 K0 D3 Detecting absolute position polarity and A1SD71 rotating dir e ction Reversing pol arity of ab[...]

15 - 29 15. ABSOLUTE POSITION D ETEC TION SY STEM M4 C0 D5 K1X30 MOV K2 DROR D2 D2 D5 C0 C1 C2 M6 M5 Y41 X32 M7 Y42 X32 Y42 X32 T200 3 3 4 4 D5 H0003 WAND A0 D5 WOR D0 M6 PLS K10 RORP A0 H003F WAND M1 M2 D6 A0 MOV Y4A Y42 RST M7 PLS Y42 SET T200 K1 M4 D2 A0 D2 A0 Reading ABS data 32 bits (2 bi ts 16 ti mes) Detec ting AB S data check sum error ABS [...]

15 - 30 15. ABSOLUTE POSITION D ETEC TION SY STEM M1 K1 D9 K7912 H0001 DFROP M1 Y4B D3 D3 D*P Y4B SET K1 D3 K41 H0001 DTOP Y49 X36 Y41 T0 Y41 Y42 Y41 X32 T0 T1 T3 4 4 D3 D9 D3 D P M3 SET Y41 RST K50 T1 K10 T3 K10 Y49 (Note) 5 5 K0 DD 3 Restoring absolute position data Detecti n g AB S coordinate error Wri tin g A B S dat a to A1SD7 1 ABS co mm unic[...]

15 - 31 15. ABSOLUTE POSITION D ETEC TION SY STEM M2 M10 C2 M11 T2 M9039 END 5 5 M10 PLS M11 SET C2 D7 T2 K1 M11 RST D100 A0 DMOV ABS tran sf e r ret ry contr o l ABS transf er retry st art pul s e Setting retry flag Retr y counte r Retry wait time r (100ms) Resetting retry f lag Saving received shift data Check sum NG Retry start pulse Retry count[...]

15 - 32 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) X-axis control program This precludes executi on of the X-axis st art program while M3 (ready to send th e ABS data) is OFF. When M3 (ready t o send the ABS data) is turned ON, th e X-axis start command executes the X -axis start pr o gram. X-axis start program Positioning mode X-axis start comm[...]

15 - 33 15. ABSOLUTE POSITION D ETEC TION SY STEM (g) Electromagnetic brake output During ABS data tr ansfer (for several seconds af ter the servo-on signal is turned on), the servo motor must be at a s top. Set "1 1 " in parameter No. 1 of the servo ampli fier to choose the electroma gnetic brak e interlock sign al. Y41 X31 Y44 Elec trom[...]

15 - 34 15. ABSOLUTE POSITION D ETEC TION SY STEM (4) Seq uence program - 2-ax is con trol The following program is a reference example for creation of an ABS sequence program for the second axis ( Y axis) u sing a single A 1SD71 mod ule. Cre ate a p rogram fo r the th ird axi s in a sim ilar man ner. (a) Y-axis p rogram Refer to the X-axis ABS seq[...]

15 - 35 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.8.2 MEL SEC FX (2N) -32MT (FX (2N) -1PG) (1) Connection diagram (a) FX-32MT (FX-1PG) 3.3k 3.3k 3.3k N COM2 Y4 Y5 Y6 Y10 24 SG SG S/S DOG STO P VH VL FPO FP COM0 RP RPO COM1 CLR L Power s upply FX-32 MT SG 10 DO1 4 ZSP 19 TLC 6 ALM 1 8 RD EMG 15 SON 5 ABS M 8 ABS R 9 RES 14 DOG SD 15V FX-1PG Servo[...]

15 - 36 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) FX 2N -32MT (FX 2N -1PG) 3.3k 3.3k 3.3k CN1B N COM2 Y4 Y5 Y6 Y10 24 S/S DOG STOP VIN FP COM0 RP COM1 CLR L Power su pply FX 2N -32M T SG 10 DO1 4 ZSP 19 TLC 6 ALM 18 RD EMG 15 SON 5 ABSM 8 ABSR 9 RES 14 DOG SD FX 2N -1 PG Servo amplifier COM X1 X2 X3 X4 X5 X6 X7 X10 X11 X12 X13 X14 X15 COM1 Y0 X[...]

15 - 37 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Seq uence program exam ple (a) Conditions 1) Ope ration pattern ABS data transf er is made as soon as the servo-on pushbutton is turned on. After that , positioni ng operation is performed as shown below: 300000 0 address 3) 1) 2) Home po sition 300000 After the completion of ABS data t ransmiss[...]

15 - 38 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) Device list X input contact Y output contact X0 ABS bit 0 / comp letion of positi oning Y0 Serv o -on X1 ABS bit 1 / zero speed Y1 ABS transfer mode X2 Send AB S data read y/ torque limit cont rol Y2 AB S requ est X3 Servo a larm Y3 Alarm reset X4 Alarm r eset PB Y4 (Note 2) Elec tromagnetic bra[...]

15 - 39 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) ABS data transfer program for X-a xis M8002 D24 K0 DMOV K1 K0 K3 K0 TO K1 K100000 K4 K0 DTO K1 K10000 K7 K0 DTO K1 K50000 K9 K0 DTO K1 K1000 K11 K0 TO K1 K2 K12 K0 TO K1 D24 K13 K0 DTO K1 K200 K15 K0 TO K1 K100000 K19 K0 DTO 1 1 D100 K300000 DMOV D102 K 250000 DMOV D104 K0 DMOV Z K0 DMOV D4 K4 D[...]

15 - 40 15. ABSOLUTE POSITION D ETEC TION SY STEM X6 M6 M5 SET M5 Y12 X6 Y0 Y12 1 1 2 2 M64 M62 ZRST M1 PL S C1 RST C2 C0 ZRST M99 RS T M5 RST Y1 RST Y2 RST M6 RST Servo-on request Servo-on output ABS data transmission star t Clearing retry counter Resetting ready to send ABS dat a Resetting servo- on request Resetti n g ABS transfer mode Resetti n[...]

15 - 41 15. ABSOLUTE POSITION D ETEC TION SY STEM X4 M0 Y3 Y3 C1 RST M64 M0 ZRST X5 X3 M1 2 2 3 3 D3 D0 ZRST C2 RST C0 RST M0 Y10 Y1 RST Y2 RST M99 RST M5 RST M6 RST Y1 SET M64 M10 ZR ST D2 D0 ZRST C2 RST C0 RST Alarm reset output Cl eari ng r et ry co unt er Cl eari ng A BS d ata rec eiv ing area Cl eari ng A BS r ece ive dat a buffer Resetting AB[...]

15 - 42 15. ABSOLUTE POSITION D ETEC TION SY STEM Y1 X2 M3 PLS M3 Y2 X2 C2 C2 C0 M64 3 3 4 4 D3 K2M52 MOV Y2 SET K1M10 H0003 K1X0 WANDP K2 K38 M20 M1 0 SF TR D2 D2 K1M 10 ADDP K16 C0 K19 Y2 RST Y1 RST D2 D2 H003F WANDP M62 D2 K2M52 CMPP C1 M62 C1 Y12 M2 PLS T200 K10 M6 SET M5 RST ABS data 32 bits (2 bits 16 tim es) Check sum 6 bits (2 bi ts 3 tim e[...]

15 - 43 15. ABSOLUTE POSITION D ETEC TION SY STEM M63 D0 K8M20 DMOVP D0 D24 D0 DADDP K1 D0 K26 K0 DTOP M99 SE T Y11 X6 Y1 T201 Y1 Y2 Y1 X2 T201 T202 T203 M2 T200 M6 4 4 5 5 M64 M62 ZRST M6 RST Y1 RST Y2 RST K500 T202 K100 T203 K100 Y11 C1 D4 M5 SET Writin g abs olute position data to 1PG Detecting ABS communication error ABS transfer retry contr ol[...]

15 - 44 15. ABSOLUTE POSITION D ETEC TION SY STEM M8000 M109 X7 X12 M9 9 M120 PLS X10 JOG X11 JOG X7 X14 M120 K1 D100Z K17 K0 DTO M121 K6 Z DCMP M122 INDX 6 Z K0 DMOV X12 M0 X16 5 5 6 6 M110 M111 M112 M102 M103 M104 M105 M106 108 SET Z DINC Z DINC M101 M100 (Note) 1PG control command (not used) Oper ati on command control Positio n command control [...]

15 - 45 15. ABSOLUTE POSITION D ETEC TION SY STEM M8000 K1 K4M 100 K25 K0 TO M200 K1 K3M200 K28 K0 FROM K1 D106 K26 K0 DF ROM M108 RST END 6 6 FX2 1PG Transmission of control signals 1PG FX2 Transmission of status 1PG FX2 Transmission of present position D106, D107 1PG Resetting start command (Continu ed from preceding page) Normally ON (d) Data se[...]

15 - 46 15. ABSOLUTE POSITION D ETEC TION SY STEM (e) Electromagnetic brake output During ABS data tr ansfer (for several seconds af ter the servo-on signal is turned on), the servo motor must be at a s top. Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brak e i nterlock sign al. Y1 X1 Y4 Electromagnet[...]

15 - 47 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.8.3 M ELSEC A1SD 75(AD75) (1) Connection diagram PULSE- R PULSE- F PGO DOG STOP RDY 4 22 3 21 25 24 7 14 11 0 1 2 3 4 5 7 COM 8 9 A B C D E F COM NC NC 6 0 1 2 3 4 5 7 6 8 9 A B A1SD7 5-P A1SY4 0 A1SX4 0 A1SCP U A1S6 2P Powe r supply INPUT AC100/200 COM1 COM2 PLS 12 RLS 13 CHG 15 START 16 35 36 I[...]

15 - 48 15. ABSOLUTE POSITION D ETEC TION SY STEM Note 1: For the dog type home p o sition return. Need not be connected f or the data set typ e home p o sition return. 2: If the servo motor provided with the z ero point signal is started, the A1SD75(AD75) will output the deviatio n counter clear signa l . Ther efore, do n ot connect th e clear sig[...]

15 - 49 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Seq uence program exam ple (a) Conditions 1) When the servo-on signal a nd power supply GND are shorted, t he ABS data is t ransmit ted at power-on of the servo amplifier or on the leading edge of the RUN signal a fter a PC reset operati on (PC-RESET). T he ABS data is als o transm itt ed when a[...]

15 - 50 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) ABS data transfer program for X a xis This seq uence program example assumes the followi ng conditions: Parame ters o f the A1 SD75-P 1 (AD7 5-P1) p ositio ning mo dule 1) Un it sett in g :3 pulse (PLS) 2) Trave l per pu lse :1 1 pulse To select the unit other than the pulse, conversi on into th[...]

15 - 51 15. ABSOLUTE POSITION D ETEC TION SY STEM X26 M13 SET M23 K1 D11 K8 16 H0000 FROM D11 H0001 WAND M23 1 1 2 2 D11 K1 M24 PLS M13 M14 M1 6 X26 M8 RST M13 RST C0 RST C1 RST Y30 M5 PL S M13 M17 PL S M17 X24 M14 Y33 X25 Y33 X23 C2 RST M14 M8 RST M13 RST Y38 7) Servo -on control ABS tr ansfer retry control Servo alarm detection, alarm reset contr[...]

15 - 52 15. ABSOLUTE POSITION D ETEC TION SY STEM M5 D0 K16 MOV M5 Y31 C1 2 2 3 3 D1 K3 MOV D2 K0 MOV D5 K0 MOV D9 K0 DMOV A0 K0 DMOV C0 RST C1 RST Y31 8) C0 C1 Y3 1 D3 A0 DMOVP K1 D8 K5 H0000 FROM P M18 PLS M18 A0 K0 MOVP D8 H0001 WAND A1 H8000 WAND D4 NEG D4 K1 D3 NEG D4 K1 D8 K1 K0 D3 9) 10) Initializing ABS data transmission counter Initializ i[...]

15 - 53 15. ABSOLUTE POSITION D ETEC TION SY STEM M9 C0 C1 3 3 4 4 D5 K1X20 MOV D5 H0 003 WAND A0 D5 WOR K2 ROR M10 PLS D1 M9 C0 D5 K1X20 MOV K2 DROR D2 D2 D5 C0 C1 C2 D5 H0 003 WAND A0 D5 WOR D0 M11 PLS K10 RORP A0 H0 03F WAND M6 M7 D6 A0 MOV Y3A D2 A0 D2 A0 11) 11) Reading checksum 6bits (2 bits 3 time s) Reading AB S da ta 32 bits (2 bits 16 tim[...]

15 - 54 15. ABSOLUTE POSITION D ETEC TION SY STEM M11 M10 Y31 X2 2 M12 Y32 X2 2 Y32 X2 2 T200 4 4 5 5 Y32 RST M12 PLS Y32 SET T200 K1 M9 M6 K1 D9 K0 072 H0000 DF ROP D3 D3 K D*P D3 D9 D3 D P M6 Y3B M24 M8 SET K1 D3 K1 154 H0000 DTOP K1 K9003 K1150 H0000 TO Y10 SET Y10 X1 X4 XA Y10 RST 12) 13) 15) 14) 7) ABS request control Restoring a bsolute posit[...]

15 - 55 15. ABSOLUTE POSITION D ETEC TION SY STEM Y39 X26 Y31 T0 Y31 Y32 Y31 X22 T0 T1 T3 5 5 Y31 RST K50 T1 K10 T3 K10 Y39 M7 M15 C2 M16 T2 M9039 END M15 PLS M16 SET C2 D7 T2 K1 M16 RST D110 A0 DMOV Detecting ABS communication error ABS tran sf er retry con trol Resetting ABS t ransfer mode ABS transfer mode 5s timer ABS request response 1s timer [...]

15 - 56 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) X-axis program Do not execute the X-axis program while the ABS ready (M8) is off. M8 When "M8" (ready to send ABS dat a) switches on, the X-axis start program is execut ed by the X-axis start command. X-a xis s tart progr am Positioning mode X-axis start command Ready to send ABS data [...]

15 - 57 15. ABSOLUTE POSITION D ETEC TION SY STEM (f) Data set type home position ret urn After jogging the machine to the position where the home position (e. g. 500) is to be set, choose the home positio n retu rn mod e and set the home posit ion wi th the h ome po sitio n retu rn star t (PBO N). After switching power on, rotate the servo mo tor [...]

15 - 58 15. ABSOLUTE POSITION D ETEC TION SY STEM (g) Electromagnetic brake output During ABS data tr ansfer (for several seconds af ter the servo-on signal is turned on), the servo motor must be at a s top. Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brak e interlock sign al. Y31 X21 Y34 Elec tromag[...]

15 - 59 15. ABSOLUTE POSITION D ETEC TION SY STEM (3) Seq uence program - 2-ax is con trol The following program is a reference example for creation of an ABS sequence program for the second axis ( Y axis) u sing a single A 1SD75 mod ule. Cre ate a p rogram f or the th ird axi s in a sim ilar man ner. (a) Y-axis p rogram Refer to the X-axis ABS seq[...]

15 - 60 15. ABSOLUTE POSITION D ETEC TION SY STEM (4) D ifferenc es bet ween A1S D75 (A D75) and A1SD 71 (AD7 1) The sequence programs shown in (2) of this section differ from those for the A1SD71 (AD71) in the follow ing por tions. 1) to 2 0) in th e follow ing sentence s indic ate the number s in the prog rams giv en in (2) of this section. (a) D[...]

15 - 61 15. ABSOLUTE POSITION D ETEC TION SY STEM 6) Wri ting a bsolute posi tion d ata to A1SD75 The slo t num ber and bu ffer ad dre ss of the X-a xis c urrent value changing area are change d from [DTOP H000 1 K41 D3 K1] to [DTOP H0000 K1154 D3 K1 ] 14 ). W hen t h e c urre nt va l u e i s c h a n g e d in the A1SD75, the curren t feed value is [...]

15 - 62 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.9 Confir mation of absolute p osition detect ion data You can confirm the absolute po siti on 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 &quo[...]

15 - 63 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.10 Abs olute posit ion data tra nsfer er rors 15.10.1 C orrective act ions (1) Error list The nu mber w ithin p arenth ese s in the table indica tes the outp ut co il or inp ut con tact nu mber of the A1SD7 1 (AD71). Output coi l Name A D71 1PG Des cription Cause A ction 1. Wiring fo r A B S tra [...]

15 - 64 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) ABS communicati on error (a) The OFF period of the send data ready signal output from the servo ampl ifier is check ed. If the OFF period is 1s or longer, this is regarded as a t ransfer fault an d the ABS communication error is generated. The ABS communication error occu rs if the ABS time-out [...]

15 - 65 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) To detec t the AB S time- out wa rning ( AL.E 5) at the servo ampl ifier, the time require d for the AB S reque st sign al to go OFF after it has be en tur ned ON (ABS re ques t time) is chec ked. If the AB S request remains ON for longer than 1s, it is regarded that an fault relating to the ABS[...]

15 - 66 15. ABSOLUTE POSITION D ETEC TION SY STEM MEMO[...]

App - 1 App endix App 1. Sig nal arrangem ent recording sh eets (1) Positio n control mode 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DO1 LG VDD SG P15R COM 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 COM OPC SG NG SG SG CN1A CN1B LB LAR LA LZR LZ OP P15R PG PP NP LG LBR EMG LSP TLA LSN (2) Speed control mode 1 2 3 5 4 6 7 9 8 10 11 [...]

App - 2 Appendix App 2. Stat us display block diagram Effec tive load ratio Effec tive value calculation Instantaneous torque Peak load ratio Peak hold PWM M Current control Spe ed control Ser vo motor speed Position control Droop pulse Present position calcula t io n ABS counter Within one- revol uti on position low high Load inertia momen t r a t[...]

REVISIONS *The manual numb er i s given on t he bottom left of the back cover. Print data *Manual n umber Revision Nov.,1999 SH(NA)030006-A First edition Sep.,2000 SH(NA)030006-B Addition of single-phase 100VAC specifications Compatib le Serv o Configuration software model n ame change Compl ia n ce with EC Dire ctives 1: Revie w of sentence Sectio[...]

Print data *Manual n umber Revision Sep.,2000 SH(NA )030006-B Section 1 0.2.2: Addition of desc ription to AL.30 Addition of Cause to AL. 33 Chapter 11: C hanged t o only outline dimensional dr awing Section 11.2 (2) : Addition Section 1 2.2 (1): Revi ew of Note for Tabl e 12.1 Sectio n 12.3: Correctio n of dynamic brake time constan t graph Chapte[...]

INDUSTRIAL AUTOMATION SRV - Printed in Germany HEADQUARTERS MITSUBISHI ELECTRIC EUROPE EUROPE B.V. German Branch Gothaer Straße 8 D-40880 Ratingen Phone: +49 (0) 21 02 / 486-0 Fa x: +49 (0) 21 02 / 4 86-1120 E mail: megfa-mail@meg.mee.com MITSUBISHI ELECTRIC FRANCE FRANCE 25, Boulevard des Bouvets F-92741 Nanterre Cedex P h o n e :+ 3 315 56 85 56[...]