Mitsubishi Electronics MR-J2-03A5 manuale d’uso

General-Purpose AC Servo MODEL MR-J2-03A5 SERVO AMPLIFIER INSTRUCTION MANUAL General-Purpose Interface Compatible J2-Jr Series C[...]

A - 1 z Safety Instructions z (Alway s read these ins tructions before using the equipm ent.) Do not attempt to install, operate, m aintain or inspec t the ser vo amplif ier and s ervo m otor until you have read through this Instruc tion Manual, Installation guide, Servo motor Ins truction Manual and appended docum ents caref ully and can us e the [...]

A - 2 1. To pr event electric shock, note the f ollowing: WARNING y Before wiring or ins pection, switch power of f and wait f or m ore than 15 m inutes. T hen, conf irm the voltage is safe with voltage tester. O therwise, y ou m ay get an electric shock . y Connect the servo am plifier and s ervo motor to ground. y Any person who is involved in wi[...]

A - 3 4. Additional instr uctions The following instruc tions s hould also be f ully noted. Incor rect handling may cause a f ault, inj ury, electric shock , etc. (1) Tr ansportation and inst allation CAUTION y Transpor t the products c orrectly according to their m ass es. y Stacking in exc ess of the specif ied number of products is not allowed. [...]

A - 4 (2) W irin g CAUTION y W ire the equipm ent cor rectly and securely. Otherwise, the servo motor may misoper ate. y Do not install a power capacitor, sur ge absorber or radio noise f ilter between the servo motor and ser vo am plifier. y Connect the output term inals (U, V, W ) cor rectly. Otherwise, the servo m otor will operate im properly. [...]

A - 5 (5) Corre ctive action s CAUTION y W hen it is as sum ed that a hazardous condition m ay take plac e at the occur due to a power failur e or a product f ault, use a servo m otor with electrom agnetic brak e or an ex ternal brak e mec hanism for the purpose of prevention. y Configure the electrom agnetic brake circuit s o that it is ac tivated[...]

A - 6 About processing of waste W hen y ou discard servo am plifier , a battery (prim ary battery ), and other option articles, please f ollow the law of each country (area). FOR MAXI MUM SAFETY Thes e products have been m anufac tured as a general-purpose par t for general industries , and have not been designed or m anufac tured to be inc orporat[...]

A - 7 COMPLIANCE WITH EC DIRECTIVES 1. W HAT ARE EC D IRECTIVES? The E C directi ves were i ssued to stan dardize the regulati ons of the E U countries and ens ure smooth distri bution of safety-guara nteed product s. In t he EU countries, the machi nery directi ve (effective in January, 1995), EMC directive (effe ctive in Janu ary, 1996) and low v[...]

A - 8 (5) Auxiliar y equipm ent and options (a) T he circuit protect or used shoul d be the E N or IEC St andard-compliant product of t he model described in Section 12.2.2. (b) T he sizes of t he cables describ ed in Section 1 2.2.2 meet the fol lowing requirement s. To meet the other requ irements, f ollow Table 5 an d Append ix C in EN60204-1. y[...]

CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 6 1.1 Introductio n ･･･････････････････････････････････････････････････････････････････････････ 1- 1 1.2 Servo Amp lifier Standard Sp ecifications ?[...]

4. OPERAT ION 4- 1 to 4- 6 4.1 When Switching Power On for the F irst Time ･････････････････････････････････････････････ 4- 1 4.2 Startup ････････････････････････････････････････?[...]

7.3 Gain Adjus tment by Auto Tuni ng ････････････････････････････････････････････････････････ 7- 5 7.3.1 Adjustmen t method ･･････････････････････････････････････[...]

12.2.3 Relays ･･････････････････････････････････････････････････････････････････････････ 12- 13 12.2.4 Noise re duction te chniques ･･･････････････････････?[...]

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

MEMO[...]

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

1 - 2 1. FUNCTIONS A ND CONFIGURATION 1.2 Ser vo Amplif ier Standard Spec ifications Servo Amplifier Item MR-J2-03A5 Voltage 21.6 to 30VDC (instantaneo us permissible voltage 34V) HC-AQ0135D Continuous 0.8A, max. 2.4A HC-AQ0235D Continuous 1.6A, max. 4.8A Circuit p ower supply Power supply capacity HC-AQ0335D Continuous 2.4A, max. 7. 2A Control cir[...]

1 - 3 1. FUNCTIONS A ND CONFIGURATION 1.3 F unction List The follo wing table lists the fu nctions o f the MR- J2-03A5. For details o f the f unction s, refe r to the corresponding chapters and sect ions. Function Descript ion (Note) Control Mode Refer To Position c ontrol m o de MR-J2-03A5 is used as position contro l se r vo. P Section 3. 1. 1 Se[...]

1 - 4 1. FUNCTIONS A ND CONFIGURATION Function Descript ion (Note) Control Mode Refer To Servo configurat ion software Using a personal comp uter, parameter setting, test operati on, statu s disp lay, etc. ca n be performed . P, S, T Section 12. 1. 3 Alarm co de ou tpu t If an alarm has oc curred, the cor responding alar m numbe r is output in 3-bi[...]

1 - 5 1. FUNCTIONS A ND CONFIGURATION 1.6 Par ts Identific ation Used to set parameter dat a. Used to change the disp la y or da ta i n e ach mode. Used to change the mode. Refer To Chapter6 Name/Ap plication Display The four-digit, sev en-segment LED shows the servo status and alarm number. UP DOWN SET I/O signal connector (CN1A) Used to connect d[...]

1 - 6 1. FUNCTIONS A ND CONFIGURATION 1.7 Ser vo Sy stem with Auxiliary Equipment W ARNING y To prevent an elec tric s hock , fit the s upplied earth term inal (E) to the servo amplif ier (ref er to (2), Section 3.9) and always connect it to the earth (E) of the control box. Circuit protector MITSUB ISHI OPEN CN 1A CN 1B CNP1 CNP2 CNP 3 MELSERV O T[...]

2 - 1 2. INSTALLATION 2. INSTALLATION CAUTION y Stacking in exc ess of the limited num ber of products is not allowed. y Install the equipment to inc om bustible. Installing them directly or close to com bustibles will led to a f ire. y Install the equipment in a load- bearing place in acc ordance with this Instr uction Manual. y Do not get on or p[...]

2 - 2 2. INSTALLATION 2.2 Ins tallation direction and c learances CAUTION y The equipment m ust be installed in the specif ied direction. Otherwise, a fault m ay occur. y Leave specified clearanc es between the servo am plif ier and c ontrol box ins ide walls or other equipm ent. (1) Ins tallation of one ser vo amplif ier 70mm (2.8 in .) MITSUBISHI[...]

2 - 3 2. INSTALLATION 2.3 Keep out f oreign m aterials (1) Whe n installing the unit in a con trol box, prev ent drill chips and wire fragmen ts from enterin g the servo amplif ier. (2) Prev en t oil, water, me tallic dust, etc. fr om e n terin g the se rvo amplif ier th rou gh open ing s in the con trol box or a fan installed o n the ce iling. (3)[...]

2 - 4 2. INSTALLATION 2.5 U sing the DIN rail for installation (1) F itting into the DIN rail Put the u pper c atch on the DIN rail and pu sh the u nit until it clic ks. Wall DIN rail Upper catch Wall DIN rail (2) Rem oval f rom DIN rail 1) Pul l down t he hook . 2) Pull it tow ard you. 3) Lift and re move the unit. Wall Hook 1) DIN rail Upper catc[...]

3 - 1 3. SIGNALS AND WI RING 3. SIGNALS AND W I RING W ARNING y Any person who is involved in wiring should be f ully competent to do the work . y Before s tarting wiring, mak e sure that the voltage is safe in the tes ter m ore than 15 minutes after power-of f. Other wise, y ou may get an electric shoc k. y Ground the ser vo amplif ier and the ser[...]

3 - 2 3. SIGNALS AND W I RING 3.1 Standar d connection exam ple POINT y For the connect ion of the power supply syst em, refer to Section 3.7.1. y Do not apply t he test lead ba rs or l ike of a tester directly t o the pins of the conne ctors supplie d with the servo mo tor. Doin g so will d eform the pins, causing poor contact. 3.1.1 Position cont[...]

3 - 3 3. SIGNALS AND W I RING Note 1. To prevent an electric s hock, fit the suppli ed earth t erminal (E) to the servo a mplifier and al ways connect it t o the earth (E) of t he control box. (Refer t o section 3. 9.) 2. Connect the diod e in the correct direction . If it is connected reve rsely, the servo amplifier will be Cfaulty and will not o [...]

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

3 - 5 3. SIGNALS AND W I RING 3.1.3 Torque c ontrol m ode (Note1) 2m (6.5 ft) max. 10m(32f t) max. Person al compute r (Note 7) Servo configuration software Zero sp eed Limiting to rque (Note 2) Tro uble 30m (9 8ft) max . Encode r Z-phase pulse (differential line driver) Encode r A-pha se pulse (differential line driver) Encode r B-pha se pulse (di[...]

3 - 6 3. SIGNALS AND W I RING 3.2 Inter nal Connection Diagram of Ser vo Amplif ier The follow ing is the intern al connection d iagram where th e signal assignme nt has been made in the initial status in each control mode. 15 14 LZR OP LZR OP LZR OP 1 1 2 3 P24M P24G P24L CNP1 Servo amplifier Approx. 4.7k +15VDC CN1A CN1B CN1B CN1A CN1A CN1B CN1A [...]

3 - 7 3. SIGNALS AND W I RING 3.3 I/O Signals 3.3.1 Connectors and s ignal arrangem ents POINT The pin configura tions of the connect ors are as viewed from the cab le connector wiring section. Refer to the next p age for CN1A an d CN1B signal assign ment. (1) Signal ar rangem ent The connector frames are connected with t he E (earth) terminal insi[...]

3 - 8 3. SIGNALS AND W I RING (2) CN1A and CN1B s ignal assignm ent The signal as signment of connector changes wit h the control mode as indicated below; (Note2) I/O Signals in Control Modes Connector Pin No. (Note1) I/O P P/S S S/T T T/P Relate d parameter 1 L GL GL GL GL GL G 2 I NP NP/ /NP 3 I PP PP/ /PP 4 P15R P 1 5 R / P 1 5 R P15R P15R P15R [...]

3 - 9 3. SIGNALS AND W I RING (3) Symbols and s ignal names Sy m bol Signal Name Sy m bol Signal Name SON Servo on TLC Limiting torqu e LSP Forward rotat ion strok e end VL C Limit ing speed LSN Revers e rotation s troke end RD Ready CR Clear ZSP Zero speed SP1 Speed select ion 1 INP In position SP2 Speed select ion 2 SA Speed reached PC Propo rtio[...]

3 - 10 3. SIGNALS AND W I RING 3.3.2 Signal explanations For the I/O interfaces (symbo ls in I/O column in the table) , refer to Se ction 3.6.2. In the Control Mode field of the t able P : Posit ion control mode, S: Speed cont rol mode, T: Torque control mode { : Deno tes that the signal may be used in the initial se tting status. ∆ : Deno tes th[...]

3 - 11 3. SIGNALS AND W I RING Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PST Torque lim it TL CN1B 9 Torque limit se lection input device. Short TL-SG to make the analo g torque limit valid. For details, ref er to (2), section 3.4.1 . DI-1 { ∆ Used to start the servo motor in any of the following direc[...]

3 - 12 3. SIGNALS AND W I RING Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PST <Speed control mode> Used to s elect the command speed for operat ion. (Note) Input s ignals SP2 SP1 Speed Comm and 0 0 Anal og speed command ( VC) 01 Internal sp eed command 1 (paramet er No . 8) 10 Internal sp eed comman[...]

3 - 13 3. SIGNALS AND W I RING Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PST Proportion control PC CN1B 8 Connect PC-SG to switch the speed amplifier from the proport ional i ntegral type t o the prop ortional type. If the servo motor at a stop is rot ated ev en one p ulse d ue to an y external factor, i[...]

3 - 14 3. SIGNALS AND W I RING Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PST Analog tor que limit TLA To use thi s signa l in the s peed cont rol mode, set a ny of paramete rs No. 43 to 48 to make TL available. When the analog torque limit (TL A) is valid, torque is limited in the full servo moto r outpu[...]

3 - 15 3. SIGNALS AND W I RING (2) O utput signals Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PST Trouble ALM CN1B 18 ALM- SG are d isconnected when power is sw itched off or the protective circuit is activated to shut off the base circuit. Without alarm, ALM-SG ar e conne cted within about 1s after power[...]

3 - 16 3. SIGNALS AND W I RING Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PST To use this s ignal, set  1 in parame ter No. 49. This signal is outpu t when an ala rm occurs. When there is no alarm, respective ordinary signals (RD, IN P, SA, ZSP) are output. Alarm co des and alarm name s are liste[...]

3 - 17 3. SIGNALS AND W I RING Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PS T Encoder Z-p hase pulse (Open collector) OP CN1A 14 Outp uts the z ero-poi nt sign al of t he encoder. On e pulse i s outp ut per servo motor revolution. OP and LG are connected when the zero-point position is re ached. ( Negati[...]

3 - 18 3. SIGNALS AND W I RING (3) Power supply Control Mode Signal Sym bol Connec- tor Pin No. Functions /Applic ations I/O Divisi on PS T I/F inter nal powe r supply VDD CN1B 3 Used to output 24VDC fo r input interface. Connecte d with P24L inside the servo amplifier. {{{ Digital I/F power supply i nput COM CN1A 9 CN1B 13 Used to input 24VDC for [...]

3 - 19 3. SIGNALS AND W I RING 3.4 D etailed Description of the Signals 3.4.1 Position control m ode (1) Puls e train input (a) Input pu lse wavef orm selectio n Command puls es may be i nput in a ny of three different forms , for which pos itive or nega tive logic can be chosen. Set the command puls e train form in parameter No. 21. Arrow or in th[...]

3 - 20 3. SIGNALS AND W I RING (b) Connections and waveforms 1) Open collector s ystem Connect as s hown below: 24V DC P24G PP NP SG SD Servo amplifi er P24L VDD OPC About 2k Ω About 2k Ω The exp lanation assu mes that th e inpu t wavef orm ha s been set to the ne gative lo gic and forw ard and rev erse rotatio n pulse trains (paramete r No.21 [...]

3 - 21 3. SIGNALS AND W I RING 2) Diff erential line driver system Connect as s hown below: PP NP Servo amplifi er PG NG SD The exp lanation assu mes that th e inpu t wavef orm ha s been set to the ne gative lo gic and forw ard and rev erse rotatio n pulse trains ( parameter No .21 has been set to 0010). For the d ifferen tial line driv er, the w a[...]

3 - 22 3. SIGNALS AND W I RING (2) T orque lim it CAUTION If the torque lim it is canceled during ser vo lock, the servom otor may suddenly rotate accor ding to position deviation in respec t to the com mand pos ition. (a) Torque limit an d gene rated torque By setting parameter No. 28 ( internal torqu e limit 1), torque is always limited to the ma[...]

3 - 23 3. SIGNALS AND W I RING (b) Torque limit v alue sele ction Choose the torqu e limit made valid by the internal torque limit valu e 1 (p arameter No. 28) using the extern al torque limit selection (TL) o r the torque limit made valid by the an alog to rque limit (TLA) as indica ted below: Torque Limi t Value Made Valid (Note) TL If TLA > P[...]

3 - 24 3. SIGNALS AND W I RING 3.4.2 Speed control m ode (1) Speed s etting (a) Speed command and speed The s ervo motor is run a t the speeds set in t he parameters or a t the s peed set in the a pplied volta ge of the analog s peed command (VC). A relations hip between the analog s peed command (VC) applied voltage a nd the servo motor s peed is [...]

3 - 25 3. SIGNALS AND W I RING (b) Speed selection 1 (S P1), s peed selection 2 (S P2) and s peed command value Choose any of the s peed set tings ma de by the i nternal speed commands 1 to 3 using s peed selection 1 (SP1 ) and speed sel ection 2 (SP 2) or the speed s etting made b y the analog s peed command (VC). (Note) External Input Signals SP2[...]

3 - 26 3. SIGNALS AND W I RING 3.4.3 Torque c ontrol m ode (1) T orque contr ol (a) Torque command and generated torque A relati onship bet ween the applied vol tage of the ana log torque command (T C) and the t orque gene rated by the se rvo mo tor is sho wn belo w. The maximum torque is generated at ± 8V. Note that the torqu e gener ated at ± 8[...]

3 - 27 3. SIGNALS AND W I RING (b) Analog torque command offset Using parame ter No. 30, the offset v oltage of -999 to +999mV can be added to the TC applied voltage as shown below. 0 + 8( − 8) Max. torque Generated torque TC applied voltage [V] Parameter No.30 offset range − 999 to + 999mV (2) T orque lim it By setting p arameter N o. 28 (inte[...]

3 - 28 3. SIGNALS AND W I RING (b) Speed selection 1 (S P1)/s peed selection 2 (S P2) and s peed command values Choose any of t he speed set tings ma de by the internal s peed limit s 1 t o 3 using s peed selection 1 (SP1) a nd speed select ion 2 (SP2 ) or the speed set ting made by t he speed limi t command (VLA ). (Note) External Input Signals SP[...]

3 - 29 3. SIGNALS AND W I RING 3.4.4 Position/speed contr ol change m ode Set 0001 in p arameter No . 0 to switch to the positio n/spee d con trol change mode . This fun ction is not avail able in t he absol ute posit ion detection s ystem. (1) Contr ol change (LOP) Use control change (LOP ) to switch between the posi tion control mode and the spee[...]

3 - 30 3. SIGNALS AND W I RING (3) Speed s etting in speed control m ode (a) Speed command and speed The s ervo motor is run at the s peed set in para meter No. 8 (i nternal speed comma nd 1) or at th e speed set in the applied volta ge of the analog speed command (VC). A relationshi p between analog speed command (VC) a pplied volta ge and servo m[...]

3 - 31 3. SIGNALS AND W I RING 3.4.5 Speed/torque control c hange mode Set 0003 in paramete r No. 0 to sw itch to the sp eed/tor que control ch ange mod e. (1) Contr ol change (LOP) Use control change (LOP) to swit ch between the speed control mode and the torque control mode from an exte rnal contact. Relatio nships betw een LOP- SG status and co [...]

3 - 32 3. SIGNALS AND W I RING (4) Speed lim it in torque c ontrol m ode (a) Speed limit value and s peed The speed is limite d to the limit value set in p arameter No . 8 (inte rnal spee d limit 1) or the v alue set in the appli ed voltage of t he analog s peed limit (VLA). A rel ations hip between t he analog s peed limit (VLA) app lied voltag e [...]

3 - 33 3. SIGNALS AND W I RING 3.4.6 Torque/pos ition control change m ode Set 0005 in paramete r No. 0 to sw itch to the to rque/position control chang e mode . (1) Contr ol change (LOP) Use control change (LOP) t o switch between the torque control mode and the position control mode from an external contact. Re lationships be tween LOP-SG status [...]

3 - 34 3. SIGNALS AND W I RING 3.5 Alar m O ccurrenc e Tim ing Chart CAUTION y W hen an alarm has occurr ed, rem ove its cause, m ak e sure that the operation signal is not being input, ensure saf ety, and reset the alarm bef ore res tarting operation. y As soon as an alarm occ urs, turn of f Servo-on (SON ) and power off the main circui t. When an[...]

3 - 35 3. SIGNALS AND W I RING 3.6 Interfac es 3.6.1 Com mon line The following di agram shows the power supply a nd its common li ne. DC24V CNP1 P24 G P24 L CN1A CN1B CN1A CN1B DO-1 SG OPC SG P15 R LG TLA VC et c. SD OP LG MR MRR SD RA M DI-1 CNP2 COM VDD ALM e tc. LG E CNP2 SD RDP RDN SDP SDN P24 C CNP1 SG OPC PG x NG PP x NP Note. For the o pen [...]

3 - 36 3. SIGNALS AND W I RING 3.6.2 Detailed descr iption of the interf aces This section gives the details of the I/O signal interfaces (refer to I/O Divi sion in the ta ble) indica ted in Section 3.3.2. Refer to this sectio n and co nnec t the inter faces with the ex ternal e quipmen t. (1) Digital input inter face DI- 1 Give a si gnal with a re[...]

3 - 37 3. SIGNALS AND W I RING (3) Puls e train input interfac e DI-2 Provide a pul se trai n signal in the open collect or or differential line driver sys tem. (a) Open collector system 1) Interface Servo amplifier P24 L Max. i nput pulse frequen cy 200k pps Approx. 1.2k Ω PP(N P) Approx. 10mA SG SD VDD OPC P24 G 24VDC 2m(78.74in) or less 2) Con[...]

3 - 38 3. SIGNALS AND W I RING (b) Diffe rential line d river sy stem 1) Interface SD PG(NG) PP(NP) Max. in put pulse frequency 500kpps Servo amplifier Am26LS31 or equivalent About 100 10m (393.70 in) or less 2) Co nditions o f the inp ut 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) Encoder pulse output DO-2 (a) Open c[...]

3 - 39 3. SIGNALS AND W I RING (b) Diffe rential line d river sy stem 1) Interface Serv o amplifier Max.output current 35mA LA (LB,LZ) LAR (LBR,LZR) LG SD 150 Ω Am26LS32 or equivalent LA (LB,LZ) LAR (LBR,LZR) SD 100 Ω High-speed photocoupler Serv o amplifier 2) O utput pu lse Servo motor CCW rotati on LA LAR LB LBR LZ LZR T π /2 400 µ s or mo[...]

3 - 40 3. SIGNALS AND W I RING 3.7 Input Power Supply Circuit CAUTION y W hen the servo amplif ier has becom e f aulty , switch power off on the servo amplif ier power side. Continuous f low of a large cur rent m ay cause a f ire. 3.7.1 Connection exam ple Wire the p ower supply and main cir cuits as shown below so that the se rvo- on sign al also [...]

3 - 41 3. SIGNALS AND W I RING 3.7.2 Explanation of s ignals Abbreviati on Signal Nam e Descript ion P24M Main circuit power input Power supply for mai n circuit P24G Po wer ground Main circuit power supp ly and control p ower suppl y. Connected to SG and LG inside the unit. P24L Control power in put Co ntrol power supply and digital I/O power supp[...]

3 - 42 3. SIGNALS AND W I RING (3) F orced stop CAUTION y To s top operation and switch power of f im m ediately , provide a for ced stop cir cuit. Make up a circuit which shuts off main circuit power as s oon as EMG-S G are opened at a forced stop. To ensu re safe ty, alw ays install a f orce d stop switch acr oss EMG -SG. By disco nnectin g EMG- [...]

3 - 43 3. SIGNALS AND W I RING 3.8 Ser vo Motor with Electrom agnetic Brak e CAUTION Configure the electrom agnetic br ake oper ation circuit so that it is activated not only by the servo am plifier signals but also by an external em ergency stop signal. CNP2 EMG Serv o amplifier Circuit must be opened during emergency stop s ignal. Servo moto r PO[...]

3 - 44 3. SIGNALS AND W I RING (2) Setting Using param eter No.33 (electrom agnetic br ake s equence output), set a tim e delay (T b) at servo-of f f rom electrom agnetic brak e operation to bas e circuit shut- off as in the tim ing chart shown in (2) in this section. (3) O peration tim ing (a) Servo-on (SON) comma nd ON/OFF Tb [ms] after the servo[...]

3 - 45 3. SIGNALS AND W I RING (c) Alarm occurrence POINT When the overcurrent(A.32) alarm occurs, t he dynamic brake cannot be operated. Servo motor speed ON OFF Base cir cuit Electromagnetic brake(CNP2-9) Invalid ( ON) Valid( OFF) Trouble (ALM) No(ON) Yes(O FF) Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake operation dela[...]

3 - 46 3. SIGNALS AND W I RING 3.9 Grounding W A RNING y Ground the ser vo amplif ier and ser vo motor s ecurely. y To prevent an electric shock , alway s c onnect the earth ter minal ( E) of the servo amplif ier to the earth ( E) of the control box (r efer to ( 2) of this sect ion for the fitting method of the earth term inal). (1) Connec tion dia[...]

3 - 47 3. SIGNALS AND W I RING (2) F itting of earth (E) term inal (AERSBAN-J R) As shown below, f it the e arth (E) te rminal to th e bottom or top of the servo am plifier. Positioning boss Earth (E) t erminal AER SBAN- JR M4 screw 3.10 Instructions for the 3M Connector When fabrica ting an encoder cab le or the like, s ecurely connect the shiel d[...]

3 - 48 3. SIGNALS AND W I RING MEMO[...]

4 - 1 4. OPERATION 4. OPERATION 4.1 W hen Switching Power On f or the First T im e Before sta rti ng operat ion, check t he foll owing: (1) W iring (a) A correct power supply is connected t o the power input terminals (P24M x P24G x P 24L) of th e servo amplifier. (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in [...]

4 - 2 4. OPERATION 4.2 Startup W A RNING y Do not operate the switches with wet hands. You may get an electric shock . CAUTION y Before s tarting operation, chec k the param eters . Some m achines m ay perform unexpected operation. y Tak e saf ety measures , e.g. provide covers, to pr event accidental contac t of hands and parts (c ables, etc.) wit[...]

4 - 3 4. OPERATION (4) Ser vo on Switch t he s ervo on in t he foll owing procedure: (a) Switch on main circuit/control power. (b) Switch on the s ervo on s igna l (S ON) (short S ON-SG). When pl aced in t he servo-on st atus, the servo a mplifier is ready to operate and t he servo mot or is locked. (5) Com m and pulse input Entry o f a pu lse trai[...]

4 - 4 4. OPERATION 4.2.3 Speed control m ode (1) Power on (a) Switch off the s ervo on (S ON) si gnal . (b) When main circuit power/control circuit power is switched on, "r (servo motor speed)" appears on the display shows. (2) T est operation Using jog operation in the tes t operation mode, make s ure tha t the servo motor operates . (Re[...]

4 - 5 4. OPERATION (6) Sto p In any of t he following s tatus es, t he servo amplifi er interrupt s and st ops the operation of th e servo motor: Refer to Section 3.8 , (2) for the servo motor equipped with electr omagnetic brake. Note that simult aneous ON or si multaneous OFF of st roke end (LSP , LSN) OF F and forward rot ation st art (ST1 ) or [...]

4 - 6 4. OPERATION (4) Ser vo on Switch t he s ervo on in t he foll owing procedure: 1) Switch on main circuit/control power. 2) Switch on the s ervo on s igna l (S ON) (s hort S ON-SG). When plac ed in the servo-on s tatus , the servo ampl ifier is rea dy to operate and the s ervo motor is locked. (5) Sta rt Using speed select ion 1 (SP1 ) and spe[...]

5 - 1 5. PARAMETERS 5. PARAMETERS CAUTION y Never adjus t or change the param eter values extrem ely as it w ill mak e operation instable. 5.1 Par ameter List 5.1.1 Param eter write inhibit POINT y After se tting the p aramete r No. 19 valu e, switch powe r off, th en on to make that setting valid. In the MR-J2- 03A5 servo amplifier, its parameters[...]

5 - 2 5. PARAMETERS 5.1.2 Lists POINT • For any para meter whose symbol is preceded by*, s et the paramet er value and switch power o ff once , then switch it on ag ain to make that parameter setting v alid. For details of t he parameters, refer to the corresponding items . The symb ols in th e Control Mode colu mn of the tabl e indicat e the fol[...]

5 - 3 5. PARAMETERS No. Sym bol Nam e Control Mode Initial Value Unit Custom er Setting 20 * OP2 Function selectio n 2 P x S x T 0000 21 * OP3 Func tion selec tion 3 (Command pulse selection) P 0000 22 * OP4 Function selectio n 4 P x S x T 0000 23 F FC Feed fo rward gain P 0 % 24 ZSP Zero speed P x S x T5 0 r / m i n Anal og speed command ma ximum [...]

5 - 4 5. PARAMETERS (2) Details list Class No. Symbol Name and Func tion Initial Value Unit Setting Range Control Mode 0 *STY Control mode, regenerat ive brake op tion sel ection Used to select the control mode a nd regenerative bra ke option. Select the control mode. 0:Positi on 1:Position and speed 2:Speed 3:Speed and torque 4:Torque 5:Torque and[...]

5 - 5 5. PARAMETERS Class No. S ymbol Name and Func tion Initial Value Unit Setting Range Control Mode 2 ATU A uto tuning: Used to s et the respon se level, etc. f or execution of auto tu ning. Auto tuning response level setting 0 If the macine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the set[...]

5 - 6 5. PARAMETERS Class No. S ymbol Name and Func tion Initial Value Unit Setting Range Control Mode 5 INP In-position range: Used to set the d roop p ulse ran ge in whi ch the imp osition (INP) signal will be output. 100 pulse 0 to 10000 P 6 PG1 Position loop gain 1 : Used to s et the ga in of p osition l oop 1. Increase the gain to im prove tra[...]

5 - 7 5. PARAMETERS Class No. S ymbol Name and Func tion Initial Value Unit Setting Range Control Mode Internal sp eed command 3 : Used to s et speed 3 of int ernal sp eed command s. S 10 SC3 Internal speed lim it 3: Used to s et speed 3 of int ernal sp eed limi ts. 1000 r/min 0 to instan- taneous permi- ssible speed T Acceleration time constant: U[...]

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

5 - 9 5. PARAMETERS Class No. S ymbol Name and Func tion Initial Value Unit Setting Range Control Mode 18 *DMD Status disp lay selectio n: Used to sele ct the status display shown at power-on. Selection of sta tus display at power-on 0: Cumulative f eedback pulses 1: Servo motor speed 2: Droop pulses 3: Cumulative c ommand pulses 4: Command pulse f[...]

5 - 10 5. PARAMETERS Class No. S ymbol Name and Func tion Initial Value Unit Setting Range Control Mode S 20 *OP2 Function selectio n 2: Used to select restart after i nstantaneous power fai lure, servo lock at a stop in speed contro l mode, and slight vibration suppression control. Restart after i nstantaneous power failure Stop-time se rvo lock s[...]

5 - 11 5. PARAMETERS Class No. S ymbol Name and Func tion Initial Value Unit Setting Range Control Mode P S Expansion parameters 22 *OP4 Function selectio n 4: Used to s elect stop p rocessing at LSP/LSN sig nal off and ch oose the machine res onance sup press ion fil ter. Machine resona nce suppression fi lter How to make a stop when LS P/LSN sign[...]

5 - 12 5. PARAMETERS Class No. S ymbol Name and Func tion Initial Value Unit Setting Range Control Mode 23 FFC Feed fo rward gain: Set the fee d forward gain. When the se tting is 100%, the droop pulses during operation at constant speed are nearly zero. Howeve r, sudden acceler ation/decele ration will increase the o vershoot. As a guideline , whe[...]

5 - 13 5. PARAMETERS Class No. S ymbol Name and Func tion Initial Value Unit Setting Range Control Mode Anal og speed command of fset: Used to s et the offs et voltage of the anal og speed comma nd (VC ). When aut omatic V C offset i s used, the a utomati cally offs et valu e is set to this paramete r.(Refer to Se ction 6.3.) The in itial value i s[...]

5 - 14 5. PARAMETERS Class No. S ymbol Name and Func tion Initial Value Unit Setting Range Control Mode 39 VDC Speed di fferent ial comp ensation : Used to s et the di fferent ial comp ensati on. Mad e valid when the p roporti on control si gnal i s switch ed on. 980 0 to 1000 P x S 40 For manufacturer setting Do not change this value by any means.[...]

5 - 15 5. PARAMETERS Class No. S ymbol Name and Func tion Initial Value Unit Setting Range Control Mode 43 *DI2 Input signal sele ction 2 (CN1B-pin 5): This parameter is unavai lable when p arameter No. 42 is set to assign the contr ol change signal (LOP ) to CN1B-pin 5. Allows any input signal to be assigne d to CN1B-pin 5. Note that the se tting [...]

5 - 16 5. PARAMETERS Class No. S ymbol Name and Func tion Initial Value Unit Setting Range Control Mode 45 * DI4 Input signal sele ction 4 (CN1A-pin 8): Allows any input signal to be assigne d to CN1A-pin 8. The assignable signals and setting metho d are the sam e as in input signal selectio n 2 (paramete r No. 43). 0 Positi on control mode Input s[...]

5 - 17 5. PARAMETERS Class No. S ymbol Name and Func tion Initial Value Unit Setting Range Control Mode Expansion parameters 49 *DO1 Output signal selectio n 1: Used to select the conne ctor pins to output the alarm code and warning (WNG). Setting of alarm cod e output 0 Connector Pins Alarm code is output at al arm occu r rence. Set Value CN1B-19 [...]

5 - 18 5. PARAMETERS 5.2 D etailed Description 5.2.1 Electronic gear POINT • The guideli ne of the electronic gea r set ting range i s 1 50 < CMX CDV ＜ 50. If the set value is ou tside this range, no ise may be gen erated during accelerati on/decelerati on or operation may not be performed at t he preset speed and/or a cceleration/decel erat[...]

5 - 19 5. PARAMETERS (2) Setting f or use of AD75P The AD75P also ha s the followi ng electronic gea r parameters . Normally, t he servo ampli fier side electronic gea r must al so be set due to the rest riction on t he command pulse frequency (differential 500kpps, ope n collector 200kp ps). AP: Number of pul ses per motor revol ution AL: Moving d[...]

5 - 20 5. PARAMETERS 5.2.2 Changing the status dis play screen The st atus dis play item of the servo ampli fier displa y shown at power-on can be changed by changing the parame ter No . 18 settings. The item displayed in the initial statu s changes with the contro l mode as f ollows: Control Mode Displayed Item Position control mode Cumula tive f [...]

5 - 21 5. PARAMETERS 5.2.3 Using for ward/reverse rotation s troke end to c hange the stopping pattern The st opping pattern i s factory-set t o make a sudden st op when the forward/reverse rotat ion stroke end is made valid. A slow sto p can be made by changing the parameter No. 22 value . Parameter No.22 Setting Stopping Method  0 (initi[...]

5 - 22 5. PARAMETERS MEMO[...]

6 - 1 6. DISPLAY AND OPERATION 6. DISPLAY AND OPERATION 6.1 D isplay Flow chart Use the dis play (4-di git, 7-segment LED) on the front panel of the s ervo amplifier for st atus displ ay, parameter setting, et c. Set the parameters before operation, diagnos e an alarm, confirm external sequences, and/or confi rm the operati on stat us. Pres s the &[...]

6 - 2 6. DISPLAY AND OPERATION 6.2 Status Display The s ervo stat us during operat ion is shown on the 4-di git, 7-s egment L ED displa y. Press the "UP or "DOWN" bu tton to chang e display data as d esired . When the re quired data is se lected , the c orresp ondin g symbol appears. Pr ess the "SET" bu tton to d isplay its[...]

6 - 3 6. DISPLAY AND OPERATION The followi ng tabl e lists the servo s tatus es tha t may be s hown: Name Sym bol Unit Descript ion Displa y Range Cumul ative f eedba ck pulse s C pulse Feed back puls es from t he servo mot or encoder a re counted a nd disp layed . The va lue in ex cess of ± 9999 is counted, bus since the servo amplifier display i[...]

6 - 4 6. DISPLAY AND OPERATION 6.3 D iagnostic m ode Name Disp lay Descriptio n Not ready . Indicates that the serv o amplifier is being initialize d or an alarm has occurred. Sequence Ready. Indi cates tha t the servo w as swi tched on a fter complet ion of initialization and the servo amplifier is ready to operate. External I/O signal display Ref[...]

6 - 5 6. DISPLAY AND OPERATION 6.4 Alar m m ode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or t he parameter number in error. Display examples are shown below. Name Disp lay Descr iption Indica tes no occurrence of an al arm. Current alarm In[...]

6 - 6 6. DISPLAY AND OPERATION 6.5 Par ameter m ode The parameters w hose abbrev iations are marke d* are made valid by chan ging the setting and then switching power off once and switching it on again. Refer t o Section 5.1.2. (1) O peration exam ple (a) 4-digit paramet er The fol lowing example s hows the operation procedure performed aft er powe[...]

6 - 7 6. DISPLAY AND OPERATION (b) 5-digit paramet er The fol lowing example s hows t he operation procedure performed to change the electroni c gear deno minator (paramete r No. 4) into "12345": Call t he displa y screen shown aft er power-on. Press MODE once . Select parameter No. 4 with U P / DOWN. Press SET once. Press MODE once. Fift[...]

6 - 8 6. DISPLAY AND OPERATION 6.6 Ex ternal I/O signal dis play The ON/OFF stat es of the digi tal I/O s ignals connected to the servo a mplifier can b e confirmed. (1) Operation Call t he displa y screen shown aft er power-on. Press MODE o nce. Pre ss UP once . ⋅⋅⋅⋅⋅⋅⋅ ⋅ Exter nal I/O signal display screen (2) D isplay definition [...]

6 - 9 6. DISPLAY AND OPERATION (a) Control modes an d I/O signal s (Note 2) Sym bols of I /O Signals in Control Modes Connector Pi n No. Signal Input/O utput (Note 1) I/O P P/S S S/T T T/P 8 I CR CR/SP 1 SP 1 SP 1 SP1 SP1/CR 1 4 O O PO PO PO PO PO P 18 O INP IN P/SA SA SA/  /INP CN1A 1 9 O R D R DR DR DR DR D (Note 3 ) 4 O DO1 DO1 DO1 DO1 DO1[...]

6 - 10 6. DISPLAY AND OPERATION (3) Def ault signal indications (a) Position control mode Lit: ON Ext ing uis hed :O FF Input signals Output signals TL (CN 1 B-9) Torque l imit PC (CN 1 B-8) Proportional control CR (CN 1 A-8) Clear RES (CN 1 B-14) Reset SON(CN 1 B-5) Servo- on LSN (CN 1 B-17) Reverse r otation stroke end EMG (CN 1 B-15) Forced stop[...]

6 - 11 6. DISPLAY AND OPERATION 6.7 O utput signal forc ed output (DO for ced output) POINT y When the se rvo syste m is used in a v ertical lift applicatio n, turning off CNP2-9 (ele ctromagnetic brake ) will release the electro magnetic brake , causing a drop. Take drop prevent ive measures on the machine s ide. The output signal ca n be forced o[...]

6 - 12 6. DISPLAY AND OPERATION 6.8 T est operation m ode CAUTION y The tes t operation m ode is designed to conf irm servo operation and not to c onfirm mac hine operation. In this m ode, do not use the ser vo motor with the machine. Alway s use the ser vo motor alone. y If any operational fault has occ urred, stop oper ation using the forc ed sto[...]

6 - 13 6. DISPLAY AND OPERATION 6.8.2 Jog operation Jog operation ca n be performed when there is no comma nd from the external comma nd device. (1) Operation Connect EMG-SG t o start jog opera tion and connect VDD-COM to use the int ernal power supply. Hold dow n the "U P" or "DO WN" button to run the servo m otor. Re lease it [...]

6 - 14 6. DISPLAY AND OPERATION 6.8.3 Positioning operation POINT y The S ervo Configuration s oftware is req uired to perform posi tioning operation. Posit ioning operati on can be performed once when there is no command from the externa l command device. (1) Operation Conne ct EMG-SG to start positio ning op eration and con nect VDD -COM to u se [...]

6 - 15 6. DISPLAY AND OPERATION 6.8.4 Motor-less oper ation Without connecting the s ervo motor, you can provide output signa ls or monit or the status display a s if the servo motor is running in response to external input signals . This operation can be used t o check the sequence of a hos t programmabl e controller or the l ike. (1) Operation Af[...]

6 - 16 6. DISPLAY AND OPERATION MEMO[...]

7 - 1 7. ADJUST M E N T 7. ADJUSTMENT 7.1 W hat Is G ain Adjustm ent? 7.1.1 Diff erence between servo am plifier and other drives Besides the servo ampli fier, there are other mot or drives such as a n inverter and steppi ng driver. Among these dri ves, the s ervo a mpli fier req uir es ga in a djus tment . The inverter a nd stepping dri ver are in[...]

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

7 - 3 7. ADJUSTMENT 7.2 G ain Adjustm ent 7.2.1 Param eters required f or gain adjus tment Parameter No. Symbol Name No. 2 ATU Auto tuning No. 6 PG1 Position loop gain 1 No. 22 *OP4 Function selection 4 (machine resonance filter ) No. 34 GD2 Ratio of load in ertia mom ent to moto r inertia m oment No. 35 PG2 P osition loop g ain 2 No. 36 VG1 Speed [...]

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

7 - 5 7. ADJUSTMENT 7.3 G ain Adjustm ent by Auto Tuning 7.3.1 Adjustm ent m ethod In the factory setting o f the se rvo amp lifier, au to tuning is valid and the re sponse setting is "2". The initial se tting s pr ov ide su ff icien t tun ing fo r g en e ral machin es. Hig he r-le v el tu nin g can be p ro v ide d by adjusting the res po[...]

7 - 6 7. ADJUSTMENT 7.4 Manual G ain Adjustm ent On some machines , gain adjustment ma y not be made by auto tuning or excellent gain setting ma y not be made if gain adju stment is pe rformed by auto tuning. In this case, ad just the gains manually . Use any of the me thods g iven in this sectio n to adj ust the g ains. 7.4.1 W hen mach ine rigidi[...]

7 - 7 7. ADJUSTMENT 7.4.2 W hen the machine vibr ates due to m achine resonanc e frequency (1) Mac hine condition The serv o motor shaf t is oscillating at high frequen cy (100Hz or mo re). The servo motor shaft motion cannot be confirmed visually. However, if t he machine generates large noise and vibrates, make Adj ustment 1. If higher "resp[...]

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

7 - 9 7. ADJUSTMENT 7.4.4 W hen shortening the settling tim e (1) Mac hine condition The settlin g time will be increased by the gains p rovide d by auto tuning. (2) Adjus tment pr ocedure 1) Choose t he res pons e s ett ing of s l ow res ponse. Set 0101 in paramete r No.2. 2) Alternate a start and a stop sev eral times, exec ute auto tuning , and [...]

7 - 10 7. ADJUSTMENT 7.4.5 W hen the same gain is used for two or more ax es (1) Mac hine condition To perform i nterpolati on operation wit h two or more axes of s ervo amplifiers , the posi tion loop gai ns of the axes ar e s et t o t he s ame va lu e. (2) Adjus tment pr ocedure 1) To adjust t he gains of each axis , adjust the gains of al l axes[...]

8 - 1 8. INSPECTION 8. INSPECTION W ARNING y Before star ting m aintenance/inspection, s witch power off , and af ter m ore than 15 seconds have elapsed, confir m that the voltage is safe in the tes ter or the lik e. Otherwise, you may get an electric shock . y Any per s on who is involved in ins pection s hould be f ully competent to do the work .[...]

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

9 - 1 9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 T rouble at Start- Up CAUTION y Excess ive adjustm ent or change of param eter setting mus t not be m ade as it will ma ke operation ins table. POINT y Us ing the opti onal S ervo Configuration soft ware, you can refer t o unrotated servo motor reasons , etc. The following faults may occur at s tart-u[...]

9 - 2 9. TROUBLESHOOTING No. Start-Up Sequenc e F ault I nvestigat ion Pos sible Cause Ref er To Rotation ripples (speed fluctuations) are larg e at low speed . Make gain adjustment in the follow ing pr ocedure: 1. Increase the auto tuning response level. 2. Repeat acc eleratio n and deceleration several times to com plete auto tuning. Gain adjustm[...]

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

9 - 4 9. TROUBLESHOOTING 9.1.2 Speed control m ode No. Start-Up Sequenc e F ault I nvestigat ion Pos sible Cause Ref er To Not improv ed if con nectors CN1A, CN 1B and CNP2 are disconnected. 1. Power supply voltage fault 2. Servo amplifier is faulty. Improv ed when conn ectors CN1A and CN1B are disconnected. Power supply of CN 1 cabling is shorted.[...]

9 - 5 9. TROUBLESHOOTING 9.1.3 Torque c ontrol m ode No. Start-Up Sequenc e F ault I nvestigat ion Pos sible Cause Ref er To Not improv ed if con nectors CN1A, CN 1B and CNP2 are disconnected. 1. Power supply voltage fault 2. Servo amplifier is faulty. Improv ed when conn ectors CN1A and CN1B are disconnected. Power supply of CN 1 cabling is shorte[...]

9 - 6 9. TROUBLESHOOTING 9.2 W hen Alarm or W arning Has O ccurr ed 9.2.1 Alarm s and W arning list When a faul t occurs during operat ion, the correspondi ng alarm or warni ng is dis played. If any al arm or warning h as occurred, re fer to Sectio n 9.2.2 or 9.2.3 and take the appro priate action. Set  1 in parameter No. 49 t o output the[...]

9 - 7 9. TROUBLESHOOTING 9.2.2 Rem edies for alar ms CAUTION y W hen any alarm has occur red, elim inate its cause, ensure sa fety, then reset the alarm , and restart oper ation. Otherwise, injury may occur. y As soon as an alarm oc curs, turn off Servo-on (SON) and power off the m ain circui t . POINT y When any of the following alarms has occurre[...]

9 - 8 9. TROUBLESHOOTING Display Name Definition Ca use Action CPU/parts fault Faulty parts in the servo am plifier Checking met hod Alarm ( A. 17) oc curs if pow er is switch ed on after conn ectors CN1A, CN1B, CNP 2, CNP3 are disco nnected. Change the ser vo amplifier. A. 17 Board error 2 The outp ut terminals U, V, W of the servo amplifier and t[...]

9 - 9 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Short occurred i n servo amplif ier output phas es U, V and W. Correct the wiring. 2. Transi stor (IPM ) of the s ervo amplifier faulty. Alarm ( A. 32) occurs if power is switch ed on aft er U, V and W are di sconnected . Checking method Change the ser vo amplifier. 3. Ground fa ult o[...]

9 - 10 9. TROUBLESHOOTING Display Name Definition Cause Action 1. Mach ine struck somet hing. 1. Revi ew operati on patt ern. 2. Install limit switche s. 2. Wrong connection of servo motor. Servo am plifier's output ter minals U, V, W do not m atch servo motor's input term inals U, V, W. Connect correctly. 3. Servo system is instable and [...]

9 - 11 9. TROUBLESHOOTING 9.2.3 Rem edies for W arnings If A.E1 (overloa d warning) occurs, opera tion may be cont inued but an al arm may ta ke place or proper operatio n may not be perfor med. If another w arning (A.E6 or A.E9) occurs, the servo amplifier will go into a servo-off st atus. Elimina te the caus e of the warning according t o this se[...]

9 - 12 9. TROUBLESHOOTING MEMO[...]

10 OUTLINE DIMENSIO N DRAWI NGS 10 - 1 10. OUT LINE DIMENSION DRAW INGS 10.1 Servo am plifiers 5 (0.1 97) 5 (0.197) 5 5 (0.1 97) 2- φ 5 ( φ 0.197) hole Servo Amplifie r Model Mass [kg] ([lb ]) MR-J2-03A5 0.2 (0.44) 90 (3.5 43) B2 B1 51 RDP P24M 62 RDN P24G 73 SDP P24L 84 SDN TRE 5 1 MR MRR 6 2 P5 LG 11 12 SD 10 4 7 3 UW 8 9 EV 1 SD 2 TXD LG 3 RXD[...]

10 OUTL INE DIMENSION DRAW INGS 10 - 2 10.2 Connectors (1) Connec tors for CN1A/CN1B <3M> (a) S olde red ty pe (b) T hreaded ty pe 10.0 (0.39) Model Connec tor : 10120-3 000VE Shell kit : 10320 -52F0- 008 Logo, etc . are indicat ed here. 12.0 (0.47 ) 22.0 (0.87 ) 39.0 (1.54 ) 23.8 (0.94 ) 14.0 (0.55) 12.7 (0.50 ) 33.3 (1.31 ) [U nit: mm] ([Un[...]

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

10 OUTL INE DIMENSION DRAW INGS 10 - 4 (4) Com m unication cable connec tor <Japan Aviation Electronic s Industr y > C D Fitti ng fixing screwG E(max. di ameter of cable used) F A B [Uni t: mm] ([Uni t: in]) Type A 1 B 1 C 0.25 D 1 E F Reference G DE-C1-J6-S6 34.5(1.36) 19(0.75) 24.99(0. 98) 33(1.30) 6(0.24) 18(0. 71) #4-40 DB-C2-J9 46(1.81) [...]

11 - 1 11. CHARACTERISTI CS 11. CHARACT ERIST ICS 11.1 Overload Protec tion Characteristic s An electro nic thermal re lay is built in the serv o amplifier to pro tect the se rvo mo tor and serv o amplif ier from overloads . The operat ion charact eristic s of the elect ronic thermal relay are shown b elow. Overload 1 alarm (A. 50) occurs if overlo[...]

11 - 2 11. CHARA CTERIST ICS 11.2 Dynamic Brak e Character istics Fig. 11.2 s hows t he pattern i n which the s ervo motor comes to a s top when t he dynamic br ake is opera ted. Use Equation 11.1 to calcu late an approximate coasting d istance to a stop. The dynamic brake time constant τ varies with t he s ervo motor a nd machi ne operat ion s pe[...]

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

11 - 4 11. CHARA CTERIST ICS MEMO[...]

12 - 1 12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT W ARNING y Before connecting any option or auxiliary equipment, switch power off, and af ter mo re than 15 seconds have elapsed, conf irm that the voltage is safe in a tester or the like. Not doing s o can cause an elec tric shoc k. CAUTION y Use the specified aux iliary[...]

12 - 2 12. OPTIONS AND AUX ILIARY EQUIPM ENT No. Product Model Descript ion Applic ation Servo ampli fier side connector (Mol ex) Connect or: 5557-12R-210 Term inal: 5556 Servo motor side connector (Mol ex) Connecto r: 5559-12P-210 Term inal: 5558 1) Motor c able MR-JRCBL  M-H Refer to (2) in this section IP20 compliant Servo ampli fier side con[...]

12 - 3 12. OPTIONS AND AUX ILIARY EQUIPM ENT (2) Motor cable CAUTION y If you have fabricated the m otor c able, connect it cor rectly. Otherwise, m isoperation or ex plosion m ay occur . POINT y The encoder ca ble is not oil resi stant . y Refer to s ection 11.3 for the flexing l ife of the motor cab le. y When s oldering the wire t o the connecto[...]

12 - 4 12. OPTIONS AND AUX ILIARY EQUIPM ENT 3) Connection diagram When fabricatin g the cable, use th e recomme nded wire (J14B1180) given in Sectio n 12.2.1 and follow the connectio n diagram shown be low. A cable of up to 30m may be fabricated for th is connection. 11 5 3 9 2 7 8 1 6 12 10 4 11 5 3 9 2 7 8 1 6 12 10 4 LG P5 B2 B1 U V W E MR MRR [...]

12 - 5 12. OPTIONS AND AUX ILIARY EQUIPM ENT 3) Connection diagram When fabricatin g the cable, use th e recomme nded wire (J14B1180) given in Sectio n 12.2.1 and follow the connectio n diagram shown be low. A cable of up to 30m may be fabricated for th is connectio n. The cable f or an electro magnetic brake contact may be up to 10m. 11 LG 5 P5 3 [...]

12 - 6 12. OPTIONS AND AUX ILIARY EQUIPM ENT (3) C omm unication c able POINT y Thi s cable ma y not be used wit h some personal comput ers. After ful ly examining the sign als of the RS- 232C connecto r, refer to this section an d fabricate the cable. Select the communication cable accord ing to the shape o f the RS-232C conne ctor o f the persona[...]

12 - 7 12. OPTIONS AND AUX ILIARY EQUIPM ENT 12.1.2 Junction term inal block (MR- TB20) POINT When us ing the juncti on terminal bl ock, you ca nnot use SG of CN1A -20 and CN1B-20. Use SG o f CN1A-4 and CN 1B-4. (1) How to use the j unction term inal block Always use the junction termi nal block (MR-T B20) wit h the junction termina l block cabl e [...]

12 - 8 12. OPTIONS AND AUX ILIARY EQUIPM ENT (4) J unction term inal block cable (MR-J 2TBL05M) Model : MR-J 2TBL M Cabl e lengt h[m( ft)] Symbol 05 1 0.5 (1.64) 1 (3.28) Junction ter minal block si de connector (Hirose Electric) HIF3BA-20D-2.54R (connector) Servo amplifier side (CN1A CN1B) connecto r (3M) 10 B1 0A 1 11 B2 1A 2 12 B3 2A 3 13 B4 3A [...]

12 - 9 12. OPTIONS AND AUX ILIARY EQUIPM ENT 12.1.3 Servo conf igurations sof tware The S ervo Configuration s oftware uses the communicati on function of the s ervo amplifier t o perform parameter setting changes , graph display, test operation, et c. on a personal computer. (1) Specif ications Item (Note 1) Des cripti on Communic ation signal Con[...]

12 - 10 12. OPTIONS AND AUX ILIARY EQUIPM ENT (b) Configuration diagra m 1) When using RS-232C CNP3 CNP2 Personal computer To RS-232C connector Communication cable Servo amplifier Servo motor 2) When using RS-422 You can make mult idrop connection of up to 32 a xes. Personal computer CNP1 CN P2 Servo ampl ifier Servo motor Servo motor Servo motor C[...]

12 - 11 12. OPTIONS AND AUX ILIARY EQUIPM ENT 12.2 Auxiliary Equipment Always use the de vices indicate d in this se ction or equiv alent. To comp ly with the EN Stan dard or UL/C- UL Sta ndard, use th e products which conform t o the corresponding st andard. 12.2.1 Recom m ended wires (1) W ires for power supply wiring The fol lowing diagram shows[...]

12 - 12 12. OPTIONS AND AUX ILIARY EQUIPM ENT (2) W ires for cabl es When fabr icati ng a cable, use the wire model s given in t he following ta ble or equiva lent: Table 12.1 W ires f or option cables Characteristic s of one core Type Model Length [m(ft)] Core siz e [mm 2 ] Number of Cores Structure [Wires/mm] Conductor resistan ce [ /km] Insula t[...]

12 - 13 12. OPTIONS AND AUX ILIARY EQUIPM ENT 12.2.3 Relay s The followi ng relays s hould be used wi th the int erfaces: Interfac e Selec tion Example Relay used espec ially for switching on -off input command (interface DI-1) signals To prevent defectiv e contacts , use a rela y for small signa l (twin contacts). (Ex.) OMRON : type G2A , MY Relay[...]

12 - 14 12. OPTIONS AND AUX ILIARY EQUIPM ENT (c) T echniques for noises ra diated by the servo ampl ifier that cause peri pheral devices t o malfunction Noises produced by the servo a mplifier are cl assi fied int o those radiated from the cabl es connected to the s ervo amplifier and its main circuits (input and output circuits), thos e induced e[...]

12 - 15 12. OPTIONS AND AUX ILIARY EQUIPM ENT Noise Transm iss ion Route Suppression Tec hniques 1) 2) 3) When measuring instrume nts, receivers, sensors, etc. which handle we ak signals and may malfu nction d ue to noise a nd/or thei r signal cables a re contain ed in a con trol box t ogether with the servo amplifie r or run near the servo amplifi[...]

12 - 16 12. OPTIONS AND AUX ILIARY EQUIPM ENT (b) Cable clamp fitting (AERSBAN-  SET) Generally, the earth of the shi elded cable may only be connected t o the connector' s SD termina l. However, the effect can be increased by directly connect ing the cable to an earth plate as shown below. Instal l th e earth plat e near the servo a mplifi[...]

12 - 17 12. OPTIONS AND AUX ILIARY EQUIPM ENT 12.2.5 Snubber unit The following s ection shows the recommended unit of snubber circuit ins talled in the forced stop cont act for servo motor with electromagnet ic brake. For the connecting procedure, refer to Sect ion 3.8(1). Spark quencher for controller Type: SQ 1315OBF(Nisshin Co ntroller Manu fac[...]

12 - 18 12. OPTIONS AND AUX ILIARY EQUIPM ENT MEMO[...]

13 - 1 13. COMMUNICATI ON FUNCTIONS 13. COMMUNICAT ION FUNCTIONS The MR-J2- 03A5 has the RS-422 an d RS-232C serial commu nication fu nctions. Th ese func tions can be used to perform servo opera tion, paramet er changing, monitor funct ion, etc. Howev er, the RS-422 an d RS-232C co mmunication f unction s cannot be used togethe r. Select be tween [...]

13 - 2 13. COMMUNICAT ION FUNCTIONS 13.1.2 RS-232C conf iguration (1) Outline A single ax is of servo amplifier is op erated. Controller such as personal computer RS-232C MITSUB ISHI OPEN CN1A CN1 B CNP1 CNP2 CNP3 MELSERVO To CNP3 Servo amplifier (2) Cable c onnection diagram Wire as shown below. The communication cable for connection wit h the per[...]

13 - 3 13. COMMUNICAT ION FUNCTIONS 13.2 Com munic ation Specific ations 13.2.1 Com munic ation overview The MELSERVO-J2 s eries is designed to send a reply on receipt of an inst ruction. The device which gives this instruction (e .g. perso nal computer ) is called a master station and the dev ice which se nds a reply in respon se to the instructio[...]

13 - 4 13. COMMUNICAT ION FUNCTIONS 13.2.2 Param eter setting When the RS-422/RS-232C commu nication f unction is used to operate the servo, se t the co mmunication specificatio ns of the se rvo amplifie r in the corre spondin g parameters. After s etting t he values of these parameters , they are made valid b y swit ching power off once, then on a[...]

13 - 5 13. COMMUNICAT ION FUNCTIONS 13.3 Protocol Since up to 32 ax es may be conne cted to the bu s, add a station numbe r to the command , data No., etc. to determine the destinat ion servo amplifier of data communication. Set the stat ion number to each servo amplifier usin g the parameter. Transmissio n data is valid for the se rvo amp lifier o[...]

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

13 - 7 13. COMMUNICAT ION FUNCTIONS 13.5 Error Codes Error codes are used in the following cas es and an error code of single-code length is transmitted. On receipt of dat a from the mast er stat ion, the s lave sta tion sends t he error code corresponding to t hat data to the master s tation. The error code sent in upper-case indicates that the se[...]

13 - 8 13. COMMUNICAT ION FUNCTIONS 13.7 Tim e-Out O peration The ma ster st ation t ransmit s EOT when t he slave s tati on does not s tart reply operation (S TX is not receive d) 300[ms] af ter the master station has ende d co mmunication op eration. 100[ ms] afte r that, the master station r etransm its the messag e. Time -out o ccurs if the sla[...]

13 - 9 13. COMMUNICAT ION FUNCTIONS 13.9 Initialization After the slave station is switched o n, it cannot rep ly to communication until the internal in itialization processing t erminates. Hence, at power-on, ordi nary communicati on should be st arted after: (1) 1s o r more time has e lapsed af ter the slave station is switche d on; and (2) Makin[...]

13 - 10 13. COMMUNICAT ION FUNCTIONS 13.11 Comm and and Data No. List 13.11.1 Read com m ands (1) Status dis play (Com m and [0][1]) Command Data No. Description Displ ay Item Frame Length [0][1] [8][0] cumulative feedback pulses 12 [0][1] [8][1] servo motor speed 12 [0][1] [8][2] droop pulses 12 [0][1] [8][3] cumulative command pulses 12 [0][1] [8[...]

13 - 11 13. COMMUNICAT ION FUNCTIONS (5) Cur rent alarm (Com m and [0][2] ・ [3][5]) Command Data N o. Description Frame Length [0][2] [0][0] Current alarm number 4 Command Data N o. Description Display Item Frame Length [3][5] [8][0] cumulative feedback pulses 12 [3][5] [8][1] servo motor spe ed 12 [3][5] [8][2] droop pulses 12 [3][5] [8][3] cumu[...]

13 - 12 13. COMMUNICAT ION FUNCTIONS (5) O peration m ode selection (c omm and [8][B]) Command Data No. Description Setting Range Frame Length [8][B] [0][0] Operat ion mode changing 0000: Exit from t est operation mode 0001: Jog operation 0002: Positioning operation 0003: Motor-less operat ion 0004: DO forced out put (output signal forc ed output) [...]

13 - 13 13. COMMUNICAT ION FUNCTIONS 13.12 Detailed Explanations of Com m ands 13.12.1 Data proc essing When the maste r station transmits a command + data No. o r a command + data No. + data to a slave station, t he servo amplifier returns a reply or data according t o the purpose. When numerica l values a re represented in t hese send da ta and r[...]

13 - 14 13. COMMUNICAT ION FUNCTIONS (2) W riting the proces sed data When th e data to be w ritten is handled as decimal, the decimal poin t positio n must be sp ecified . If it is not spec ified, th e data can not be writte n. When the data is h andled as hexade cimal, spe cify "0" as the decimal point positi on. The data to be sent is [...]

13 - 15 13. COMMUNICAT ION FUNCTIONS 13.12.2 Status dis play (1) Status display data read When the master station tr ansmits the data No . (refe r to the f ollowin g table for assignment) to the slave statio n, the slav e station se nds back the data value and data pr ocessin g infor mation. 1) Transmissio n Transmit command [0][1] and the data No.[...]

13 - 16 13. COMMUNICAT ION FUNCTIONS 13.12.3 Param eter (1) Param eter r ead Read the parame ter setting . 1) Transmissio n Transmit command [0][5] and t he data No. corresponding to the parameter No. The data No. is express ed in hexadecimal equi valent of the data No. va lue corresponds to the parameter number. Comm and Data No. [0][5] [0][0] to [...]

13 - 17 13. COMMUNICAT ION FUNCTIONS (2) Para meter write POINT y The number o f parameter w rite times is restricte d to 100,000 times. Write the parame ter se tting. Write the value w ithin the setting ran ge. Ref er to Se ction 5.1 fo r the se tting rang e. Transmit co mmand [ 8][4], th e data No ., and the set data. The data No. is expres sed i[...]

13 - 18 13. COMMUNICAT ION FUNCTIONS 13.12.4 Exter nal I/O pin statuses (DIO diagnosis ) (1) Ex ternal input pin status r ead Read the ON/OF F st atuses of the external input pins . (a) Tran smission Trans mit command [1][2 ] and data No. [4 ][0]. Comm and Data No. [1][2] [4][0 ] (b) Reply The ON/OFF sta tuses of t he input pins are sent back. b31 [...]

13 - 19 13. COMMUNICAT ION FUNCTIONS 13.12.5 Disable/enable of external I/O signals (DIO ) Inputs can b e disabl ed independently of t he external I/O signa l ON/OFF . When inputs are disa bled, the input signals are recognized as f ollows. Among the ex ternal input signals, EMG, LSP an d LSN cannot be disabled. Signal Status Extern al input sign a[...]

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

13 - 21 13. COMMUNICAT ION FUNCTIONS 13.12.7 T est operation m ode (1) Ins tructions f or test operation m ode The test operation mode must be executed in t he following procedure. If communication is interrupted for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a stop and s ervo-locked. To preven[...]

13 - 22 13. COMMUNICAT ION FUNCTIONS (2) J og operation Transmi t the following communi cation commands : (a) Setting of jog operat ion data Item Com m and Data No. Data Speed [A][0] [1][0] Write the speed [r/m in] in hexadecimal . Accelerati on/decelerati on time constant [A][0] [1][1] Write the accelera tion/decelerat ion time const ant [ms] in h[...]

13 - 23 13. COMMUNICAT ION FUNCTIONS 13.12.8 Output s ignal pin ON/OFF ( DO forc ed output) In the test operation mode, t he output s ignal pins can be turned on/off i ndependently of the s ervo status . Using command [9 ][0], disa ble the out put signal s in adva nce. (1) Choos ing DO forc ed output in test operation m ode Transmit command [ 8][B][...]

13 - 24 13. COMMUNICAT ION FUNCTIONS 13.12.9 Alarm histor y (1) Alarm No. read Read the alarm No. wh ich occurred in the past. The alarm n umbers and occurrenc e times of No. 0 (last alarm) to No . 5 (sixth alarm in the p ast) are read. (a) Tran smission Send command [3][3] a nd data No. [1 ][0] to [1][5]. Refer t o Section 13. 11.1. (b) Reply The [...]

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

13 - 26 13. COMMUNICAT ION FUNCTIONS 13.12.11 Other com m ands (1) Ser vo motor end pulse unit absolute position Read the a bsolute pos ition i n the servo motor end pul se unit. (a) Tran smission Send command [0][2] a nd data No. [9 ][0]. Comm and Data No. [0][2] [9][0 ] (b) Reply The sl ave stat ion sends b ack the req uested servo mot or end pul[...]

REVISIONS *The manual numb er is given on the b ottom left of the b ack cover. Print Data *M anual Number Revision Feb.,1999 SH(NA)3200-A First edition Oct.,1999 SH(NA)3200-B Dele tion of 2(3)(a) in COMPLIANCE WITH EC DIRECTIVES Section 1.3: Rating plate chang ed Section 3.2: Corrections made to CN 1B-4 and CN1A-18 connect ions Section 3.3.1 (1): A[...]

*The manual numb er is given on the b ottom left of the b ack cover. Print Data *M anual Number Revision Oct.,1999 SH(N A)3200-B Section 10.2.2 (1): Addition of the outline draw ings of connector 10120 -3000EL and shell kit 10320-52A0-008 Section 11.1: Additi on of descripti on related to load during a stop Section 12.2.1 (2): Addition of finishing[...]

*The manual numb er is given on the b ottom left of the b ack cover. Print Data *M anual Number Revision Mar., 2005 S H(NA)3200-C Section 5.1.2 (2): Parameter No.20: Reconsideration of t he explanation to sel ect the resta rt after ins tantaneo us power fa ilure Section 6.2: Reconsiderati on of de scriptio n for Effective load ra tio Section 6.4 (2[...]

HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 3200-C (0503) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE[...]