Mitsubishi Electronics MR-J2M-P8A manual

General-Purpose AC Servo MODEL MR-J2M-P8A MR-J2M- DU MR-J2M-BU SERVO AMPLIFIER INSTRUCTION MANUAL General-Purpose Interface Compatible J2M Series E[...]

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

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

A - 3 4. Additional instructions The following instructions should also be fu lly note d. Incorrect handling may cause a fault, injur y, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specifie d number of products is no t allowed. Do not carry t[...]

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

A - 5 (4) Usage CAUTION Provide an forced stop circuit to ensure t hat operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signa l of the servo amplifier is off to prevent an accident. A sudden re[...]

A - 6 (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the drive uni t will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electr olytic capacitor every 1 0 years when used in general environment. Please consult our sales representative. (7) General inst[...]

A - 7 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machin ery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive[...]

A - 8 (3) Environment Operate MELSERVO-J2M at or above the contamin ation level 2 set forth in IEC60664-1 For this purpose, install MELSERVO-J2M in a control box whic h is protected against water, oil, carbon, dust, dirt, etc. (IP54). (4) Power supply (a) Operate MELSERVO-J2M to meet the requirements of the overvoltage category II set forth in IEC6[...]

A - 9 CONFORMANCE WITH UL/C-UL STANDARD The MELSERVO-J2M complies with UL508C. (1) Unit and servo motors used Use the each units and servo motors wh ich comply with the standard model. Interface unit :MR-J2M-P8A Drive unit :MR-J2M- DU Base unit :MR-J2M-BU Servo motor :HC-KFS HC-MFS HC-UFS (2) Installation Install a fan of 100CFM (2.8m 3 /min) air f[...]

A - 10 <<About the manuals>> This Instruction Manual and the MELSERVO Servo Mo tor Instruction Manual ar e required if you use MELSERVO-J2M for the first time. Always purch ase them and use the MELSERVO-J2M safely. Also read the manual of the servo system controller. Relevant manuals Manual name Manual No. MELSERVO-J2M Series To Use the[...]

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

2 3.7 Servo motor with el ectromagneti c bra ke ..................................................................................... ........ 3-43 3.8 Gro unding.................................................................................................................. .............................. 3-46 3.9 Instructions for the 3M co nnecto[...]

3 6.2.2 Auto tuning mo de operatio n ............................................................................................... ............. 6- 4 6.2.3 Adjustmen t proced ure by auto tuning ...................................................................................... ...... 6- 5 6.2.4 Response level setting in auto t uning mode .....[...]

4 12.1.1 Regenerative brake op tions .............................................................................................. ........... 12- 1 12.1.2 Cables an d conne ctors ................................................................................................... ............... 12- 8 12.1.3 Junction termin al block (MR-TB 50) ....[...]

5 14. ABSOLUTE POSITION DETECT ION SYSTEM 14- 1 to 14-12 14.1 Out line ................................................................................................................... ............................... 14- 1 14.1.1 Feature s ............................................................................................................[...]

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

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

1 - 2 1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram W RS-232C D/A NFB MC W V U L 11 L 21 L 1 L 2 L 3 CNP3 CNP1B P N C CNP1A U V M CN1A CN1B CN3 CNP2 CN2 CNP2 CN2 W U V M CNP2 CN2 FR-BAL CN5 RS-422 CON3A-3H CON3A-3H CON3A-3H Power supply 3-phase 200 to 230VAC (Note) 1-phase 200 to 230VAC Base unit Interface unit Analog monitor (3 channel[...]

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

1 - 4 1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the Reference field. (1) Drive unit (Abbreviation DRU) Function Description Reference High-r esolut ion encod er High-r esolut ion encod er of 13107 2 pulses /rev is used as a serv o motor enc oder. Au[...]

1 - 5 1. FUNCTIONS AND CONFIGURATION (5) Option unit Fun cti on Des cri pti on Reference Absolute position detec tion system Merely setting a home position once makes home position return unnecessary at every power-on. Battery unit M R-J2M-BT (sho rtly correspo ndence schedule ) is necessary. Encoder pulse outp ut The enc oder fe edback is output f[...]

1 - 6 1. FUNCTIONS AND CONFIGURATION (3) Base unit (a) Rating plate MITSUBISH I MADE IN JA PAN MR-J2M-BU4 3PH 200-230 INPUT : SERIAL: 14A 50/60Hz N87B95046 BC336U246 MODEL MITSUBISHI ELECTRIC PASSED Model Applicable power supply Ser ial nu mber Rating plate (b) Model code 61 9 2 0 4 8 1600 2400 3200 1280 2560 MR-J2M-BU Symbol 4 6 8 Number of slots [...]

1 - 7 1. FUNCTIONS AND CONFIGURATION 1.7 Parts identification (1) Drive unit Statu s indi cator LE D Indicates the sta tus of the drive unit. Blinki ng gre en: Ser vo off st atus Steady green: Servo on status Blinking red: Warning status Stead y red: Alar m statu s CN2 Encoder conn ector Connect the servo motor encod er CNP2 Servo motor connector F[...]

1 - 8 1. FUNCTIONS AND CONFIGURATION (3) Base unit The following shows the MR-J2M-BU4. CNP1B Control circuit power input connector CNP1 A Regene rative brake option connecto r CNP3 Main circuit power input conn ector CON1,CON2 Interface unit connectors CON3B Second sl ot connector CON3D Fourth slot connector CON4 Option slot co nnector CON5 Battery[...]

1 - 9 1. FUNCTIONS AND CONFIGURATION 1.8 Servo system with auxiliary equipment WARNING To prevent an e lectric shock, always c onnect the protective ear th (PE) terminal (terminal marked ) of the base unit to the protective ear th (PE) of the contro l box. C P L 2 L 1 L 3 Options and auxiliary equipment No-fuse br eaker Magnetic contact or MR Confi[...]

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

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

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

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

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

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

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

2 - 7 2. INSTALLATION AND START UP 2.7 Start up WARNING Do not operate the switches with we t hands. You may get an electric shock. Do not operate the controller with the front cover remo ved. High-voltage terminals and charging area exposed and you may ge t an electric shock. During power-on or for some time a fter power-off, do not touch or close[...]

2 - 8 2. INSTALLATION AND START UP (1) Power on Switching on the main circuit power/control circuit power places the interface unit display in the scroll status as shown below. In the absolute position detection sy stem, fir st power-on results in th e absolute position lost (A.25) alarm and the servo system cannot be switched on. This is not a fai[...]

2 - 9 2. INSTALLATION AND START UP (4) Slot number confirmation Confirm the slot number in the interface unit display section of the installed drive unit. Display Slot numbe r Drive unit sta tus Slot numbe r For MR-J2M-BU4 First sl ot Third slot Second slot Fourth slot (5) Servo-on Switch the servo-on in the following procedure: 1) Switch on main c[...]

2 - 10 2. INSTALLATION AND START UP (8) Stop In any of the following statuses, the servo amplifie r interrupts and stops the operation of the servo motor: Refer to Section 3.8, (2) for the servo motor equippe d with electromagnetic brake. Note that the stop pattern of forward rotation stroke end (LSP ) reverse rot ation st roke end (L SN ) OFF is a[...]

3 - 1 3. SIGNALS AND WIRING 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, make sure tha t the voltage is safe in the tester more than 10 minutes after power-off. Otherwise, you may get an electric shock. Ground the base unit and the servo motor securely. Do not a[...]

3 - 2 3. SIGNALS AND WIRING 3.1 Control signal line connection example POINT Refer to Section 3.4 for connection of the power suppl y line and t o Section 3.5 for connection with serv o motors. SON CR RES SG VIN OPC RD ALM_B INP LG P5 OP_VIN PG PP NP NG OP SD LG SON CR RES SG VIN OPC P5 OP_VIN PG PP NP NG OP SD 37 36 PULSE F 24G PULSE C OM 29 4 CN1[...]

3 - 3 3. SIGNALS AND WIRING LSP LSN LSP LSN SG MR-J2M -BT MR-J2MBTCBL M CN5 CN5 11 12 13 14 15 16 17 18 4M O 1 (Note 5)CN3 SD 14 MO2 7M O 3 11 LG A A A CON3A CON4 CN4A CN4B MR-J2M- P8A CN3 CON3B CON3H 8 1 2 3 4 5 6 7 10 (Note 9) MR Configurator (servo configuration software) Personal computer Communication cable (Note 12) Monitor output Max. +1mA m[...]

3 - 4 3. SIGNALS AND WIRING Note 1. To prevent an elect ric shock, alwa ys connec t the protective earth (PE ) terminal (te rminal marked ) of th e base uni t to the protective earth (PE) of the co ntrol box. 2. Connect the diode in the corre ct direction. If it is conne cted reversely, the serv o amplifier will be fault y and wi ll not output sign[...]

3 - 5 3. SIGNALS AND WIRING 3.2 I/O signals of interface unit 3.2.1 Connectors and signal arrangeme nts POINT The connector pin-o uts shown above are viewe d from the cable conn ector wiring section side. (1) Signal arrangement CN1B CN1A CN5 LSN1 2 LSN2 4 LSN3 6 SG 8 LSN4 10 LSP1 1 LSP2 3 LSP3 5 LSP4 7 9 LSN5 12 LSN6 14 LSN7 16 LSN8 18 EMG_A 20 LSP[...]

3 - 6 3. SIGNALS AND WIRING 3.2.2 Signal explanations For the I/O interfaces (symbols in I/O colu mn in t he table), refer to Section 3.2.5. The pin No.s in the connector pin No. co lumn are those in the initial status. (1) Input signals Signal Symbol Connector pin No. Functions/Applications I/O division Servo-on 1 SO N 1 CN1A-37 Servo-on 2 SO N 2 [...]

3 - 7 3. SIGNALS AND WIRING Signal Symbol Connector pin No. Functions/Applications I/O division Forward rotation stroke end 1 LSP 1 CN5-1 Forward rotation stroke end 2 LSP 2 CN5-3 Forward rotation stroke end 3 LSP 3 CN5-5 Forward rotation stroke end 4 LSP 4 CN5-7 Forward rotation stroke end 5 LSP 5 CN5-11 Forward rotation stroke end 6 LSP 6 CN5-13 [...]

3 - 8 3. SIGNALS AND WIRING Signal Symbol Connector pin No. Functions/Applications I/O division Clear 1 CR 1 CN1A-12 Clear 2 CR 2 CN1A-34 Clear 3 CR 3 CN1A-7 Clear 4 CR 4 CN1A-29 Clear 5 CR 5 CN1B-12 Clear 6 CR 6 CN1B-34 Clear 7 CR 7 CN1B-7 Clear 8 CR 8 CN1B-29 CR 1: Clear s ignal for slo t 1 CR 2: Clear s ignal for slo t 2 CR 3: Clear s ignal for [...]

3 - 9 3. SIGNALS AND WIRING (2) Output signals Signal Symbol Connector pin No. Functions/Applications I/O division Trouble A ALM_A CN1A-27 Trouble B ALM_B CN1B-27 ALM_A: Alarm signal for slot 1 to 4 ALM_B: Alarm signal for slot 5 to 8 ALM -SG are disconnected wh en power is switched off or the protective circuit is activated to shut off the base ci[...]

3 - 10 3. SIGNALS AND WIRING (3) Communication POINT Refer to Chapter 13 for the communication function. Signal Symbol Connector pin No. Functions/Applications RS-422 I/F SDP SDN RDP RDN CN3-9 CN3-19 CN3-5 CN3-15 RS-422 and RS-232C functions ca nnot be used together. Choose either one in IFU parameter N o. 16. RS-422 termination TRE CN3-10 Terminat[...]

3 - 11 3. SIGNALS AND WIRING 3.2.3 Detailed description of the signal s (1) Pulse train inpu t (a) Input pulse waveform selection Encoder pulses may be input in any of three differe nt forms, for which positive or negative logic can be chosen. Set the command pulse train form in DRU parameter No. 21. Arrow or in the table indicates the timing of im[...]

3 - 12 3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collector system Connect as shown below: SD OPC 24VDC Servo a mplifie r NP PP Approx. 1.2k Approx. 1.2k The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (DRU parame ter No.21 has been set to 0010). The w[...]

3 - 13 3. SIGNALS AND WIRING 2) Differential line driver system Connect as shown below: PP NP PG NG SD Servo am plifi er The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (DRU parameter No.21 has been set to 0010). For the differential line driver, the waveforms in the t[...]

3 - 14 3. SIGNALS AND WIRING (2) In-position (INP ) PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset in-position range (DRU parameter No. 5). INP -SG may remain connected when low-speed operation is performed with a large valu e set as the in-position range. ON OFF ON OFF Servo-on(SON ) A larm Dro[...]

3 - 15 3. SIGNALS AND WIRING 3.2.4 Internal connection diagram SG SDN RDP RDN TXD 29 4 1 26 37 12 10 34 9 32 7 31 5 SON CR RES SG VIN 36 38 13 39 14 44 19 45 20 42 17 43 18 40 15 41 16 PG PP NG NP SD OPC 2 38 13 39 14 44 19 45 20 42 17 43 18 40 15 41 16 PG NG NP 37 12 10 34 9 32 7 CR RES 36 29 4 5 31 2 OPC CN1A 1 MR-J2M-P8A SG SD 5VD C 26 VIN SON P[...]

3 - 16 3. SIGNALS AND WIRING 3.2.5 Interface (1) Common line The following diagram shows the power supply and its common line. PG NG MR OPC SD SG LG SD SG VIN 24VDC DI-1 RA SDP SDN RDP RDN LG TXD RXD RS-232C MRR LG SD M E LG SD SG EM1 DI-1 RA VIN MBR RS-422 24VDC Interface unit (Note) Analog monitor output INP , etc. Base unit Drive unit Servo moto[...]

3 - 17 3. SIGNALS AND WIRING (2) Detailed description of the in terfaces This section gives the details of the I/O signal interfac es (refer to I/O Division in the table) indicated in Section s 3.2.2. Refer to this section and connect the in terfaces with the external equipment. (a) Digital input interface DI-1 Give a signal with a relay or open co[...]

3 - 18 3. SIGNALS AND WIRING (c) Pulse train input interface DI-2 Give a pulse train signal in an open colle ctor or differential line driver system. 1) Open collector system OPC SD 24VDC Interface unit Max. in put puls e freque ncy 200 kpps Approx. 1.2k PP , NP 2m(78 .74in) or less tLH tHL 0.2 s tc 2 s tF 3 s 0.9 0.1 tc tHL tc tLH tF PP NP 2) Diff[...]

3 - 19 3. SIGNALS AND WIRING (d) Encoder pulse output DO-2 1) Open collector system Max. intake current 35mA LG SD LG SD Interface unit Interface unit OP OP Photocoupler 5 to 24VD C 2) Differential line driver system Max. output current 35mA LG SD SD extension IO unit extension IO unit Am26LS32 or equivalent LA (LB , LZ ) LAR (LBR , LZR ) 150 100 L[...]

3 - 20 3. SIGNALS AND WIRING 3.3 Signal and wiring for extension IO unit 3.3.1 Connection example POINT The pins without symbols can be assigned an y devices using the MR Configurator (ser vo configurat ion software). RA2 RA4 RA1 9 10 34 35 MR-J2M -D01 RA3 LA1 LG LAR1 LB1 LBR1 LZ1 LZR1 LA2 LAR2 LB2 LBR2 LZ2 LZR2 LA3 LAR3 LB3 LBR3 LZ3 LZR3 LA4 LAR4 [...]

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

3 - 22 3. SIGNALS AND WIRING 3.3.2 Connectors and signal configuration s (1) Signal configurations POINT The pin configurat ions of the connectors ar e as viewed from th e cable connector wiring section. The pins without symbols can be assigned an y devices using the MR Configurator (ser vo configurat ion software). CN4A LB1 49 LA2 47 LZ2 45 LB3 43[...]

3 - 23 3. SIGNALS AND WIRING 3.3.3 Signal explanations For the IO interfaces (system in I/O colu mn in the table), refer to section 3.2.5. (1) Input signal Signal Symbol Connector pin No. Functions/Applications I/O division CN4A-1 CN4A-2 CN4A-3 CN4A-4 No signals are factory-assigned to these pins. Using the MR Configurator (servo configuratio n sof[...]

3 - 24 3. SIGNALS AND WIRING Signal Symbol Connector pin No. Functions/Applications I/O division LA1 CN4A-50 DO-2 Encoder A-phase pulse 1 LAR1 CN4A-25 LB1 CN4A-49 Encoder B-phase pulse 1 LBR1 CN4A-24 LZ1 CN4A-48 Encoder Z-phase pulse 1 LZR1 CN4A-23 LA2 CN4A-47 Encoder A-phase pulse 2 LAR2 CN4A-22 LB2 CN4A-46 Encoder B-phase pulse 2 LBR2 CN4A-21 LZ2[...]

3 - 25 3. SIGNALS AND WIRING (3) Power supply Signal Symbol Connector pin No. Functions/Applications Power input for digital interface VIN CN4A-11 CN4A-36 CN4B-11 CN4B-36 Driver power input terminal for digital interface. Used to input 24VDC (200mA or more ) for input interface. 24VDC 10% Not connected to VIN of the interface unit. Common for digit[...]

3 - 26 3. SIGNALS AND WIRING 3.3.4 Device explanations (1) Input device Using the MR Configurator (servo configuration so ftware), you can assign the devices given in this section to the pins of connectors CN4A an d CN4B of the MR-J2M-D01 extension IO unit . Device name Symbol Functions/Applications Internal torque limit selection 1 TL11 Internal t[...]

3 - 27 3. SIGNALS AND WIRING Device name Symbol Functions/Applications Electronic gear selection 11 CM11 Electronic gear selection 12 CM12 Electronic gear selection 13 CM13 Electronic gear selection 14 CM14 Electronic gear selection 15 CM15 Electronic gear selection 16 CM16 Electronic gear selection 17 CM17 Electronic gear selection 18 CM18 Electro[...]

3 - 28 3. SIGNALS AND WIRING (2) Output device Device name Symbol Functions/Applications Ready 1 RD1 Ready 2 RD2 Ready 3 RD3 Ready 4 RD4 Ready 5 RD5 Ready 6 RD6 Ready 7 RD7 Ready 8 RD8 RD1: Ready device for slot 1 RD2: Ready device for slot 2 RD3: Ready device for slot 3 RD4: Ready device for slot 4 RD5: Ready device for slot 5 RD6: Ready device fo[...]

3 - 29 3. SIGNALS AND WIRING Device name Symbol Functions/Applications Warning 1 WNG1 Warning 2 WNG2 Warning 3 WNG3 Warning 4 WNG4 Warning 5 WNG5 Warning 6 WNG6 Warning 7 WNG7 Warning 8 WNG8 WNG1: Warning de vice for slot 1 WNG2: Warning device for slot 2 WNG3: Warning device for slot 3 WNG4: Warning device for slot 4 WNG5: Warning device for slot [...]

3 - 30 3. SIGNALS AND WIRING 3.3.5 Detailed description of the device (1) Electronic gear switching The combination of CM1 -SG and CM2 -SG gives you a choice of four different electronic gear numerators set in the DRU parameters. As soon as Electronic gear selection (CM1 ) / Electronic gear selection 2 (CM2 ) i s t u r n e d O N o r OFF, the denomi[...]

3 - 31 3. SIGNALS AND WIRING 3.3.6 Device assignment method POINT When using the device sett ing, preset "000E" in IFU paramet er No. 19. (1) How to open the setting screen Click " Parameters " on the menu bar and click " Device setting " in the menu. Making selection displays the following window. Click " Yes &qu[...]

3 - 32 3. SIGNALS AND WIRING (2) Screen explanation (a) DIDO device setting window screen This is the device assign ment screen of the interface unit/option unit. In Dev. selection, choose t he IFU (interface unit) or D01 (extension IO unit) . Making selection displays the pin assignment status per unit. a) b) d) c) 1) Read of function assignment ([...]

3 - 33 3. SIGNALS AND WIRING (b) DIDO function display window screen This screen is used to select the slot numbers and functions assigned to the pins. Choose the slot numbers in Input device slot selection and Output de vice slot selection. The functions displayed below Input device functi on and Output device function are assignable. a) b) In the[...]

3 - 34 3. SIGNALS AND WIRING (C) Function device assignment check/auto ON setting display Click the " Function device assignment check/auto ON setting " button in the DIDO function display window displays the following window. a) b) c) d) e) The assigned functions are indicated by . The functions assigned by auto ON are grayed. When you w[...]

3 - 35 3. SIGNALS AND WIRING 3.4 Signals and wiring for base unit CAUTION When each unit has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. Use the trouble (ALM_ ) to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative b[...]

3 - 36 3. SIGNALS AND WIRING (2) For 1-phase 200 to 230 VAC power supply EMG_A EMG_B SG 20 8 MC OFF ON MC SK MELSERVO-J2M CNP3 CNP1B RA2 RA1 MC 1 2 L 11 L 21 1 2 L 1 L 2 3 L 3 VIN 27 26 CN5 CN1A CN1B NFB Power supply 1-phase 200 to 230VAC Trouble A Trouble B Forced stop A Forced stop B Trouble A Trouble B 24VDC Forced stop A Forced stop B RA1 RA2 V[...]

3 - 37 3. SIGNALS AND WIRING 3.4.2 Connectors and signal configuration s POINT The pin configurat ions of the connectors ar e as viewed from th e cable connector wiring section. 1 3 2 2 3 1 N P C L 3 L 2 L 1 CNP3 1 2 3 L 11 L 21 CNP1A Base unit (X type ) (Y type ) The connector frames are connected to the PE (earth) terminal of the base unit. CNP1B[...]

3 - 38 3. SIGNALS AND WIRING 3.4.3 Terminals Refer to Section 10.2 for the layouts and signal configuratio ns of the terminal blocks. Connector Pin No. Code Connection target (Application) Description 1L 1 2L 2 CNP3 3L 3 Main circu it power (1) When us ing a three -ph ase power s upply Supply L 1 , L 2 and L 3 with th ree-p hase, 200 to 230V AC, 50[...]

3 - 39 3. SIGNALS AND WIRING (3) Forced stop CAUTION Install an forced stop circuit externa lly to ensure that operation can be s topped and power shut off immediately. Make up a circuit which shuts off main circuit power as soon as EMG_ -SG are opened at a forced stop. To ensure safety, always install a forced stop switch across EMG_ -SG. By disco[...]

3 - 40 3. SIGNALS AND WIRING 3.5.2 Connection diagram The following table lists wiring methods according to the servo motor types. Use the connection diagram which conforms to the servo motor used. For cables required for wiring, refer to Section 12.2 .1. For encoder cable connection, refer to Se ction 12.1.2. For the signal layouts of the connecto[...]

3 - 41 3. SIGNALS AND WIRING 3.5.3 I/O terminals (1) Drive unit POINT The pin configurat ions of the connectors ar e as viewed from th e cable connector wiring section. 19 P5 20 P5 10 9 BAT 17 MRR 18 P5 8 7 MR 15 LG 16 MDR 6 MD 5 13 14 4 3 11 12 LG 2 1 LG 24 13 V UW CNP2 CN2 3M molex LG CNP2 CN2 Drive unit Connector Cable side conne ctor Model M ak[...]

3 - 42 3. SIGNALS AND WIRING 3.6 Alarm occurrence timing chart CAUTION When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. As soon as an alarm occurs, turn of f Servo-on (SON ) and power o ff the main circuit. When an alarm occurs in th[...]

3 - 43 3. SIGNALS AND WIRING 3.7 Servo motor with electromagnetic brake CAUTION Configure the electromagnetic brake operation ci rcuit so that it is activated not only by the interface un it signals but also by an e xternal forced stop (EMG_ ). EMG_ Contacts must be open when servo-on (SON ) is off, when an trouble (ALM_ ) is present and when an el[...]

3 - 44 3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on (SON ) command (from controller) ON/OFF Tb [ms] after the servo-on (SON ) is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using th e electromagnetic b[...]

3 - 45 3. SIGNALS AND WIRING (d) Both main and control circuit power supplies off (10ms) ON OFF ON Servo motor speed Base circuit Electromagnetic brake interlock(MBR ) Invalid (ON) Valid(OFF) Trouble (ALM_ ) No(ON) Yes(OFF) Main circuit Dynamic brake Dynam ic brak e Electromagnetic brake Electromagnetic brake Control circu it (Note)15 to 100ms Elec[...]

3 - 46 3. SIGNALS AND WIRING 3.8 Grounding WARNING Ground the base unit and servo motor securely. To prevent an electric shock, always connec t the protective earth ( PE) terminal of the base unit with the protective earth (PE) of the control box. The base unit switches the power tran sistor on-off to supply power to the servo motor. Depending on t[...]

3 - 47 3. SIGNALS AND WIRING 3.9 Instructions for the 3M connector When fabricating an encoder cable or the like, secure ly connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath External conductor Pull back the external conductor to cover th e s[...]

3 - 48 3. SIGNALS AND WIRING MEMO[...]

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

4 - 2 4. OPERATION AND DISPLAY 4.1.1 Normal indication The normal indication shows the interface unit status or the slot number and current status (during servo ON or during servo OFF) of the corresponding driv e unit to allow you to diagnose faults at alarm occurrence. The following are the drive unit status display data in the normal indication. [...]

4 - 3 4. OPERATION AND DISPLAY 4.1.2 If alarm/warning occurs (1) If alarm/warning occurs in drive unit An alarm/warning which occurred in the drive uni t is represented by the following indication. The following indication example assum es that an encoder error (A.16) occurred in the drive unit of installed on slot 1. During alarm occurrence digits[...]

4 - 4 4. OPERATION AND DISPLAY 4.1.3 If test operation POINT Test operation can be performed using the MR Co nfig ura tor (servo configuration software). (1) When test operation is being performed Test operation being performed is indicated as follows. @. T @. Denotes test operation indication. Indicates the current status. Refer to the following t[...]

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

4 - 6 4. OPERATION AND DI SPLAY 4.2.2 Status display of interface unit MELSERVO-J2M status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change di splay data as desired. When the required data is selected, the corresponding symbol appears. Press the "SET" button to [...]

4 - 7 4. OPERATION AND DI SPLAY 4.2.3 Diagnostic mode of interface unit Name Display Description Interface unit external input signal 2) 1) Shows the ON/OFF states of the ex ternal input signals. 1) Forced stop A (EMG_A) ON: On OFF: Off 2) Forced stop B (EMG_B) ON: On OFF: Off Interface unit external output signal 2) 1) Shows the ON/OFF states of t[...]

4 - 8 4. OPERATION AND DI SPLAY 4.2.4 Alarm mode of interface unit The current alarm, past alarm history and paramete r error are displayed. The lower 2 digits on the display indicate the alarm number that has occu rred or the parameter num ber in error. Display examples are shown below. Name Display Description Indicates no occurrence of an alarm [...]

4 - 9 4. OPERATION AND DI SPLAY 4.2.5 Interface unit parameter mode The parameters whose abbreviations are marked* ar e made valid by changing the setting and then switching power off once and switching it on again. Refer to Section 5.2.2. The following example shows the operation proced ure performed after power-on to change the regenerative brake[...]

4 - 10 4. OPERATION AND DI SPLAY 4.2.6 Interface unit output signal (DO) forced output POINT This function is availabl e during test operation. The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, etc. This operation mu st be performed in the servo off state (SON off). Call [...]

4 - 11 4. OPERATION AND DI SPLAY 4.3 Drive unit display 4.3.1 Drive unit display sequence Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the pa rameters before operation, diagnose an alarm, confirm external sequences, and/or confir m the operation status. The automa[...]

4 - 12 4. OPERATION AND DI SPLAY 4.3.2 Status display of drive unit The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required da ta is selected, the corresponding symbol appears. Press the "SET" button to displa[...]

4 - 13 4. OPERATION AND DI SPLAY (2) Drive unit status displa y list The following table lists the serv o statuses that may be shown: Refer to Appendix 2 for the measurement point. Name Symbol Unit Description Display range Cumulative feedback pulses @.C pulse Feed back pulses from the servo m otor encoder are counted and displayed. The va lue in e[...]

4 - 14 4. OPERATION AND DI SPLAY 4.3.3 Diagnostic mode of drive unit Name (Note) Display Description Drive unit ex ternal input signal Refer to section 4.3.6. Shows the ON/OFF statuses of th e external input signals. Each signal corresponds to the function assignment. (The corresponding segm ent is lit when the function-assigned sign al turns on.) [...]

4 - 15 4. OPERATION AND DI SPLAY 4.3.4 Alarm mode of drive unit Name (Note) Display Description @ Indicates no occurrence of an alarm in the drive unit. Current alarm @ Indicates the occurrence of overvoltage (A.33) in the drive unit. Flickers at occurrence of the alarm. @ Indicates that the last alarm is ov erload 1 (A.50) in the drive unit. @ Ind[...]

4 - 16 4. OPERATION AND DI SPLAY 4.3.5 Drive unit parameter mode The parameter setting of the drive unit is the same as that of the interface unit. Refer to Section 4.2.5. To use the expansion parameters, change the setting of DRU parameter No. 19 (parameter write disable). Refer to section 5.1.1. 4.3.6 Drive unit external input signal display The [...]

4 - 17 4. OPERATION AND DI SPLAY 4.3.7 Drive unit external output signal display The ON/OFF states of th e digital output sign als connected to the ser vo amplifier can be c onfirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. Press UP button once. Exter nal ou tput sig[...]

4 - 18 4. OPERATION AND DI SPLAY 4.3.8 Drive unit output signal (DO) forced output POINT This function is usable during test operation only. The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, etc. This operation mu st be performed in the servo off state (SON off). Call the[...]

5 - 1 5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parame ter values extremely as it will make operation instable. 5.1 DRU parameter list 5.1.1 DRU parameter write inhibit POINT After setting the DRU parameter No. 19 value, switch power off, th en on to make that setting valid. In the MELSERVO-J2M ser vo amplifier, its paramete rs[...]

5 - 2 5. PARAMETERS 5.1.2 Lists POINT For any DRU parameter wh ose symbol is precede d by *, set the DRU parameter value and switch power off once, then switch it on again t o make that DRU parameter setting valid. (1) Item list No. Symbol Name Initial value Unit Customer setting 0 For manufacturer setting 0000 1 *OP1 Function selection 1 0000 2 AT[...]

5 - 3 5. PARAMETERS No. Symbol Name Initial value Unit Customer setting 20 *OP2 Function selection 2 0000 21 *OP3 Function selection 3 (Com mand pulse selection) 0000 22 *OP4 Function selection 4 0000 23 FFC Feed forward gain 0 % 24 ZSP Zero speed 50 r/min 25 0 26 For manufacturer setting 100 27 *ENR Encoder output pulses 4000 pulse /rev 28 TL1 Int[...]

5 - 4 5. PARAMETERS No. Symbol Name Initial value Unit Customer setting 50 For manufacturer setting 0000 51 *OP6 Function selection 6 0000 52 0000 53 For manufacturer setting 0000 54 *OP9 Function selection 9 0000 55 *OPA Function selection A 0000 56 0 57 For manufacturer setting 10 58 NH1 Machine resonance suppression filter 1 0000 59 NH2 Machine [...]

5 - 5 5. PARAMETERS (2) Details list Class No. Symbol Name and function Initial value Unit Setting range 0 For manufacturer setting Do not change t his value any me ans. 0000 1 *OP1 Function selection 1 Used to select the absolute position detection system. Selection of absolute position detection system (Refer to Chapter 15) 0: Used i n increm ent[...]

5 - 6 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 3 CMX Electro nic gear numerator (Command pulse multipl ying factor numera tor) Used to set the electronic gear numerator value. For the setting, refe r to Section 5.2.1. Setting "0" automatically sets the reso lution of the servo motor conn ected. For[...]

5 - 7 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 8 100 9 500 10 1000 11 0 12 0 13 0 14 0 15 For manufacturer setting Do not change t his value any me ans. 0 16 *BPS Alarm history clear Clear the alarm history. Alarm histo r y clear 0: Invalid 1: Val id When alarm histor y clear is made valid, the alarm history[...]

5 - 8 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 21 *OP3 Function selection 3 (Command pulse selection) Used to select the input form of the pulse train input sig nal. (Refer to Section 3.2.3.) Command pulse train input form 0: Forward/reverse rotation pulse train 1: Sig ned pu lse trai n 2: A/B phase pulse t [...]

5 - 9 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 28 TL1 Internal torque limit 1 Set this parameter to limit servo moto r torque on the a ssumption that the maximum torque is 100 [%]. When 0 is set, torque is not produced. W h e n t o r q u e i s o u t p u t i n a n a l o g m o nitor, this set value is the maxi[...]

5 - 10 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 43 0000 44 0000 45 0000 46 0000 47 0000 48 0000 49 0000 50 For manufacturer setting Do not change this value any me ans. 0000 51 *OP6 Function selection 6 Used to select the operation to be performed wh en the reset (RES ) switches on. 0 00 Operation to be perf[...]

5 - 11 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 55 *OPA Function selection A Used to select the position command acceleration/deceleration time constant (DRU paramete r No. 7) control system. 00 0 0: Primar y delay 1: Linear acceleration/deceleration Positi on co mmand accele rati on/dec eler ation time cons[...]

5 - 12 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 60 LPF Low-p ass filter/adaptive vibration su ppression control Used to selection the low-pass filter and adaptive vibration suppression control. (Refer to Chapter 7.) 0 Low-pas s filter selecti on 0: Valid (Automatic adjustment) 1: Invalid When you choose &quo[...]

5 - 13 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 66 CDS Gain changing condition Used to set the valu e of gain changing condition (comm and frequency, droop pulses, servo motor speed) selected in parameter No. 65 (Gain chang ing selection). The set value unit changes with the changing condition item. (Refer t[...]

5 - 14 5. PARAMETERS 5.2 Interface unit 5.2.1 IFU parameter write inhibit POINT Use the unit operation section pushbutton switches or M R C on fi gur ato r (servo configuration software) to set the IFU parameters of the interface unit. Use the unit pushbutton switches or MR Configurator ( servo configuration software) to set the interface unit para[...]

5 - 15 5. PARAMETERS (1) Item list Classifi- cation No. Sym bol Name Init ial Value Unit Custome r setting 0 *BPS Serial communication function selection, alarm history clear 0000 1 SIC Regenerative brake option selection 0 2 * OP1 Function selection 1 0000 3 MD1 Analog monitor 1 output 0000 4 MD2 Analog monitor 2 output 0000 5 MD3 Analog monitor 3[...]

5 - 16 5. PARAMETERS (2) Details list Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 0 *BPS Serial communication function selection, alarm history clear Used to select the serial communica tion baudrate function selection, select various communication co nditions, and clear the alarm history. Alarm histor y clear 0:[...]

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

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

5 - 19 5. PARAMETERS Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 10 * INS Interface unit serial communication Choose the serial com munication station number of the in terface unit. When making sele ction, avoid setting the statio n number used by any other unit. 00 to 31 11 *SL1 1 slot serial communicati on stat[...]

5 - 20 5. PARAMETERS Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 16 *SL6 6 slot serial communicati on station number selection Choose the station num ber of the drive unit connected to th e sixth slot of the base unit. When making sele ction, avoid setting the statio n number used by any other unit. 60 to 31 17 *[...]

5 - 21 5. PARAMETERS 5.3 Detailed description 5.3.1 Electronic gear CAUTION Wrong setting can lead to unexpected fast rotation, causing injury. POINT The guideline of the electronic g ear setting range is 50 1 CDV CMX 500 . If the set value is outs ide this range, n oise may be gener ated during acceleration/ dec eleration or op eration may not be [...]

5 - 22 5. PARAMETERS (b) Conveyor setting example For rotation in increments of 0.01 per pulse Machine specif ications Table : 360 /rev Reduction ratio: n 4/64 Servo motor resolution: Pt 131072 [pulses/rev] Tabl e Timing belt : 4/64 Servo motor 131072 [pulse/rev ] CDV CMX Pt 131072 65536 1125 0.01 4/64 360 ..........................................[...]

5 - 23 5. PARAMETERS (3) Setting for use of AD75P The AD75P also has the following electronic gear parameters. Normally, the servo amplifier side electronic gear must also be set due to the restriction on the command pulse frequency (differential 400kpulse/s, open collector 200kpulse/s). AP: Number of pulses per motor revolution AL: Moving distance[...]

5 - 24 5. PARAMETERS To rotate the servo motor at 3000r/min in th e open collector system (2 00kpulse/s), set the electron ic gear as follows CDV CMX N 0 f 60 pt f : Input pulses [pulse/s] N 0 : Servo motor speed [r/min] Pt : Servo motor reso lution [pulse/rev] 200 CDV CMX 3000 60 131072 CDV CMX 3000 60 131072 200 60 200000 3000 131072 4096 125 10 [...]

5 - 25 5. PARAMETERS 5.3.2 Analog monitor The servo status can be output to 3 channels in te rms of voltage. Using an ammeter enables monitoring the servo status. (1) Setting Change the following digits of IFU pa rameter No.3 to 5: IFU par ameter No. 3 Analog monitor 1 selection (Signal output to across MO1-LG) Slot number of analog monitor 1 IFU p[...]

5 - 26 5. PARAMETERS Setting Output item Data Setting Output item Data 2 Servo motor speed 4[V] 0 CW direction CCW direction Max. speed Max. speed 9 Droop pulses ( 4V/32768pulse) 4[V] 32768[ pulse] 0 4[V] 32768[pu lse] CCW directio n CW dire ction 3 Torque (Note) 4[V] 0 Driving in CW dire ction Driving in CCW directi on Max. torque Max. torque A Dr[...]

5 - 27 5. PARAMETERS (3) Analog monitor block diagram Peak load ratio PWM M Current control Droop pulse ABS counter Low High CMX CDV Electr onic gear Bus voltage ABS counter Servo moto r Position control Absolute position encoder Spee d feed back Auto tuning section Current position calcul ation Peak hold Effectiv e value calculatio n Effect ive lo[...]

5 - 28 5. PARAMETERS 5.3.3 Using forward rotation stroke end (LSP ) reve rse rotation stroke end (LSN ) to chang e the stopping pattern The stopping pattern is factory-set to make a sudde n stop when the forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) is made valid. A slow stop can be made by changing the DRU parameter No. 22 [...]

5 - 29 5. PARAMETERS 5.3.5 Position smoothing By setting the position command acceleration/deceler ation time constant (DRU parameter No.7), you can run the servo motor smoothly in resp onse to a sudden position command. The following diagrams show the operation patterns of the servo motor in response to a position command when you have set the pos[...]

5 - 30 5. PARAMETERS MEMO[...]

6 - 1 6. GENERAL GAIN ADJUSTMENT 6. GENERAL GAIN ADJUSTMENT 6.1 Different adjustment methods 6.1.1 Adjustment on a MELSERVO-J2M The gain adjustment in this section can be made on the ME LSERVO-J2M. For gain adjustm ent, first execute auto tuning mode 1. If you are not sati sfied with the results, execute auto tuning mode 2, manual mode 1 and manual[...]

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

6 - 3 6. GENERAL GAIN ADJ USTMENT 6.2 Auto tuning 6.2.1 Auto tuning mode The MELSERVO-J2M has a real-time auto tuning func tion which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the MELSERVO-J2M. (1) A[...]

6 - 4 6. GENERAL GAIN ADJ USTMENT 6.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Servo motor Command Automa tic se tting Control gains PG1,VG1 PG2,VG2,VIC Current control Curren t feed back Load inertia momen t Encode r Position/speed feedb ack Real- time auto tuning section Spee d feed bac k Load inerti[...]

6 - 5 6. GENERAL GAIN ADJ USTMENT 6.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match th e machine. Merely changing the response level setting value as required completes the adjust ment . The adjustment procedure i[...]

6 - 6 6. GENERAL GAIN ADJ USTMENT 6.2.4 Response level setting in auto tuning mode Set the response (The first digit of DRU parameter No .2) of the whole servo system. As the response level setting is increased, the trackability and settling ti me for a command decreases, but a too high response level will generate vibration. Hence, make setting un[...]

6 - 7 6. GENERAL GAIN ADJ USTMENT 6.3 Manual mode 1 (simple manual adjustme nt) If you are not satisfied with the adjustment of auto tuning, yo u can make si mple manual adjust ment with three DRU parameters. 6.3.1 Operation of manual mode 1 In this mode, setting the th ree gains of position co ntrol gain 1 (PG1), speed control gain 2 (VG2) and spe[...]

6 - 8 6. GENERAL GAIN ADJ USTMENT (3) Adjustment description (a) Position control gain 1 (DRU parameter No. 6) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a po sition command but a too high value will ma ke overshooting liable to occur at the time of settling[...]

6 - 9 6. GENERAL GAIN ADJ USTMENT 6.4 Interpolation mode The interpolation mode is used to match the positi on control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 2 and speed control gain 2 which determine command tr ackabilit[...]

6 - 10 6. GENERAL GAIN ADJ USTMENT MEMO[...]

7 - 1 7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not b e used generally. Use them if you are not satisfied with the ma chine status after making adjustment in the methods in Chapt er 6. If a mechanical system has a natural resonance poin t, increa sing the servo system response lev[...]

7 - 2 7. SPECIAL ADJUSTMENT FUNCTIONS You can use the machine resonance suppression filter 1 (DRU parameter No. 58) and machine resonance suppression filter 2 (DRU parameter No . 59) to suppress the vibration of two resonance frequencies. Note that if adaptive vibration supp ression control i s made valid, the machine resonance suppression filter 1[...]

7 - 3 7. SPECIAL ADJUSTMENT FUNCTIONS POINT If the frequenc y of machine resonance is unknown, decr ease the notch frequency from high er to lower ones in order. The optimum notch frequency is set at the point wh ere vibration is minim al. A deeper notch has a higher effect on machine resonance sup pression but increases a phase delay and may incre[...]

7 - 4 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppressi on control selection (DRU parameter No.60). DRU parameter No. 60 Adaptive vibration suppression control selection Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonan ce suppressi[...]

7 - 5 7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation. 7.5.1 Applications This function is used when: (1) You want to increase the gains during servo lo ck but decrease the [...]

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

7 - 7 7. SPECIAL ADJUSTMENT FUNCTIONS (1) DRU parameters No. 6 34 to 38 These parameters are the same as in ordinary manua l adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and speed integral compensation to be changed. (2) Ratio of load inertia[...]

7 - 8 7. SPECIAL ADJUSTMENT FUNCTIONS 7.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting DRU parameter No. Abbreviation Name Setting Unit 6 PG1 Position control gain 1 100 rad/s 36 VG1 Speed control gain 1 1000 rad/s 34 GD2 Ratio of load inertia momen[...]

7 - 9 7. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting DRU parameter No. Abbreviation Name Setting Unit 6 PG1 Position control ga in 1 100 rad /s 36 VG1 Speed cont rol gain 1 1000 rad/s 34 GD2 Ratio of load inertia moment to servo moto r inertia moment 40 0.1 times 35 PG 2 Position control gain 2 1 20 rad/ s [...]

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

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

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

9 - 1 9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Trouble at start-up CAUTION Excessive adjustment or change o f parameter setting must not be made as it will make operation instable. POINT Using the optional MR C onf igu ra tor (servo configuration software), you can refer to unrotated servo motor reasons, etc. The following faults may occur at star[...]

9 - 2 9. TROUBLESHOOTING No. Start-up sequence Fault Investi gation Possible cause Reference Rotation ripples (speed fluctuations) are large at low speed. Make gain adjustment in the following procedure: 1. Increase the auto tuning response level. 2. Repeat acceleration and deceleration several times to complete auto tuning. Gain adjustment fault C[...]

9 - 3 9. TROUBLESHOOTING (2) How to find the cause of position shift (C) Servo -on (SON ), forward rotation stroke end (LSP ) reverse rotation stroke end (LSD ) input Positioning unit (a) Output pulse cou nter Q (A) Servo motor M Encoder L Machine (d) M achine st op position M (B) P CMX CDV (b) Cumulative command pulses Electronic gear (DRU paramet[...]

9 - 4 9. TROUBLESHOOTING 9.2 Alarms and warning list POINT The alarm/warning wh ose indication is not give n does not exist in that unit. When a fault occurs during operation, the correspondi ng alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 9.3 or 9.4 and take the appropriate action. When an alarm occurs in a[...]

9 - 5 9. TROUBLESHOOTING Alarm deactivation Display Name Power OFF ON Press “SET” on current alarm screen. Reset (RES) A.10 Undervoltage A.12 Memory error 1 A.13 Clock error A.15 Memory error 2 A.16 Encoder error 1 A.17 Board error A.19 Memory error 3 A.1A Servo motor co mbination error A.1C Base unit bus error 1 A.1D Base unit bus error 2 A.1E[...]

9 - 6 9. TROUBLESHOOTING 9.3 Remedies for alarms CAUTION When any alarm has occurred, eliminate it s cause, ensure safety, then rese t the alarm, and restart operation. Otherwise, injury ma y occur. If an absolute position erase (A.25) occu rred, always make home position setting again. Otherwise, misoperation may occur. As soon as an alarm occurs,[...]

9 - 7 9. TROUBLESHOOTING Display IFU DRU Name Definiti on Cause Action @A.12@ Memory error 1 RAM, memory fau lt @A.13@ Clock error Printed board fau lt. @A.15@ Memory error 2 EEP-ROM fault 1. Faulty parts in the dri ve unit Checking met hod Alarm (A.15) occurs if power is switched on after disconnection of all cables but the control circuit power s[...]

9 - 8 9. TROUBLESHOOTING Display IFU DRU Name Definiti on Cause Action 1. Power input wires and servo motor output wires are in contact at CNP2. Connect correctly. 2. Sh eathes of se rvo mot or power cables deteriorate d, resulting in ground fault. Change the cable. @A.24@ Main circuit error Ground fault occurr ed at the servo motor outputs (U,V an[...]

9 - 9 9. TROUBLESHOOTING Display IFU DRU Name Definiti on Cause Action 1. Input comm and pulse fre quency is too high. Set the command pulse correctly. 2. Sma ll accelerat ion/dec eleration t ime constant caus ed overshoo t to be large. Increase accelerat ion/ deceleration time consta nt. 3. Serv o system i s instabl e to cause overshoot. 1. Reset [...]

9 - 10 9. TROUBLESHOOTING Display IFU DRU Name Definition Cause Action FA.37 IFU para meter error IFU parame ter setting is wrong. 1. Interface u nit fault ca used the IFU parameter se tting to be re written. Change th e interface uni t. 2. The number of write times to EEP- ROM exceeded 100,000 due to parameter write, program write, etc. Change th [...]

9 - 11 9. TROUBLESHOOTING Display IFU DRU Name Definiti on Cause Action 1. Mach ine struc k somethi ng. 1. Review op eration p attern. 2. Install limit switches. 2. Wron g conn ection of serv o motor. Drive unit's output terminals U, V, W do not match servo moto r's input terminals U, V, W. Connect correctly. 3. Serv o system i s instabl [...]

9 - 12 9. TROUBLESHOOTING Display IFU DRU Name Definiti on Cause Action 1. Drive unit having la rge load is adjacent. 1. Change the slot of the drive unit whose load is large. 2. Reduce the load. 3. Reex amine the oper ation pattern. 4. Use a servo motor whose output is large. 2. Serv o system i s instabl e and hunting. 1. Repeat accelera tion/ dec[...]

9 - 13 9. TROUBLESHOOTING 9.4 Remedies for warnings CAUTION If an absolute position counter warning (A.E3) occurred, always make home position setting again. Otherwise, misoperation may occur. POINT When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier[...]

9 - 14 9. TROUBLESHOOTING MEMO[...]

10 - 1 10. OUTLINE DRAWINGS 10. OUTLINE DRAWINGS 10.1 MELSERVO-J2M configuration example The following diagram shows the MR-J2M-BU8 base un it where one interface unit and eight drive units are installed. CHARGE CON5 C N P 1 A MITS UBIS HI ELEC TRIC C N P 2 C N 2 MELSERVO ALM SON MITSUBISHI ELECTRI C C N P 2 C N 2 MELSERVO ALM SON MITSUBISHI ELECTR[...]

10 - 2 10. OU TLINE DR AWINGS 10.2 Unit outline drawings 10.2.1 Base unit (MR-J2M-BU ) L 3 A B C N P 3 C N P 1 B C N P 1 A B CNP3 L 21 N A P C 1 2 3 3 L 2 2 L 1 1 L 11 [Unit: mm] ([Uni t: in]) Base Unit MR-J2M- BU4 230 (9. 06) Variable Dime nsions Mass [kg]([lb]) 1.1 (2.43) A B 218 (8.58) MR-J2M-BU6 290 (11.42) 1.3 (2.87 ) 278 (10.95) MR-J2M- BU8 3[...]

10 - 3 10. OU TLINE DR AWINGS 10.2.3 Drive unit (MR-J2M- DU) (1) MR-J2M-10DU to MR-J2M-40DU MITSUBI S HI C N 2 C N P 2 MITSUBIS HI MELSERVO SON ALM CNP2 2 4 V 13 UW (1 (0.04)) Appr ox.70 (2.76) 138.5 (5. 45) 130 (4.72) 6.5 (0.26) 5 (0.20) Connector layout 5 (0.20) 4.5 ( 0. 18) mounting hole 30 (1.18) 130 (5 .12) 120 (4.72) Mass: 0.4kg (0.88lb) NAME[...]

10 - 4 10. OU TLINE DR AWINGS 10.2.4 Extension IO unit (MR-J2M-D01) 120 (4.72) 130 (5.12) (1 (0.04) ) 25 (0.89) C N 4 B C N 4 A Approx.80 (3 .15) 130 (4. 72) 6.5 (0. 26) 138.5 (5.45) 5 (0.20) 5 (0.20) 5 (0.20) NAME PLATE 120 (4.72) 2- 4.5 ( 0. 18) mountin g hole [Unit: mm] ([Unit: in]) Mass: 0.2k g ( 1.10lb ) Mounting screw : M4 Tightening torque :[...]

10 - 5 10. OU TLINE DR AWINGS 10.3 Connectors (1) CN1A CN1B CN4A CN4B connector <3M> (a) Soldered type Model Connector : 10150-3000VE Shell kit : 10350-52F0-008 14.0 (0.55) 41.1 (1.62) 39.0 (1.54) 23.8 (0.94) 18.0 (0.71) 52.4 (2.06) 12.7 (0.50) 46.5 ( 1.83) 17.0 (0.67) Logo, etc. are indicated here. [Unit: mm] ([Unit: in]) (b) Threaded type M[...]

10 - 6 10. OU TLINE DR AWINGS (2) CN2 CN3 connector <3M> (a) Soldered type Model Connector : 10120-3000VE Shell kit : 10320-52F0-008 14.0 (0.55) 12.7 (0.50) 23.8 (0.98) 12.0 (0.47) 33.3 (1.31) 22.0 (0.87) 39.0 (1.54) 10.0 (0.39) [Unit: mm] ([Unit: in]) Logo, etc. are indicated here. (b) Threaded type Model Connector : 10120-3000VE Shell kit :[...]

10 - 7 10. OU TLINE DR AWINGS (c) Insulation displacement type Model Connector : 10120-6000EL Shell kit : 10320-3210-000 2- 0.5 ( 0.02) 33.0 ( 1.3) 42.0 (1.65) 29.7 (1.17) 20.9 (0.82) 11.5 6.7 ( 0.26) [Unit: mm] ([Unit: in]) Logo, etc. are indicat ed here. (0.45) (3) CN5 connector <3M> 23.35 (0.9 2) 33.3 ( 1.31) 4.0 (0.16) 12.7 (0.50) 22.0 (0[...]

10 - 8 10. OU TLINE DR AWINGS (4) CNP1A/CNP1B connector <Tyco Electronics> Model CNP1A housing : 1-178128-3 CNP1B housing : 2-178128-3 Contact : 917511-2 (max. sheath OD: 2.8 [mm] ( 0.11 [in])) 353717-2 (max. sheath OD: 3.4 [mm] ( 0.13 [in])) Applicable tool : 91560-1 (for 917511-2) 937315-1 (for 353717-2) AMP 0-3 3 2 1 X 5.08 (0.2) 29.7 (0.1[...]

10 - 9 10. OU TLINE DR AWINGS (6) Connectors for CNP2 11.6 3.5 (0.138) 3 9 . 6 ( 0 . 3 7 8 ) 2.7 (0.106) A B 4.2 4 . 2 ( 0 . 1 6 5 ) 2 . 5 ( 0 . 0 9 8 ) 8 . 5 6 . 3 3 . 3 ( 0 . 1 3 ) 1 0 . 7 1 9 . 6 1 2 3 4 5 6 7 9 1 0 0.6 (0 .024) 0 . 6 ( 0 . 0 2 4 ) R0.3 1.2 5.4 (0.213) 1 2 3 4 Model Variable Di mensions A 9.6 (0.378) 5557-04R 4.2 (0 .165) B (0.0[...]

10 - 10 10. OU TLINE DR AWINGS MEMO[...]

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

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

11 - 3 11. CHARACTERISTICS (2) Heat dissipation area for enclosed drive unit The enclosed control box (hereafter called the cont rol box) which will contain the drive unit should be designed to ensure that its temperature rise is within 10 (50 ) at the ambient temperature of 40 . (With a 5 (41 ) safety margin, the system should operate within a max[...]

11 - 4 11. CHARACTERISTICS 11.3 Dynamic brake characteristics Fig. 11.4 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 11.2 to calculate an approximate co asting distance to a stop. The dynamic brake time constant varies with the servo motor and machin e operation speeds. (Refer to Fig. 1[...]

11 - 5 11. CHARACTERISTICS 0 14 16 2 4 8 10 6 12 0 500 1000 1500 2000 2500 3000 13 73 23 43 053 Speed [r/min] Time constant [ms] 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02 0 500 1000 1500 2000 2500 3000 13 43 23 053 73 Speed [r/min] Time constant [s] a. HC-KFS series b. HC-MFS series Speed [r/min] Time constant [s] 0 0.01 0.02 0.03[...]

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

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

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

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

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

12 - 5 12. OPTIONS AND AU XILIARY EQUI PMENT (3) Connection of the regenerative brake op tion POINT When using the MR-R B54, cooling by a fan is required. Please obtain a cooling fan at your discretion. Set IFU parameter No.1 according to the option to be used. The regenerative brake option will generate heat of about 100 (212 ) . Fully examine hea[...]

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

12 - 7 12. OPTIONS AND AU XILIARY EQUI PMENT (c) MR-RB54 Tighteni ng torque: 5.4 [N m](47. 79 [lb in]) Termin al bloc k G4 G3 C P Terminal screw: M4 Tighten ing torq ue: 1.2 [N m](10.6 [ lb in]) [Unit: mm (in)] 49 (1.93) 82.5 (3.25) 200 (7.87 ) 223 (8.78) 2.3 (0.09) 10 8 (4.25) 120 (4.73) 12 (0.47) 7 (0.28) Approx.30 (1.18 ) 8 (0.32) 12.5 (0.49) 35[...]

12 - 8 12. OPTIONS AND AU XILIARY EQUI PMENT 12.1.2 Cables and connectors (1) Cable make-up The following cables are used for connectio n with the servo motor and other models. The broken line areas in th e diagram are not options. HC-KFS HC-MFS HC-UFS 3000r/min CN3 CN1A CN1B CN3 CN2 CNP2 CN2 CNP2 CN4A CN4B BU IFU DRU DRU CON5 CN5 ‡N ‡L Operati[...]

12 - 9 12. OPTIONS AND AU XILIARY EQUI PMENT No. Product Model Description Application 1) Standar d encoder cable MR-JCCBL M-L Refer to (2) (a) in this section. Connector: 10120-3000VE Shell kit: 10320-52F0-008 (3M or equivalent) Housing: 1-172161-9 Pin: 170359-1 (Tyco Electronics or equivalent) Cable clamp: MTI-0002 (Toa Electric Industry) Standar[...]

12 - 10 12. OPTIONS AND AU XILIARY EQUI PMENT No. Product Model Description Application 11) Power supply connector MR-PWCNK3 Plug: 5557-04R-210 Terminal: 5556PBT3L (for AWG16) (6 pcs. ) (Molex) Servo motor power cable Y Housing: 2-178128-3 (5 pcs.) Contact: 917511-2 (max. sheath OD 2.8 [mm] ( 0.11[in]) 15 pcs.) (Tyco Electronics) For CNP1B X Housin[...]

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

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

12 - 13 12. OPTIONS AND AU XILIARY EQUI PMENT (b) MR-JC4CBL M-H POINT When using this encoder cable, set "1 " in DRU parameter No. 20. 1) Model explanation Model: MR-JC4CBL M- H 30 30 (98.4) 40 50 40 (131.2) 50 (164.0) Long flexing life Symbol Cable length [m(ft)] 2) Connection diagram The signal assignment of the encoder connector is as [...]

12 - 14 12. OPTIONS AND AU XILIARY EQUI PMENT Note. Always make connection for use in an absolute position detection system. This wiring is not needed for use in an increme ntal system. P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 18 P5 LG MD 6 LG 1 BAT 9 SD 1 2 8 9 Drive unit side Enco der side Plate (Not e) MR-JC4CBL30M-H to MR-JC4CBL50M-[...]

12 - 15 12. OPTIONS AND AU XILIARY EQUI PMENT (3) Communication cable POINT This cable may not be used w ith some personal comput ers. After fully examining the sig nals of the RS-23 2C connector, refer to this sect ion and fabricate the cable. (a) Model definition Model : MR-C PCATCBL3M Cable length 3[m](10[ft]) (b) Connection diagram Half-pitch 2[...]

12 - 16 12. OPTIONS AND AU XILIARY EQUI PMENT (4) Battery cable When fabricating, use the recommended wire give n in Section 12.2.1 and fabricate as in the connection diagram shown in this section. (a) Definition of model Model: M R-J2MBTCBL M Symbol Cable Length L [m(ft)] 0.3 (0 .1) 1 (3.2 8) 03 1 (b) Outline drawing L 11 0 20 11 (c) Connection di[...]

12 - 17 12. OPTIONS AND AU XILIARY EQUI PMENT 12.1.3 Junction terminal block (MR-TB50) (1) How to use the junc tion terminal block Always use the junctio n terminal block (MR-T B50) with the junction terminal block cable (MR -J2M- CN1TBL M) as a set. A connection example is shown below: CN1A or CN1B Juncti on terminal blo c k MR-TB5 0 Junction term[...]

12 - 18 12. OPTIONS AND AU XILIARY EQUI PMENT (4) Junction terminal block cable (MR-J2M-CN1TBL M) (a) Model explanation Cable length[m(ft) ] Symbol 05 1 0.5 (1.64) 1 (3.28) Mode l: MR-J 2M- CN1T BL M (b) Connection diagram SD SD CN1A CN1B SG SG 1 OPC OPC 2 INP8 INP4 3 RES8 RES4 4 SON8 SON4 5 RD7 RD3 6 CR7 CR3 7 INP6 INP2 8 RES6 RES2 9 SON6 SON2 10 [...]

12 - 19 12. OPTIONS AND AU XILIARY EQUI PMENT 12.1.4 Junction terminal block (MR-TB20) (1) How to use the junction terminal block Always use the junctio n terminal block (MR-TB2 0) with the junction terminal block cable (MR- J2TBL M-1A) as a set. A connection exam ple is shown below: CN5 Servo a mplifi er Junction terminal bloc k MR-TB20 Cable clam[...]

12 - 20 12. OPTIONS AND AU XILIARY EQUI PMENT (4) Junction terminal block cable (MR-J2TBL M-1A) (a) Model explanation Cable length[m(ft)] Symbol 05 1 0.5 (1.64) 1 (3.2 8) Model: M R-J2TBL M-1A (b) Connection diagram 20 LSP1 0 1 LSN1 10 2 LSP2 1 3 LSN2 11 4 LSP3 2 5 LSN3 12 6 LSP4 3 7 SG 13 8 LSN4 4 9 LSP5 14 10 LSN5 5 11 LSP6 12 LSN6 13 LSP7 14 LSN[...]

12 - 21 12. OPTIONS AND AU XILIARY EQUI PMENT 12.1.5 Maintenance junction card (MR-J2C N3TM) (1) Usage The maintenance junction card (MR-J2CN3TM) is de signed for use when a personal computer and analog monitor are used at the same time. TRE CN3B CN3C CN3A CN3 P5 PE LG A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6 LG LG MO1 MO 2 RDP SDN LG Interface unit Bus[...]

12 - 22 12. OPTIONS AND AU XILIARY EQUI PMENT (4) Bus cable (MR-J2HBUS M) (a) Model explanation 05 1 5 0.5 (1.64) 1 (3.28) 5 (16.4) Symbol Cable length [m(ft)] Model: MR-J2H BUS M (b) Connection diagram 10120-6000EL (connector) 10320-3210-000 (shell kit) 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[...]

12 - 23 12. OPTIONS AND AU XILIARY EQUI PMENT 12.1.6 MR Configurator (servo configuratio ns software) POINT Required to assign de vices to th e pins of CN4A and CN4B of the MR- J2M-D01 extension IO unit. The MR Configurator (servo configuration software) us es the communication function of the interface unit to perform parameter setting change s, g[...]

12 - 24 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2 Auxiliary equipment Always use the devices indicated in this section or eq u iv al e n t. To co m pl y w it h t he EN S ta n da rd o r U L /C - UL (CSA) Standard, use the products whic h conform to the corresponding standard. 12.2.1 Recommended wires (1) Wires for power supply wiring The following [...]

12 - 25 12. OPTIONS AND AU XILIARY EQUI PMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 12.2 Wires for option cables Characteristics of one core Type Model Length [m(ft)] Core size [mm 2 ] Number of Cores Structure [Wires/mm] Conductor resistance[ /mm] Insulation coating ODd[...]

12 - 26 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2.2 No-fuse breakers, fuses, mag netic contactors Always use one no-fuse breaker and one magnetic co ntactor with one drive unit. Make selection as indicated below according to the total output value of the servo motors connected to one base unit. When using a fuse instead of the no-fuse breaker, use[...]

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

12 - 28 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2.4 Relays The following relays should be used with the interfaces: Interface Selection example Relay used for digital in put signals (interface D I-1) To prevent defective contacts , use a re lay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital o utput signals (in[...]

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

12 - 30 12. OPTIONS AND AU XILIARY EQUI PMENT Noise transmission route Suppression techniques 1) 2) 3) When m easurin g instrum ents, r eceiver s, senso rs, etc. w hich han dle weak signal s and may malfunction due to noise and/or their signal cables are cont ained in a control box toget her wit h the MELSERVO-J2M or run near MELSER VO-J2M, such de[...]

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

12 - 32 12. OPTIONS AND AU XILIARY EQUI PMENT Outline drawing Earth pla te Clam p secti on di agra m (Note) M4 screw 1 1 ( 0 . 4 3 ) 3 ( 0 . 1 2 ) 6 ( 0 . 2 4 ) C A 6 22(0. 87) 17.5(0.69) 35(1.38) 3 5 ( 1 . 3 8 ) L or less 10(0.39) 3 0 ( 1 . 1 8 ) 7 ( 0 . 2 8 ) 2 4 0 0 . 2 Note. Screw hole for grounding. Connect it to the earth plate of the control[...]

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

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

12 - 35 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2.8 EMC filter For compliance with the EMC directive of the EN standa rd, it is recommended to use the following filter: Some EMC filters are large in leakage current.: (1) Combination with the base unit Recommended filter Base unit Model Leakage current [mA] Mass [kg(lb)] MR-J2M-BU4 MR-J2M-BU6 MR-J2[...]

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

13 - 1 13. COMMUNICATION FUNCTIONS 13. COMMUNICATION FUNCTIONS MELSERVO-J2M has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation, para meter changing, monitor function, etc . However, the RS-422 and RS-232C communication func tions cannot be used together. Select between RS- 422 and RS-23[...]

13 - 2 13. COMMUNICATION FUNCTIONS (2) Cable connection diagram Wire as shown below: RDP RDN SDP SDN GND GND 5 15 9 19 11 1 10 RDP RDN SDP SDN LG LG TRE SD 5 15 9 19 11 1 10 RDP RDN SDP SDN LG LG TRE SD 5 15 9 19 11 1 10 RDP RDN SDP SDN LG LG TRE SD (Note 3) 30m(98.4ft ) max. Plate (Note 1) Interface unit or Servo amplifier CN3 connector Plate Plat[...]

13 - 3 13. COMMUNICATION FUNCTIONS 13.1.2 RS-232C configuration (1) Outline (Example) Run / operate. MELSERVO-J2M Controller such as perso nal c omput er To CN3 Station 0 Station 1 Station 2 Station 3 Station 4 Station 5 Station 6 Station 7 Station 8 (2) Cable connection diagram Wire as shown below. The communication cable for connection with the p[...]

13 - 4 13. COMMUNICATION FUNCTIONS 13.2 Communication spe cifications 13.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a ma ster station and the device which sends a reply in response to the instruction (drive unit)[...]

13 - 5 13. COMMUNICATION FUNCTIONS 13.2.2 Parameter setting When the RS-422/RS-232C communication function is used to operate the servo, set the communication specifications of the servo amplifie r in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again. (1) Seria[...]

13 - 6 13. COMMUNICATION FUNCTIONS 13.3 Protocol POINT Whether station number setting will b e made or not must be sele cted if the RS-232C communication funct ion is used. Since up to 32 axes may be connected to the bus, a dd a station number to the command, data No., etc. to determine the destination unit of data communicati on. Set t he station [...]

13 - 7 13. COMMUNICATION FUNCTIONS 13.4 Character code s (1) Control codes Code name Hexadecimal (ASCII code) Description Personal computer terminal key operation (General) SOH STX ETX EOT 01H 02H 03H 04H start of head start of text end of text end of transmission ctrl A ctrl B ctrl C ctrl D (2) Codes for data ASCII unit codes are used. b 8 0 0 0 0[...]

13 - 8 13. COMMUNICATION FUNCTIONS 13.5 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the sl ave station sends the error code corre sponding to that data to the master station. The error code sent in upper case indicates that the MELSERVO-J[...]

13 - 9 13. COMMUNICATION FUNCTIONS 13.7 Time-out operation The master station transmits EOT when the slave st ation does not start reply operation (STX is not received) 300[ms] after the master station has ende d communication operation. 100[ ms] after that, the master station retransmits the message. Time-out occu rs if the slave station does not [...]

13 - 10 13. COMMUNICATION FUNCTIONS 13.9 Initialization After the slave station is switched on, it cannot repl y to communication until the internal initialization processing terminates. Hence, at power-on, or dinary communication should be started after: (1) 1s or more time has elapsed after the slave station is switched on; and (2) Making sure th[...]

13 - 11 13. COMMUNICATION FUNCTIONS 13.11 Command and data No. list POINT If the command/data No. is the same, its data may be differ ent from the interface and drive un its and other servo ampli fiers. The commands/data No. of the respective inte rface unit and drive units are those marked in the Unit field. 13.11.1 Read commands (1) Status displa[...]

13 - 12 13. COMMUNICATION FUNCTIONS (4) Alarm history (Command [3][3]) Unit Command Data No. Description Alarm occurrence sequence Frame length IFU DRU [3][3] [1][0] most recent alarm 4 [3][3] [1][1] first alarm in past 4 [3][3] [1][2] second alarm in p ast 4 [3][3] [1][3] third alarm in past 4 [3][3] [1][4] fourth alarm in past 4 [3][3] [1][5] Ala[...]

13 - 13 13. COMMUNICATION FUNCTIONS 13.11.2 Write commands (1) Status display (Command [8 ][1]) Unit Command Data No. Description Setting range Frame length IFU DRU [8][1] [0][0] Status display data clear 1EA5 4 (2) Parameter (Command [8][4]) Unit Command Data No. Description Setting range Frame length IFU DRU [8][4] [0][0] to [1][D] Each parameter[...]

13 - 14 13. COMMUNICATION FUNCTIONS (6) External input signal disable (Command [9][0 ]) Unit Command Data No. Description Setting range Frame length IFU DRU [9][0] [0][0] Turns off the exter nal inp ut signal s (DI) , exter nal i nput signals and pulse train inputs with the exception of EMG_ , LSP and LSN , indep endently of the ex ternal ON /OFF s[...]

13 - 15 13. COMMUNICATION FUNCTIONS 13.12 Detailed explanations of commands 13.12.1 Data processing When the master station transmits a command data No. or a co mmand data No. data to a slave station, a reply or data is returned fro m the slave station according to the purpose. When numerical values are represen ted in these send data and rece ive [...]

13 - 16 13. COMMUNICATION FUNCTIONS (2) Writing the processed data When the data to be written is handled as decimal , th e decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position. The data to be sent is the following v[...]

13 - 17 13. COMMUNICATION FUNCTIONS 13.12.2 Status display (1) Status display data read When the master station transmits the data No. (refer to the following table for assignment) to the slave station, the slave station sends back the data value and data processing information. 1) Transmission Transmit command [0][1] and the data No. correspon din[...]

13 - 18 13. COMMUNICATION FUNCTIONS 13.12.3 Parameter (1) Parameter read Read the parameter setting. 1) Transmission Transmit command [0][5] and the data No. corre sponding to the parameter No. The data No. is expressed in hexadecimal equiva lent of the data No. value corresponds to the parameter number. Unit Command Data No. IFU DRU [0][5] [0][0] [...]

13 - 19 13. COMMUNICATION FUNCTIONS (2) Parameter write POINT The number of write tim es to the EEP-ROM is limited to 100,0 00. Write the parameter setting. Write the value within the setting range. Refer to Section 5.1 for the setting range . Transmit command [8][4], the data No., and the set data. The data No. is expressed in hexadecimal. The dec[...]

13 - 20 13. COMMUNICATION FUNCTIONS 13.12.4 External I/O pin statuses (DIO diagnosis) (1) External input pin status read (CN1A CN1B) Read the ON/OFF statuses of the external input pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. Unit Command Data No. IFU DRU [1][2] [4][0] (b) Reply The ON/OFF statuses of the input pins are sent b[...]

13 - 21 13. COMMUNICATION FUNCTIONS (3) External input pin status read (CN4A CN4B) Read the ON/OFF statuses of the external input pins. (a) Transmission Transmit command [1][2] and data No. [4][3]. Unit Command Data No. IFU DRU [1][2] [4][3] (b) Reply The slave station sends back the ON/O FF statuse s of the output pins. b31 b1b0 1: ON 0: OFF Comma[...]

13 - 22 13. COMMUNICATION FUNCTIONS (5) External output pin status read (CN4A CN4B) Read the ON/OFF statuses of the external output pins. (a) Transmission Transmit command [1][2] and data No. [C][1]. Unit Command Data No. IFU DRU [1][2] [C][1] (b) Reply The slave station sends back the statuses of the output pins. b31 b1b 0 1: ON 0: OFF Command of [...]

13 - 23 13. COMMUNICATION FUNCTIONS 13.12.5 Disable/enable of external I/O signal s (DIO) Inputs can be disabled independently of the external I/O signal ON/OFF. When inputs are disabled, the input signals are recognized as follows. Among the external input signals, forced stop (EMG_ ) , forward rotation stroke end (LSP ) and reverse rotation st ro[...]

13 - 24 13. COMMUNICATION FUNCTIONS 13.12.6 External input signal ON/OFF (test operation) 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 data. Unit Command Data No. Data IFU DRU [9][2] [0][0] See below b31 b0 0: OFF 1: ON b1 Command of each bit is transmitte[...]

13 - 25 13. COMMUNICATION FUNCTIONS 13.12.7 Test operation mode (1) Instructions for test operation mode The test operation mode must be executed in the fo llowing procedure. If communication is interrupted for longer than 0.5s during test operation, the serv o amplifier causes the moto r to be decelerated to a stop and servo-locked. To prevent thi[...]

13 - 26 13. COMMUNICATION FUNCTIONS (2) Jog operation Transmit the following communication commands: (a) Setting of jog operation data Unit Item Command Data No. Data IFU DRU Speed [A][0] [1][0] Write the speed [r/ min] in hexadecimal. Acceleration/deceleration time constant [A][0] [1][1] Wri te th e acc eler ation /dec eler atio n tim e cons tant [...]

13 - 27 13. COMMUNICATION FUNCTIONS (c) Start of positioning operation Transmit the speed and acceleration/deceleratio n time constant, turn on the servo-on (SON ) and forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) , and t hen send the moving distance to start positioning operation. After that, positioning operation will star[...]

13 - 28 13. COMMUNICATION FUNCTIONS 13.12.8 Output signal pin ON/OFF ( output signal (DO ) forced output) In the test operation mode, the output signal pins ca n be turned on/off independently of the servo status. Using command [9][0], disable the output signals in advance. (1) Choosing DO forced output in test o peration mode Transmit command [8][[...]

13 - 29 13. COMMUNICATION FUNCTIONS 13.12.9 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past . The alarm numbers and occurrence times of No. 0 (last alarm) to No. 5 (sixth alarm i n the past) are read. (a) Transmission Send command [3][3] and data No. [1][0] to [1][5]. Refer to Section 13.11.1(4). (b) Reply The alarm N[...]

13 - 30 13. COMMUNICATION FUNCTIONS 13.12.10 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Unit Command Data No. IFU DRU [0][2] [0][0] (b) Reply The slave station sends back the alarm cu rrently occurring. 00 Alarm No. is transferre d in decimal. For e[...]

13 - 31 13. COMMUNICATION FUNCTIONS 13.12.11 Other commands (1) Servo motor end pulse unit absolu te position Read the absolute position in the servo motor end pulse unit. Note that overflow will occur in the position of 16384 or more revo lutions from the home position. (a) Transmission Send command [0][2] and data No. [9][0]. Unit Command Data No[...]

13 - 32 13. COMMUNICATION FUNCTIONS (4) Read of slot connection status Read the absolute position in the command unit. (a) Transmission Send command [0][0] and data No.[8][0]. Unit Command Data No. IFU DRU [0][0] [8][ 0] (b) Reply The slave stations send back the statuses of the units connected to the slots. b31 b1b 0 Command of each bit is sent to[...]

14 - 1 14. ABSOLUTE POSITION DETECTION SYSTEM 14. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If an absolute position erase (A.25) or an absolute position counter warning (A E3) has occurred, always perform home position setting again. Not doing so can cause runaway. 14.1 Outline 14.1.1 Features For normal operation, as shown below, the encoder co n[...]

14 - 2 14. ABSOLUTE POSITI O N DETECTION SYSTEM 14.2 Specifications (1) Specification of battery unit MR-J2M-BT POINT The revision (Edit ion 44) of the Dangero us Goods Rule of the International Air Transport Ass o ciation (IAT A) went into effect on January 1, 2003 and was enforced immedi ately. In this rule, "provis ions of the lithium and l[...]

14 - 3 14. ABSOLUTE POSITI O N DETECTION SYSTEM (3) DRU parameter setting Set " 1 " in DRU parameter No.1 to make the absolute position detection system valid. Selection of absolute position detection system 0: Used in incre mental system 1: Used in absolute position detection system DRU parameter No. 1 14.3 Signal explanation The followi[...]

14 - 4 14. ABSOLUTE POSITI O N DETECTION SYSTEM 14.5 Startup procedure (1) Connection of a battery unit (2) Parameter setting Set "1 "in DRU parameter No. 1 of the servo ampl ifier and switch power off, then on. (3) Resetting of absolute position erase (A.25) After connecting the encoder cable, the absolute positi on erase (A.25) occurs a[...]

14 - 5 14. ABSOLUTE POSITI O N DETECTION SYSTEM 14.6 Absolute position data transfer protocol 14.6.1 Data transfer procedure Every time the servo-on (SON ) turns on at power-on or like, the controller must read the current position data in the drive unit. Not performi ng this operation will cause a position shift. Time-out monitoring is pe rformed [...]

14 - 6 14. ABSOLUTE POSITI O N DETECTION SYSTEM 14.6.2 Transfer method The sequence in which th e base circuit is turned O N (servo-on) whe n it is in the OFF state due t o the servo-on (SON ) going OFF, a forced stop, or alarm, is explained below. In the a bso lut e p osi tio n detection system, always give the se rial communication command to rea[...]

14 - 7 14. ABSOLUTE POSITI O N DETECTION SYSTEM (3) At the time of alarm reset If an alarm has occurred, detect the trouble (ALM_ ) and turn off the servo-on (SON ). After removing the alarm occurrence factor and deactivating the alarm, get the absolute position data again from the drive unit in accordance with the procedure in (1) of this section.[...]

14 - 8 14. ABSOLUTE POSITI O N DETECTION SYSTEM (4) At the time of forced s top reset 200ms after the forced stop is deactivated, the base circuit turns on, and further 20ms after that, the ready (RD ) turns on. Always get the current po si tion data from when the ready (RD ) is triggered until before the position command is issued. (a) When power [...]

14 - 9 14. ABSOLUTE POSITI O N DETECTION SYSTEM 14.6.3 Home position setting (1) Dog type home position return Preset a home position return creep speed at whic h the machine will not be given impact. On detection of a zero pulse, the home position setting (CR ) is turned from off to on. At the same time, the servo amplifier clears the droop pulses[...]

14 - 10 14. ABSOLUTE POSITI O N DETECTION SYSTEM (2) Data set type home position return POINT Never make home po sition setting du ring command o peration or serv o motor rotation. It may cause home position sift. It is possible to execute data set type hom e position return when the se rvo off. Perform manual operation such as JOG operation to mov[...]

14 - 11 14. ABSOLUTE POSITI O N DETECTION SYSTEM 14.7 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator (ser vo configuration software MRZJW3- SETUP151E). Clicking " Diagnostics " on the menu bar an d click " Absolute encoder data " in the menu. (1) (2) By clicking &[...]

14 - 12 14. ABSOLUTE POSITI O N DETECTION SYSTEM MEMO[...]

App - 1 A PPENDIX App 1. Status indication block diagram Peak load ratio PWM M Current control Droop pulse ABS counter Low High CMX CDV Elect ronic gear Bus voltage ABS counter Servo moto r Position control Absolute position encoder Spee d feed back Auto tuning section Current position calcul ation Peak hold Effectiv e value calculatio n Effect ive[...]

App - 2 APPENDIX MEMO[...]

REVISIONS *The manual nu mber is given on the bot tom left of the back co ver. Print Data *Manual Number Revision Jan., 2002 SH(NA)0 30014-A First edition Sep., 2002 SH(NA)030014-B Safety Instructions: Addition of Note to 4. (1) Deletion of (7) in 4. Additional instructions Addition of About processing of waste Addition of EEP-ROM life Section 1.5 [...]

Print Data *Manual Number Revision Mar., 2004 SH(NA)030014-C 3. To prevent injury: Reexamination of sentence 4. Additional instructions (1): Addition of Note/Reexamination of sentence (5): Reexamination of wiring drawing COMPLIANCE WITH EC DIRECTIVES 2. PRECAUTIONS FOR COMPLIANCE: IEC664-1 is modified to IEC 60664-1 in (3) and (4). CONFORMANCE WITH[...]

Print Data *Manual Number Revision Oct., 2005 SH(NA)030 014-E Section 5.1.2 (2): Correction of DRU parameter No.38 Section 5.3.2: Partial reexamination of sen tences Section 5.3.2 (2): Addition of Note in table Chapter 8: Partial change of WARNING sent ences Section 9.2: Alarm code No.A. 45 A.46: Addition of Note in table Section 9.3: Addition of C[...]

MEMO[...]

HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030014-E (0510) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE[...]