Page 1 General-Purpose AC Servo J2-Super Series Built-In Positioning Function MODEL MR-J2S- CP SERVO AMPLIFIER INSTRUCTION MANUAL...
Page 2: Safety Instructions
Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly.
Page 3 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder.
Page 5 Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi. (2) Wiring CAUTION Wire the equipment correctly and securely.
Page 6 (3) Test run adjustment CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be insatiable. (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately.
Page 7 Write to the EEP-ROM due to point table changes PRECAUTIONS FOR CHOOSING THE PRODUCTS Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi;...
Page 8 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking).
Page 9 (4) Power supply (a) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC or EN Standard should be used in the power input section. (b) When supplying interface power from external, use a 24VDC power supply which has been insulation-reinforced in I/O.
Page 10 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier series :MR-J2S-10CP to MR-J2S-700CP MR-J2S-10CP1 to MR-J2S-40CP1 Servo motor series :HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS HA-LFS HC-LFS...
Page 11 MEMO A - 10...
Page 12: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-26 1.1 Introduction.............................. 1- 1 1.1.1 Function block diagram ........................1- 1 1.1.2 System configuration........................1- 4 1.1.3 I/O devices ............................1- 9 1.2 Servo amplifier standard specifications ....................1-10 1.3 Function list ............................1-12 1.4 Model code definition ..........................
Page 13 3.10 Grounding ............................. 3-37 3.11 Servo amplifier terminal block (TE2) wiring method ............... 3-38 3.11.1 For the servo amplifier produced later than Jan. 2006 ............. 3-38 3.11.2 For the servo amplifier produced earlier than Dec. 2005............3-40 3.12 Instructions for the 3M connector....................... 3-42 4.
Page 14 5.2.5 Changing the stop pattern using a limit switch ................5-24 5.2.6 Alarm history clear.......................... 5-24 5.2.7 Rough match output ........................5-24 5.2.8 Software limit........................... 5-24 6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6- 1 to 6-20 6.1 Specifications ............................6- 1 6.2 System configuration..........................
Page 15 7.10.2 Position data setting method......................7-25 8. GENERAL GAIN ADJUSTMENT 8- 1 to 8-12 8.1 Different adjustment methods ....................... 8- 1 8.1.1 Adjustment on a single servo amplifier..................8- 1 8.1.2 Adjustment using MR Configurator (servo configuration software) ........... 8- 2 8.2 Auto tuning ..............................
Page 16 13. CHARACTERISTICS 13- 1 to 13- 8 13.1 Overload protection characteristics ....................13- 1 13.2 Power supply equipment capacity and generated loss ..............13- 2 13.3 Dynamic brake characteristics......................13- 4 13.3.1 Dynamic brake operation......................13- 4 13.3.2 The dynamic brake at the load inertia moment ................ 13- 6 13.4 Encoder cable flexing life ........................
Page 17 15.11 Command and data No. list......................15-11 15.11.1 Read commands ......................... 15-11 15.11.2 Write commands ........................15-14 15.12 Detailed explanations of commands....................15-17 15.12.1 Data processing.......................... 15-17 15.12.2 Status display ..........................15-19 15.12.3 Parameter........................... 15-20 15.12.4 External I/O signal statuses..................... 15-22 15.12.5 Input devices ON/OFF ......................
Page 18: Introduction
Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual. 1.
Page 19 MEMO...
Page 20: Function Block Diagram
1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The MR-J2S-CP AC servo amplifier with built-in positioning functions is the MR-J2S-A general-purpose AC servo amplifier which incorporate single-axis positioning functions. These functions perform positioning operation by merely setting the position data (target positions), servo motor speeds, acceleration and deceleration time constants, etc.
Page 21 1. FUNCTIONS AND CONFIGURATION (1) MR-J2S-350CP or less Regenerative option Servo amplifier Servo motor Diode (Note 1) stack Relay (Note 2) Current Regenerative Power transistor detector supply CHARGE lamp Dynamic (Note 3) Cooling fan brake Control Electro- power magnetic supply brake Base Voltage...
Page 22 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-500CP 700CP Regenerative option Servo amplifier Servo motor Diode Relay stack (Note) Current Regenerative Power transistor detector supply CHARGE lamp Dynamic Cooling fan brake Control Electro- power magnetic supply brake Base Voltage Current Overcurrent amplifier detection protection detection...
Page 23: System Configuration
1. FUNCTIONS AND CONFIGURATION 1.1.2 System configuration This section describes operations using this servo. You can arrange any configurations from a single-axis to max. 32-axis systems. Further, the connector pins in the interface section allow you to assign the optimum signals to respective systems. (Refer to sections 1.1.3 and 3.3.2.) The MR Configurator (servo configuration software) (refer to chapter 6) and personal computer are required to change or assign devices.
Page 24 1. FUNCTIONS AND CONFIGURATION (2) Operation using external input signals and communication (a) Description Communication can be used to change the point table data, choose the point table, change parameter values, and confirm monitor data, for example. Enter a forward rotation start (ST1) or reverse rotation start (ST2) through the external I/O.
Page 25 1. FUNCTIONS AND CONFIGURATION 2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422. Use parameter No. 16 to change the communication system. Personal MR Configurator External I/O computer (Servo configuration signals Software) Servo amplifier (axis 1) CN1A CN1B RS–232C RS–422...
Page 26 1. FUNCTIONS AND CONFIGURATION (3) Operation using communication (a) Description Analog input, forced stop (EMG) and other signals are controlled by external I/O signals and the other devices controlled through communication. Also, you can set each point table, choose the point table, and change or set parameter values, for example.
Page 27 1. FUNCTIONS AND CONFIGURATION 2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422. Use parameter No. 16 to change the communication system. MR Configurator Personal External I/O (Servo configuration computer signals Software) Servo amplifier (axis 1) CN1A CN1B RS–232C RS–422...
Page 28: I/O Devices
1. FUNCTIONS AND CONFIGURATION 1.1.3 I/O devices This servo amplifier allows devices to be allocated to the pins of connector CN1A/CN1B as desired. The following devices can be allocated. For device details, refer to section 3.3.2. Factory- Factory- Input device Symbol Output device Symbol...
Page 29: Servo Amplifier Standard Specifications
1. FUNCTIONS AND CONFIGURATION 1.2 Servo amplifier standard specifications Servo amplifier MR-J2S- 10CP 20CP 40CP 60CP 70CP 100CP 200CP 350CP 500CP 700CP 10CP1 20CP1 40CP1 Item 3-phase 200 to 230VAC, 50/60Hz 1-phase 100 to Voltage/frequency 3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC, 50/60Hz 120VAC 50/60Hz 3-phase 200 to 230VAC:...
Page 30 1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J2S- 10CP 20CP 40CP 60CP 70CP 100CP 200CP 350CP 500CP 700CP 10CP1 20CP1 40CP1 Item Position where servo-on (SON) is switched on is defined as home position. Home position Home position address may be set. ignorance (Servo-on position as home position)
Page 31: Function List
1. FUNCTIONS AND CONFIGURATION 1.3 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Description Reference Select the required ones from among 31 preset point tables and perform operation in accordance with the set values.
Page 32: Model Code Definition
600W POWER INPUT 3.2A 3PH 1PH200-230V 50Hz Applicable power supply 3PH 1PH200-230V 60Hz 5.5A 1PH 230V 50/60Hz OUTPUT : 170V 0-360Hz 3.6A Rated output current SERIAL : Serial number AAAAG52 PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN 1 - 13...
Page 33: Combination With Servo Motor
1. FUNCTIONS AND CONFIGURATION (2) Model MR–J2S– MR–J2S–100CP or less MR–J2S–200CP 350CP Series Power Supply Symbol Power supply 3-phase 200 to 230VAC None (Note 1) 1-phase 230VAC (Note 2) Rating plate 1-phase 100V to 120VAC Rating plate Note 1. 1-phase 230V is supported by 750W or less.
Page 34: Structure
1. FUNCTIONS AND CONFIGURATION 1.6 Structure 1.6.1 Part names (1) MR-J2S-100CP or less Name/Application Reference Battery holder Section4.5 Contains the battery for absolute position data backup. Battery connector (CON1) Section4.5 Used to connect the battery for absolute position data backup. Display Chapter7 The 5-digit, seven-segment LED shows the servo...
Page 35 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200CP MR-J2S-350CP POINT This servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2. Name/Application Reference Battery holder Section4.5 Contains the battery for absolute position data backup. Battery connector (CON1) Section4.5 Used to connect the battery for absolute position data...
Page 36 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500CP POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2. Name/Application Reference Battery connector (CON1) Used to connect the battery for absolute position data Section4.5 backup.
Page 37 1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700CP POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to next page. Name/Application Reference Battery connector (CON1) Used to connect the battery for absolute position data Section4.5 backup.
Page 38: Removal And Reinstallation Of The
1. FUNCTIONS AND CONFIGURATION 1.6.2 Removal and reinstallation of the front cover Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage WARNING between P and N is safe with a voltage tester and others.
Page 39 1. FUNCTIONS AND CONFIGURATION (3) For MR-J2S-700CP Removal of the front cover Reinstallation of the front cover Front cover hook (2 places) Front cover socket (2 places) 1) Push the removing knob A) or B), and put you 1) Insert the two front cover hooks at the bottom into the finger into the front hole of the front cover.
Page 40: Servo System With Auxiliary Equipment
1. FUNCTIONS AND CONFIGURATION 1.7 Servo system with auxiliary equipment To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. (1) MR-J2S-100CP or less (a) For 3-phase 200V to 230VAC or 1-phase 230VAC (Note 2) Options and auxiliary equipment...
Page 41 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC (Note 2) Power supply Options and auxiliary equipment Options and auxiliary equipment Reference Reference Circuit breaker Section 14.2.2 Cables Section 14.2.1 Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8 MR Configurator External digital display Section 14.1.7...
Page 42 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200CP MR-J2S-350CP (Note) Options and auxiliary equipment Reference Options and auxiliary equipment Reference Power supply Circuit breaker Section 14.2.2 Cables Section 14.2.1 Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8 MR Configurator External digital display Section 14.1.7 Chapter 6 (Servo configuration software)
Page 43 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500CP (Note 2) Power supply Options and auxiliary equipment Reference Options and auxiliary equipment Reference Circuit breaker Section 14.2.2 Cables Section 14.2.1 Circuit Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8 breaker (NFB) or MR Configurator External digital display Section 14.1.7...
Page 44 1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700CP Options and auxiliary equipment Options and auxiliary equipment Reference Reference Circuit breaker Section 14.2.2 Cables Section 14.2.1 Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8 (Note 2) MR Configurator External digital display Power supply Section 14.1.7 Chapter 6 (Servo configuration software)
Page 45 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 26...
Page 46: Installation
Do not install or operate a faulty servo amplifier. When the product has been stored for an extended period of time, consult Mitsubishi. When treating the servo amplifier, be careful about the edged parts such as the corners of the servo amplifier.
Page 47: Installation Direction And Clearances
2. INSTALLATION 2.2 Installation direction and clearances Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop. The equipment must be installed in the specified direction. Otherwise, a fault may CAUTION occur. Leave specified clearances between the servo amplifier and control box inside walls or other equipment.
Page 48: Keep Out Foreign Materials
2. INSTALLATION (2) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
Page 49: Cable Stress
2. INSTALLATION 2.4 Cable stress (1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection. (2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables.
Page 50: Signals And Wiring
3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others.
Page 51: Standard Connection Example
3. SIGNALS AND WIRING 3.1 Standard connection example Servo amplifier (Note 3, 7) (Note 3, 7) CN1A CN1A Proximity dog (Note 4) Home position return completion 10m (32.79ft.) or less (Note 3, 7) (Note 3, 7) 10m (32.81ft.) or less CN1B CN1B (Note 12)
Page 52: Internal Connection Diagram Of Servo Amplifier
3. SIGNALS AND WIRING 3.2 Internal connection diagram of servo amplifier This section gives the internal connection diagram where the signal assignment is in the initial status. Servo amplifier CN1B 24VDC CN1A CN1A Approx. 4.7k 10, 20 CN1B CN1B MEND Approx.
Page 53: I/O Signals
3. SIGNALS AND WIRING 3.3 I/O signals 3.3.1 Connectors and signal arrangements POINT The connector pin-outs shown above are viewed from the cable connector wiring section side. (1) Signal arrangement CN1A CN1B P15R P15R Servo amplifier MEND The connector frames are connected with the PE (earth) terminal inside the servo amplifier.
Page 54: Signal (Devices) Explanations
3. SIGNALS AND WIRING 3.3.2 Signal (devices) explanations (1) I/O devices POINT The devices not indicated in the Connector Pin No. field of the I/O devices can be assigned to the connector CN1A/CN1B using the MR Configurator (servo configuration software). (a) Pins whose devices can be changed Refer to section 3.6.2 for the I/O interfaces (symbols in the I/O Division field in the table) of the corresponding connector pins.
Page 55 3. SIGNALS AND WIRING Devices Connector Device name Functions/Applications symbol pin No. Forward rotation CN1B To start operation, short LSP-SG and/or LSN-SG. Open them to bring the motor to stroke end a sudden stop and make it servo-locked. Set " 1"...
Page 56 3. SIGNALS AND WIRING Devices Connector Device name Functions/Applications symbol pin No. Point table No. CN1B The following table lists the point table numbers that may be chosen by the selection 1 combinations of DI0, DI1, DI2, DI3 and DI4. (Note)Input signal Point table No.
Page 57 3. SIGNALS AND WIRING Devices Connector Functions/Applications Device name symbol pin No. Temporary Short STP-SG during automatic operation to make a temporary stop. Short STP- stop/Restart SG again to make a restart. Shorting the forward rotation start (ST1) or reverse rotation start (ST2) during a temporary stop is ignored.
Page 58 3. SIGNALS AND WIRING (c) Output devices Devices Connector Device name Functions/Applications symbol pin No. Trouble CN1B ALM-SG are disconnected when power is switched off or the protective circuit is activated to shut off the base circuit. Without alarm, ALM-SG are connected within about 1s after power-on.
Page 59 3. SIGNALS AND WIRING Devices Connector Device name Functions/Applications symbol pin No. Point table No. output 1 As soon as Movement finish (MEND) turns on, the point table No. is output as a 5- bit code. Point table No. output 2 (Note) Output signal Point table No.
Page 60 3. SIGNALS AND WIRING (2) Input signal For the input interfaces (symbols in I/O column in the table), refer to section 3.6.2. Signal Connector Signal Functions/Applications symbol pin No. division Manual pulse CN1A-3 Used to connect the manual pulse generator (MR-HDP01). generator For details, refer to section 14.1.8.
Page 61 3. SIGNALS AND WIRING (4) Communication POINT Refer to chapter 15 for the communication function. Signal Connector Signal Functions/Applications symbol pin No. RS-422 I/F RS-422 and RS-232C functions cannot be used together. Choose either one in parameter No. 16. RS-422 termination Termination resistor connection terminal of RS-422 interface.
Page 62: Detailed Description Of Signals (Devices)
3. SIGNALS AND WIRING 3.4 Detailed description of signals (devices) 3.4.1 Forward rotation start Reverse rotation start Temporary stop/restart (1) A forward rotation start (ST1) or a reverse rotation start (ST2) should make the sequence which can be used after the main circuit has been established. These signals are invalid if it is switched on before the main circuit is established.
Page 63: Movement Finish Rough Match In Position
3. SIGNALS AND WIRING 3.4.2 Movement finish Rough match In position POINT If an alarm cause, etc. are removed and servo-on occurs after a stop is made by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic operation, Movement finish (MEND), Rough-match, (CPO) and In position (INP) are turned on.
Page 64 3. SIGNALS AND WIRING (3) In position The following timing chart shows the relationship between the signal and the feedback pulse of the servo motor. This timing can be changed using parameter No. 6 (in-position range). INP-SG are connected in the servo-on status. Forward rotation start (ST1) or reverse rotation start (ST2) In-position range...
Page 65: Override
3. SIGNALS AND WIRING 3.4.3 Override POINT When using the override (VC), make the override selection (OVR) device available. The override (VC) may be used to change the servo motor speed. The following table lists the signals and parameter related to the override. Item Name Remarks...
Page 66: Torque Limit
3. SIGNALS AND WIRING 3.4.4 Torque limit POINT To use the torque limit, make the external torque limit selection (TL) and internal torque limit selection (TL2) available. The following table lists the signals and parameters related to the torque limit. Item Name Remarks...
Page 67 3. SIGNALS AND WIRING (3) External torque limit selection (TL), internal torque limit selection (TL2) To use the external torque limit selection (TL) and internal torque limit selection (TL2), make them available using the MR Configurator (servo configuration software) (refer to chapter 6). These input signals may be used to choose the torque limit values made valid.
Page 68: Alarm Occurrence Timing Chart
3. SIGNALS AND WIRING 3.5 Alarm occurrence timing chart 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 CAUTION operation. As soon as an alarm occurs, turn off Servo-on (SON) and power off. When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop.
Page 69: Interfaces
3. SIGNALS AND WIRING 3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line. CN1A CN1A CN1B CN1B 24VDC ALM,etc DO-1 SON,etc. Dl-1 Manual pulse generator MR-HDP01 PP(NP) A(B) <Isolated> 15VDC 10% 30mA P15R LA,etc Differential line driver LAR,etc...
Page 70: Detailed Description Of The Interfaces
3. SIGNALS AND WIRING 3.6.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in sections 3.3.2. Refer to this section and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.
Page 71 3. SIGNALS AND WIRING (b) Lamp load For use of internal power supply For use of external power supply Servo amplifier Servo amplifier Do not connect 24VDC 24VDC VDD-COM. (Note) 24VDC ALM, etc ALM, etc Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to 26.4V) from external source.
Page 72 3. SIGNALS AND WIRING 2) Output pulse Servo motor CCW rotation The time cycle (T) is determined by the setting of the parameter No. 27 and 58. 400 s or more (4) Analog input Input impedance 10k to 12k Servo amplifier 15VDC P15R Upper limit setting 2k...
Page 73 3. SIGNALS AND WIRING (6) Source input interface When using the input interface of source type, all Dl-1 input signals are of source type. Source output cannot be provided. For use of internal power supply For use of external power supply Servo amplifier Servo amplifier R: Approx.
Page 74: Input Power Supply Circuit
3. SIGNALS AND WIRING 3.7 Input power supply circuit Always connect a magnetic contactor (MC) between the main circuit power supply and L and L of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may CAUTION cause a fire when the servo amplifier malfunctions.
Page 75 3. SIGNALS AND WIRING (2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply Forced stop Power supply Servo amplifier 1-phase 100 to 120VAC or 1-phase 230VAC (Note) Forced stop Servo-on Trouble Note : Not provided for 1-phase 100 to 120VAC. 3 - 26...
Page 76: Terminals
3. SIGNALS AND WIRING 3.7.2 Terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to section 12.1. Connection Target Symbol Description (Application) Supply L and L with the following power. For 1-phase 230VAC, connect the power supply to L and leave L open.
Page 77: Power-On Sequence
3. SIGNALS AND WIRING 3.7.3 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above section 3.7.1 using the magnetic contactor with the main circuit power supply (three-phase 200V: L , single-phase 230V single-phase 100V: L ).
Page 78: Connection Of Servo Amplifier And Servo Motor
3. SIGNALS AND WIRING 3.8 Connection of servo amplifier and servo motor 3.8.1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric WARNING shock. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.
Page 79 3. SIGNALS AND WIRING Servo motor Connection diagram Servo amplifier Servo motor U (Red) V (White) Motor W (Black) (Green) 24VDC (Note 1) (Note 2) HC-KFS053 (B) to 73 (B) Electromagnetic HC-MFS053 (B) to 73 (B) brake To be shut off when servo-on (SON) HC-UFS13 (B) to 73 (B) switches off or by Trouble (ALM) Encoder...
Page 80: I/O Terminals
3. SIGNALS AND WIRING 3.8.3 I/O terminals (1) HC-KFS HC-MFS HC-UFS3000r/min series Encoder connector signal arrangement Power supply lead 4-AWG19 0.3m (0.98ft.) Power supply connector (Molex) Without electromagnetic brake 5557-04R-210 (receptacle) Encoder cable 0.3m (0.98ft.) 5556PBTL (Female terminal) With connector 1-172169-9 With electromagnetic brake (Tyco Electronics) 5557-06R-210 (receptacle)
Page 81 3. SIGNALS AND WIRING (2) HC-SFS HC-RFS HC-UFS2000 r/min series Servo motor side connectors Servo motor Electromagnetic For power supply For encoder brake connector HC-SFS81(B) The connector CE05-2A22- HC-SFS52(B) to 152(B) for power is 23PD-B HC-SFS53(B) to 153(B) shared. HC-SFS121(B) to 301(B) CE05-2A24- HC-SFS202(B) to 502 (B) 10PD-B...
Page 82: Servo Motor With Electromagnetic Brake
3. SIGNALS AND WIRING 3.9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop (EMG). Contacts must be open when Circuit must be servo-on (SON) is off or when a trouble (ALM) opened during...
Page 83 3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on (SON) command (from controller) ON/OFF Tb (ms) after servo-on (SON) is switched off, 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. For use in vertical lift and similar applications, therefore, set delay time (Tb) to the time which is about equal to the electromagnetic brake operation delay time and during which the load will not drop.
Page 84 3. SIGNALS AND WIRING (c) Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Forward Servo motor speed rotation Electromagnetic brake 0r/min (10ms) Base circuit (Note) Electromagnetic brake Electromagnetic operation delay time brake interlock (MBR) (ON) Trouble (ALM) Yes (OFF) Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated.
Page 85 3. SIGNALS AND WIRING (e) Only main circuit power supply off (control circuit power supply remains on) Dynamic brake Dynamic brake (10ms) (10ms) Electromagnetic brake Forward (Note 1) Servo motor speed rotation Electromagnetic brake 15 or more 0r/min Base circuit (Note 3) Electromagnetic brake interlock (MBR)
Page 86: Grounding
3. SIGNALS AND WIRING 3.10 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box. The servo amplifier switches the power transistor on-off to supply power to the servo motor.
Page 87: Servo Amplifier Terminal Block (Te2) Wiring Method
3. SIGNALS AND WIRING 3.11 Servo amplifier terminal block (TE2) wiring method POINT Refer to Table 14.1 in section 14.2.1 for the wire sizes used for wiring. 3.11.1 For the servo amplifier produced later than Jan. 2006 (1) Termination of the cables (a) Solid wire After the sheath has been stripped, the cable can be used as it is.
Page 88 3. SIGNALS AND WIRING (2) Termination of the cables (a) When the wire is inserted directly Insert the wire to the end pressing the button with a small flat blade screwdriver or the like. Button Small flat blade When removing the short-circuit bar screwdriver or the like from across P-D, press the buttons of P and D alternately pulling the...
Page 89: For The Servo Amplifier Produced Earlier Than Dec. 2005
3. SIGNALS AND WIRING 3.11.2 For the servo amplifier produced earlier than Dec. 2005 1) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. Approx. 10mm (0.39inch) Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole.
Page 90 3. SIGNALS AND WIRING Flat-blade screwdriver Tip thickness 0.4 to 0.6mm (0.016 to 0.024in.) Overall width 2.5 to 3.5mm (0.098 to 0.138in.) To loosen. To tighten. Cable Opening Control circuit terminal block Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. The following table indicates the recommended products of the torque screwdriver for tightening torque management and the flat-blade bit for torque screwdriver.
Page 91: Instructions For The 3M Connector
3. SIGNALS AND WIRING 3.12 Instructions for the 3M connector When fabricating an encoder cable or the like, securely 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 Core...
Page 92: Operation
4. OPERATION 4. OPERATION 4.1 When switching power on for the first time 4.1.1 Pre-operation checks Before starting operation, check the following. (1) Wiring (a) A correct power supply is connected to the power input terminals (L ) of the servo amplifier.
Page 93: Startup
4. OPERATION 4.1.2 Startup WARNING Do not operate the switches with wet hands. You may get an electric shock. Before starting operation, check the parameters. Some machines may perform unexpected operation. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, CAUTION servo motor, etc.since they may be hot while power is on or for some time after...
Page 94 4. OPERATION (2) Startup procedure (a) Power on 1) Switch off the servo-on (SON). 2) When main circuit power/control circuit power is switched on, "PoS" (Current position) appears on the servo amplifier display. In the absolute position detection system, first power-on results in the absolute position lost (AL.25) alarm and the servo system cannot be switched on.
Page 95 4. OPERATION (f) Home position return Perform home position return as required. Refer to section 4.4 for home position return types. A parameter setting example for dog type home position return is given here. Parameter Name Setting Description Dog type home position return is selected. Home position return is started in address No.8 Home position return type...
Page 96: Automatic Operation Mode
4. OPERATION 4.2 Automatic operation mode 4.2.1 What is automatic operation mode? (1) Command system After selection of preset point tables using the input signals or communication, operation is started by the forward rotation start (ST1) or reverse rotation start (ST2). Automatic operation has the absolute value command system,...
Page 97 4. OPERATION (2) Point table (a) Point table setting Up to 15 point tables may be set. To use point table No.s 4 to 31, however, the point table No. selection 3 (DI2), point table No. selection 4 (DI3) and point table No. selection 5 (DI4) should be made valid in "I/O Devices"...
Page 98 4. OPERATION (Note 2) Input signals Selected point table No. (Note 1) DI4 (Note 1) DI3 (Note 1) DI2 0 (Manual home position return mode) Note 1. Make signals valid in "I/O Devices" on the MR Configurator (servo configuration software). 2.
Page 99: Absolute Value Command System
4. OPERATION 4.2.2 Absolute value command system (1) Point table Set the point table values using the MR Configurator (servo configuration software) or from the operating section. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table.
Page 100 4. OPERATION (b) ST1 coordinate system selection (parameter No.1) Choose the servo motor rotation direction at the time when the forward rotation start (ST1) is switched on. Servo motor rotation direction Parameter No. 1 setting when forward rotation start (ST1) is switched on CCW rotation with position data CW rotation with...
Page 101: Incremental Value Command System
4. OPERATION 4.2.3 Incremental value command system (1) Point table Set the point table values using the MR Configurator (servo configuration software) or from the operating section. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table.
Page 102 4. OPERATION (b) ST1 coordinate system selection (parameter No.1) Choose the servo motor rotation direction at the time when the forward rotation start (ST1) signal or reverse rotation start (ST2) signal is switched on. Servo motor rotation direction Parameter No.1 setting Forward rotation start (ST1) ON Reverse rotation start (ST2) ON CCW rotation (address incremented)
Page 103: Absolute Value Command/Incremental Value Command Specifying System
4. OPERATION 4.2.4 Absolute value command/incremental value command specifying system This system is an auxiliary function for point tables to use them by specifying the absolute value command and incremental value command. (1) Point table Set each value of point tables by using MR Configurator (Setup software) or operation section. Set to point tables the following, "Position data", "Servo motor speed", "Acceleration time constant", "Deceleration time constant", "Dwell time"...
Page 104 4. OPERATION (2) Parameter setting Set the following parameters to perform automatic operation. (a) Command mode selection (parameter No.0) Choose the absolute value command/incremental value command specifying system. Parameter No. 0 Absolute value command/incremental value command specifying system (b) ST1 coordinate system selection (parameter No.1) Choose the servo motor rotation direction at the time when the forward rotation start (ST1) is switched on.
Page 105: Automatic Operation Timing Chart
4. OPERATION 4.2.5 Automatic operation timing chart The timing chart is shown below. Automatic/manual selection (MD0) Servo-on (SON) (Note 2) 3ms or more Forward rotation start (ST1) 5ms or more Reverse rotation 3ms or more start (ST2) (Note 1) 5ms or more Point table No.
Page 106: Automatic Continuous Operation
4. OPERATION 4.2.6 Automatic continuous operation (1) What is automatic continuous operation? By merely choosing one point table and making a start (ST1 or ST2), operation can be performed in accordance with the point tables having consecutive numbers. Automatic operation is available in two types: varied speed operation and automatic continuous positioning operation.
Page 107 4. OPERATION (a) Absolute value command system 1) Positioning in single direction The position data (addresses) of the midway point tables are not used for positioning and speed is changed continuously to move to the set address in the last point table. The operation example given below assumes that the set values are as indicated in the following table.
Page 108 4. OPERATION 2) Positioning that reverses the direction midway The position data (addresses) of the midway point tables are used for positioning and the direction is reversed to reach the positioning address set in the last point table. The operation example given below assumes that the set values are as indicated in the following table.
Page 109 4. OPERATION (b) Incremental value command system The position data of the incremental value command system is the sum of the position data of the consecutive point tables. The operation example given below assumes that the set values are as indicated in the following table.
Page 110 4. OPERATION (c) Absolute value command/incremental value command specifying system This system is an auxiliary function for point tables to perform automatic operation by specifying the absolute value command or incremental value command. 1) Positioning in single direction The operation example given below assumes that the set values are as indicated in the following table.
Page 111 4. OPERATION 2) Positioning that reverses the direction midway The operation example given below assumes that the set values are as indicated in the following table. Here, the point table No. 1 uses the absolute value command system, the point table No. 2 the incremental value command system, and the point table No.
Page 112 4. OPERATION (4) Temporary stop/restart When STP-SG are connected during automatic operation, the motor is decelerated to a temporary stop at the deceleration time constant in the point table being executed. When STP-SG are connected again, the remaining distance is executed. If the forward/reverse rotation start signal is ignored if it is switched on during a temporary stop.
Page 113: Manual Operation Mode
4. OPERATION 4.3 Manual operation mode For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position. 4.3.1 Jog operation (1) Setting Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No.
Page 114 4. OPERATION (4) Timing chart Servo-on (SON) 80ms Ready (RD) Trouble (ALM) Automatic/manual selection (MD0) Movement finish (MEND) Rough match (CPO) Forward rotation 0r/min Servo motor speed Reverse rotation Forward rotation start Forward rotation jog (ST1) Reverse rotation start Reverse rotation jog (ST2) 4 - 23...
Page 115: Manual Pulse Generator Operation
4. OPERATION 4.3.2 Manual pulse generator operation (1) Setting Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No. selection 1 to 5 (DI0 to DI4) are invalid. Item Setting method Description Manual operation mode selection...
Page 116 4. OPERATION (b) Using the input signals for setting Set the pulse generator multiplication 1 (TP0) and pulse generator multiplication 2 (TP1) to the input signals in "Device setting" on the MR Configurator (servo configuration software) (refer to chapter 6). (Note) Pulse generator (Note) Pulse generator Multiplication ratio of servo motor...
Page 117: Manual Home Position Return Mode
4. OPERATION 4.4 Manual home position return mode 4.4.1 Outline of home position return Home position return is performed to match the command coordinates with the machine coordinates. In the incremental system, home position return is required every time input power is switched on. In the absolute position detection system, once home position return is done at the time of installation, the current position is retained if power is switched off.
Page 118 4. OPERATION (2) Home position return parameter When performing home position return, set parameter No.8 as follows. Parameter No. 8 Home position return method························································1) 0: Dog type 1: Count type 2: Data setting type 3: Stopper type 4: Home position ignorance (Servo-on position as home position) 5: Dog type rear end reference 6: Count type front end reference 7: Dog cradle type...
Page 119: Dog Type Home Position Return
4. OPERATION 4.4.2 Dog type home position return A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.
Page 120 4. OPERATION (3) Timing chart Movement finish (MEND) Rough match (CPO) Home position return completion (ZP) Home position shift Point table No. 1 Home position return Point table No. 1 distance Parameter No. 11 Deceleration time constant speed Parameter No. 9 Acceleration time Creep speed Home position...
Page 121: Count Type Home Position Return
4. OPERATION 4.4.3 Count type home position return In count type home position return, a motion is made over the distance set in parameter No.43 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Z- phase signal is given after that is defined as a home position.
Page 122: Data Setting Type Home Position Return
4. OPERATION 4.4.4 Data setting type home position return Data setting type home position return is used when it is desired to determine any position as a home position. JOG operation, manual pulse generator operation or like can be used for movement. (1) Signals, parameters Set the input signals and parameters as follows.
Page 123: Stopper Type Home Position Return
4. OPERATION 4.4.5 Stopper type home position return In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation, manual pulse generator operation or the like to make a home position return and that position is defined as a home position.
Page 124 4. OPERATION (2) Timing chart Automatic/manual selection (MD0) Movement finish (MEND) Rough match (CPO) Home position return completion (ZP) Point table No.1 Home position address Home position return Acceleration time constant Parameter No. 42 speed Parameter No.9 Servo motor speed 3ms or less Stopper Forward rotation start...
Page 125: Home Position Ignorance (Servo-On Position Defined As Home Position)
4. OPERATION 4.4.6 Home position ignorance (servo-on position defined as home position) The position where servo is switched on is defined as a home position. (1) Signals, parameter Set the input signals and parameter as follows. Item Device/Parameter used Description Home position ignorance Parameter No.8 4 : Home position ignorance is selected.
Page 126: Dog Type Rear End Reference Home Position Return
4. OPERATION 4.4.7 Dog type rear end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the rear end of a proximity dog. Hence, if a home position return is made at the creep speed of 100r/min, an error of 200 pulses will occur in the home position.
Page 127: Count Type Front End Reference Home Position Return
4. OPERATION 4.4.8 Count type front end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the front end of a proximity dog. Hence, if a home position return is made at the home position return speed of 100r/min, an error of 200 pulses will occur in the home position.
Page 128: Dog Cradle Type Home Position Return
4. OPERATION 4.4.9 Dog cradle type home position return The position where the first Z-phase signal is issued after detection of the proximity dog front end can be defined as a home position. (1) Signals, parameters Set the input signals and parameters as indicated below. Item Device/Parameter used Description...
Page 129: Home Position Return Automatic Return Function
4. OPERATION 4.4.10 Home position return automatic return function If the current position is at or beyond the proximity dog in the home position return using the proximity dog, this function starts home position return after making a return to the position where the home position return can be made.
Page 130: Automatic Positioning Function To The Home Position
4. OPERATION 4.4.11 Automatic positioning function to the home position POINT You cannot perform automatic positioning from outside the position data setting range to the home position. In this case, make a home position return again using a manual home position return. If this function is used when returning to the home position again after performing a manual home position return after a power-on and deciding the home position, automatic positioning can be carried out to the home position at high speed.
Page 131: Absolute Position Detection System
4. OPERATION 4.5 Absolute position detection system If an absolute position erase alarm (AL.25) or an absolute position counter warning CAUTION (AL.E3) has occurred, always perform home position setting again. Not doing so can cause runaway. POINT When the following parameters are changed, the home position is lost when turning on the power after the change.
Page 132 4. OPERATION (3) Structure Component Description Servo amplifier Use standard models. Servo motor Battery MR-BAT or A6BAT Use a standard model. Encoder cable When fabricating, refer to (2), section 14.1.4. (4) Outline of absolute position detection data communication For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
Page 133 4. OPERATION 1) Open the operation window. (When the model used is the MR-J2S-200CP MR-J2S-350CP or more, also remove the front cover.) 2) Install the battery in the battery holder. 3) Install the battery connector into CON1 until it clicks. Battery connector Battery connector Operation window...
Page 134: Serial Communication Operation
4. OPERATION 4.6 Serial communication operation The RS-422 or RS-232C communication function may be used to operate the servo amplifier from a command device (controller) such as a personal computer. Positioning operation can be performed with the positioning operation/position specified by selection of the point tables. Note that the RS-422 and RS- 232C communication functions cannot be used at the same time.
Page 135: Positioning Operation
Always set one station number to one servo amplifier. Normal communication cannot be made if one station number is set to two or more servo amplifiers. When using one command to operate several servo amplifiers, use the group designation function described in section 4.6.4. MITSUBISHI MITSUBISHI MITSUBISHI...
Page 136: Group Designation
When using several servo amplifiers, command-driven parameter settings, etc. can be made on a group basis. You can set up to six groups, a to f. Set the group to each station using the communication command. (1) Group setting example Group a Group b MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI To CN3...
Page 137 4. OPERATION (2) Timing chart In the following timing chart, operation is performed group-by-group in accordance with the values set in point table No.1. Transmission data Station 0 Servo motor speed Station 1 Servo motor speed Station 2 Servo motor Group a speed Station 3...
Page 138: Parameters
5. PARAMETERS 5. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. 5.1 Parameter list 5.1.1 Parameter write inhibit POINT Set "000E" when using the MR Configurator (servo configuration software) to make device setting. After setting the parameter No.19 value, switch power off, then on to make that setting valid.
Page 139: List
5. PARAMETERS 5.1.2 List POINT The parameters marked * before their symbols are made valid by switching power off once and then switching it on again after parameter setting. Refer to the corresponding reference items for details of the parameters. (1) Item list Customer Class No.
Page 140 5. PARAMETERS Customer Class No. Symbol Name and Function Initial value Unit setting *OP2 Function selection 2 0000 For manufacturer setting 0002 *OP4 Function selection 4 0000 Serial communications time-out selection Feed forward gain Override offset Torque limit offset *ENR Encoder output pulses 4000 pulse/rev...
Page 141 5. PARAMETERS Customer Class No. Symbol Name and Function Initial value Unit setting For manufacturer setting 0000 *OP6 Function selection 6 0000 For manufacturer setting 0000 *OP8 Function selection 8 0000 *OP9 Function selection 9 0000 *OPA Function selection A 0000 For manufacturer setting 0000...
Page 142 5. PARAMETERS (2) Detail list Initial Setting Class No. Symbol Name and Function Unit value range Command system, regenerative option selection *STY 0000 Refer to Used to select the command system and regenerative option. Name function Selection of command system (Refer to section 4.2) column.
Page 143 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Function selection 1 *OP1 0002 Refer to Used to select the input filter and absolute position detection system. Name function column. Input filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it.
Page 144 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *CMX Electronic gear numerator 0 to Set the value of electronic gear numerator. Setting "0" automatically sets the 65535 resolution of the servo motor connected. (Refer to section 5.2.1) *CDV Electronic gear denominator 1 to...
Page 145 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *BPS Serial communication function selection, alarm history clear 0000 Refer to Used to select the serial communication baud rate, select various Name communication conditions, and clear the alarm history. function column.
Page 146 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *DMD Status display selection 0000 Refer to Used to select the status display shown at power-on. (Refer to section 7.2) Name function Status display on servo amplifier display column.
Page 147 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *BLK Parameter write inhibit 0000 Refer to Used to select the reference and write ranges of the parameters. Name Operation can be performed for the parameters marked function Expansion parameters 2 Basic...
Page 148 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Feed forward gain 0 to 100 Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot.
Page 149 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Analog monitor 1 (MO1) offset 999 to Used to set the offset voltage of the analog monitor 1 (MO1) output. Analog monitor 2 (MO2) offset 999 to Used to set the offset voltage of the analog monitor 2 (MO2) output.
Page 150 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *LMP Software limit 999999 Used to set the address increment side software stroke limit. The software limit is made invalid if this value is the same as in "software limit ".
Page 151 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range For manufacturer setting 0000 Do not change this value by any means. *OP6 Function selection 6 0000 Refer to Used to select how to process the base circuit when reset (RES) is valid. Name function column.
Page 152 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *OPA Function selection A 0000 Refer to Used to select the alarm code. Name function column. Rotation direction in which torque limit is made valid Setting CCW direction CW direction Setting of alarm code output Connector pins...
Page 153 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range For manufacturer setting 0000 Do not change this value by any means. Machine resonance suppression filter 1 0000 Refer to Used to selection the machine resonance suppression filter. Name (Refer to section 9.1.) function...
Page 154 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range Low-pass filter/adaptive vibration suppression control 0000 Refer to Used to selection the low-pass filter and adaptive vibration suppression Name control. (Refer to chapter 9) function column. Low-pass filter selection 0: Valid (Automatic adjustment) 1: Invalid When you choose "valid", the filter of the handwidth...
Page 155 5. PARAMETERS Initial Setting Class No. Symbol Name and Function Unit value range *CDP Gain changing selection 0000 Refer to Used to select the gain changing condition. (Refer to section 9.5) Name function column. Gain changing selection Gains are changed in accordance with the settings of parameters No.
Page 156: Detailed Explanation
5. PARAMETERS 5.2 Detailed explanation 5.2.1 Electronic gear CAUTION False setting will result in unexpected fast rotation, causing injury. POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. The range of the electronic gear setting is 1000 .
Page 157: Changing The Status Display Screen
5. PARAMETERS 5.2.2 Changing the status display screen The status display item of the servo amplifier display and the display item of the external digital display (MR-DP60) shown at power-on can be changed by changing the parameter No.18 (status display selection) settings.
Page 158: S-Pattern Acceleration/Deceleration
5. PARAMETERS 5.2.3 S-pattern acceleration/deceleration In servo operation, linear acceleration/deceleration is usually made. By setting the S-pattern acceleration/deceleration time constant (parameter No.14), a smooth start/stop can be made. When the S- pattern time constant is set, smooth positioning is executed as shown below. When the S-pattern acceleration/deceleration time constant is set, the time from when the positioning starts until the movement finish (MEND) is output will increase by the time equivalent to the S-pattern time constant setting.
Page 159 5. PARAMETERS (2) Contents of a setting The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 and the torque to analog monitor 2. The setting can be changed as listed below by changing the parameter No.17 (analog monitor output) value.
Page 160 5. PARAMETERS Command Current Droop pulse speed command Bus voltage Speed differentiation command Current encoder Position Current Speed Command Servo Motor control control control position Encoder Current feedback Differ- ential Position feedback Servo Motor Torque speed 5 - 23...
Page 161: Changing The Stop Pattern Using A Limit Switch
5. PARAMETERS 5.2.5 Changing the stop pattern using a limit switch The servo amplifier is factory-set to make a sudden stop when the limit switch or software limit is made valid. When a sudden stop is not required, e.g. when there is an allowance from the limit switch installation position to the permissible moving range of the machine, a slow stop may be selected by changing the parameter No.22 setting.
Page 162: Mr Configurator (Servo Configuration Software)
6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6. MR Configurator (SERVO CONFIGURATION SOFTWARE) POINT Some functions of the MR Configurator (servo configuration software) may be unavailable for some versions. For details, please contact us. The MR Configurator (servo configuration software) (MR2JW3-SETUP151E or more) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc.
Page 163 6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (2) Configuration diagram (a) For use of RS-232C Servo amplifier Personal computer Communication cable Servo motor To RS-232C connector (b) For use of RS-422 Up to 32 axes may be multidropped. Servo amplifier Personal computer RS-232C/RS-422 (Note 1) converter...
Page 164: Station Setting
6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.3 Station setting Click “System” on the menu bar and click “Station Selection” on the menu. When the above choices are made, the following window appears. (1) Station number setting Choose the station number in the combo box and click the “Station Settings” button to set the station number.
Page 165: Parameters
6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.4 Parameters Click “Parameters” on the menu bar and click “Parameter List” on the menu. When the above choices are made, the following window appears. (1) Parameter value write ( a) ) Click the parameter whose setting was changed and press the “Write” button to write the new parameter setting to the servo amplifier.
Page 166 6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (3) Parameter value batch-read ( c) ) Click the “Read All” button to read and display all parameter values from the servo amplifier. (4) Parameter value batch-write ( d) ) Click the “Write All” button to write all parameter values to the servo amplifier. (5) Parameter change list display ( e) ) Click the “Change List”...
Page 167: Point Table
6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.5 Point table Click “Position-Data” on the menu bar and click “Point Tables” on the menu. When the above choices are made, the following window appears. (1) Point table data write ( a) ) Click the point table data changed and press the “Write”...
Page 168 6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (3) Point table data batch-read ( c) ) Click the “Read All” button to read and display all point table data from the servo amplifier. (4) Point table data batch-write ( d) ) Click the “Write All” button to write all point table data to the servo amplifier. (5) Point table data insertion ( e) ) Click the “Insert Row”...
Page 169: Device Assignment Method
6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.6 Device assignment method POINT When using the device setting, preset “000E” in parameter 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.
Page 170 6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (2) Screen explanation (a) DIDO device setting window screen This is the device assignment screen of the servo amplifier displays the pin assignment status of the servo amplifier. 1) Read of function assignment ( a) ) Click the “Read”...
Page 171 6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (b) DIDO function display window screen This screen is used to select the device assigned to the pins. The functions displayed below * and * are assignable. Move the pointer to the place of the function to be assigned. Drag and drop it as-is to the pin you want to assign in the DIDO device setting window.
Page 172 6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (c) Function device assignment checking auto ON setting display Click the “ / ” button in the DIDO function display window displays the following window. The assigned functions are indicated by The functions assigned by auto ON are grayed. When you want to set auto ON to the function that is enabled for auto ON, click the corresponding cell.
Page 173: Test Operation
6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.7 Test operation When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) CAUTION operates. If any operational fault has occurred, stop operation using the forced stop (EMG). 6.7.1 Jog operation POINT For the program operation, refer to the manual of MR Configurator.
Page 174 6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (1) Servo motor speed setting ( a) ) Enter a new value into the “Motor speed” input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the “Accel/decel time” input field and press the enter key. (3) Servo motor start ( c), d) ) Hold down the “Forward”...
Page 175: Positioning Operation
6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.7.2 Positioning operation POINT The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn ON across these signals and SG.
Page 176 6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (1) Servo motor speed setting ( a) ) Enter a new value into the “Motor speed” input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the “Accel/decel time” input field and press the enter key. (3) Moving distance setting ( c) ) Enter a new value into the “Move distance”...
Page 177: Motor-Less Operation
6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.7.3 Motor-less operation POINT When this operation is used in an absolute position detection system, the home position cannot be restored properly. Without a servo motor being connected, the output signals are provided and the servo amplifier display shows the status as if a servo motor is actually running in response to the external I/O signals.
Page 178: Output Signal (Do) Forced Output
6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.7.4 Output signal (DO) forced output POINT When an alarm occurs, the DO forced output is automatically canceled. Each servo amplifier output signal is forcibly switched on/off independently of the output condition of the output signal.
Page 179: Single-Step Feed
6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.7.5 Single-step feed POINT In the jog operation mode, do not rewrite data from the point table list screen or the servo amplifier's front panel. Otherwise, the set values are made invalid. The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off.
Page 180: Alarm History
6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.8 Alarm history Click “Alarms” on the menu bar and click “History” on the menu. When the above choices are made, the following window appears. (1) Alarm history display The most recent six alarms are displayed. The smaller numbers indicate newer alarms. (2) Alarm history clear Click the “Clear”...
Page 181 6. MR Configurator (SERVO CONFIGURATION SOFTWARE) MEMO 6 - 20...
Page 182: Display And Operation
7. DISPLAY AND OPERATION 7. DISPLAY AND OPERATION 7.1 Display flowchart Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status.
Page 183: Status Display
7. DISPLAY AND OPERATION 7.2 Status display 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 data is selected, the corresponding symbol appears.
Page 184: Display Examples
7. DISPLAY AND OPERATION 7.2.2 Display examples The following table lists display examples. Displayed data Item Status Servo amplifier display MR-DP60 Forward rotation at 2500r/min Servo motor speed Reverse rotation at 3000r/min Reverse rotation is indicated by " ". Load inertia 15.5 times moment 11252pulse...
Page 185: Status Display List
7. DISPLAY AND OPERATION 7.2.3 Status display list The following table lists the servo statuses that may be shown. Display range Status display Symbol Unit Description Servo amplifier MR-DP60 display Current The current position from the machine home position of 0 is 99999 to 999999 to position...
Page 186: Diagnosis Mode
7. DISPLAY AND OPERATION 7.3 Diagnosis mode 7.3.1 Display transition After choosing the diagnosis mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below. To Teaching Sequence Software version Low External I/O signal display Software version High Output signal (DO) For manufacturer setting...
Page 187: Diagnosis Mode List
7. DISPLAY AND OPERATION 7.3.2 Diagnosis mode list Name Display Description Not ready. Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. Indicates the ON-OFF states of the external I/O signals.
Page 188 7. DISPLAY AND OPERATION Name Display Description Press the "SET" button to show the motor series ID of the servo motor currently connected. Motor series For indication details, refer to the optional MELSERVO Servo Motor Instruction Manual. Press the "SET" button to show the motor type ID of the servo motor currently connected.
Page 189: Alarm Mode
7. DISPLAY AND OPERATION 7.4 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below.
Page 190: Alarm Mode List
7. DISPLAY AND OPERATION 7.4.2 Alarm mode list Name Display Description Indicates no occurrence of an alarm. Current alarm Indicates the occurrence of overvoltage (AL.33). Flickers at occurrence of the alarm. Indicates that the last alarm is overload 1 (AL.50). Indicates that the second alarm in the past is overvoltage (AL.33).
Page 191 7. DISPLAY AND OPERATION Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation area. At this time, the decimal point in the fourth digit remains flickering. (3) For any alarm, remove its cause and clear it in any of the following methods (for clearable alarms, refer to section 11.2.1).
Page 192: Point Table Mode
7. DISPLAY AND OPERATION 7.5 Point table mode You can set the target position, servo motor speed, acceleration time, deceleration time, dwell and auxiliary function. 7.5.1 Point table transition After choosing the point table mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.
Page 193: Point Table Mode Setting Screen Sequence
7. DISPLAY AND OPERATION 7.5.2 Point table mode setting screen sequence Press "SET" in the point table mode. The following screen appears. Press "UP" or "DOWN" to move to the next screen. Target position Servo motor speed Acceleration time constant Deceleration time constant DOWN Dwell...
Page 194: Operation Method
7. DISPLAY AND OPERATION 7.5.3 Operation method (1) Setting of 5 or less-digit value The following example provides the after-power-on operation procedure to set "1" in the auxiliary function of point table No.1. (Note) Press MODE three times. ··········The point table No. appears. Press UP or DOWN to choose point table No.
Page 195 7. DISPLAY AND OPERATION (2) Setting of 6 or more-digit value The following example gives the after-power-on operation procedure to change the target value of point table No.1 to "123456". (Note) Press MODE three times. Press UP or DOWN to choose point table No. 1. Press SET once.
Page 196: Parameter Mode
7. DISPLAY AND OPERATION 7.6 Parameter mode POINT To use the expansion parameters, change the parameter No. 19 (parameter write inhibit) value. (Refer to section 5.1.1) 7.6.1 Parameter mode transition After choosing the corresponding parameter mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.
Page 197: Operation Example
7. DISPLAY AND OPERATION 7.6.2 Operation example (1) Parameter of 5 or less digits The following example shows the operation procedure performed after power-on to change the home position setting method (Parameter No.8) into the data setting type. Press "MODE" to switch to the basic parameter screen.
Page 198 7. DISPLAY AND OPERATION (2) Signed 5-digit parameter The following example gives the operation procedure to change the home position return position data (parameter No. 42) to "-12345". (Note) Press MODE three times. Press UP or DOWN to choose parameter No. 42. Press SET once.
Page 199: External I/O Signal Display
7. DISPLAY AND OPERATION 7.7 External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. Press UP once.
Page 200: Output Signal (Do) Forced Output
7. DISPLAY AND OPERATION 7.8 Output signal (DO) forced output POINT When the servo system is used in a vertical lift application, turning on the electromagnetic brake interlock (MBR) after assigning it to pin CN1B-19 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.
Page 201: Test Operation Mode
7. DISPLAY AND OPERATION 7.9 Test operation mode The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. CAUTION Always use the servo motor alone. If any operational fault has occurred, stop operation using the forced stop (EMG) .
Page 202: Jog Operation
7. DISPLAY AND OPERATION 7.9.2 Jog operation Jog operation can be performed when there is no command from the external command device. (1) Operation Connect EMG-SG to start jog operation and connect VDD-COM to use the internal power supply. Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the MR Configurator (servo configuration software), you can change the operation conditions.
Page 203: Positioning Operation
7. DISPLAY AND OPERATION 7.9.3 Positioning operation POINT The MR Configurator (servo configuration software) is required to perform positioning operation. Positioning operation can be performed once when there is no command from the external command device. (1) Operation Connect EMG-SG to start positioning operation and connect VDD-COM to use the internal power supply.
Page 204: Motor-Less Operation
7. DISPLAY AND OPERATION 7.9.4 Motor-less operation Without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals. This operation can be used to check the sequence of a host programmable controller or the like.
Page 205: Teaching Function
7. DISPLAY AND OPERATION 7.10 Teaching function POINT This function is available for the absolute value command system. It is not available for the incremental value command system. This function is enabled after a home position return. After making sure that the servo motor has stopped, press the "SET" button in the operation section or turn teach (TCH) ON and set the position data.
Page 206: Position Data Setting Method
7. DISPLAY AND OPERATION 7.10.2 Position data setting method When the preparations for teaching are over, set position data in the following procedure. (1) When determining position data by JOG operation 1) Turn automatic/manual selection (MD0) OFF to choose the manual operation mode. (Refer to section 4.3) 2) Turn forward rotation start (ST1) or reverse rotation start (ST2) ON to rotate the servo motor until the target position is reached.
Page 207 7. DISPLAY AND OPERATION MEMO 7 - 26...
Page 208: General Gain Adjustment
8. GENERAL GAIN ADJUSTMENT 8. GENERAL GAIN ADJUSTMENT 8.1 Different adjustment methods 8.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1 and manual mode 2 in this order.
Page 209: Adjustment Using Mr Configurator (Servo Configuration Software)
8. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Used when you want to Interpolation made for 2 or more match the position gain axes? (PG1) between 2 or more Interpolation mode axes. Normally not used for other purposes.
Page 210 8. GENERAL GAIN ADJUSTMENT 8.2 Auto tuning 8.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function 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 servo amplifier.
Page 211: Auto Tuning Mode Operation
8. GENERAL GAIN ADJUSTMENT 8.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia Automatic setting moment Encoder Control gains Command Current Servo PG1,VG1 control motor PG2,VG2,VIC Current feedback Real-time auto Position/speed Set 0 or 1 to turn on. tuning section feedback Load inertia...
Page 212: Adjustment Procedure By Auto Tuning
8. GENERAL GAIN ADJUSTMENT 8.2.3 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 the machine. Merely changing the response level setting value as required completes the adjustment.
Page 213: Response Level Setting In Auto Tuning Mode
8. GENERAL GAIN ADJUSTMENT 8.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No.3) of the whole servo system. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration.
Page 214: Manual Mode 1 (Simple Manual Adjustment)
8. GENERAL GAIN ADJUSTMENT 8.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 8.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.
Page 215 8. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed control gain 2 (parameter No. 37) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.
Page 216 8. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (parameter No. 7) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling.
Page 217: Interpolation Mode
8. GENERAL GAIN ADJUSTMENT 8.4 Interpolation mode The interpolation mode is used to match the position 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 track ability are set manually and the other parameter for gain adjustment are set automatically.
Page 218: Differences In Auto Tuning Between Melservo-J2 And Melservo-J2-Super
8. GENERAL GAIN ADJUSTMENT 8.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super 8.5.1 Response level setting To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level setting range from the MELSERVO-J2 series. The following table lists comparison of the response level setting.
Page 219 8. GENERAL GAIN ADJUSTMENT MEMO 8 - 12...
Page 220: Special Adjustment Functions
9. SPECIAL ADJUSTMENT FUNCTIONS 9. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 8. If a mechanical system has a natural resonance point, increasing the servo system response may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
Page 221 9. SPECIAL ADJUSTMENT FUNCTIONS You can use the machine resonance suppression filter 1 (parameter No. 61) and machine resonance suppression filter 2 (parameter No. 62) to suppress the vibration of two resonance frequencies. Note that if adaptive vibration suppression control is made valid, the machine resonance suppression filter 1 (parameter No.
Page 222: Adaptive Vibration Suppression Control
9. SPECIAL ADJUSTMENT FUNCTIONS POINT If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.
Page 223: Low-Pass Filter
9. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (parameter No.63). Parameter No. 63 Adaptive vibration suppression control selection Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 (parameter No. 61) invalid. 0: Invalid 1: Valid Machine resonance frequency is always detected to...
Page 224: Gain Changing Function
9. SPECIAL ADJUSTMENT FUNCTIONS 9.5 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. 9.5.1 Applications This function is used when. (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.
Page 225: Parameters
9. SPECIAL ADJUSTMENT FUNCTIONS 9.5.3 Parameters When using the gain changing function, always set " " in parameter No.3 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.
Page 226 9. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. 7, 34 to 38 These parameters are the same as in ordinary manual 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.
Page 227: Gain Changing Operation
9. SPECIAL ADJUSTMENT FUNCTIONS 9.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. Abbreviation Name Setting Unit Position control gain 1 rad/s Speed control gain 1 1000 rad/s Ratio of load inertia moment to...
Page 228 9. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Name Setting Unit Position control gain 1 rad/s Speed control gain 1 1000 rad/s Ratio of load inertia moment to 0.1 times servo motor inertia moment Position control gain 2 rad/s Speed control gain 2...
Page 229 9. SPECIAL ADJUSTMENT FUNCTIONS MEMO 9 - 10...
Page 230: Inspection
10. INSPECTION 10. INSPECTION Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 231 10. INSPECTION MEMO 10 - 2...
Page 232: Troubleshooting
11. TROUBLESHOOTING 11. TROUBLESHOOTING 11.1 Trouble at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable. POINT Using the MR Configurator (servo configuration software), you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up.
Page 233: When Alarm Or Warning Has Occurred
11. TROUBLESHOOTING 11.2 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (SON) signal at occurrence of an alarm. 11.2.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to section 11.2.2 or 11.2.3 and take the appropriate action.
Page 234: Remedies For Alarms
11. TROUBLESHOOTING 11.2.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. CAUTION If an absolute position erase alarm (AL.25) occurred, always make home position setting again.
Page 235 11. TROUBLESHOOTING Display Name Definition Cause Action AL.17 Board error CPU/parts fault 1. Faulty parts in the servo amplifier. Change the servo amplifier. Checking method Alarm (AL.17) occurs if power is switched on after disconnection of all cable but the control circuit power supply cable.
Page 236 11. TROUBLESHOOTING Display Name Definition Cause Action AL.30 Regenerative Permissible 1. Wrong setting of parameter No. 0 Set correctly. error regenerative power 2. Built-in regenerative resistor or Connect correctly of the built-in regenerative option is not regenerative resistor connected. or regenerative 3.
Page 237 11. TROUBLESHOOTING Display Name Definition Cause Action AL.32 Overcurrent Current that flew is 1. Short occurred in servo amplifier Correct the wiring. higher than the output phases U, V and W. permissible current 2. Transistor (IPM) of the servo Change the servo amplifier. of the servo amplifier faulty.
Page 238 11. TROUBLESHOOTING Display Name Definition Cause Action AL.37 Parameter Parameter setting is 1. Servo amplifier fault caused the Change the servo amplifier. error wrong. parameter setting to be rewritten. 2. Regenerative option not used with Set parameter No.0 correctly. servo amplifier was selected in parameter No.0.
Page 239 11. TROUBLESHOOTING Display Name Definition Cause Action AL.51 Overload 2 Machine collision or 1. Machine struck something. 1. Review operation pattern. the like caused max. 2. Install limit switches. For the time of the 2. Wrong connection of servo motor. Connect correctly.
Page 240: Remedies For Warnings
11. TROUBLESHOOTING 11.2.3 Remedies for warnings If an absolute position counter warning (AL.E3) occurred, always make home CAUTION 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 and servo motor may become faulty.
Page 241: Mr-Dp60 External Digital Display Error
11. TROUBLESHOOTING Display Name Definition Cause Action AL.98 Software limit Software limit set in 1. Software limit was set within actual Set parameter No. 48 to 51 warning parameter is reached. operation range. correctly. 2. Point table of position data in excess of Set point table correctly.
Page 242: Outline Dimension Drawings
12.1 Servo amplifiers (1) MR-J2S-10CP to MR-J2S-60CP MR-J2S-10CP1 to MR-J2S-40CP1 [Unit: mm] ([Unit: in]) Approx.70 (2.76) 135 (5.32) 6 ( 0.24) mounting hole Terminal layout (Terminal cover open) MITSUBISHI MITSUBISHI OPEN OPEN Name plate (Note) PE terminal (0.24) 4(0.16) Variable dimensions...
Page 243 12. OUTLINE DIMENSION DRAWINGS (2) MR-J2S-70CP MR-J2S-100CP [Unit: mm] 6 ( 0.24) 70(2.76) ([Unit: in]) mounting hole Approx.70(2.76) 190(7.48) Terminal layout (0.87) (Terminal cover open) MITSUBISHI MITSUBISHI OPEN OPEN Name plate PE terminal 6(0.24) 6(0.24) (0.87) (1.65) 6(0.24) Mass Servo amplifier...
Page 244 (3) MR-J2S-200CP MR-J2S-350CP [Unit: mm] ([Unit: in]) 2- 6 ( 0.24) Approx.70 (2.76) 195(7.68) 90(3.54) mounting hole 78(3.07) (0.24) Terminal layout MITSUBISHI MITSUBISHI PE terminal Cooling fan wind direction Mass Servo amplifier [kg]([lb]) MR-J2S-200CP (4.41) MR-J2S-350CP Terminal signal layout PE terminals...
Page 245 (4) MR-J2S-500CP 2- 6( 0.24) [Unit: mm] mounting hole ([Unit: in]) (0.24) 130(5.12) (0.24) Approx.70 200(7.87) (2.76) 118(4.65) (0.19) 5 Terminal layout MITSUBISHI OPEN MITSUBISHI OPEN OPEN N.P. N.P. 6(0.24) Cooling fan Cooling fan wind direction Mass Servo amplifier [kg]([lb]) MR-J2S-500CP 4.9(10.8)
Page 246 [Unit: mm] mounting hole ([Unit: in]) Approx.70 200(7.87) 180(7.09) (0.39) 160(6.23) 138(5.43) (2.76) 6(0.24) (2.44) (0.39) Terminal layout MITSUBISHI MITSUBISHI OPEN OPEN OPEN Cooling fan 6 (0.24) Cooling fan wind direction Mass Servo amplifier [kg]([lb]) MR-J2S-700CP 7.2(15.9) Terminal signal layout...
Page 247: Connectors
12. OUTLINE DIMENSION DRAWINGS 12.2 Connectors (1) Servo amplifier side <3M > (a) Soldered type Model [Unit: mm] Connector : 10120-3000VE ([Unit: in]) Shell kit : 10320-52F0-008 12.0(0.47) 14.0 (0.55) 22.0 (0.87) Logo, etc. are indicated here. 33.3 (1.31) 12.7(0.50) (b) Threaded type Model [Unit: mm]...
Page 248 12. OUTLINE DIMENSION DRAWINGS (2) Communication cable connector <JAE> [Unit: mm] ([Unit: in]) Fitting fixing screw G E (max. diameter of cable used) Type 0.25 reference DE-C1-J6-S6 34.5 (1.36) 19 (0.75) 24.99 (0.98) 33 (1.30) 6 (0.24) 18 (0.71) #4-40 12 - 7...
Page 249 12. OUTLINE DIMENSION DRAWINGS MEMO 12 - 8...
Page 250: Characteristics
13. CHARACTERISTICS 13. CHARACTERISTICS 13.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 13.1.
Page 251: Power Supply Equipment Capacity And Generated Loss
13. CHARACTERISTICS 13.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 12.1 indicates servo amplifier's power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 13.1 in consideration for the worst operating conditions.
Page 252 13. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within ( 50 ) at the ambient temperature of 40 (104 ).
Page 253: Dynamic Brake Characteristics
13. CHARACTERISTICS 13.3 Dynamic brake characteristics 13.3.1 Dynamic brake operation (1) Calculation of coasting distance Fig. 13.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 13.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds.
Page 254 13. CHARACTERISTICS 0.045 0.04 0.04 0.035 0.035 0.03 0.03 0.025 0.025 0.02 0.02 0.015 0.015 0.01 0.01 0.005 0.005 1000 1000 1500 2000 Speed [r/min] Speed [r/min] c. HC-SFS1000r/min series d. HC-SFS2000r/min series 0.12 0.018 0.016 0.014 0.012 0.08 0.01 0.06 0.008 0.006...
Page 255: The Dynamic Brake At The Load Inertia Moment
Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. Servo amplifier...
Page 256: Inrush Currents At Power-On Of Main Circuit And Control Circuit
13. CHARACTERISTICS 13.5 Inrush currents at power-on of main circuit and control circuit The following table indicates the inrush currents (reference value) that will flow when the maximum permissible voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of Inrush Currents (A Servo Amplifier Main circuit power supply (L...
Page 257 13. CHARACTERISTICS MEMO 13 - 8...
Page 258: Options And Auxiliary Equipment
14. OPTIONS AND AUXILIARY EQUIPMENT 14. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the WARNING voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur.
Page 259 14. OPTIONS AND AUXILIARY EQUIPMENT (b) To make selection according 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 option. a. Regenerative energy calculation Use the following table to calculate the regenerative energy.
Page 260 14. OPTIONS AND AUXILIARY EQUIPMENT Inverse efficiency ( ) :Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. Since the efficiency varies with the speed and generated torque, allow for about 10%.
Page 261 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Connection of the regenerative option POINT When the MR-RB50 MR-RB51 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer. The regenerative option will generate heat of about 100 . Fully examine heat dissipation, installation position, used cables, etc.
Page 262 14. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J2S-500CP MR-J2S-700CP Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option overheats abnormally.
Page 263 14. OPTIONS AND AUXILIARY EQUIPMENT For the MR-RB50 MR-RB51 install the cooling fan as shown. [Unit : mm(in)] Cooling fan installation screw hole dimensions 2-M3 screw hole (for cooling fan installation) Cooling fan Terminal block Depth 10 or less (Screw hole already machined) Thermal relay Bottom...
Page 264 14. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawing (a) MR-RB032 MR-RB12 [Unit: mm (in)] 6 (0.24) mounting hole MR-RB 5 (0.20) Terminal block Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m](4 to 5 [lb in]) 6 (0.24) Mounting screw 1.6 (0.06) Screw size: M5 (0.79)
Page 265 14. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB50 MR-RB51 [Unit: mm (in)] Fan mounting screw Terminal block (2-M3 screw) On opposite side Terminal screw: M4 82.5 (1.93) (3.25) Tightening torque: 1.2 [N m] (10.6 [Ib in]) Mounting screw Screw: M6 7 14 Tightening torque: 5.4 [N m] slot (47.79 [Ib in])
Page 266: Fr-Bu2 Brake Unit
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.2 FR-BU2 brake unit POINT Use a 200V class brake unit and a resistor unit with a 200V class servo amplifier. Combination of different voltage class units and servo amplifier cannot be used. Install a brake unit and a resistor unit on a flat surface vertically. When the unit is installed horizontally or diagonally, the heat dissipation effect diminishes.
Page 267 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Brake unit parameter setting Normally, when using the FR-BU2, changing parameters is not necessary. Whether a parameter can be changed or not is listed below. Parameter Change Remarks possible/ Name impossible Brake mode switchover Impossible Do not change the parameter.
Page 268 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection example POINT Connecting PR terminal of the brake unit to P terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit. Servo amplifier CN1B (Note 9)
Page 269 14. OPTIONS AND AUXILIARY EQUIPMENT (a) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times or more per one meter).
Page 270 14. OPTIONS AND AUXILIARY EQUIPMENT b) Control circuit terminal POINT Undertightening can cause a cable disconnection or malfunction. Overtightening can cause a short circuit or malfunction due to damage to the screw or the brake unit. Sheath SD SD Core Jumper Terminal block Wire the stripped cable after twisting to prevent the cable...
Page 271 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Outline dimension drawings (a) FR-BU2 brake unit [Unit: mm] FR-BU2-15K 5 hole (Screw size: M4) Rating plate 18.5 132.5 FR-BU2-30K 2- 5 hole (Screw size: M4) Rating plate 18.5 129.5 14 - 14...
Page 272 14. OPTIONS AND AUXILIARY EQUIPMENT (b) FR-BR resistor unit [Unit: mm] (Note) Control circuit (Note) terminal Main circuit terminal Approx. 35 Approx. 35 Note. Ventilation ports are provided on both sides and the top. The bottom is open. Approximate Resistor unit mass [kg]([Ib]) FR-BR-15K...
Page 273: Power Regeneration Converter
14. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier Power factor improving reactor FR-BAL (Note 3) Power supply (Note 2) 5m(16.4ft) or less Ready output Alarm output (Note 1) Phase detection terminals Power regeneration converter FR-RC FR-RC Operation ready Note 1.
Page 274 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm(in)] Mounting foot (removable) 2- D hole Mounting foot movable Rating plate Display panel Front cover window Cooling fan Heat generation area outside mounting dimension Power Approx.
Page 275: Cables And Connectors
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.4 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. Those indicated by broken lines in the figure are not options. Servo amplifier Operation CN1A CN1B panel Personal...
Page 276 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Standard encoder MR-JCCBL M-L Connector: 10120-3000PE Housing: 1-172161-9 Standard cable Refer to (2) of this Shell kit: 10320-52F0-008 Connector pin: 170359-1 flexing life section. (3M or equivalent) (Tyco Electronics or equivalent) IP20 Cable clamp: MTI-0002 (Toa Electric Industry)
Page 277 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Control signal MR-J2CN1 Connector: 10120-3000PE connector set Shell kit: 10320-52F0-008 (3M or equivalent) Qty: 2 each 10) Junction MR-J2TBL M Connector: HIF3BA-20D-2.54R Connector: 10120-6000EL For junction terminal block Refer to (Hirose Electric) Shell kit: 10320-3210-000 terminal cable...
Page 278 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable If you have fabricated the encoder cable, connect it correctly. CAUTION Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to section 13.4 for the flexing life of the encoder cable. When the encoder cable is used, the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2.4 .
Page 279 14. OPTIONS AND AUXILIARY EQUIPMENT MR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL30M-L MR-JCCBL50M-H MR-JCCBL5M-H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side (Note) (Note) (Note) Plate Plate Plate Note. Always make connection for use in an absolute position detection system. This wiring is not needed for use in an incremental system.
Page 280 14. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors. 1) Model explanation Model: MR-JHSCBL M- Symbol Specifications Standard flexing life Long flexing life Symbol Cable length [m(ft)] 2 (6.56) 5 (16.4) 10 (32.8)
Page 281 14. OPTIONS AND AUXILIARY EQUIPMENT MR-JHSCBL2M-L MR-JHSCBL10M-L MR-JHSCBL10M-H MR-JHSCBL5M-L MR-JHSCBL2M-H MR-JHSCBL30M-L MR-JHSCBL50M-H MR-JHSCBL5M-H MR-ENCBL10M-H MR-ENCBL2M-H MR-ENCBL5M-H MR-ENCBL50M-H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side (Note1) Plate (Note2) Use of AWG24 (Less than 10m(32.8ft)) (Note1) (Note1) Note1: This wiring is required for use in the absolute...
Page 282 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable. (a) Model definition Model : MR-CPCATCBL3M Cable length 3[m](10[ft]) (b) Connection diagram MR-CPCATCBL3M...
Page 283: Junction Terminal Block (Mr-Tb20)
1) For CN1A 2) For CN1B (3) Outline drawing [Unit: mm] 126(4.96) ([Unit: in.]) 117(4.61) MITSUBISHI MR-TB20 10 11 12 16 17 18 19 Terminal block No. 2- 4.5(0.18) Terminal screw: M3.5 Applicable cable: Max. 2mm (Crimping terminal width: 7.2mm (0.283 in) max.)
Page 284 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable (MR-J2TBL M) Model : MR-J2TBL Symbol Cable length[m(ft)] 0.5 (1.64) 1 (3.28) Servo amplifier side (CN1A CN1B) connector (3M) Junction terminal block side connector (Hirose Electric) 10120-6000EL (connector) HIF3BA-20D-2.54R (connector) 10320-3210-000 (shell kit) Terminal block label Junction terminal...
Page 285: Maintenance Junction Card (Mr-J2Cn3Tm)
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.6 Maintenance junction card (MR-J2CN3TM) (1) Usage The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor are used at the same time. Communication cable Servo amplifier Maintenance junction card (MR-J2CN3TM) Bus cable MR-J2HBUS M CN3B...
Page 286 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawing [Unit: mm] ([Unit: in]) CN3A CN3B CN3C 2- 5.3(0.21)(mounting hole) 3(0.12) 88(3.47) 41.5(1.63) 100(3.94) Mass: 110g(0.24Ib) (4) Bus cable (MR-J2HBUS Model: MR-J2HBUS M Cable length [m(ft)] Symbol 0.5 (1.64) 1 (3.28) 5 (16.4) MR-J2HBUS05M MR-J2HBUS1M MR-J2HBUS5M...
Page 287: External Digital Display (Mr-Dp60)
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.7 External digital display (MR-DP60) The data equivalent to the servo amplifier status display can be displayed on the MR-DP60. When using the MR-DP60, set " 1 4" in parameter No. 16. The items that appear at the time of power-on can be selected in parameter No.18.
Page 288 Square hole Square hole 2- 5 (0.20) 2- 5 (0.20) 141(5.55) 95(3.74) 150(5.91) 150(5.91) (5) Outline dimension drawing [Unit: mm (in)] MITSUBISHI MR-DP60 150(5.91) 2- 4.5 (0.18) mounting hole (0.30) (0.30) 165(6.50) 2- 6.5 (0.26), depth 1 (0.04) 14 - 31...
Page 289: Manual Pulse Generator (Mr-Hdp01)
14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.8 Manual pulse generator (MR-HDP01) (1) Specifications Item Specifications Voltage 4.5 to 13.2VDC Power supply Current consumption 60mA max. Interface Output current max. 20mA for open collector output Pulse signal form A-phase and B-phase signals with 90°phase difference Pulse resolution 100pulse / rev Max.
Page 290: Battery (Mr-Bat, A6Bat)
14. OPTIONS AND AUXILIARY EQUIPMENT (4) Mounting [Unit: mm(in)] Panel cutting 3- 4.8(0.189) equally divided (5) Outline dimension drawing [Unit: mm(in)] 3.6(0.142) 3-M4 stud L10 Packing t2.0 P.C.D.72 equally divided 5V to 12V 0V M3 6 may only be used. 27.0 8.89 7.6(0.299)
Page 291: Auxiliary Equipment
14. OPTIONS AND AUXILIARY EQUIPMENT 14.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C- UL (CSA) Standard, use the products which conform to the corresponding standard. 14.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring.
Page 292 14. OPTIONS AND AUXILIARY EQUIPMENT Use wires 6) of the following sizes with the power regeneration converter (FR-RC). Model Wires[mm FR-RC-15K 14(AWG6) Table 14.2 Recommended crimping terminals Servo amplifier side crimping terminals Symbol Crimping terminal Applicable tool Manufacturer 32959 47387 Tyco Electronics EVD5.5-4 YNT-1210S...
Page 293: Circuit Breakers, Fuses, Magnetic Contactors
14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.2 Circuit breakers, fuses, magnetic contactors Always use one circuit breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the circuit breaker, use the one having the specifications given in this section. Fuse Servo amplifier Circuit breaker...
Page 294: Relays
14. OPTIONS AND AUXILIARY EQUIPMENT Dimensions [mm (in) ] Mounting Terminal Mass Servo amplifier Model screw size screw size [kg (lb)] MR-J2S-10CP(1)/20CP FR-BAL-0.4K 135 (5.31) 120 (4.72) 115 (4.53) 59 (2.32) 7.5 (0.29) M3.5 2.0 (4.4) (1.77 MR-J2S-40CP/20CP1 FR-BAL-0.75K 135 (5.31) 120 (4.72) 115 (4.53) 69 (2.72) 7.5 (0.29) M3.5...
Page 295: Noise Reduction Techniques
14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.6 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.
Page 296 14. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
Page 297 14. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.
Page 298 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. Relay Surge suppressor Surge suppressor Surge suppressor This distance should be short...
Page 299 14. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] ([Unit: in.]) Earth plate Clamp section diagram 2- 5(0.20) hole 17.5(0.69) installation hole L or less 10(0.39) 22(0.87) (Note)M4 screw (0.24) 35(1.38) Note: Screw hole for grounding. Connect it to the earth plate of the control box. Type Accessory fittings Clamp fitting...
Page 300 14. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.
Page 301 14. OPTIONS AND AUXILIARY EQUIPMENT (f) Varistors for input power supply (Recommended) Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment.
Page 302: Leakage Current Breaker
(about 30cm (11.8 in)) to minimize leakage currents. Rated sensitivity current 10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] ..(14.1) K: Constant considering the harmonic contents Cable Leakage current breaker Type Mitsubishi products Noise NV-SP filter Servo Cable Models provided with...
Page 303 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions. 5m(196.85inch) 5m(196.85inch) Servo amplifier HC-MFS73 MR-J2S-60CP Use a leakage current breaker designed for suppressing harmonics/surges. Find the terms of Equation (14.1) from the diagram. Ig1 20 0.1 [mA] 1000...
Page 304: Emc Filter
14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.8 EMC filter For compliance with the EMC Directive of the EN Standard, it is recommended to use the following filter. Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter Servo amplifier Mass [kg]([lb])
Page 305 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawing (a) EMC filter [Unit: mm(in)] SF1252 SF1253 6.0(0.236) 6.0(0.236) 149.5(5.886) 209.5(8.248) LINE LINE (input side) (input side) LOAD LOAD (output side) (output side) 16.0(0.63) 23.0(0.906) (0.335) (0.335) 42.0 49.0 (1.654) (1.929) HF3040-TM HF-3050A-TM Dimensions [mm(in)] Model HF3040A-TM...
Page 306 14. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge protector RAV-781BYZ-2 [Unit: mm] Black Black Black UL-1015AWG16 41 1.0 RAV-781BXZ-4 [Unit: mm] UL-1015AWG16 41 1.0 14 - 49...
Page 307: Setting Potentiometers For Analog Inputs
14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.9 Setting potentiometers for analog inputs The following variable resistors are available for use with analog inputs. (1) Single-revolution type WA2WYA2SEBK2K (Japan Resistor make) Resistance Dielectric strength Insulation Mechanical Rated power Resistance Rotary torque tolerance (for 1 minute) resistance rotary angle...
Page 308: Communication Functions
15.1.1 RS-422 configuration (1) Outline Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus. Servo amplifier Servo amplifier Servo amplifier MITSUBISHI MITSUBISHI MITSUBISHI Controller such as personal computer CHARGE CHARGE...
Page 309: Rs-232C Configuration
15. COMMUNICATION FUNCTIONS 15.1.2 RS-232C configuration (1) Outline A single axis of servo amplifier is operated. Servo amplifier MITSUBISHI CHARGE To CN3 RS-232C Controller such as personal computer (2) Cable connection diagram Wire as shown below. The communication cable for connection with the personal computer (MR- CPCATCBL3M) is available.
Page 310: Communication Specifications
15. COMMUNICATION FUNCTIONS 15.2 Communication specifications 15.2.1 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 master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station.
Page 311: Parameter Setting
15. COMMUNICATION FUNCTIONS 15.2.2 Parameter setting When the RS-422/RS-232C communication function is used to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again.
Page 312: Protocol
15. COMMUNICATION FUNCTIONS 15.3 Protocol POINT Whether station number setting will be made or not must be selected if the RS-232C communication function is used. Note that choosing "no station numbers" in parameter No. 57 will make the communication protocol free of station numbers. Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No., etc.
Page 313 15. COMMUNICATION FUNCTIONS (3) Recovery of communication status by time-out EOT causes the servo to return to the receive neutral status. Controller side (Master station) Servo side (Slave station) (4) Data frames The data length depends on the command. Data Data or 12 frames or 16 frames 4 frames...
Page 314: Character Codes
15. COMMUNICATION FUNCTIONS 15.4 Character codes (1) Control codes Hexadecimal Personal computer terminal key operation Code name Description (ASCII code) (General) start of head ctrl start of text ctrl end of text ctrl end of transmission ctrl (2) Codes for data ASCII codes are used.
Page 315: Error Codes
15. COMMUNICATION FUNCTIONS 15.5 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 slave station sends the error code corresponding to that data to the master station.
Page 316: Time-Out Operation
15. COMMUNICATION FUNCTIONS 15.7 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times.
Page 317: Initialization
15. COMMUNICATION FUNCTIONS 15.9 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after. (1) 1s or more time has elapsed after the slave station is switched on; and (2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems.
Page 318: Command And Data No. List
15. COMMUNICATION FUNCTIONS 15.11 Command and data No. list POINT If the command/data No. is the same, its data may be different from the interface and drive units and other servo amplifiers. 15.11.1 Read commands (1) Status display (Command [0][1]) Command Data No.
Page 319 15. COMMUNICATION FUNCTIONS (4) Alarm history (Command [3][3]) Command Data No. Description Alarm occurrence sequence Frame length [3][3] [1][0] Alarm number in alarm history Most recent alarm [3][3] [1][1] First alarm in past [3][3] [1][2] Second alarm in past [3][3] [1][3] Third alarm in past [3][3]...
Page 320 15. COMMUNICATION FUNCTIONS (6) Point table/position data (Command [4][0]) Command Data No. Description Frame length Position data read [0][1] to [4][0] The decimal equivalent of the data No. value (hexadecimal) corresponds [1][F] to the Point table No. (7) Point table/speed data (Command [5][0]) Command Data No.
Page 321: Write Commands
15. COMMUNICATION FUNCTIONS 15.11.2 Write commands (1) Status display (Command [8][1]) Command Data No. Description Setting range Frame length [8][1] [0][0] Status display data clear 1EA5 (2) Parameter (Command [8][4]) Command Data No. Description Setting range Frame length Each parameter write Depends on [0][0] to [8][4]...
Page 322 15. COMMUNICATION FUNCTIONS (9) Point table/deceleration time constant (Command [C][8]) Command Data No. Description Setting range Frame length Deceleration time constant write 0 to 20000 [0][1] to [C][8] The decimal equivalent of the data No. value [1][F] (hexadecimal) corresponds to the Point table No. (10) Point table/dwell (Command [C][A]) Command Data No.
Page 323 15. COMMUNICATION FUNCTIONS (14) Data for test operation mode (Command [9][2] [A][0]) Command Data No. Description Setting range Frame length [9][2] [0][0] Input signal for test operation Refer to section 15.12.7 [9][2] [A][0] Forced output from signal pin Refer to section 15.12.9 Command Data No.
Page 324: Detailed Explanations Of Commands
15. COMMUNICATION FUNCTIONS 15.12 Detailed explanations of commands 15.12.1 Data processing When the master station transmits a command data No. or a command data No. data to a slave station, the servo amplifier returns a reply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc.
Page 325 15. COMMUNICATION FUNCTIONS (2) Writing the processed data When the data to be written is handled as decimal, the 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.
Page 326: Status Display
15. COMMUNICATION FUNCTIONS 15.12.2 Status display (1) Status display data read When the master station transmits the data No. to the slave station, the slave station sends back the data value and data processing information. (a) Transmission Transmit command [0][1] and the data No. corresponding to the status display item to be read. Refer to section 15.11.1.
Page 327: Parameter
15. COMMUNICATION FUNCTIONS 15.12.3 Parameter (1) Parameter read Read the parameter setting. (a) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No. Command Data No. Data No. definition [0][0] to [0][5] Corresponds to the parameter No. [5][A] (b) Reply The slave station sends back the data and processing information of the requested parameter No.
Page 328 15. COMMUNICATION FUNCTIONS (2) Parameter write POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP- ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction.
Page 329: External I/O Signal Statuses
15. COMMUNICATION FUNCTIONS 15.12.4 External I/O signal statuses (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and data No. [0][0]. Command Data No. [1][2] [0][0] (b) Reply The slave station sends back the statuses of the input pins. 1:ON 0:OFF Command of each bit is transmitted to the master...
Page 330 15. COMMUNICATION FUNCTIONS (3) Read of the statuses of input devices switched on through communication Read the ON/OFF statuses of the input devices switched on through communication. (a) Transmission Transmit command [1][2] and data No. [6][0]. Command Data No. [1][2] [6][0] (b) Reply The slave station sends back the statuses of the input pins.
Page 331: Input Devices On/Off
15. COMMUNICATION FUNCTIONS (5) Read of the statuses of output devices Read the ON/OFF statuses of the output devices. (a) Transmission Transmit command [1][2] and data No. [8][0]. Command Data No. [1][2] [8][0] (b) Reply The slave station sends back the statuses of the output devices. 1:ON 0:OFF Command of each bit is transmitted to the master...
Page 332: Disable/Enable Of I/O Devices (Dio)
15. COMMUNICATION FUNCTIONS 15.12.6 Disable/enable of I/O devices (DIO) Inputs can be disabled independently of the I/O devices ON/OFF. When inputs are disabled, the input signals (devices) are recognized as follows. Among the input devices, EMG, LSP and LSN cannot be disabled.
Page 333: Input Devices On/Off (Test Operation)
15. COMMUNICATION FUNCTIONS 15.12.7 Input devices ON/OFF (test operation) Each input devices can be turned on/off for test operation. when the device to be switched off exists in the external input signal, also switch off that input signal. Send command [9] [2], data No. [0] [0] and data. Command Data No.
Page 334: Test Operation Mode
15. COMMUNICATION FUNCTIONS 15.12.8 Test operation mode (1) Instructions for test operation mode The test operation mode must be executed in the following procedure. If communication is interrupted for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a stop and servo-locked.
Page 335 15. COMMUNICATION FUNCTIONS (2) Jog operation Transmit the following communication commands. (a) Setting of jog operation data Item Command Data No. Data Speed [A][0] [1][0] Write the speed [r/min] in hexadecimal. Acceleration/deceleration Write the acceleration/deceleration time constant [A][0] [1][1] time constant [ms] in hexadecimal.
Page 336 15. COMMUNICATION FUNCTIONS (c) Start of positioning operation Transmit the speed and acceleration/deceleration time constant, turn on the servo-on (SON) and forward/reverse rotation stroke end (LSP LSN ) , and then send the moving distance to start positioning operation. After that, positioning operation will start every time the moving distance is transmitted.
Page 337: Output Signal Pin On/Off Output Signal (Do) Forced Output
15. COMMUNICATION FUNCTIONS 15.12.9 Output signal pin ON/OFF output signal (DO) forced output In the test operation mode, the output signal pins can 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 operation mode Transmit command [8][B] data No.
Page 338: Alarm History
15. COMMUNICATION FUNCTIONS 15.12.10 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 in the past) are read. (a) Transmission Send command [3][3] and data No.
Page 339: Current Alarm
15. COMMUNICATION FUNCTIONS 15.12.11 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]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. Alarm No.
Page 340: Point Table
15. COMMUNICATION FUNCTIONS 15.12.12 Point table (1) Data read (a) Position data Read the position data of the point table. 1) Transmission Transmit command [4][0] and any of data No. [0][1] to [1][F] corresponding to the point table to be read. Refer to section 15.11.1. 2) Reply The slave station sends back the position data of the requested point table.
Page 341 15. COMMUNICATION FUNCTIONS (c) Acceleration time constant Read the acceleration time constant of the point table. 1) Transmission Transmit command [5][4] and any of data No. [0][1] to [1][F] corresponding to the point table to be read. Refer to section 15.11.1. 2) Reply The slave station sends back the acceleration time constant of the requested point table.
Page 342 15. COMMUNICATION FUNCTIONS (e) Dwell Read the dwell of the point table. 1) Transmission Transmit command [6][0] and any of data No. [0][1] to [1][F] corresponding to the point table to be read. Refer to section 15.11.1. 2) Reply The slave station sends back the dwell of the requested point table. Hexadecimal data Display type 0: Used unchanged in hexadecimal...
Page 343 15. COMMUNICATION FUNCTIONS (2) Data write POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP- ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction.
Page 344 15. COMMUNICATION FUNCTIONS (c) Acceleration time constant Write the acceleration time constant of the point table. Transmit command [C][7], any of data No. [0][1] to [1][F] corresponding to the point table to be written to, and the data. Refer to section 15.11.2. Command Data No.
Page 345 15. COMMUNICATION FUNCTIONS (e) Dwell Write the dwell of the point table. Transmit command [C][A], any of data No. [0][1] to [1][F] corresponding to the point table to be written to, and the data. Refer to section 15.11.2. Command Data No. Data [0][1] to [C][A]...
Page 346: Servo Amplifier Group Designation
15. COMMUNICATION FUNCTIONS 15.12.13 Servo amplifier group designation With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group through RS-422 communication. (1) Group setting write Write the group designation value to the slave station. (a) Transmission Transmit command [9][F], data No.
Page 347: Software Version
15. COMMUNICATION FUNCTIONS 15.12.14 Software version Reads the software version of the servo amplifier. (a) Transmission Send command [0] [2] and data No. [7] [0]. Command Data No. [0][2] [7][0] (b) Reply The slave station returns the software version requested. Space Software version (15 digits) 15 - 40...
Page 348: Appendix
APPENDIX App 1. Status indication block diagram App - 1...
Page 349: App 2. Junction Terminal Block (Mr-Tb20) Terminal Block Labels
APPENDIX App 2. Junction terminal block (MR-TB20) terminal block labels For CN1A For CN1B App - 2...
Page 350: App 3. Combination Of Servo Amplifier And Servo Motor
APPENDIX App 3. Combination of servo amplifier and servo motor The servo amplifier software versions compatible with the servo motors are indicated in the parentheses. The servo amplifiers whose software versions are not indicated can be used regardless of the versions. Servo amplifier Servo amplifier Servo motor...
Page 351: App 4. Change Of Connector Sets To The Rohs Compatible Products
APPENDIX App 4. Change of connector sets to the RoHS compatible products Connector sets (options) in the following table are changed to the RoHS compatible products after September, 2006 shipment. Please accept that the current products might be mixed with RoHS compatible products based on availability. Model Current Product RoHS Compatible Product...
Page 352 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Jan., 2002 SH(NA)030017-A First edition Oct., 2002 SH(NA)030017-B Addition of Note to the environment conditions in Safety Instructions 4 (1) Addition of "About processing of waste" Addition of "EEP-ROM life"...
Page 353 Print data *Manual number Revision Oct., 2002 SH(NA)030017-B Section 15.10: Figure change Section 15.12.3 (2): POINT addition Mar., 2004 SH(NA)030017-C Safety Instructions: Overall reexamination Section 1.1.1: Partial figure reexamination Section 1.5: Note addition Section 1.7 (3): Note addition Section 1.7 (4): Note addition Section 3.1: Partial figure reexamination/Addition of Note 13 Section 3.6.1: Partial figure reexamination Section 3.8.2: Figure reexamination...
Page 354 Print data *Manual number Revision Mar., 2004 SH(NA)030017-C Section 14.1.9: POINT addition Section 14.2.8 (3): Partial figure reexamination Section 14.2.6 (2) (d): Partial figure change Section 14.2.6 (2) (e): Partial figure change Section 14.2.8: Partial figure change Appendix: Addition Mar., 2005 SH(NA)030017-D COMPLIANCE WITH EC DIRECTIVES: “1.
Page 355 Print data *Manual number Revision Mar., 2005 SH(NA)030017-D Section 14. 1. 1 (5) (c): Partial changing of figure Section 14. 1. 2 (2): Note reexamination Section 14. 1. 3 (2): Note reexamination Section 14. 1. 4 (1): Sentence reexamination (2) Sentence reexamination Section 14.
Page 356 Print data *Manual number Revision Jul., 2006 SH(NA)030017-F Section 7.2.3: Correction of description for command position Section 8.3.1 (1) (a): Addition of parameter in Table Section 8.4 (2): Correction of description for Step 5 Section 11.2.2: Correction of name for Al. 17 Section 11.2.3: Correction of description for Al.
Page 357 MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030017-G (0709) MEE Printed in Japan Specifications subject to change without notice.

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Mitsubishi Electric MR-J2S-CP Instruction Manual

1 Functions and Configuration

2 Installation

3 Signals and Wiring

4 Operation

5 Parameters

6 MR Configurator (SERVO CONFIGURATION SOFTWARE)

7 Display and Operation

8 General Gain Adjustment

9 Special Adjustment Functions

10 Inspection

11 Troubleshooting

12 Outline Dimension Drawings

13 Characteristics

14 Options and Auxiliary Equipment

15 Communication Functions

Appendix

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Summary of Contents for Mitsubishi Electric MR-J2S-CP