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Telex MR-J2S- User's Manual

1. 2 66 0 24 Unit mm mounting hole Unit in em 180 7 09 2 70 200 7 87 d D EN 160 6 23 10 2 76 138 5 43 62 610 24 Ge 0 39 i AAR CH Terminal layout d TED TE1 a E Fan air orientation Mass Servo amplifier zsm kg l MR J 2S 700B 7 2 15 9 e Terminal signal layout A TE1 Mounting Screw Screw Size M5 ceker eee on Tightening torque 3 24 N m Terminal screw M4 Built in regenerative 28 676 Ib in Tightening torque 1 2 N m 10 Ib in brake resistor lead terminal fixing screw Terminal screw M4 TE2 Tightening torque 1 2 N m 10 Ib in L Terminal screw M3 5 Tightening torque 0 8 N m 7 Ib in 21 X y 10 5 10 OUTLINE DIMENSION DRAWINGS 6 MR J2S 11KB 15KB Unit mm Unit in 2 4 12 90 47 Fan air orientation mounting hole 376 14 8 400 15 75 coo t 0 47 12 HHe 12 0 47 236 9 29 S 260 10 24 12 0 47 TA lt 4 260 10 24 3 9 0 15 Mass Servo amplifier elt MR 2S 11KB 15 33 1 MR 2S 15KB 16 35 3
2. P Terminal block Unit mm in Fan mounting screw 49 82 5 2 M3 screw ZS 41 93 3 25 On opposite side Je P q Am gt C Terminal screw M4 EN G3 Tightening torque 1 2 N m 10 Ib in SI s as G4 5 O y Hin S y H 7xl4sot 9 a a Mounting screw Be 2 g LT Screw M6 IS T ei Los S Wind blows in the Tightening torque 5 4 N m 47 79 lb in Le N gt SS arrow direction 0 Y Regenerative m N ai CIS MR RB50 12 3 Yo tat tt MR MR RBS1 EEN og E 7 0 28 0 09 200 7 87 417 0 67 XSh2 108 4 25 0 1 18 4 223 8 78 R 0 A 120 4 73 8 0 32 d MR RB65 MR RB66 MR RB67 Unit mm in a 2 10 0 39 2 monutinghde ol e Ty Oy E E A o o 1 S 8 8 CC 22 Terminal block if 13 8 2 E Z 4 lt gt G4 G3 C P Terminal screw M5 TE1 z Tightening torque 2 0 N m 17 lb in o o e Mounting screw J R 23 0 09 Screw size M8 15 0 59 SS 06 ia a ES MOL Tightening torque 13 2 N m 116 83 lb in 260 10 24 JS x 215 8 47 230 9 06 2 8 Regenerative brake option kg lb e GRZG400 2Q GRZG400 10 GRZG400 0 8Q standard accessories 350 13 78 Unit mm in 95 5 0 217 hole S Ter
3. Servo amplifier Servo motor po A Note 2 i Power NFB MC L supply o o eo 1 3 phase tLe 200 to ale 230VAC Ls Regenerative 1 phase TR 230VAC or 1 phase Fan 100to120VAC MR J2S 200B or more lt S Control l circuit La 4 power l l supply i l Regenerative La Base amplifier Overcurrent Current e O i l protection detection O r Encoder I I I i Virtual AAA Position command mua l l input encoder y AMRY Model position _ Model speed control control l A Virtual l i motor Actual position Actual speed i i control control l A i i D d MR BAT b F Control ST ional RS 2320 DIA Optional battery for absolute position Eeer WEE eus EE detection system Controller Servo amplifier Analog monitor 2 channels or or Servo amplifier termination connector Personal computer Note 1 The built in regenerative brake resistor is not provided for the MR J2S 10B 1 2 For 1 phase 230VAC connect the power supply to L1 L2 and leave L3 open L3 is not provided for a 1 phase 100to120VAC power supply 1 FUNCTIONS AND CONFIGURATION 2 MR J2S 500B MR J2S 700B Regenerative brake option Servo amplifier Pie ten PA H Power supply ojo 3 phase 200 to 230VAC CN o Cu
4. TE1 CN3A CN3B CN3C BS 5 LG 1 1 j AS O mot 2 2 2 3 A6 3 3 3 Hh O MO2 4 4 4 H LC 5 5 5 58 6 6 6 7 7 7 3 S 3 A1 iy d r pa O v 12 12 12 his sel O COM i R z golem 15 15 15 d s O IDI 5 1 1 B4 O MBR 18 18 18 19 B3 19 19 19 EMGO 20 20 20 2 B2 O lse Shell Shell Bl O pe 3 Outline drawing Unit mm Unit in MEA CNR CNBC A 2 45 3 0 21 mounting hole es es H el H H L T Ga EH Ga o O Si zal lelelelelele rs S N zelel les TE1 EN y an p 88 3 47 R 41 5 1 63 100 3 94 Mass 110g 0 24Ib 12 31 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 7 Battery MR BAT A6BAT The revision Edition 44 of the Dangerous Goods Rule of the International Air Transport Association IATA went into effect on January 1 2003 and was enforced immediately In this rule provisions of the lithium and lithium ion batteries were revised to tighten the restrictions on the air transportation of batteries However since this battery is non dangerous goods non Class 9 air transportation of 24 or less batteries is outside the range of the restrictions Air transportation of more than 24 batteries requires packing compliant with the Packing Standard 903 When a self certificate is necessary for battery safety tests contact our branch or representative For more information consult our
5. Power Nominal regeneration Regenerative Servo Amplifier z 7 converter Power kW 2 500 o M R J 2S 500B E 300 FR RC 15K mem ln MR 2S 700B S 200 MR 2S 11KB N F R RC 30K gt 100 M R J 2S 15KB 2 o FR RC 55K 55 MRJ 25 22KB 2 50 Oo Z 30 5 20 gt o 50 75 100 150 Nominal regenerative power 12 12 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Connection example Servo amplifier E mn D Power factor improving reactor MC FR BAL Power supply 3 phase 200V or 230VAC NS o oJ o For 7kW or less always remove wiring across P C 5m 16 4ft or less P o o Ah RDY B e output le gt B o gt C R L Alarm S L2 output T L RX K i Note OS terminals Power regeneration converter FR RC Phase detection FR RC Operation ready ec D EM off HON eo gp lS odie Tome 0 i EEN v o oO Note When not using the phase detection terminals fit the jumpers across RX R SX S and TX T If the jumpers remain removed the FR RC will not operate 12 13 12 OPTIONS AND AUXILIARY EQUIPMENT 3 Outside dimensions of the power regeneration converters Unit mm in 2 4D hole Mounting foot removable UI Mounting foot k as movable aI Rating plate Ga Display panel Front cover x m window Cool
6. H Long flexing life Symbol Note Cable length m ft 2 2 6 56 5 5 16 4 10 10 32 8 20 20 65 6 30 30 98 4 40 40 131 2 Note MR JCCBLOM H has no 40 131 2 50 50 164 0 and 50m 164 0ft sizes 2 Connection diagram The signal assignment of the encoder connector is as viewed from the pin side For the pin assignment on the servo amplifier side refer to Section 3 2 1 Encoder cable Servo amplitier supplied to servo motor Encoder connector 1 172169 9 AMP Encoder connector Servo motor Encoder cable option or fabricated 1 2 3 CN2 MR MRR BAT 4 5 6 50m 164 0ft max MD MDR 7 8 9 P5 LG SHD 12 22 12 OPTIONS AND AUXILIARY EQUIPMENT Drive unit side P5 LG P5 LG P5 LG MR MRR MD MDR BAT LG SD MR JCCBL2M L MR JCCBL5M L MR JCCBL2M H MR JCCBL5M H Encoder side 19 11 20 12 18 2 Plate 7 GO Om EM 9 Drive unit side MR JCCBL10M L MR JCCBL30M L 19 11 20 12 18 2 Plate to Encoder side 7 t l i l H l H 1 ji 1 H H H l 1 I i l 1 i i l H l i 1 I H H V oo PM 9 Note Always make connection for use in an absolute position detection system This wiring is not needed for use in an incremental system MR JCCBL10M H to MR JCCBL50M H Drive unit side Encoder side P
7. O Switch Parameter No 8 Parameter No 12 Load inertia moment ratio estimation value Response level setting Auto tuning selection When a servo motor is accelerated decelerated the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor The results of estimation are written to parameter No 12 the ratio of load inertia moment to servo motor These results can be confirmed on the status display screen of the MR Configurator servo configuration software section If the value of the load inertia moment ratio is already known or if estimation cannot be made properly chose the auto tuning mode 2 parameter No 8 0003 to stop the estimation of the load inertia moment ratio Switch in above diagram turned off and set the load inertia moment ratio parameter No 12 manually From the preset load inertia moment ratio parameter No 12 value and response level parameter No 9 the optimum control gains are automatically set on the basis of the internal gain tale The auto tuning results are saved in the EEP ROM of the servo amplifier every 6 minutes since power on At power on auto tuning is performed with the value of each control gain saved in the EEP ROM being used as an initial value If sudden disturbance torque is imposed during operation the estimation of the inertia moment ratio may malfunction temporaril
8. Note 11 MR A TM CN1B g Setting 2 j te axis En Dynamic brake RA Magnetic brake Always connect interlock Note 4 CS1 CN1B O Setting 0 EE EE o 2 zg E e MR J2S B CN1A 2 axis P CS1 CN1B Setting 1 MR J2S B cN1A 3 axis CS1 MR J2S B e ees DI pH Setting n 1 Note 1 WI Note 9 Note 9 Note 9 Note 10 n 1to8 3 SIGNALS AND WIRING Note 1 To prevent an electric shock always connect the protective earth PE terminal terminal marked of the base unit to the protective earth PE of the control box 2 Connect the diode in the correct direction If it is connected reversely the interface unit will be faulty and will not output signals disabling the forced stop and other protective circuits 3 If the controller does not have an emergency stop EM1 function always install a forced stop switch Normally closed 4 CN1A CN1B and CN3 have the same shape Wrong connection of the connectors will lead to a fault 5 The sum of currents that flow in the external relays should be 80mA max 6 When starting operation always turn on the forced stop EM1 Normally closed contacts By setting 0001 in DRU parameter No 23 of the drive unit the forced stop EM1 can be made invalid 7 Use MRZJW3 SETUP151E 8 Use the bus cable at the overall distance of 30m 98 4ft or less In addition to improve noise
9. Fan lead The following table lists wire sizes The wires used assume that they are 600V vinyl wires and the wiring distance is 30m 98 4ft max If the wiring distance is over 30m 98 4ft choose the wire size in consideration of voltage drop The alphabets a b c in the table correspond to the crimping terminals Table 12 2 used to wire the servo amplifier For connection with the terminal block TE2 of the MR 2S 100B or less refer to Section 3 9 The servo motor side connection method depends on the type and capacity of the servo motor Refer to Section 3 6 Tocomply with the UL C UL CSA Standard use UL recognized copper wires rated at 60 C 140 F or more for wiring 12 41 12 OPTIONS AND AUXILIARY EQUIPMENT Table 12 1 Recommended wires Servo amplifier Cote 1 APA Y 1 Li La Ls D 2 Ln La 3 U V W P P D 4 P c n 5 B1 B2 6 BU BV BW MR 25 10B 1 MR J 25 20B 1 MR 25 40B 1 l 1 25 AWG16 a MRJ25608 AWG a MRJ 25 708 2 AWG14 a MRJ 25 100B 2 AWG14 a 1 25 AWG16 MR J25 200B 3 5 AWG12 b_ 1 25 3 5 AWG12 b AWG16 Note 2 MR 25 3508 ER 5 5 AWG10 i MR 25 500B ANS 10 MRJ 25 15KB_ 22 AWG4 e 30 TEN f 5 5 AWG10 b AWG14 2 AWG14 Note 1 For the crimping terminals and applicable tools see the table 12 2 2 3 5mm for use of the HC RFS203 servo motor Use wires 6 of the following sizes with the brake unit FR BU and power regeneration converter
10. 10 7 Mounting Screw Screw Size M10 Tighting torque 26 5 N m 234 545 Ib in 10 OUTLINE DIMENSION DRAWINGS 10 2 Connectors 1 Servo amplifier side lt 3M gt a Soldered type Model Connector 10120 3000VE 10126 3000VE Shell kit 10320 52F0 008 10326 52F0 008 Unit mm 12 0 0 47 Unit in E Logo etc are indicated here Variable dimensions A B 10120 3000VE 10320 52F 0 008 22 0 0 87 33 3 1 31 Connector Shell kit 10126 3000VE 10326 52F 0 008 25 8 1 02 37 2 1 47 b Threaded type Model Connector 10120 3000VE Shell kit 10320 52A0 008 Unit mm Note This is not available as option and should be user prepared ee 10 8 10 OUTLINE DIMENSION DRAWINGS c Insulation displacement type Model Connector 10120 6000EL Shell kit 10320 3210 000 Unit mm 6 7 90 26 Unit in 2 Bus cable connector a Honda Tsushin Industry PCR type Unit mm Unit in PCR LS20LA1 PCR LS20LA1W LGT ege E LO gt o 2 o nN a 38 5 Note Model Number of Pins Pee Crimping terminal PCR S20F S soldering type PCR LS20LA1 FHAT 002A PCR S20F insulation displacement type PCR
11. 5 Stop If any of the following situations occurs the servo amplifier suspends the running of the servo motor and brings it to a stop When the servo motor is equipped with an electromagnetic brake refer to Section 3 7 AR Operation command Stopping condition The base circuit is shut off and the servo motor coasts The base circuit is shut off and the dynamic brake E mergency stop command operates to bring the servo motor to stop The controller emergency stop warning E 7 occurs Servo system controller The base circuit is shut off and the dynamic brake Alarm occurrence operates to bring the servo motor to stop Servo amplifier The base circuit is shut off and the dynamic brake F orced stop EM1 OFF operates to bring the servo motor to stop The servo forced stop warning E6 occurs 4 OPERATION AND DISPLAY 4 3 Servo amplifier display On the servo amplifier display two digit seven segment display check the status of communication with the servo system controller at power on check the axis number and diagnose a fault at occurrence of an alarm 1 Display sequence Servo amplifier power ON Waiting for servo system controller power to switch ON Servo system controller power ON Initial data communication Pty with servo system controller AU During emergency stop and forced stop A Ready OFF servo OFF ei ET EE OF i Ready ON i i l Emergency stop and
12. TE1 PE terminal Terminal signal layout Mounting Screw Screw Size M10 Tightening torque 26 5 N m 234 545 Ib in ufueleulul v wleyel c n bi 202 Al Terminal screw M6 Y Tightening torque 3 0 N ml 26 Ib in Terminal screw M6 Tightening torque 6 0 N m 52 Ib in TE2 Terminal screw M4 Tightening torque 1 2 N m 10 Ib in 10 6 10 OUTLINE DIMENSION DRAWINGS 7 MR J2S 22KB Unit mm D Unit in E E e 2 412 40 47 S Fan air orientation mounting hole N b 4 Do Un ee ke AAA A f a E z Y is Wel 3 U Cl 8 WS lt U O TE2 U pe uf CHARGE CON2 TE1 9 ai es EER ee LE att 0 471244 1200 47 3061284 JLS k 350 13 78 12 0 47 A lt N e S o N S a ei Y A Mass Servo amplifier Seno air kg lb MR J 2S 22KB 20 44 1 e Terminal signal layout TE1 PE PE terminal fi fie e utviwielete n Terminal screw M8 Tightening torque 6 0 N m 52 Ib in Terminal screw M8 Tightening torque GOIN m 52 Ib in TE2 Lit Let Terminal screw M4 Tightening torque 1 2 N m 10 Ib in
13. 0 02 0 01 0 0 73 43 13 50 500 10001500200025003000 Speed r min h HC UFS3000r min series Fig 11 8 Dynamic brake time constant 2 0 04 0 035 0 03 0 025 0 02 0 015 0 01 Time constant 1 s 0 005 121 201 301 81 50 500 Speed r min 1000 c HC SFS1000r min series 0 12 0 1 0 08 0 06 0 04 Time constant t s 0 02 0 203 53 10 353 3 153 0 Speed r min 50 500 1000 1500 2000 2500 3000 e HC SFS3000r min series 0 1 0 09 0 08 o o Eat 0 06 0 05 0 04 0 03 0 02 0 01 0 Time constant t s A o 72 352 152 202 500 1000 1500 Speed r min 502 2000 g HC UFS 2000r min series 0 04 0 035 0 03 0 025 0 02 0 015 0 01 0 005 Time constant Tt s 11 6 15K2 11K2 22K2 500 1000 1500 Speed r min i HA LFS series 2000 11 CHARACTERISTICS Use the dynamic brake at the load inertia moment 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 Load inertia moment ratio times MR J 2S 10B to MR J 2S 200B 30 MR J 2S 10B1 to MR 2S 40B1 MRJ 25 3508 MR J 2S 500B a MR 2S 700B Note MR 25 11KB to MR 25 22KB Note 30 Note Assumes that the external dynamic
14. During ordinary operation do not use forced stop EM 1 to alternate stop and run The service life of the servo amplifier may be shortened Servo amplifier VDD COM EM1 Forced stop SG 3 17 3 SIGNALS AND WIRING 3 6 Connection of servo amplifier and servo motor 3 6 1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric Z WARN ING shock ii i Connect the wires to the correct phase terminals U V W of the servo amplifier and servo motor Otherwise the servo motor will operate improperly Do not connect AC power supply directly to the servo motor Otherwise a fault may occur Do not apply the test lead bars or like of a tester directly to the pins of the connectors supplied with the servo motor Doing so will deform the pins causing poor contact The connection method differs according to the series and capacity of the servo motor and whether or not the servo motor has the electromagnetic brake Perform wiring in accordance with this section 1 For grounding connect the earth cable of the servo motor to the protective earth PE terminal of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box Do not connect them directly to the protective earth of the control panel Control box Servo Servo motor amplifier O PE terminal 2 Do
15. EEEEER Salsa TF r gt A 1 Remove the front cover mounting screws 2 places 2 Remove the front cover mounting screws 2 places and remove the front cover Kl o 10 si EE a 3 Remove the front cover by drawing it in the direction of arrow 1 15 1 FUNCTIONS AND CONFIGURATION Reinstallation of the front cover a o e e e gt E 8 Mounting screws 2 places Gh a al 1 Insert the front cover in the direction of arrow 2 Fix it with the mounting screws 2 places y Im ile l i 0 Mounting screws 2 places AAA AAA g o f r 3 Fit the front cover and fix it with the mounting screws 2 places 1 16 1 FUNCTIONS AND CONFIGURATION 1 8 Servo system with auxiliary equipment To
16. Note 1 Maximum speed available when the shaft is rotated by external force at the time of power failure or the like 2 Time to hold data by a battery with power off It is recommended to replace the battery in three years independently of whether power is kept on or off 3 Period during which data can be held by the super capacitor in the encoder after power off with the battery voltage low or the battery removed or during which data can be held with the encoder cable disconnected Battery replacement should be finished within this period Battery 2 hours at delivery 1 hour in 5 years after delivery 2 Configuration Servo system controller Servo amplifier Foon Battery MR BAT Servo motor 3 Parameter setting Set 0001 in parameter No 1 to make the absolute position detection system valid TERE ES Absolute position detection selection 0 Used in incremental system 1 Used in absolute position detection system 13 ABSOLUTE POSITION DETECTION SYSTEM 13 3 Battery installation procedure Before starting battery installation procedure make sure that the charge lamp is off AN WARNING more than 10 minutes after power off Then confirm that the voltage is safe in the tester or the like Otherwise you may get an electric shock The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground human body and work bench Do not
17. Overvoltage CRC error Command frequency error Transfer error Parameter error Main circuit 2 SS the regenerative brake Make correct setting option is used the parameter No 2 setting is O 0O 00 not used 3 Lead of built in regenerative brake 1 Change lead resistor or regenerative brake 2 Connect correctly option is open or disconnected 4 Regenerative transistor faulty Change servo amplifier 5 Wire breakage of built in For wire breakage of built in regenerative brake resistor or regenerative brake resistor change regenerative brake option servo amplifier For wire breakage of regenerative brake option change regenerative brake option 6 Power supply voltage high Review the power supply 7 Ground fault occurred in servo Correct the wiring amplifier output phases U V and W Bus cable is faulty 1 Bus cable disconnected Connect correctly 2 Bus cable fault Change the cable 3 Noise entere bus cable Take measures against noise disconnected amplifier side axis setting Input frequency of 1 Command given is greater than Review opration program command pulse is the maximum speed of the servo too high motor Bus cable or printed board is faulty 4 Terimination connector Connect termination connector disconnected Parameter setting is 1 Servo amplifier fault caused the Change the servo amplifier wrong parameter setting to be rewritten 2 There is a parameter whose value
18. 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 Do not hold the front cover to transport the servo amplifier The servo amplifier may drop Install the servo amplifier in a load bearing place in accordance with the Instruction Manual Do not climb or stand on servo equipment Do not put heavy objects on equipment The servo amplifier and servo motor must be installed in the specified direction Leave specified clearances between the servo amplifier and control enclosure walls or other equipment Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing Provide adequate protection to prevent screws and other conductive matter oil and other combustible matter from entering the servo amplifier Do not drop or strike servo amplifier or servo motor Isolate from all impact loads When you keep or use it please fulfill the following environmental conditions Conditions Environment es Servo amplifier Servo motor During 0 to 55 non freezing 0 to 40 non freezing Ambient operation 32 to 131 non freezing 32 to 104 non freezing temperature 20 to 65 non freezing 15 to 70 non freezing In storage A F 4 to 149 non freezing 5 to 158 non freezing Ambient 90 RH or less non condensing 80 RH
19. anbjo JPeeds oe ones A yoeqnss VO Isod Jepoouy yoeqpss juan 101 U09 101 U09 Y OJJUOD JOOW OMOS KI d Se Jepooue uano peads puewwoo UONISOg enuo peeds 41A uaung puewuoo juauno 3 Analog monitor block diagram asind doo needs asind puewwoy 5 13 5 PARAMETERS 5 4 Replacement of MR J2 O1B by MR 42S 0B When using the MR 25 OB on the servo system controller peripheral software incompatible with the MR 2S O1B you cannot use some parameter functions Read this section carefully and set appropriate values in the parameters 5 4 1 Main modifications made to the parameters The following table lists the parameters whose settings have been modified from the MR J 2 0B or added to the MR J 2S O1B The peripheral software of the servo system controller may not be compatible with some parameters whose settings are different or have been added For details refer to the servo system controller manual Note Setting from peripheral Main modifications additions software of conventional servo system controller F eedback pulse number The encoder resolution of the Setting cannot be made compatible motor changed to The resolution is 16384 131072 pulses rev pulses rev Auto tuning Gain adjustment modes were Setting can be made but the increased added modes cannot be used Servo response level The response level setting range Some response levels cannot was increased to meet t
20. mey25 208 lm La 100 Pf _ IIS E 30 f aoo A A A O MRJ 25 a0 T A A AA ON AECA O SEA DEA EA O ASA RE gt 200 130 E 0 ARS AAA mRj2s 2008 100 AP _ pt am 1 500 P MSp Iw zeen 2 L S A RE e e A E A ETA Note Always install a cooling fan Note Regenerative power W Servo amplifier External regenerative brake MR RB65 MR RB66 MR RB67 resistor Accessory 89 Se sy MR J 2S 11KB 500 800 500 800 MR 2S 15KB 850 1300 850 MR 2S 22KB 850 1300 850 1300 Note Values in parentheses assume the installation of a cooling fan 12 1 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Selection of the regenerative brake option a Simple selection method In horizontal motion applications select the regenerative brake option as described below When the servo motor is run without load in the regenerative mode from the running speed to a stop the permissible duty is as indicated in Section 5 1 of the separately available Servo Motor Instruction Manual For the servo motor with a load the permissible duty changes according to the inertia moment of the load and can be calculated by the following formula Permissible_ Permissible duty for servo motor with no load value indication Section 5 1 in Servo Motor Instruction Manual duty m 1 2 x Loes times min running speed where m load inertia moment servo motor inertia moment From the permissible duty find whether the regenerativ
21. 2 Setting In parameter No 21 electromagnetic brake sequence output set the time delay Tb from electromagnetic brake operation to base circuit shut off at a servo off time as in the timing chart in 3 in this section 3 SIGNALS AND WIRING 3 Timing charts a Servo on command from controller ON OF F Tb ms after the servo on is switched off the servo lock is released and the servo motor coasts If the electromagnetic brake is made valid in the servo lock status the brake life may be shorter Therefore when using the electromagnetic brake in a vertical lift application or the like set delay time Tb to about the same as the electromagnetic brake operation delay time to prevent a drop Servo motor speed O r min 60ms gt ON Base circuit 1 OFF ia eee 80ms Electromagnetic Invalid ON Electromagnetic brake operation delay time brake interlock MBR Valid OFF EE Servo on command ON from controller OFF ege Se As access b Emergency stop command from controller or forced stop EMU ON OFF Dynamic brake Dynamic brake Y Electromagnetic brake Electromagnetic brake a Electromagnetic brake release Servo motor speed i l 10m8 sie A 180ms l l ON l Base circuit OFF SS 180ms Electromagnetic Invalid ON Electromagnetic brake brake interlock MBR Valid OFF operation delay time Emergency stop command Invalid ON from controller
22. Control circuit terminal block TE 2 Section3 5 2 OS Used to connect the control circuit power supply and Section10 1 regenerative brake option Section12 1 1 Protective earth PE terminal O Section3 8 Ground terminal Section10 1 1 FUNCTIONS AND CONFIGURATION 2 MR J2S 200B MR J2S 350B The servo amplifier is shown without the front cover For removal of the front cover refer to Section 1 7 2 Name Application Reference Battery holder Contains the battery for absolute position data backup sedtion13 3 Battery connector CON 1 Used to connect the battery for absolute position data Section13 3 backup 7 Display 7 The two digit seven segment LED shows the servo Chapter4 status and alarm number ho O ore Axis select switch CS1 CS1 TITO Used to set the axis number of the servo amplifier 0 O Section3 11 Bus cable connector CN1A Used to connect the servo system controller or Section3 2 preceding axis servo amplifier Bus cable connector CN1B Used to connect the subsequent axis servo amplifier Section3 2 or termination connector MR A TM Communication connector CN 3 Used to connect a personal computer RS 232C or pation 2 f Section12 1 5 output analog monitor data N
23. Options and auxiliary equipment Reference Options and auxiliary equipment Reference No fuse breaker Section 12 2 2 Regenerative brake option Section 12 1 1 Magnetic contactor Section 12 2 2 Cables Section 12 2 1 MR Configurator Section 12 1 8 Power factor improving reactor Section 12 2 3 Servo configuration software y r Power factor improving DC Section 12 2 4 reactor 27 To CN3 reactor MR Configurator Personal computer Analog monitor To CN4 o To CN A Servo configuration software MRZJW3 SETUP151E Servo system controller or Preceding axis servo amplifier ACIP act ER Note 2 Note 1 BW Note1 There is no BW when the HA LFS 11K2 is used Note2 Use either the FR BAL or FR BEL power factor improving reactor 1 22 Power factor improving DC reactor FR BEL Servo motor HA LFS series Subsequent axis o servo amplifier d CN1A or LS Terminal To CN1B connector n o Forced stop etc 4 0 To CON2 2 INSTALLATION 2 INSTALLATION Stacking in excess of the limited number of products is not allowed Install the equipment to incombustibles Installing them directly or close to combustibles
24. a Input signal e No g GER SE Signal Symbol Function Application I O Division or less jor more Turning off EM1 puts the servo motor in a forced stop status CN3 CON2 in which the servo is switched off and the dynamic brake is Forced stop EM1 20 2 operated to stop the servo motor Turn on EM1 in the forced stop status to reset the forced stop status b Output signals Connector Pin No l ste d Signal Symbol Function Application I O Division or less jor more GE brake MBR CN3 CONS In the servo off or alarm status MBR turns off Dynamic brake CON2 When using this signal set I in the parameter No 2 DO 1 When the dynamic brake is operated DB turns off C interlock 4 CN3 N3 Outputs pulses per servo motor revolution set in parameter DO 2 Encoder A phase pulse 6 6 No 38 in the differential line driver system In CCW rotation Differential line driver CN3 of the servo motor the encoder B phase pulse lags the 16 16 lencoder A phase pulse by a phase angle of 7 2 7 CN3 CN3 Encoder B phase pulse 7 Differential line driver 1 7 CN3 The zero phase signal of the encoder is output in the DO 2 Encoder Z phase pulse 8 8 differential line driver system Differential line driver CN3 18 CN3 CN4 Used to output the data set in parameter No 22 to across Analog MO1 LG in terms of voltage Resolution 10 bits output 1 CNA Used to output the data set in parameter No 22 to across Analo
25. a MR RB032 MR RB12 Unit mm in FAW H LA Ap 0 24 mounting hole Zi Zi 0 47 12 TE1 Terminal block as G4 144 5 67 TE1 Terminal screw M3 Tightening torque 0 5 to 0 6 N m 4 to 5 Ib in Mounting screw Screw size M5 Tightening torque 3 2 N m 28 32 Ib in Regenerative brake option LA LB LC LD Watt 12 0 47 30 15 119 99 MR RBO32 1 18 1 0 59 4 69 3 9 40 15 169 149 MR RB12 Lu 57 1 0 59 6 69 5 87 b MR RB30 MR RB31 MR RB32 Unit mm in Terminal block T op S FAN mounting screw P 2 M3 screw C Terminal screw M4 ay ae G3 Tightening torque 1 2 N m 10 Ibxin SS G4 Mounting screw Screw M6 Tightening torque 5 4 N m 47 79 lb in G4 G3CP E 318 12 52 9 17 Regenerative 10 0 39 _ 90 3 54 win 335 13 19 tee Mass kg Ib a 100 3 94 D 5 5 MR RB30 El MR RB31 MR RB32 12 8 12 OPTIONS AND AUXILIARY EQUIPMENT c MR RB50 MR RB51
26. 1 Always use a shielded multi core cable and connect the shield with FG securely 2 The optional communication cable is 3m 10ft long When the cable is fabricated its maximum length is 15m 49ft in offices of good environment with minimal noise 12 26 12 OPTIONS AND AUXILIARY EQUIPMENT 4 Bus cable When fabricating this cable use the recommended cable given in Section 12 2 1 and fabricate it in accordance with the connection diagram shown in this section The overall distance of the bus cable on the same bus is 30m 98 4ft a MR J 2HBUSOM A 1 Model definition Model MR J2HBUS MA Symbol Cable Length m ft 0 5 1 64 1 3 28 05 Si 16 4 Y 2 Connection diagram MR J2HBUSO M A PCR S20FS Connector 10120 6000EL Comnector PCR LS20LA1 Case 10320 3210 000 Shell kit LG 41 pa LG 11 KG i i RD 2 Pp RD 12 bh ij t TD 4 Pp TD 14 bh LG 5 Gi LG 15 HG i d EMG 6 H EMG 16 Lo i i SD 20 ees ERES 12 27 12 OPTIONS AND AUXILIARY EQUIPMENT b MRY 2HBUSOM 1 Model definition Model MR J2HBUS OM Cable Length m ft 0 5 1 64 1 3 28 5 16 4 2 Connection diagram MR J2HBUS OM 10120 6000EL Connector 10120 6000EL Connector 10320 3210 000 Shell kit 10320 3210 000 Shell kit e 1 H LG 11 H RD 2 RD 12 WEE 13 H TD 4 TD 14 ron Be Juge Ve LG 15 H
27. 10120 6000EL Connector HDR E26MG1 Connector 10320 3210 000 Connector case SSCNET1 Line HDR E26 LPA5 Connector case A No RD RD LG TD EMG EMG TD TD LG BT EMG EMG RD TD TD LG BT EMG EMG RD RD LG LG TD BT EMG EMG EH EE DE EE EE KE H BK D D SSCNET2 Line SSCNETS Line CN TD1 TD1 LG LG RD1 RD1 EMG12 a 0 D TD2 TD2 RD2 RD2 TD3 TD3 LG LG RD3 RD3 EMG34 TD4 TD4 RD4 RD4 SD 12 30 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 6 Maintenance junction card MR J2CN3TM The MR J 25 11KB or more allows only the relaying of signals using CN3A CN3C Since TE1 cannot be used keep it open 1 Usage The maintenance junction card MR J 2CN3TM is designed for use when a personal computer and analog monitor outputs are used at the same time Servo amplifier Maintenance junction card MR J2CN3TM Communication cable Bus cable MR J2HBUSOM CN3B CN3C B5 B6 AS A6 LG Ai A2 A3 A4 B4 B3 B2 Bi EMGO SG PE LG Ivo MO2 Analog monitor 2 Analog monitor 1 2 Connection diagram
28. 4 places Name Application Reference Battery connector CON 1 Used to connect the battery for absolute position data Section13 3 backup Battery holder Contains the battery for absolute position data backup Section13 3 Display The two digit seven segment LED shows the servo Chapter4 status and alarm number Axis select switch CS1 CS1 U sed to set the axis number of the servo amplifier Section3 11 Bus cable connector CN 1A Used to connect the servo system controller or Section3 2 preceding axis servo amplifier Bus cable connector CN1B Used to connect the subsequent axis servo amplifier Section3 2 or termination connector MR A TM i Communication connector CN3 Used to connect a personal computer RS 232C or Section3 2 output analog monitor data Section12 1 5 Charge lamp Lit toindicate that the main circuit is charged While this lamp is lit do not reconnect the cables Control circuit terminal block TE 2 DAE Section3 5 2 Used to connect the control circuit power supply Section10 1 Section12 1 1 Encoder connector CN 2 Section3 2 Connector for connection of the servo motor encoder Section12 1 5 Name plate Section1 5 Main droit terminal block TE 1 Used to connect the input power supply regenerative Section3 5 2 brake option and servo motor Section10 1 Protective earth PE terminal Section3 8 Ground terminal Section10 1 1 12 1 FUNCTIONS AND CONFIGU
29. 5 0 20 hole 4 Radio noise filter FR BIF 12 51 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 8 Leakage current breaker 1 Igl Ign Iga Selection method High frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply Select a leakage current breaker according to the following formula and ground the servo amplifier servo motor etc securely Make the input and output cables as short as possible and also make the grounding cable as long as possible about 30cm 11 8 in to minimize leakage currents Rated sensitivity current gt 10 g1 l gn l ga K 1g2 Ilgm mA 12 2 K Constant considering the harmonic contents Leakage current breaker Mitsubishi K Type yP products Servo amplifier Models provided with harmonic and surge reduction techniques General models Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier Found from Fig 12 1 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 12 1 Leakage current when a filter is connected to the input side 4 4mA per one FR BIF Leakage current of the servo amplifier Found from Table 12 5 Igm L
30. Change the parameter value to within the was Set to outside the setting setting range range by the controller 3 The number of write times to EEP Change the servo amplifier ROM exceeded 100 000 due to parameter write etc Main droit device 1 Servo amplifier faulty Change the servo amplifier device overheat overheat 2 The power supply was turned on The drive method is reviewed and off continuously by overloaded status 3 Air cooling fan of servo amplifier 1 Change the servo amplifier or cooling stops fan 2 Reduce ambient temperature 9 TROUBLESHOOTING Display Servo motor Servo motor 1 Ambient temperature of servo Review environment so that ambient overheat temperature rise motor is over 40 C temperature is 0 to 40 C actuated the 2 Servo motor is overloaded 1 Reduce load thermal protector 2 Review operation pattern 3 Use servo motor that provides larger output 3 Thermal protector in encoder is Change servo motor faulty Load exceeded 1 Servo amplifier is used in excess 1 Reduce load overload protection of its continuous output current 2 Review operation pattern characteristic of 3 Use servo motor that provides larger servo amplifier output 2 Servo system is instable and 1 Repeat acceleration hunting deceleration to execute auto tuning 2 Change auto tuning response setting 3 Set auto tuning to OFF and make gain adjustment manually 3 Machine struck something
31. E A Note B1 B Note B2 Note For the motor with electromagnetic brake View b supply electromagnetic brake power 24VDC There is no polarity AO Ob 3 21 3 SIGNALS AND WIRING 3 7 Servo motor with electromagnetic brake Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a forced stop EM1 Contacts must be open when Circuit must be servo off when an alarm occurrence opened during and when an electromagnetic brake forced stop EM1 interlock MBR Servo motor 2 RA EM Electromagnetic brake The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking Refer to the Servo Motor Instruction Manual for specifications such as the power supply capacity and operation delay time of the electromagnetic brake Note the following when the servo motor equipped with electromagnetic brake is used for applications requiring a brake to hold the motor shaft vertical lift applications 1 Do not share the 24VDC interface power supply between the interface and electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake 2 The brake will operate when the power 24VDC switches off 3 Switch off the servo on command after the servo motor has stopped 1 Connection diagram Servo amplifier Servo motor VDD COM 24VDCT w
32. HC RFS353 B 503 B or alarm occurrence Encoder cable Encoder Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake Servo amplifier Servo motor UQ Vo Wo o Note 1 24VDC HC SF S81 B HC SF S52 B to 152 B pia HC SF S53 B to 153 B EM1 HC RFS103 B to 203 B To be shut off when servo off HC UFS72 B 152 B or alarm occurrence Encoder cable Encoder Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake 3 19 3 SIGNALS AND WIRING 3 6 3 I O terminals 1 HC KFS HC MFS HC UFS3000r min series Power supply lead Encoder connector signal arrangement 4 AWG19 0 3m 0 98ft F x Power supply connector molex 1 2 3 Without electromagnetic brake ME MBE NBAT a 5557 04R 210 receptacle 4 5 6 Encoder cable 0 3m 0 98ft 5556PBTL Female terminal MD MDR With connector 1 172169 9 SC With electromagnetic brake L Bt AMP 5557 06R 210 receptacle es pls SHB Power supply 5556PBTL Female E Sch connector connector 5557 04R 210 Pin Sig
33. Interface Max output current 35mA Servo amplifier Servo amplifier ne Am26LS32 or equivalent LA High speed photocoupler LB LZ on q BEE 1009 ARA H Da 7 Ek W 4 gt LAR men LBR LZR 2 Output pulse Servo motor CCW rotation LA Ae a m LB FAULT or LT LTT Ere LZ signal varies 3 8T on its leading edge E 400us or more OP 3 12 3 SIGNALS AND WIRING 4 Analog output Output voltage 10V Max output current 1mA Resolution 10bit Servo amplifier MO1 10kQ MO2 vaa Reading in one or both directions A LG 1mA meter 3 13 3 SIGNALS AND WIRING 3 5 Power line circuit When the servo amplifier has become faulty switch power off on the amplifier power side Continuous flow of a large current may cause a fire N CAUTION Switch power off at detection of an alarm Otherwise a regenerative brake transistor fault or the like may overheat the regenerative brake resistor causing a fire POINT For the power line circuit of the MR 2S 11KB to MR J 2S 22KB refer to Section 3 12 where the power line circuit is shown together with the servo motor connection diagram 3 5 1 Connection example Wire the power supply main circuit as shown below so that power is shut off and the servo on command turned off as soon as an alarm occurs a servo forced stop is made valid or
34. MITSUBISHI ELECTRIC General Purpose AC Servo MESA tj 2 Super Series Se Compatible MR J2S LB SERVO AMPLIFIER INSTRUCTION MANUAL e Safety Instructions e 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 Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment safety information and instructions In this Instruction Manual the safety instruction levels are classified into WARNING and CAUTION d WARNING Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury d CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are indicated by the following diagrammatic symbols Indicates what must not be done For example No Fire is indicated by R A O Indicates what must be done For example grounding is indicated by GE In this Instruction
35. Unit mm in SF1252 SF1253 149 5 5 886 S 6 0 0 236 2 209 5 8 248 y 6 0 0 236 Wee ON a a S A LINE i2 4 LINE a input side El input side al N S al de 3 m EE 3 m EE S ONE S ONE E LOAD E LOAD El y output side El A output side KS IN gt es 116 0 0 63 a as Heda 0 335 III 1654 III E 12 54 12 OPTIONS AND AUXILIARY EQUIPMENT HF3040A TM HF3050A TM HF3060A TMA D 2 H 2 Dimensions mm in ws q A A A e a HF 3040A TM 10 24 Bs KE 4 M5 M4 af in A a 5 ms ma Ge a a E de ES SS Se eg me ma HF3080A TMA HF3100A TMA i B2 A 5 Esch Er RES Model HF3080A TMA TMA R4 25 HF3100A TMA 15 SC Ee e SC Epa a Ge SC ee SC length 12 12 55 12 OPTIONS AND AUXILIARY EQUIPMENT MEMO 12 56 13 ABSOLUTE POSITION DETECTION SYSTEM 13 ABSOLUTE POSITION DETECTION SYSTEM 13 1 Features 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 The absolute position detection system always detects the absolute position of the machine and keeps it battery backed independently of wheth
36. VPI_ PI PID control switch over position drop JL O f pulse For manufacturer setting VDC 980 ENR For manufacturer setting H BLK_ Parameter blocks Note2 omg gt Note 1 Factory settings of the servo amplifier Connecting it with the servo system controller and switching power on changes them to the settings of the servo system controller 2 Setting and changing cannot be made from the peripheral software of the motion controller 3 The setting unit of 0 025rev applies for the servo amplifier of software version B1 or later For the amplifier of software version older than B1 the setting unit of 0 1rev is applied Adjustment parameters 8 d DT IAU 111 0 W ollo ojo o CH mV mV elei Expansion parameters del Ed 5 2 5 PARAMETERS 2 Details list Classifi Initial Settin Symbol Name and Function 9 cation Value Range AMS Amplifier setting Refer to Used to select the absolute position detection name o ojo a function E i e column Absolute position detection selection Basic parameters 0 Invalid Used in incremental system 1 Valid Used in absolute position detection system REG Regenerative brake resistor Refer to Used to select the regenerative brake option used name ojo el function ES Regenerative selection brake option column 00 Regenerative brake option is not used with 7KW or less servo amplifier The built in regenerative brake re
37. section 3M or equivalent Back shell CE02 20BS S DDK A resistant Encoder Connector 10120 3000VE Housing 1 172161 9 connector set Shell kit 10320 52F 0 008 Connector Pin 170359 1 3M or equivalent AMP or equivalent Cable clamp MT1 0002 Toa Electric Industry LJ Ga Encoder Connector 10120 3000VE Plug MS3106B 20 29S connector set Shell kit 10320 52F 0 008 Cable clamp MS3057 12A 3M or equivalent J apan Aviation Electronics LA al Encoder Connector 10120 3000VE Plug MS3106A20 29S D190 connector set Shell kit 10320 52F 0 008 Cable clamp CE3057 12A 3 D265 3M or equivalent Back shell CEO2 20BS S DDK 9 Bus cable MR J 2HBUSOM A Connector PCR S20F S Connector 10120 6000E L Refer to 4 inthis Case PCR LS20LA1 Shell kit 10320 3210 000 section Honda Tsushin 3M or equivalent 10 Bus cable MR J 2H BU SOM Connector 10120 6000E L Connector 10120 6000E L Refer to 4 in this Shell kit 10320 3210 000 Shell kit 10320 3210 000 section 3M or equivalent 3M or equivalent 12 19 12 OPTIONS AND AUXILIARY EQUIPMENT Mel Product wa Description plication 11 Connector set MR 2CN 1 A Connector PCR S20FS Connector 10120 3000E L Refer to 4 in this Shell kit PCR LS20LA1 Shell kit 10320 52F 0 008 section Honda Tsushin 3M or equivalent connector set Shell kit 10320 52F 0 008 3M or equivalent Qty 2 each Termination MR A TM conn
38. 0 28 150 59 M8 70277 ve 6701477 60 AwG10 12 45 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 5 Relays The following relays should be used with the interfaces Interface Selection example Relay used for digital input signals interface DI 1 To prevent defective contacts use a relay for small signal twin contacts Ex Omron type G2A MY Relay used for digital output signals interface DO 1 Small relay with 12VDC or 24VDC of 40mA or less Ex Omron type MY 12 2 6 Surge absorbers A surge absorber is required for the electromagnetic brake Use the following surge absorber or equivalent Insulate the wiring as shown in the diagram Maximum rating Static SCH SE Maximum capacity Varistor voltage Permissible circuit Surge Energy ae f f limit voltage reference rating range VimA voltage immunity immunity valia GEES GE ivi GE Note 25 360 500 ti me 198 to Gem Note 1 time 8 X 20us Example ERZV10D221 Matsushita Electric Industry TNR 10V221K Nippon Chemi con Outline drawing mm in ERZ C10DK221 13 5 0 53 4 7 1 0 0 19 0 04 Vinyl tube b Crimping terminal 0 8 0 03 R for M4 screw 30 0 1 18 or more 12 2 7 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
39. 17 1 FUNCTIONS AND CONFIGURATION b For 1 phase 100V to 120VAC 1 phase 100VAC power supply Options and auxiliary equipment Reference Options and auxiliary equipment Reference No fuse breaker Section 12 2 2 Regenerative brake option Section 12 2 2 Cables Magnetic contactor G MR Configurator Section 12 1 8 Power factor improving reactor Section 12 2 3 a Servo configuration software EL Servo system Servo amplifier US controller I o MITSUBISHI preceding axis Mi servo amplifier To CN1A Subsequent axis servo amplifier i CN1A or Termination connector No fuse breaker NFB or fuse Magnetic contactor MR Configurator Personal Servo configuration computer software I MRZJW3 SETUP151E improving reactor FR BAL Note Encoder cable Power supply lead Control circuit terminal block L21 Regenerative brake option Servo motor C Note The HC SFS HC RFS series have cannon connectors 1 18 1 FUNCTIONS AND CONFIGURATION 2 MR J2S 200B MR J2S 350B 3 phase 200V Options and auxiliary equipment Options and auxiliary equipment Reference to 230VAC power supply No fuse breaker Regenerative brake option Section 12 1 1 Magnetic contactor Section 12 2 1 MR Configurator Power factor improving reactor Section 12 2 3 Servo configuration software No fuse br
40. 2 Interpolation mode Always estimated Fixed to parameter No 12 value Always estimated GD2 parameter No 12 PG1 parameter No 13 VG1 parameter No 14 PG2 parameter No 15 VG2 parameter No 16 VIC parameter No 17 PG1 parameter No 13 VG1 parameter No 14 PG2 parameter No 15 VG2 parameter No 16 VIC parameter No 17 VG1 parameter No 14 PG2 parameter No 15 GD2 parameter No 12 PG2 parameter No 15 VG2 parameter No 16 VIC parameter No 17 RSP parameter No 9 GD2 parameter No 12 RSP parameter No 9 GD2 parameter No 12 PG1 parameter No 13 VG2 parameter No 16 VIC parameter No 17 GD2 parameter No 12 PG1 parameter No 13 VG1 parameter No 14 PG2 parameter No 15 VG2 parameter No 16 VIC parameter No 17 PG1 parameter No 13 VG1 parameter No 14 6 GENERAL GAIN ADJUSTMENT 2 Adjustment sequence and mode usag START e Interpolation Yes made for 2 or more axes No Interpolation mode Operation Autotuning ue e DO EN E aie Bao A Se Operation Yes No OK No Yes Yes OK O Auto tuning mode 2 4 Operation No Manual mode 2 Manual mode 1 F Used when you want to match the position gain PG1 between 2 or more axes Normally not used for other purposes Allows adjustment by merely changing the response level setting First
41. 60 ech Ee 1 a daa ri 11 2 Lues Maximum COASTING detance nn aaia iiaa aa adana aa hiiia mm in Vo Machine rapid teedrate En mm min in min Jm Servo motor inertial moment kg cm oz in2 Ju Load inertia moment converted into equivalent value on servo motor shaft daa dE e eegen kg cm2 oz in2 T dl TER RA ee ET EE s te Delay time Of control section s For 7kW or less servo there is internal relay delay time of about 30ms For 11kW to 22kW servo there is delay time of about 100ms caused by a delay of the external relay and a delay of the magnetic contactor built in the external dynamic brake 16 W 14 23 E 12 5 0 73 a Bt 053 5 S 6 oO E 4 mo i 43 13 05 500 1000 1500 2000 2500 3000 Speed r min a HC KFS series Fig 11 7 Dynamic brake time constant 1 11 5 11 CHARACTERISTICS 0 02 0 018 0 016 0 014 0 012 0 01 0 008 0 006 0 004 0 002 Time constant t s 23 73 lt A 4 13 0 500 1000 1500 2000 2500 3000 Speed r min b HC MFS series 0 045 0 04 0 035 0 025 0 02 0 015 0 01 Time constant z s 0 005 F 0 018 0 03 500 1000 1500 2000 Speed r min d HC SFS2000r min series 0 016 0 014 0 012 0 01 0 008 0 006 0 004 0 002 Time constant t s 0 500 0 07 1000 1500 2000 2500 3000 Speed r min f HC RFS series 0 06 0 05 0 04 0 03 Time constant t s
42. A a L Zu Note Ventilation ports are provided in both side faces and top face The bottom face is open Approx E EE EE Mass kg lb FR BU 15K 18 5 48 5 7 5 2 4 Ge SECH See SE ee e 0 728 Ze 1 909 0 295 5 291 am ea aa oua aoa wem 02 0319 oz com oo ve FR BU 30K 6 299 3 543 9 446 10 039 5 039 0 236 1 319 0 236 3 091 0 295 7 055 aer sio es Leen ee aro J asm oza ls Lan FR BU 55K 10 433 5 709 9 446 10 039 5 039 2 307 0 236 0 295 _ 12 787 12 11 12 OPTIONS AND AUXILIARY EQUIPMENT b Resistor unit FR BR Unit mm in 2 D x T A A SN A Control circuit S Note ES g3 terminals el el mit Main circuit E EH a terminals gt a eee e FR BR 55K for GE N Two eye bolts are provided GA AAN he h low ER it it EE ict as shown below E AA 5 0 197 E 204 Eye bolt 8 031 40 1 575 Cp 0 197 At5 0 197 Resistor Approx Unit Ge 12 1 3 Power regeneration converter When using the power regeneration converter set T1001 in parameter No 2 1 Selection The converters can continuously return 75 of the nominal regenerative power They are applied to the servo amplifiers of the MR 2S 500B to MR J 2S 22KB
43. AND CONFIGURATION 1 7 Structure 1 7 1 Parts identification 1 MR J2S 100B or less Name Application Reference Battery holder Contains the battery for absolute position data backup SES Battery connector CON 1 Used to connect the battery for absolute position data Section13 3 servo amplifier backup S Display L The two digit seven segment LED shows the servo Chapter4 du status and alarm number L Axis select switch CS1 E CS1 E 189 Used to set the axis number of the STT ll N 0 SCH Section3 11 Bus cable connector CN 1A Used to connect the servo system controller or Section3 2 preceding axis servo amplifier Bus cable connector CN 1B Used to connect the subsequent axis servo amplifier Section3 2 or termination connector MR A TM Communication connector CN 3 Section3 2 Used to connect a personal computer RS 232C or E Section12 1 5 output analog monitor data Name plate Section1 5 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN 2 Section3 2 Connector for connection of the servo motor encoder Section12 1 5 Main droit terminal block TE 1 s U sed to connec the input power supply and servo Section3 5 2 Section10 1 motor
44. F when executing the test operation mode using MR Configurator servo configuration software Axis select switch CS1 orion Axis 3 eoo ae o o af o ais Not used EM e WE ae EA EN ES Test operation mode or when machine analyzer is used Refer to Section 6 1 2 3 SIGNALS AND WIRING 3 12 Power line circuit of the MR J2S 11KB to MR J2S 22KB When the servo amplifier has become faulty switch power off on the amplifier power side Continuous flow of a large current may cause a fire N CAUTION Switch power off at detection of an alarm Otherwise a regenerative brake transistor fault or the like may overheat the regenerative brake resistor causing a fire The power on sequence is the same as in Section 3 5 3 3 12 1 Connection example Wire the power supply main circuit as shown below so that power is shut off and the servo on signal turned off as soon as an alarm occurs a servo forced stop is made valid a controller emergency stop or a servo motor thermal relay alarm is made valid A no fuse breaker NFB must be used with the input cables of the power supply Servo motor Note Controller thermal relay Alarm emergency stop Forced OFF ON RAS RAt DAG stop a O 0 o o O O sTo alo O MO ue O Servo amplifier Note 2 Dynamic Servo motor HA LFS series NFB MC L ojo Oo OL 3 phase 200 to ojo 4 O O Le 2
45. F R RC FR BU 15K 3 5 AWG12 FR BU 30K O Table 12 2 Recommended crimping terminals Servo amplifier side crimping terminals Symbol Ee Crimping terminal Applicable tool c 32968 59239 Body YF 1 EA FVD8 5 Head YNE 38 Dice DH 111 DH 121 Body YF 1 EA FVD14 6 Head YNE 38 Dice DH 112 DH 122 Body YF 1 E 4 J apan Solderless FVD22 6 Head YNE 38 Terminal Dice DH 113 DH 123 Body YPT 60 21 Dice TD 124 TD 112 38 56 Body YF 1 EA deg 2 Head YET 60 1 Dice TD 124 TD 112 NOP6O R38 65 SC NICHIFU Body YDT 60 21 Note R60 8 Body YF 1 E 4 J Ta SE Head YET 60 1 SCC Dice TD 125 TD 113 Note 1 Cover the crimped portion with an insulating tape 2 Always use the recommended crimping terminals since they may not be installed depending on the size 12 42 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Wires for cables When fabricating a cable use the wire models given in the following table or equivalent Table 12 3 Wires for option cables La aihi Core size Number Characteristics of one core Note 3 Type Model 9 2 Structure Conductor Insulation coating Finishing Wire model m ft mm of Cores A Wires mm resistance Q mm ODd mm Note 1 OD mm 2to10 U L20276 Vis 20 30 12 12 0 18 UL20276 AGES 65 6 98 4 6 pairs 6pair BLAC 2 5 12 Note 2 to 250 Note 2 4200 08 Ge A14B0238 7P vo lea 4 A 4pair BLAC Encoder cable MR J HSCBLOM L to 30 12 e UL20276 AWG 22 ls a to e 4 6
46. LS20LA1W Note PCR S20F and PCR LS20LA1W are not options and are to be supplied by the customer 10 OUTLINE DIMENSION DRAWINGS b Honda Tsushin Industry HDR type Model HDR Number of Pins GES Note Crimping terminal HDR E14MG1 HDR E14LPA5 Wire straightening tool FHAT 0029 HDR E26MG1 HDR E26LPA5 Insulation displacement tool FHPT 0004C Note Not available from us and to be supplied by the customer Model Connector HDR E14MG1 Model Connector HDR E26MG1 Connector case HDR E14LPA5 Connector case HDR E26LPA5 Unit mm Unit in 21 8 0 86 SA 6X7 0 24x 28 0 39 te Jl A 25 0 98 3 Communication cable connector lt Japan Aviation Electronics Industry gt Unit mm Unit in Fitting fixing screwG A B CG D F Type E G Reference oe DE C1 J 6 S6 34 5 1 36 190 75 24 99 0 98 33 1 30 6 0 24 18 0 71 10 10 11 CHARACTERISTICS 11 CHARACTERISTICS 11 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 50 occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 11 1 Overload 2 alarm 51 occurs if the maximum current flew continuously for several seconds due to machine collision etc Use the equipment on the
47. Note The error excessive detection for 2 revolutions is available only when the servo amplifier of software version B1 or later is used For the servo amplifier of software version older than BI an error excessive alarm occurs when the deviation deviation counter value between the instructed position and the actual servo motor position exceeds the parameter No 1 setting value initial value 8 revolutions 9 TROUBLESHOOTING 9 3 Remedies for warnings If E6 E7 E9 or EE occurs the servo off status is established If any other warning occurs operation can be continued but an alarm may take place or proper operation may not be performed Eliminate the cause of the warning according to this section Use the optional MR Configurator servo configuration software to refer tothe cause of warning Display Open battery Absolute position 1 Battery cable is open Repair cable or changed cable warning detection system battery 2 Battery voltage dropped to 2 8V or less Change battery setting warning could not be made in the than the in position range setting occurrence precise position Reduce creep speed during operation command 3 Creep speed high Battery warning Voltage of battery for Battery voltage fell to 3 2V or less Change the battery absolute position detection system reduced Excessive There is a possibility that Regenerative power increased to 85 or 1 Reduce frequency of regenerative regenerative power may more o
48. Positioning operation Positioning operation can be performed without using the servo system controller Use this operation with the forced stop reset This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not Exercise control on the positioning operation screen of the MR Configurator servo configuration software 1 Operation pattern Setting range Travel pulse 100000 0 to 9999999 Speed r min 0 to max speed Acceleration deceleration time constant ms 1000 1 to 50000 2 Operation method Operation Screen control Forward rotation start Click the Forward button Reverse rotation start Click the Reverse button Pause Click the Pause button 4 OPERATION AND DISPLAY c Program operation Positioning operation can be performed in two or more operation patterns combined without using the servo system controller Use this operation with the forced stop reset This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not Exercise control on the programmed operation screen of the MR Configurator servo configuration software For full information refer to the MR Configurator Servo Configuration Software Installation Guide Screen Control Start Click the Start button Click the Reset button d Motorless operation POINT Motor less operation may b
49. a controller emergency stop is made valid A no fuse breaker NFB must be used with the input cables of the power supply 1 For 3 phase 200 to 230VAC power supply Note Controller Alarm emergency stop Forced ON RA1 RA2 stop OFF o o o o alo alo o O MO Epa o 0 SK NFB Servo amplifier Power supply SI E 3 phase 200 to 230VAC 56 Forced stop Note Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side 3 14 3 SIGNALS AND WIRING 2 For 1 phase 100 to 120VAC or 1 phase 230VAC power supply Note 1 Controller Alarm emergency stop Forced ON RA1 RA2 stop OFF NFB Power supply sS pa 6 ervo amplifier 1 phase 100 to als Li p 120VAC or o Le 1 phase 230VAC L3 Note 2 Forced stop Note 1 Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side 2 Not provided for 1 phase 100 to 120VAC 3 15 3 SIGNALS AND WIRING 3 5 2 Terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier Refer to Section 10 1 Connection Target Symbol Description Application Li L2 L3 Main circuit power supply Supply Li L2 and L3 with the following power For 1 phase 230VAC connect the power supply t
50. amplifier 3 SIGNALS AND WIRING 2 MR J2S 11KB or more CN3 CN1A Same as the one of the MR J2S 700B or less e E CN1B S Same as the one of the ae MR J2S 700B or less 3 0 CN2 The connector frames are connected with the PE earth terminal inside the servo amplifier 3 SIGNALS AND WIRING 3 2 2 Signal explanations For the I O interfaces symbols in 1 O column in the table refer to Section 3 4 2 1 Connector applications Function Application Used for connection with the controller or preceding axis Connector for bus cable from preceding axis sevo amplifier Used for connection with the next axis servo amplifier or CN1B Connector for bus cable to next axis for Connection ofthe termination connector Used for connection with the servo motor encoder o Used for connection with the personal computer CN3 Communication connector Serves as an LO signal connector when the personal 1 0 signal connector computer is not used Note CN4 Analog monitor output connector Ge output analog monitor 1 M01 and analog monitor Used to input a forced stop and output the dynamic brake Note CON2 IO signal connector interlock DR the electromagnetic brake interlock Note These connectors are exclusive to the MR J2S 11KB or more 2 I O signals
51. amplifier may be connected on the same bus 13 Always insert the termination connector MR A TM into CN1B of the servo amplifier located at the termination 14 The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected Refer to the following table and choose the bus cable OO MR J28 0B MR J2 03B5 QD75M MR J 2HBUSOM Q172CPU N Q172 2BCBLOM B Motion Q173CPU N Q173 2BACBLOM controller A motion MR 2HBUSOM A MR J 2S OB MR J 2 03B5 E J MR J 2HBUSOM Maintenance junction card 15 When the A1SD75M AD75M is used as the controller encoder pulses may not be output depending on the software version of the controller For details refer to the A1SD75M AD75M Manual 3 SIGNALS AND WIRING 3 1 2 MR J2S 11KB or more Note 7 MR Configurator Servo configuration software Personal computer 15m 49 2ft or less Servo amplifier Note 4 CN3 TT Encoder A phase pulse ir differential line driver EN a Encoder B phase pulse N differential line driver ota 13 Encoder Z phase pulse differential line driver CN3 Servo system controller Note 8 12 Bus cable Option Cable clamp Option Note 8 12 Bus cable Option 2m 6 56ft or less Q Analog monitor De Max 1mA Ey Reading in 10kQ both directions Note 3 6 Forced stop Note 2 5
52. and function MES column F Low pass filter selection 0 Valid Automatic adjustment 1 Invalid When you choose vaid the filter of the handwidth represented by the following expression is set automatically For 1kW or less VG2 setting x10 2nx 1 GD2 settingxo 1 Ha For 2kW or more VG2 setting x5 21 x 1 GD2 settingx0 1 H7 Adaptive vibration suppression control selection 0 Invalid 1 Valid Machine resonance frequency is always detected and the filter is generated in response to resonance to suppress machine vibration Held The characteristics of the filter generated so far are held and detection of machine resonance is stopped Adaptive vibration suppression control sensitivity selection Used to select the sensitivity of machine resonance detection 0 Normal 1 Large sensitivity For manufacturer setting NUS Don t change this value by any means 5 PARAMETERS Classifi Initial Settin e No Symbol Name and Function Unit 9 cation Value Range 27 mV Analog monitor 1 offset Used to set the offset voltage of the analog monitor1 MO1 output SN manufacturer setting Ed change this value by any means Zero speed Used to set the output range of the zero speed signal ZSP Error excessive alarm level Used to set the output range of the error excessive alarm Note The setting unit of 0 025rev applies for the servo amplifier of software version B1 or later For the amplifier of software version older than
53. branch or representative As of November 2003 Use the battery to build an absolute position detection system 12 32 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 8 MR Configurator servo configurations software The MR Configurator servo configuration software uses the communication function of the servo amplifier to perform parameter setting changes graph display test operation etc on a personal computer 1 Specifications Communication signal Conforms to RS 232C Baudrate bps 57600 38400 19200 9600 ionita Display high speed monitor trend graph Minimum resolution changes with the processing speed of the personal computer Display history amplifier data Digital 1 O no motor rotation total power on time amplifier version info motor information tuning data absolute encoder data Axis name setting Parameter list turning change list detailed information Test operation J og operation positioning operation motor less operation Do forced output program operation Advanced function Machine analyzer gain search machine simulation File operation Data read save print Automatic demo help display 2 System configuration a Components To use this software the following components are required in addition to the servo amplifier and servo motor Note1 Description IBM PC AT compatible where the English version of Windows 95 Windows 98 Windows Me Windows NT Workstation 4 0 or
54. connector CN1A 4 places Used to connect the servo system controller or Section3 2 preceding axis servo amplifier Bus cable connector CN1B Used to connect the subsequent axis servo amplifier Section3 2 or termination connector MR A TM i Communication connector CN3 Used to connect a personal computer RS 232C or Section3 2 output analog monitor data Section12 1 5 Encoder connector CN2 Section3 2 Connector for connection of the servo motor encoder Section12 1 5 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Control circuit terminal block TE 2 Section3 5 2 Used to connect the control circuit power supply Section10 1 Section12 1 1 Main circuit terminal block TE 1 Used to connect the input power supply regenerative Section3 5 2 brake option and servo motor Section10 1 lt Cooling fan Name plate Section1 5 Protective earth PE terminal Section3 8 Ground terminal Section10 1 1 11 1 FUNCTIONS AND CONFIGURATION 4 MR J2S 700B The servo amplifier is shown without the front cover For removal of the front cover refer to Section 1 7 2 wl Jeunes A Cooling fan Installation notch
55. immunity it is recommended to use a cable clamp and data line filters three or four filters connected in series near the connector outlet 9 The wiring of the second and subsequent axes is omitted 10 Up to eight axes n 1 to 8 may be connected The MR J2S O B MR J2 03B5 servo amplifier may be connected on the same bus 11 Always insert the termination connector MR A TM into CN1B of the interface unit located at the termination 12 The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected Refer to the following table and choose the bus cable A MR J2S 018 MR J2 03B5 QD75M MR J 2HBUSOM Q172CPU N Q172 2BCBLOM Mot TT 1Q173CPU N Q173 2BACBLOM controller A motion MR J 2HBUSOM A MR 2S OB MR 2 03B5 MRJ 2HBUSOM Maintenance junction card 13 When the A1SD75M AD75M is used as the controller encoder pulses may not be output depending on the software version of the controller For details refer to the A1SD75M AD75M Manual 3 SIGNALS AND WIRING 3 2 I O signals 3 2 1 Connectors and signal arrangements The pin configurations of the connectors are as viewed from the cable connector wiring section 1 MR J2S 700B or less CN1A MITSUBISHI MELSERVO J2 CN3 The connector frames are connected with the PE earth terminal inside the servo
56. not share the 24VDC interface power supply between the interface and electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake 3 6 2 Connection diagram For the connection diagram of the MR J 2S 11KB to MR J 2S 22KB refer to Section 3 12 where the connection diagram is shown together with the power line circuit The following table lists wiring methods according to the servo motor types Use the connection diagram which conforms to the servo motor used For cables required for wiring refer to Section 12 2 1 For encoder cable connection refer to Section 12 1 4 For the signal layouts of the connectors refer to Section 3 6 3 For the servo motor connector refer to Chapter 3 of the Servo Motor Instruction Manual 3 18 3 SIGNALS AND WIRING Servo motor Connection diagram Servo amplifier Servo motor Note 1 24VDC HC KF S053 B to 73 B H C MF S053 B to 73 B HC UFS13 B to 73 B To be shut off when servo off or alarm occurrence Encoder cable Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake Servo amplifier Note 1 24VDC HC SF S121 B to 301 B HC SF S202 B to 702 B HC SF S203 B 353 B HC UF S202 B to 502 B To be shut off when servo off
57. option remove the lead wires of the built in regenerative brake resistor 1 20 1 FUNCTIONS AND CONFIGURATION 4 MR J2S 700B 3 phase 200V to 230VAC power supply Options and auxiliary equipment Reference Options and auxiliary equipment Reference No fuse breaker Section 12 2 2 Regenerative brake option Section 12 1 1 Magnetic contactor Section 12 2 2 Cables Section 12 2 1 MR Configurator Section 12 1 8 Power factor improving reactor Section 12 2 3 Servo configuration software Ger A D AY C A E Y L Us No fuse breaker NFB or fuse Servo amplifier Magnetic Ps contactor DS MC Power factor improving reactor ZK FA BAL fr A NA C mm A Rm Re es U cl jP Note Regenerative brake option To CN1A To CN1B Servo system controller or Preceding axis servo amplifier Subsequent axis servo amplifier CN1A or Termination connector Personal computer Note When using the regenerative brake option remove the lead wires of the built in regenerative brake resistor 1 21 MR Configurator Servo configuration software MRZJW3 SETUP151E Wi 1 FUNCTIONS AND CONFIGURATION 5 MR J2S 11KB or more 3 phase 200V to 230VAC power supply or fuse Magnetic contactor Note 2 Power factor improving
58. options a The no fuse breaker and magnetic contactor used should be the EN or IEC standard compliant products of the models described in Section 12 2 2 b The sizes of the cables described in Section 12 2 1 meet the following requirements To meet the other requirements follow Table 5 and Appendix C in EN60204 1 Ambient temperature 40 104 C F Sheath PVC polyvinyl chloride Installed on wall surface or open table tray c Usethe EMC filter for noise reduction 8 Performing EMC tests When EMC tests are run on a machine device into which the servo amplifier has been installed it must conform to the electromagnetic compatibility immunity emission standards after it has satisfied the operating environment electrical equipment specifications For the other EMC directive guidelines on the servo amplifier refer to the EMC Installation Guidelines l B NA 67310 A 8 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 MR J 2S 10B to MR 25 22KB MR J 25 10B1 to MR 2S 40B1 Servo motor HC KFS O HC MFSO HC SFSO HC RFSO HC UFSO HA LFSO HC LFSO 2 Installation Install a fan of 100CFM 2 8m3 min air flow 4 in 10 16 cm above the servo amplifier or provide cooling of at least equivalent capability 3 Short circuit rating This servo amplifier conforms to the circuit whose peak
59. or Valid OFF Dl Forced stop EM1 3 SIGNALS AND WIRING c Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Servo motor speed t A A A ek PANES 4 10ms DH A Base circuit ON OFF Electromagnetic Invalid ON Electromagnetic brake brake interlock MBR yaiig QFF operation delay time No A Trouble ALM Yes oo gt d Both main and control circuit power supplies off Dynamic brake Dynamic brake x Electromagnetic brake Electromagnetic brake Servo motor speed Note l 15 to 100ms I gt 1 ON Base circuit i OFF i 1 1 Electromagnetic Invalid ON manes l brake interlock MBR Valid OFF l i i gt w Electromagnetic brake No Ta j operation delay time Alarm ALM 1 Note 2 Yes l Main circuit ON power Control circuit OFF Note Changes with the operating status e Only main circuit power supply off control circuit power supply remains on Dynamic brake Dynamic brake x Electromagnetic brake Electromagnetic brake 10ms Servo motor speed Note 1 15ms or more ON Base circuit OFF l d 10ms or less L _ Electromagnetic IValid ON i brake interlock Valid OFF l MBR x Electromagnetic brake No i j operation delay time Alarm Note 2 Yes ON Main circuit power
60. pars 6pair BLAC Note 2 0 2 6 pars 40 0 08 Note 2 M H to CR 12 40 0 08 Note 2 5 S to 164 6 pairs A14B2343 6P Communication U SE SE MR J HSCBL MR J2HBUSOM ae MR J 2HBUS e A 0 5to5 10 EES 10pair CREAM SSES Q172 2BCBLOM B 1 64 to 16 4 Ze UL 20276 AWG 28 Q173 2B ACBLOM EEN i Tpair CREAM Note 1 d is as shown below d Conductor Insulation sheath 2 Purchased from Toa Electric Industry 3 Standard OD Max OD is about 10 greater 12 43 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 2 No fuse breakers fuses magnetic contactors Always use one no fuse breaker and one magnetic contactor with one servo amplifier When using a fuse instead of the no fuse breaker use the one having the specifications given in this section Servo amplifier No fuse breaker E Voltage V Magnetic contactor MR 2S 40B 20B1 30A frame 10A 15 ST MR 25 350B 30A frame 30A MR 25 500B 50A frame 50A K5 125 100A frame 75A 12 2 3 Power factor improving reactors The input power factor is improved to be about 90 For use with a 1 phase power supply it may be slightly lower than 90 Unit mm A A AE CC ce Me Servo amplifier im A ee NFB MC o o o Li i 3 phase ale o S 2007 o L2 200 to 230VAC i o us 00 Z O L3 er Y FR BAL FR BAL Servo amplifier T T
61. s manual 5 1 Parameter write inhibit When setting the parameter values from the servo system controller the parameter No 40 setting need not be changed In this servo amplifier the parameters are dassified into the basic parameters No 1 to 11 adjustment parameters No 12 to 26 and expansion parameters No 27 to 40 according to their safety aspects and frequencies of use The values of the basic parameters may be set changed by the customer but those of the adjustment and expansion parameters cannot When in depth adjustment such as gain adjustment is required change the parameter No 40 value to make all parameters accessible Parameter No 40 is made valid by switching power off then on after setting its value The following table indicates the parameters which are enabled for reference and write by parameter No 40 setting f MR fi Setting Operation Operation from controller See el Ge servo configuration software Pel 0000 initial value write Parameter No 1 to 39 Parameter No 1 to 11 40 Referen 000A El Parameter No 1 to 39 Parameter No 40 Reference Parameter No 1 to 40 P ter No 1 t Ge Write Ge Parameter No 1 to 11 40 OOOE Reference Parameter No 1 to 40 Write Parameter No 1 to 40 100E Parameter No 1 to 39 Parameter No 40 5 2 Lists Parameter No 1 to 39 For any parameter whose symbol is preceded by set the parameter value and switch power off once then switch it on again to make that par
62. servo amplifier or run near the servo amplifier such devices may malfunction due to noises transmitted through the air The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 1 2 3 2 Provide maximum dearance between easily affected signal cables and the I O cables of the servo amplifier 3 Avoid laying the power lines I O cables of the servo amplifier and signal cables side by side or bundling them together 4 Insert a line noise filter to the 1 O cables or a radio noise filter on the input line 5 Use shielded wires for signal and power cables or put cables in separate metal conduits When the power lines and the signal cables are laid side by side or bundled together magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 4 5 6 2 Provide maximum clearance between easily affected signal cables and the I O cables of the servo amplifier 3 Avoid laying the power lines I O cables of the servo amplifier and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits When the power supply of peripheral devices is connected to the power supply of the servo amplifier syst
63. signal wiring check etc 1 e Test operation mode J OG operation positioning operation motor less operation DO forced output Section 4 4 Analog monitor output Servo status is output in terms of voltage in real time Parameter No 22 MR Configurator Using a personal computer parameter setting test operation status display Section 12 1 8 Servo configuration software etc can be performed ge 1 FUNCTIONS AND CONFIGURATION 1 5 Model code definition 1 Rating plate MITSUBISHI AC SERVO MODEL MR J2S 60B POWER 600W INPUT 3 2A 3PH 1PH200 230V 50Hz 3PH 1PH200 230V 60Hz 5 5A 1PH 230V 50 60Hz OUTPUT 170V 0 360Hz 3 6A SERIAL Ax TC3 AAAAGS2 Pa MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN Applicable power supply Rated output current ies ce Serial number 2 Model MR J2S OB OO MR J2S 100B or less MR J2S 200B 350B f E no regenerative resistor Series Symbol Description Indicates a servo amplifier of 11 to 22kw that does not PX usea regenerative resistor as standard accessory Power Supply Symbol Power supply None 3 phase 200 to 230VAC Note2 1 phase 230VAC ER 1 phase 100V to 120VAC Note 1 Not supplied to the servo amplifier D pil of MR J2S 60B or more i 2 Not sup
64. the absolute position lost 25 alarm and the servo system cannot be switched on This is not a failure and takes place due to the uncharged capacitor in the encoder The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then switching power off once and on again Also in the absolute position detection system if power is switched on at the servo motor speed of 500r min or higher position mismatch may occur due to external force or the like Power must therefore be switched on when the servo motor is at a stop 2 Parameter setting Set the parameters according to the structure and specifications of the machine Refer to Chapter 5 for the parameter definitions Parameter No Name Setting Description i Increase in positioning address rotates the 7 Rotation direction setting f motor in the CCW direction Auto tuning 0001 0005 Slow response initial value is selected After setting the above parameters switch power off once Then switch power on again to make the set parameter values valid 4 OPERATION AND DISPLAY 3 Servo on Switch the servo on in the following procedure 1 Switch on main circuit control circuit power supply 2 The controller transmits the servo on command When placed in the servo on status the servo amplifier is ready to operate and the servo motor is locked 4 Home position return Always perform home position return before starting positioning operation
65. to name and function column 5 PARAMETERS Classifi Initial Settin Symbol Name and Function 9 cation Value mee In position range pulse U sed to set the droop pulse range in which the in position INP will be output to the controller Make setting in the feedback pulse unit Bes parameter No 6 For example when you want to set 10um in the conditions that the ballscrew is direct coupled the lead is 10mm and the feedback pulses are 8192 pulses rev parameter No 6 1 set 8 as indicated by the following expression 6 ai 8192 8 192 8 10 x 10 Electromagnetic brake sequence output Used to set a time delay Tb from when the electromagnetic brake to interlock signal MBR turns off until the base circuit is shut off 1000 Analog monitor output 0001 Refer to Used to select the signal provided to the analog monitor name MO1 analog monitor M 02 and Refer to Section 5 3 function Fo lol column Setting Analog monitor1 MO1 Analog monitor2 MO2 Servo motor speed 8V max speed Torque 8V max torque Servo motor speed 8V max speed Torque 8V max torque Current command 8V max current command Speed command 8 max speed Droop pulses 10V 128 pulses Droop pulses 10V 2048 pulses Droop pulses 10V 8192 pulses Droop pulses 10V 32768 pulses Droop pulses 10V 131072 pulses Bus voltage 8V 400V Optional function 1 0000 Refer to Used to make the servo forced stop function i
66. to the initial state 3 SIGNALS AND WIRING 3 4 Interfaces 3 4 1 Common line The following diagram shows the power supply and its common line To conform to the EMC directive refer to the EMC Installation Guide lines IB NA 67310 Servo amplifier 24VDC DI 1 Differential line driver output 35mA max gt Analog monitor output KS ae Pe G S 3 10 3 SIGNALS AND WIRING 3 4 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 2 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 Servo amplifier 24VDC R Approx 4 70 For a transistor Approx 5mA V ces lt 1 0V ceo lt 100HA 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Provide a diode D for an inductive load or an inrush current suppressing resister R for a lamp load Permissible current 40mA or less inrush current 100mA or less a Inductive load Servo amplifier If the diode is not connected as shown the servo amplifier will be damaged 3 11 3 SIGNALS AND WIRING b Lamp load Servo amplifier 3 Encoder pulse output DO 2 Differential line driver system 1
67. touch the conductive areas such as connector pins and electrical parts directly by hand 1 Open the operation window When the model used is the MR J 25 200B MR 2S 350B also remove the front cover 2 Install the battery in the battery holder 3 Install the battery connector into CON1 until it clicks Operation window Battery connector SZAN Y CON1 LAS Ce MS ES Battery Battery Battery holder For MR J2S 200B or less For MR J2S 200B MR J2S 350B CON1 Battery connector Battery connector Battery connector Battery For MR J2S 11KB or more 13 ABSOLUTE POSITION DETECTION SYSTEM 13 4 Confirmation of absolute position detection data Y ou can confirm the absolute position data with MR Configurator servo configuration software Click Diagnostics and Absolute Encoder Data to open the absolute position data display screen 1 Clicking Diagnostics in the menu opens the sub menu as shown below MITSUBISHI Configuration Software Parameters Test Adv Function device display No motor rotation Total power on time Amplifier version info Motor information Tuning data utomatic volt Axis name setting Unit composition listine 2 By dicking Absolute Encoder Data in the sub menu the absolute encoder data display window appears Absolute position data The interface data transferred between servo system controller and servo amplifier are displayed Value of each motor e
68. use this mode to make adjustment Used when the conditions of auto tuning mode 1 are not met and the load inertia moment ratio could not be estimated properly for example This mode permits adjustment easily with three gains if you were not satisfied with auto tuning results You can adjust all gains manually when you want to do fast settling or the like 6 GENERAL GAIN ADJUSTMENT 6 1 2 Adjustment using MR Configurator servo configuration software When using the machine analyzer set the servo amplifier s axis number for F Refer to Section 3 11 This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR Configurator servo configuration software which operates on a personal computer Adjustment Machine analyzer Gain search Machine simulation With the machine and servo motor coupled the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response Executing gain search under to and fro positioning command measures settling characteristic while simultaneously changing gains and automatically searches for gains which make settling time shortest Response at positioning settling of a machine can be simulated from machine analyzer results on personal computer You can grasp the machine resonance frequency and determine t
69. 1 Review operation pattern 2 Install limit switches 4 Wrong connection of servo motor Connect correctly Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W 5 Encoder faulty Checking method When the servo motor shaft is rotated with the servo off the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway 51 Overload 2 Machine collision or 1 Machine struck something 1 Review operation pattern the like caused max 2 Install limit switches output current to 2 Wrong connection of servo motor Connect correctly flow successively for Servo amplifier s output terminals Change the servo motor several seconds U V W do not match servo Servo motor locked motor s input terminals U V W 1s or more 3 Servo system is instable and 1 Repeat accel eration deceleration to During rotation hunting execute auto tuning 2 5s or more 2 Change auto tuning response setting 3 Set auto tuning to OFF and make gain adjustment manually 4 Encoder faulty Change the servo motor Checking method When the servo motor shaft is rotated with the servo off the cumulative feedback pulses do not vary in proportion tothe rotary angle of the shaft but the indication skips or returns midway 9 TROUBLESHOOTING Error excessive between the model constant is too small time con
70. 3 10 OUTLINE DIMENSION DRAWINGS 4 MR J2S 500B 2 6 0 24 Unit mm mounting hole Unit ml 0 24 130 5 12 0 24 E 200 7 87 z 28 r 3 0 19 Sie Terminal layout A vn MITSUBISHI MITSUBISHI ogen gt z0 TE1 SS Wi Gesi CESK CESK HEK HEEE CESI CESK 250 9 84 235 9 25 a l WOOVOOOO TE2 hm o N P od Fan Fa U A EE Ge Fan air orientation Mass S lifi MR J 2S 500B 4 9 10 8 eS Terminal signal layout N z Mounting Screw TE1 PE terminals l l Screw Size M5 L Terminal screw M4 ot delata brake resistor Regen torque R i A ead terminal fixing screw L Tightening torque 1 2 N m 10 Ib in 28 676 Ib in Ls CG P z U _ O 1 W Terminal screw M4 Tightening torque 1 2 N m 10 Ib in Terminal screw M3 5 L Tightening torque 0 8 N m 7 Ib in 21 V y 10 4 10 OUTLINE DIMENSION DRAWINGS 5 MR J2S 700B
71. 30VAC 6 O l oLs O Li L CN2 WE MR JHSCBLOM cable Note3 VDD OHS2 Servo motor thermal rela COM S EM1 Forced stop SG Note 1 Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side 2 When using the external dynamic break refer to section 12 1 4 3 There is no BW when the HA LFS11K2 is used 3 29 3 SIGNALS AND WIRING 3 12 2 Servo amplifier terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier Refer to Section 10 1 Connection Target Symbol Description Application Main circuit power supply Supply Li L2 and L3 with three phase 200 to 230VAC 50 60Hz power Servo motor output Connect to the servo motor power supply terminals U V W Control circuit power supply Supply Lu and L21 with single phase 200 to 230VAC power The servo amplifier built in regenerative brake resistor is not connected at the time of shipment When using the regenerative brake option wire it across P C Refer to Section 12 1 1 for details Return converter When using the return converter or brake unit connect it across P N Brake unit Refer to Sections 12 1 2 and 12 1 3 for details Connect this terminal to the protective earth PE terminals of the servo motor Protective earth PE P PE SE and control box for grounding Pap Power factor improving DC P1 P are connecte
72. 5 LG P5 LG P5 LG MR MRR MD MDR BAT LG SD When fabricating an encoder cable use the recommended wires given in Section 12 2 1 and the MR J 2CNM connector set for encoder cable fabrication and fabricate an encoder cable as shown in the following wiring diagram Referring to this wiring diagram you can fabricate an encoder cable of up to 50m 164 0ft length induding the length of the encoder cable supplied to the servo motor When the encoder cable is to be fabricated by the customer the wiring of MD and MDR is not required Refer to Chapter 3 of the servo motor instruction manual and choose the encode side connector according to the servo motor installation environment Drive unit side 3M P5 LG P5 LG P5 LG MR MRR BAT LG SD For use of AWG22 Encoder side Note Always make connection for use in an absolute position detection system This wiring is not needed for use in an incremental system 12 23 12 OPTIONS AND AUXILIARY EQUIPMENT b MRY HSCBL OM L MR J HSCBL OM H MR ENCBLOM H These encoder cables are used with the HC SFS HC RFS HC UF S2000r min series servo motors 1 Model explanation Model MR JHSCBLOIM O Symbol Specifications L Standard flexing life H Long flexing life Symbol Cable length m ft 2 2 6 56 5 5 16 4 10 10 32 8 20 20 65 6 30 30 98 4 40 40 131 2 50 50 164 0 Note MR JH
73. 64 1 For this purpose a reinforced insulating transformer conforming tothe EC or EN standard should be used in the power input section Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage category III set forth in 1E644 a reinforced insulating transformer is not required 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 5 Grounding a To prevent an electric shock always connect the protective earth PE terminals marked O of the servo amplifier to the protective earth PE of the control box b Do not connect two ground cables to the same protective earth PE terminal Always connect the cables to the terminals one to one SE OE Ki PE terminals PE terminals c If a leakage current breaker is used to prevent an electric shock the protective earth PE terminals of the servo amplifier must be connected to the corresponding earth terminals 6 Wiring a The cables to be connected to the terminal block of the servo amplifier must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals Crimping terminal Insulating tube Cable b Use the servo motor side power connector which complies with the EN Standard The EN Standard compliant power connector sets are available from us as options 7 Auxiliary equipment and
74. 822 4 12 20 12 OPTIONS AND AUXILIARY EQUIPMENT Application 24 Bus cable Q172 2BCBLOM Connector HDR E14MG1 Connector 10120 6000EL B Shell kit HDR E14LPA5 Shell kit 10320 3210 000 Refer to 4 in this Honda Tsushin 3M or equivalent section Note Socket HCN 2 2 55 2 Terminal HCN2 2 5S D B Hirose Electric Note When using the battery unit Q170BAT use the Q172J2BCBL O M B 25 Bus cable Q173 2B ACBL OM Connector HDR E26MG1 Connector 10120 6000EL Refer to 4 in this Shell kit HDR E26LPA5 Shell kit 10320 3210 000 section Honda Tsushin 3M or equivalent 12 21 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Encoder cable The encoder cable is not oil resistant Refer to Section 11 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 40 When soldering the wire to the connector pin insulate and protect the connection portion using heat shrinkable tubing Generally use the encoder cable available as our options If the required length is not found in the options fabricate the cable on the customer side a MR J CCBLOM L MR J CCBLOM H These encoder cables are used with the HC KFS HC MFS HC UFS3000r min series servo motors 1 Mode explanation Model MR JCCBLOM O Symbol Specifications L Standard flexing life
75. A C Servo amplifier N OD TS o 236 255 270 203 MR J 2S 11KB kin A aio MRJACNISK 9 291 10 63 7 992 MRJ 2S 15KB E e A o MR J ACN22K 320 Se 30 230 MR 25 22KB oO o 12 835 13 583 14 173 11 417 TI l A a E Punched 2 B 6 hole E wo ES ag o d a ot 345 oo lt A gt GR 5 lt B gt lt gt Screw 2 places Attachment 4 places Attachment MR JACN15K MR JACN22K 12 38 12 OPTIONS AND AUXILIARY EQUIPMENT 3 Fitting method Fit using the assembiling Servo Punched screws amplifier A amp hole Attachment d y 7 Control box a Assembling the heat sink outside mounting attachment b Installation to the control box 4 Outline dimension drawing a MR J ACN15K MR J 25 11KB MR 25 15KB 20 0 787 A E DE e aj Panel ISe B o Lo z 2 e I ee ali a r qa A Oo aS l k oD N 5 DA l Ns Attachment 4 D i 1 f i oO D e Servo amplifier Servo amplifier Lo 6 l i I o 1 l l g H l Be D S Attachment TSS ie d pl JI Te SE 1 O 3a JE L Zb y Th EM yo oO AR i Panel 236 9 291 l 4 012 Mounting hole La 280 11 024 all AA 3 2 0 126 LV 260 10 236 155 6 102 105 411 5 4 134 0 453 290 4130 10 453 10 236 12 39 12 OPTIONS AND AUXILIARY EQUIPMENT b MR J A
76. B1 the setting unit of 0 1rev is applied Optional function 5 Refer to Used to select PI PID control switch over name and olojo Ge JE PI PID control switch over selection column 0 PI control is always valid 1 Droop based switching is valid in position control mode refer to parameter No 34 2 PID control is always valid OP6 Option function 6 Refer to Used to select the serial communication baudrate serial name communication response delay time setting and encoder output and pulse setting function ONNE Sidi je communication baudrate selection 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps Serial communication response delay time 0 Invalid 1 Valid replay sent in 800us or more un pun x T p 2 c 2 un c o x wi Encoder output pulse setting selection refer to parameter No 38 0 Output pulse designation 1 Division ratio setting PI PID control switch over position droop Used to set the position droop value number of pulses at which Pl control is switched over to PID control Set 0001 in parameter No 32 to make this function valid For manufacturer setting Don t change this value by any means Speed differential compensation Used to set the differential compensation 5 PARAMETERS Classifi Initial Settin e No Symbol Name and Function Unit 9 cation Value Expansion parameters ENR Encoder output pu
77. CN22K MR 2S 22KB 58 2 28 580 22 835 510 20 079 12 40 68 2 677 ae S o o a Panel A al 3 S d 2 e e 3 T i 7 C I ee tr Fr se EJE A I I Attachment i i i l i l Servo amplifer Servo amplifer LO po A S l d EN We S EE Attachment g 7 1 L 7 E 2 MA a LI 38 Py Lo HR 326 12 835 IS rane 370 14 567 Mounting hole 3 210 128 350 13 78 155 6 102 105 11 5 4 134 0 453 WW a Ss 8 260 G i 10 236 12 OPTIONS AND AUXILIARY EQUIPMENT 12 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 usethe products which conform to the corresponding standard 12 2 1 Recommended wires 1 Wires for power supply wiring The following diagram shows the wires used for wiring Use the wires given in this section or equivalent 1 Main circuit power supply lead 3 Motor power supply lead Servo amplifier Servo motor Power supply A U V W Motor 0 D 4 Brake unit lead or ao Return converter SC 5 Electromagnetic 2 Control power supply lead brake lead Brake unit or e B1 SE Return converter Se ec IC Encoder Encoder cable 4 Regenerative brake option lead refer to Section 12 1 4 SE Cooling fan Power supply BU Bv O BW
78. EQUIPMENT 12 2 9 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 ee Recommended filter Mass Servo amplifier Leakage current mA kgl Ib MR 2S 10B to MR 25 100B F1252 0 75 1 65 MR 2S 10B1 to MRJ 25 40B 1 MEE MR 25 200B MR 25 350B SF 1253 5 1 37 3 02 MR J 25 500B Note HF 3040A TM 5 5 12 13 MR J 25 700B Note HF 3050A TM 6 7 14 77 MRJ 25 11KB Note HF 3060A TMA 3 0 10 0 22 05 MR 25 15KB Note HF3080A TMA 30 13 0 28 66 MR J 25 22KB Note HF 3100A TMA 14 5 31 97 Note Soshin Electric A surge protector is separately required to use any of these EMC filters Refer to the EMC Installation Guidelines 2 Connection example EMC filter Servo amplifier Note 1 Power supply KR LINE GE LOAD c 3 phase o o 0L vi 200 to 230V AC gt blo te 1 phase de 230VAC or O Ol3 Lat 1 phase Note 2 na 100 tot20VAC 20 SP Note 1 For 1 phase 230VAC power supply connect the power supply to L1 L2 and leave L3 open There is no Ls for 1 phase 100 to 120VAC power supply 2 Connect when the power supply has earth 3 Outline drawing
79. G4 are opened when the regenerative brake option overheats abnormall y Always remove wiring across P C of servo Servo amplifier amplifier built in regenerative brake resistor Regenerative brake option 5m 16 4ft orless 444 Lee ee Fan Note 1 Note 1 When using the MR RB50 MR RB51 forcibly cool it with a cooling fan 1 0m min 1192 or so 2 Make up a sequence which will switch off the magnetic contactor MC when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4 VA When using the regenerative brake resistor option remove the servo amplifier s built in regenerative brake resistor terminals across P C fit them back to back and secure them to the frame with the accessory screw as shown below Mounting method Accessory screw For MR J2S 700B Accessory screw 12 OPTIONS AND AUXILIARY EQUIPMENT For the MR RB50 MR RB51 install the cooling fan as shown Unit mm in Fan installation screw hole dimensions Top 2 M3 screw hole for fan installation Fan Terminal block Depth 10 or less Screw hole already y machined 7 a Thermal relay ai E d a Bottom i 3 25 i llati i Recommended fan Vertical Horizontal installation Installation surface Toyo Denki s TL396A o
80. IP00 1 phase 100 to 120VAC 50 60Hz Power supply Protective functions During C 0 to 55 non freezing operation 32 to 131 non freezing Environment Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Max 1000m 3280ft above sea level ik oz o7 i1 11 17 17 20 20 49 72 16 16 20 o7 07 11 basas 2 4 24 375 375 44 44 10 8 15 9 35 3 35 3 441 15 15 24 1 FUNCTIONS AND CONFIGURATION 1 4 Function list Thefollowing table lists the functions of this servo For details of the functions refer to the reference field High resolution encoder High resolution encoder of 131072 pulses rev is used as a servo motor encoder PA Absolute position detection Merely setting a home position once makes home position return unnecessary Chapter 13 system at every power on H Adaptive vibration Servo amplifier detects mechanical resonance and sets filter characteristics suppression control automatically to suppress mechanical vibration Suppresses high frequency resonance which occurs as servo system response is Low pass filter E SENG y H Section 7 4 Analyzes the frequency characteristic of the mechanical system by simply Machine analyzer function connecting a MR Configurator servo configuration software installed personal computer and servo amplifier Can simulate machine motions on a personal computer screen on the basis of Machine simulation the machine analyzer res
81. J e H 16 Lo EMG 7 EMG 17 0 0 8 H 18 Lo BAT 9 ae 10 Lo n H SD Plate TORO 12 28 12 OPTIONS AND AUXILIARY EQUIPMENT c Q172 28CBL OM B When using the battery unit Q170BAT use the Q172 2BCBLOM B For the Q170BAT refer to the Motion Controller Q Series User s Manual IB N A 0300021 1 Model definition Model Q172J2BCBLOM O Symbol Connection of Battery Unit Cable Length m ft 0 5 1 64 1 3 28 5 16 4 2 Connection diagram Q172J2BCBLOM Q172J2BCBLOM B HDR E14MG1 Connector 10120 6000EL Connector HDR E14MG1 Connector 10120 6000EL Connector HDR E14 LPA5 Connector case 10320 3210 000 Shell kit HDR E14 LPA5 Connectorcase 10320 3210 000 Shell kit TD1 1 A RD TD1 1 f RD TD1 8 HAYA RD TD1 8 l RD LG 2 w LG LG 2 LG LG gs pey LG LG 9 E LG RD 3 mal TD RD 3 TD RD to pr 1 TD RD 10 TD LG 6 i LG LG 6 ed LG BT 13 M BT BT 13 BT EMG 4 EMG EMG 4 EMG EMG 11 PA EMG EMG mi P EMG SD Shell SD SD Shell Lk SD BAT 1 H LG Si A HCN2 2 5S 2 Socket HNC2 2 5S D B Terminal d Q173 22ACBL OM 1 Model definition Model Q173J2B ACBLOM 1 3 28 Symbol SSCNET Line Number No SSCNET1 Line SSCNET2 Line SSCNET3 Line A SSCNET4 Line 12 29 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Connection diagram 4 When A Q173J2B ACBLOM
82. Less than 10m 32 8ft G G Note1 This wiring is required for use in the absolute SD Plate N SD Plate NN position detection system This wiring is not needed for use in the incremental system 2 AWG28 can be used for 5m 16 4ft or less Use of AWG24 10m 32 8ft to 50m 164 0ft Use of AWG22 10m 32 8ft to 50m 164 0ft When fabricating an encoder cable use the recommended wires given in Section 12 2 1 and the MR J 2CNS connector set for encoder cable fabrication and fabricate an encoder cable in accordance with the optional encoder cable wiring diagram given in this section You can fabricate an encoder cable of up to 50m 164 0ft length Refer to Chapter 3 of the servo motor instruction guide and choose the encode side connector according to the servo motor installation environment 12 25 12 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 Personal computer side Servo amplifier side TXD 3 RXD GND RTS CTS DSR DTR So o JO M D SUB9 pins Half pitch 20 pins When fabricating the cable refer to the connection diagram in this section The following must be observed in fabrication
83. MC w i D1 5 Li H5 lt Installation screw Note 1 phase 230VAC Le va FR BAL Servo amplifier NFB MC 1 phase ole o O L1 100 to120VAC L2 Note For the 1 phase 230V power supply Connect the power supply to L1 L2 and leave L3 open Dimensions mm in Mounting Terminal Mass w w In D o C screw size screw size kg Ib 45 1 77 75029 wa M35 200 7 87 70 2 76 101039 m5 M4 190 7 48 12 44 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 4 Power factor improving DC reactors Theinput power factor is improved to be about 95 Note 1 Terminal cover Screw size G C or less a Eo t 2 FXL H p E R Notch B or less A or less ane Mounting foot part 5m or less Servo amplifier FR BEL Note1 Fit the supplied terminal cover after wiring 2 When using the DC reactor remove the short circuit bar across P P1 Power factor Dimensions mm in Terminal Mass Used wire lifi i ing D reactors MRJ25 11k8__ FR BEL 15k_ 170 6 69 93 3 66 170 6 69 2 3 0 09 155 6 10 610 24 1440 55 m8 56221 ms 3 8 838 22 4wG4 Miezen FR BEL 22k_ 185 7 28 119 4 69 182 7 17 2 6 0 10 165 6 49 7 0 28 15 0 59 _M8_ 70 2 77 we Saal 30 AwG2 6 7 14 MRJ25 22KB_ FR BEL 30K_ 185 7 28 119 4 69 201 7 91 2 6 0 10 n65 6 49 7
84. Manual instructions at a lower level than the above instructions for other functions and so on are classified into POINT After reading this Instruction Manual always keep it accessible to the operator 1 To prevent electric shock note the following Z WARNING Before wiring or inspection switch power off and wait for more than 10 minutes Then confirm the voltage is safe with voltage tester Otherwise you may get an electric shock Connect the servo amplifier and servo motor to ground Any person who is involved in wiring and inspection should be fully competent to do the work Do not attempt to wire the servo amplifier and servo motor until they have been installed Otherwise you may get an electric shock Operate the switches with dry hand to prevent an electric shock The cables should not be damaged stressed loaded or pinched Otherwise you may get an electric shock During power on or operation do not open the front cover of the servo amplifier You may get an electric shock Do not operate the servo amplifier with the front cover removed High voltage terminals and charging area are exposed and you may get an electric shock Except for wiring or periodic inspection do not remove the front cover even of the servo amplifier if the power is off The servo amplifier is charged and you may get an electric shock 2 To prevent fire note the following N CAUTION Do not install the servo
85. R J2S 10B1 to MR J2S 40B1 6 0 24 mounting hole TT 7 MITSUBISHI OG EE 168 6 61 156 6 14 oz mw zo 7 0 28 6 PE terminal H gt HAPHE Name plate Unit mm 70 2 76 135 5 32 Unit inl EE E Terminal layout ce 3 Terminal cover open SEET or ae dimensions Mass Servo amplifier kg lb a MR 2S 20B 1 Se E MR 2S 40B 1 70 2 76 22 0 87 1 1 2 43 gt o off Se AE of Stell lie Note This data applies to the 3 phase 200 to 230VAC and 1 phase 230VAC power supply models Terminal screw M4 TE2 lt Front AE P Lai Lit Tightening torque 1 2 N m 10 Ib in Terminal signal layout ApAP Tightening torque 0 3 to 0 4 N m 2 7 to 3 5 Ib in TE1 For 3 phase 200 to 230VAC and 1 phase 230VAC For 1 phase 100 to 120VAC o ele Ns u fv w Terminal screw M4 Tightening torque 1 2 N m 10 Ib in PE terminals Terminal screw M4 Tightening torque 1 2 N m 10 de 10 1 Mounting Screw Screw Size M5 Tightening torque 3 24 N m 28 676 Ib in 10 OUTLINE DIMENSION DRAWINGS 2 MR J2S 70B MR J2S 100B 6 40 24 mounting hole HO Pp 7 HE o d cen Ve
86. RATION 5 MR J2S 11KB or more The servo amplifier is shown without the front cover For removal of the front cover refer to Section 1 7 2 Cooling fan Name Application Reference Axis select switch CS1 CS1 NI Used to set the axis number of Section3 11 the servo amplifier Display The two digit seven segment LED shows the servo Chapter4 status and alarm number Battery holder Contains the battery for absolute position data backup Section13 3 Battery connector CON1 Used to connect the battery for absolute position data Section13 3 backup Monitor output terminal CN4 ecti 2 Used to output monitor values on two channels in the SE 5 form of analog signals Se Communication connector CN 3 Section3 2 Used to connect a personal computer RS 232C Section12 1 5 Bus cable connector CN1A Used to connect the servo system controller or Section3 2 preceding axis servo amplifier Bus cable connector CN 1B Used to connect the subsequent axis servo amplifier Section3 2 or termination connector MR A TM Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Installation notch 4 places Control circuit terminal block TE 2 Section3 5 2 Used to connect the control circuit power suppl
87. SCBLOIM L has no 40 131 2 and 50m 164 0ft sizes Model MR ENCBLOM H Long flexing life Cable length m ft 2 6 56 5 16 4 20 20 65 6 30 30 98 4 40 40 131 2 50 50 164 0 2 Connection diagram For the pin assignment on the servo amplifier side refer to Section 3 2 1 Servo amplifier Encoder connector Encoder connector Pin Signal Pin Signal Encoder cable Servo motor A MD K Optional or fabricated Po B MDR L C MR M D MRR N SHD one E P F BAT R LG G LG S P5 50m 164 0ft max i T 12 24 12 OPTIONS AND AUXILIARY EQUIPMENT MR JHSCBL2M L MR JHSCBL5M L MR JHSCBL2M H MR JHSCBL5M H MR ENCBL2M H MR ENCBL5M H MR JHSCBL10M L to MR JHSCBL30M L MR JHSCBL10M H to MR JHSCBL50M H MR ENCBL10M H to MR ENCBL50M H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side P5 19 HF m P5 19 s P5 19 S LG MES E LG 11 LG 11 P5 20 j Ki P5 20 P5 20 LG 12 H R LG 12 LG 12 MR 7 py P5 18 P5 18 MRR 17 H H D LG 2 LG 2 P5 18 Hid ol Ler b ei i R A BAT 9 bg Lif E MR 7 c MR 7 C l LG al yl tha LA Je MRR 17 D MRR 17 D cu Notet SD Plate 77777 J N BAT 9 BAT 9 Note2 Use of AWG24 F F LG 1 LG 1
88. Section 3 6 for connection with the servo motor 3 1 1 MR J2S 700B or less Servo amplifier Note 5 CN3 6 LA H gt Encoder A phase pulse 16 LAR A aia line driver 7 LB KH Encoder B phase pulse 17 LBR O dental line driver p Note15 8 LZ hH Encoder Z phase pulse 18 LZR PRIM iterate line driver Plate SD LON3 Note 5 8 2m 6 56ft or less Note 9 MR Configurator Note 4 Servo configuration Personal computer software r CN3 e i p 20 EMI Note 3 4 7 15m 49 2ft 3 Tee Forced stop _________ gt Ores 4 MO1 Analog monitor output 1 LG H gt iko Max 1mA 14 MO2 H s Reading in Servo system controller 11 LG J A iko both directions Note 10 14 Plate sDV Note 2 6 Bus cable Option Note 5 13 MBR adas Nee brake d CN1A 5 COM H interlock 19 VEB Always connect Cable clamp Note 5 CS Option CN1B CH Setting 0 Note 1 ED MR J2SB 5 fona 2 axis Note 11 4 a Jeun B CG Setting 1 1 Option O CN1B ao 2 EEN MR J2S B dee E 14 CN1A 3 axis us cable ee Note 11 MR J2S B n axis Jona Note 11 CS1 Note 13 Setting n 1 n 1 to 8 3 SIGNALS AND WIRING Note 1 To prevent an electric shock always connect the protective earth PE terminal terminal marked of the servo amplifier to the protective earth PE of t
89. Windows 2000 Professional operates Processor Pentium 133M Hz or more Windows 95 Windows 98 Windows NT Workstation 4 0 Note 2 Windows 2000 Professional Personal Pentium 150MHz or more Windows Me computer Memory 16MB or more Windows 95 24MB or more Windows 98 32MB or more Windows Me Windows NT Workstation 4 0 Windows 2000 Professional Free hard disk space 30MB or more Serial port used Diagnostic O Windows 95 Windows 98 Windows Me Windows NT Workstation 4 0 Windows 2000 Professional English version Displa One whose resolution is 800 x 600 or more and that can provide a high color 16 bit display SET Connectable with the above personal computer Keyboard Connectable with the above personal computer Connectable with the above personal computer Note that a serial mouse is not used Connectable with the above personal computer Communication MR CPCATCBL3M cable When this cannot be used refer to 3 Section 12 1 5 and fabricate Note 1 Windows and Windows NT are the registered trademarks of Microsoft Corporation in the United State and other countries 2 On some personal computers this software may not run properly OS b Configuration diagram Servo amplifier Personal computer Communication cable x Wem p oe CN2 Servo motor To RS 232C connector 12 33 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 9 Power regeneratio
90. a Sl IS O r ee E E a 168 6 61 7 0 28 0 87 1 65 Mass kg lb MR J 2S 70B 1 7 MR J 2S 100B 3 75 no Terminal signal layout TE1 Servo amplifier La W Li La DE Terminal screw M4 Tightening torque 1 2 N m 10 Ib in TE2 lt Front ofc Tightening torque 0 3 to 0 4 N m 2 7 to 3 5 Ib in PE terminals Lu N P Las Terminal screw M4 Unit mm Unit in 190 7 48 Terminal layout Terminal cover open 23 MITSUBISHI y DDD HMI rad 6 0 24 Mounting Screw Screw Size M5 Tightening torque 3 24 N m 28 676 Ib in Tightening torque 1 2 N m 10 Ib in 10 OUTLINE DIMENSION DRAWINGS 3 MR J2S 200B MR J2S 350B Unit mm Unit in 96 90 24 90 3 54 70 2 76 195 7 68 Terminal ae yy mirsusishite gt fer lava 14 D LEE PE terminal F isisisisisia i l l l Fan air orientation Servo amplifier Mass Se MR 25 2008 MRJ 2S 350B Nie Terminal signal layout HSTK HHJfH H TE1 PE terminals Mounting Screw Screw Size M5 Li le L3 U V w ds torque Terminal screw M4 NZ 28 676 lb in Tightening torque 1 2 N m 10 Ib in Terminal screw M4 Tightening torque 1 2 N m 10 lb in TE2 jun fia o pf c N Terminal screw M4 Tightening torque 1 2 N m 10 Ib in 10
91. able 11 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the enclosure is directly installed on an insulated wall that extra amount must be added to the enclosure s surface area The required heat dissipation area will vary wit the conditions in the enclosure If convection in the enclosure is poor and heat builds up effective heat dissipation will not be possible Therefore arrangement of the equipment in the enclosure and the use of a fan should be considered Table 11 1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is operated at the ambient temperature of 40 C 104 F under rated load Outside Inside Air flow Fig 11 5 Temperature distribution in enclosure When air flows along the outer wall of the enclosure effective heat exchange will be possible because the temperature slope inside and outside the enclosure will be steeper 11 4 11 CHARACTERISTICS 11 3 Dynamic brake characteristics Fig 11 6 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use Equation 11 2 to calculate an approximate coasting distance to a stop The dynamic brake time constant t varies with the servo motor and machine operation speeds Refer to Fig 11 7 Please contact us for the servo motor not indicated Forced stop EM1 Ges Time constant Machine speed te Time a YO Je Lmax
92. alue Refer to 3 in this section for the measurement point Setting Output item Setting Output item Servo motor speed ie CCW direction Droop pulses von 4 CCW direction aM 10V 128pulse Max speed 128 pulse i l H l a l ck 0 Max speed D 128 pulse 8 V y 10 V CW direction CW direction M Droop pulses 4 CCW direction A Driving in CCW direction 10 V 4 SIM 10V 2048pulse 2048 pulse Max torque lt lt 1 gt gt 0 Max torque 9 2048 pulse y 10 V CW direction 0M a CCW direction Servo motor speed Droop pulses DE 10V 8192pulse direc i 8192 pulse 1 1 H 1 H lt 1 rk 0 81 92 pulse lt Max speed y 10 V CW direction orv Droop pulses 10v 4 CCW direction Driving in Driving in 10V 32768pulse i CW direction 8 V CCW direction 32768 pulse ih 0 gt 32768 pulse l lt Max torque r 10 V CW direction oM Droop pulses a CCW direction 10 V 4 Max current 10V 131072pulse command 131072 pulse gt 0 Max current 0 command 131072 pulse F 8 V CW direction CW direction 710M Speed command au A CCW direction Bus voltage rk 0 Max speed Max speed e 400 V y 8 V CW direction M 5 PARAMETERS
93. ame plate Section1 5 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Section3 2 Connector for connection of the servo motor encoder Section12 1 5 Main circuit terminal block TE 1 Section3 5 2 Used to connect the input power supply and servo Section10 1 motor Control circuit terminal block TE 2 Section3 5 2 Used to connect the control circuit power supply and Section10 1 regenerative brake option Section12 1 1 Installation notch Protective earth PE terminal O Section3 8 4 places Ground terminal Section10 1 1 10 1 FUNCTIONS AND CONFIGURATION 3 MR J2S 500B The servo amplifier is shown without the front cover For removal of the front cover refer to Section 1 7 2 D Name Application Reference n Battery connector CON 1 Used to connect the battery for absolute position data Section13 3 lt I backup Gei Battery holder H e Contains the battery for absolute position data backup Section13 3 aL Sra Display The two digit seven segment LED shows the servo Chapter4 O O status and alarm number Poza 0 KKK Axis select switch CS1 Used to set the axis number of the servo amplifier Section3 11 j Installation notch Bus cable
94. ameter setting valid The parameter is set when communication between the servo system controller and servo amplifier is established b is displayed After that power the servo amplifier off once and then on again 5 PARAMETERS 1 Item list PA Note 1 Classif No Symbol Name Initial Unit Customer cation Value setting 1 AMS Amplifiersetting o ool 2 REG Regenerativebrakeresistor 0000 _ For manufacturer setting by servo system controller Automatically set from the servo system controller FBP POL TU Feedback pulse number Rotation direction selection 000 o o eg SC Se FBP POL TLP Forward rotation torque limit Note 2 Reverse rotation torque limit Note 2 GD2 Ratio of load inertia to servo motor inertia load inertia ratio times 4 ES 8 PG1 Position control gain 1 era rad s Auto tuning less 0005 RSP Servo response 11kW or un pun g D E pu 2 UO OD D AWN E TLN x more 19 14 Speed control gain 1 7kKW or Sie e less 35 15 Position control gain 2 11KW or 7KW or less 817 VG2 Speed control gain 2 11kW or rad s Wn VIC NCH omg IZ Feed forward gain Electromagnetic brake sequence output 0 ms OP1 OP2 LPE nl E manufacturer setting H MO1 Analog monitor offset H MO2 Analog monitor 2offst 0 SP 50 r min 31 ERZ Error excessive alarm level EN Note 3 OP5 0000 OP6
95. amplifier No fuse breaker NFB MC Power Servo motor supply H 3 phase o 200 to 230VAC Note 1 Note 1 TH1 output 3 THS The FR BU brake unit FR BR resistor unit Note 1 Make up the external sequence to switch the power off when an alarm occurs or when the thermal relay is actuated 2 Always remove the wiring across P C of the servo amplifier built in resistor 12 10 12 OPTIONS AND AUXILIARY EQUIPMENT The cables between the servo amplifier and brake unit and between the resistor unit and brake unit should be as short as possible The cables longer than 5m 16 404ft should be twisted If twisted the cables must not be longer than 10m 32 808ft The cable size should be equal to or larger than the recommended size See the brake unit instruction manual You cannot connect one set of brake unit to two servo amplifiers or two sets of brake units to one servo amplifier Servo amplifier Servo amplifier Brake unit Resistor unit Brake unit Resistor unit P P P P p Twist p p T ist p Wb 5m 16 404ft 5m 16 404ft 10m 32 808ft 10m 32 808ft or less or less or less or less 3 Outside dimensions a Brake unit FR BU Unit mm in A Note Control circuit Operation lt terminals display co 0 Main circuit ECHA terminals TETH seas Ap o ind o ERE SH Ci
96. amplifier is an electronic device which handles small signals the following general noise reduction techniques are required Also the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies If peripheral devices malfunction due to noises produced by the servo amplifier noise suppression measures must be taken The measures will vary slightly with the routes of noise transmission 1 Noise reduction techniques a General reduction techniques Avoid laying power lines input and output cables and signal cables side by side or do not bundle them together Separate power lines from signal cables Use shielded twisted pair cables for connection with the encoder and for control signal transmission and connect the shield to the SD terminal Ground the servo amplifier servo motor etc together at one point refer to Section 3 9 12 46 12 OPTIONS AND AUXILIARY EQUIPMENT b Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources such as a magnetic contactor an electromagnetic brake and many relays which make a large amount of noise near the servo amplifier and the servo amplifier may malfunction the following countermeasures are required Provide surge absorbers on the noise sources to suppress noises Attach data line filters to the signal cables Ground the shields of the encoder connecting cable and the control signal cables with
97. amplifier servo motor and regenerative brake resistor on or near combustibles Otherwise a fire may cause When the servo amplifier has become faulty switch off the main servo amplifier power side Continuous flow of a large current may cause a fire When a regenerative brake resistor is used use an alarm signal to switch main power off Otherwise a regenerative brake transistor fault or the like may overheat the regenerative brake resistor causing a fire 3 To prevent injury note the follow N CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal Otherwise a burst damage etc may occur Connect the terminals correctly to prevent a burst damage etc Ensure that polarity is correct Otherwise a burst damage etc may occur Take safety measures e g provide covers to prevent accidental contact of hands and parts cables etc with the servo amplifier heat sink regenerative brake resistor servo motor etc since they may be hot while power is on or for some time after power off Their temperatures may be high and you may get burnt or a parts may damaged During operation never touch the rotating parts of the servo motor Doing so can cause injury 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 N CAUTION
98. an extended period of time consult Mitsubishi 2 Wiring A CAUTION Wire the equipment correctly and securely Otherwise the servo motor may misoperate Do not install a power capacitor surge absorber or radio noise filter FR BIF option between the servo motor and servo amplifier Connect the output terminals U V W correctly Otherwise the servo motor will operate improperly Do not connect AC power directly to the servo motor Otherwise a fault may occur The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in the specified direction Otherwise the forced stop EM1 and other protective circuits may not operate Servo Servo Amplifier Amplifier COM COM 24VDC 24VDC Control Control output output signal signal 3 Test run adjustment N 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 A CAUTION Provide a forced stop circuit to ensure that operation can be stopped and power switched off immediately Any person who is involved in disassembly and repair should be fully competent to do the work Before resetting an alarm make sure that the run signal of the servo amplifier is off to prevent an accident A sudden restart is made if an alarm is re
99. ange the servo amplifier transistor fault Checking method 1 The regenerative brake option has overheated abnormally 2 The alarm occurs even after removal of the built in regenerative brake resistor or regenerative brake option 31 Overspeed Speed has exceeded 1 Small acceleration deceleration Increase acceleration deceleration time the instantaneous time constant caused overshoot to constant permissible speed be large 2 Servo system is instable to cause 1 Reset servo gain to proper value overshoot 2 If servo gain cannot be set to proper value 1 Reduce load inertia moment ratio or 2 Reexamine acceleration deceleration time constant 32 Overcurrent Current that flew is 1 Short occurred in servo amplifier Correct the wiring permissible current 2 Transistor of the servo amplifier Change the servo amplifier of the servo faulty amplifier Checking method Alarm 32 occurs if power is switched on after U V and W are disconnected 3 Ground fault occurred in servo Correct the wiring amplifier output phases U V and W 4 External noise caused the Take noise suppression measures overcurrent detection circuit to misoperate Current higher than 5 Improper wiring of the Wire the regenerative brake option the permissible current flew in the regenerative brake transistor MRJ 25 5008 only regenerative brake option correctly 9 TROUBLESHOOTING Dees
100. anged from conventional k pulse to O 1rev If the peripheral software of the servo system controller is not compatible with the MR J 25 OB the unit is set as 0 1rev to the MR J 2S OB even when the on screen setting unit is k pulse For details refer to Section 5 2 5 16 5 PARAMETERS 9 Optional function 6 parameter No 33 This parameter was newly added to the MR J 2S OB If the peripheral software of the servo system controller is not compatible with the MR 2S O1B this parameter setting cannot be changed Hence the serial communication baudrate is 9600 bps the serial communication response ready time is invalid and the encoder output pulse setting selection is output pulse setting For details refer to Section 5 2 5 17 5 PARAMETERS MEMO 18 6 GENERAL GAIN ADJUSTMENT 6 GENERAL GAIN ADJUSTMENT 6 1 Different adjustment methods 6 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 1 Gain adjustment mode explanation Parameter No 8 Estimation of load inertia Automatically set Gain adjustment mode Manually set parameters setting moment ratio parameters Auto tuning mode 1 initial value Auto tuning mode 2 Manual mode 1 Manual mode
101. anualmode 4 Simple manual adjustment invalid Manual mode 2 Manual adjustment of all gains 6 12 7 SPECIAL ADJUSTMENT FUNCTIONS 7 SPECIAL ADJUSTMENT FUNCTIONS The functions given in this chapter need not be used generally U se them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 6 If a mechanical system has a natural resonance point increasing the servo system response level may cause the mechanical system to produce resonance vibration or unusual noise at that resonance frequency Using the machine resonance suppression filter and adaptive vibration suppression control functions can suppress the resonance of the mechanical system 7 1 Function block diagram Speed Parameter Parameter Parameter Current control No 18 No 25 No 25 command Low pass filter HEO 4 pos i 1 IS Le ate Eich ES Machine resonance suppression filter 1 j e except O0 00 Adaptive vibration Wis 1 A suppression control Dorf200 7 2 Machine resonance suppression filter 1 Function The machine resonance suppression filter is a filter function notch filter which decreases the gain of the specific frequency to suppress the resonance of the mechanical system You can set the gain decreasing frequency notch frequency and gain decreasin
102. at occurrence of an alarm 3 Operation procedure a J og operation positioning operation program operation DO forced output 1 Switch power off 2 Set CS1 to F When CS1 is set to the axis number and operation is performed by the servo system controller the test operation mode screen is displayed on the personal computer but no function is performed 3 Switch servo amplifier power on When initialization is over the display shows the following screen A Decimal point flickers 4 Perform operation with the personal computer b Motor less operation 1 Switch off the servo amplifier 2 Perform motor less operation with the personal computer The display shows the following screen E Decimal point flickers 5 PARAMETERS 5 PARAMETERS Never adjust or change the parameter values extremely as it will make operation Z CAUTION instable i i i When the servo amplifier is connected with the servo system controller the parameters are set to the values of the servo system controller Switching power off then on makes the values set on the MR Configurator servo configuration software invalid and the servo system controller values valid n the maker setting parameters do not set any values other than the initial values Setting may not be made to some parameters and ranges depending on the model or version of the servo system controller For details refer to the servo system controller user
103. atically sets the other gains to the optimum values according to these gains User setting PG1 VG2 PG2 VIC Automatic setting VG1 Therefore you can adjust the model adaptive control system in the same image as the general PI control system position gain speed gain speed integral time constant Here the position gain corresponds to PG1 the speed gain to VG2 and the speed integral time constant to VIC When making gain adjustment in this mode set the load inertia moment ratio parameter No 12 correctly 6 3 2 Adjustment by manual mode 1 POINT If machine resonance occurs adaptive vibration suppression control parameter No 25 or machine resonance suppression filter parameter No 18 may be used to suppress machine resonance Refer to Section 7 2 7 3 1 For speed control a Parameters The following parameters are used for gain adjustment Abbreviation Ratio of load inertia moment to servo motor inertia moment Speed control gain 2 Speed integral compensation b Adjustment procedure 1 Set an estimated value to the ratio of load inertia moment to servo motor inertia moment parameter No 12 Increase the speed control gain 2 parameter No 16 within the Increase the speed control gain vibration and unusual noise free range and return slightly if vibration takes place Decrease the speed integral compensation parameter No 17 within Decrease the time constant of the speed the vibrati
104. attery voltage low Change battery position erase data in error 2 Battery cable or battery is faulty Always make home position setting again Power was switched 3 Super capacitor of the absolute After leaving the alarm occurring for a few on for the first time position encoder is not charged minutes switch power off then on again in the absolute Always make home position setting again position detection system 9 TROUBLESHOOTING Regenerative Permissible 1 Mismatch between used Set correctly alarm regenerative power regenerative brake option and of the built in parameter No 2 setting regenerative brake 2 Built in regenerative brake Connect correctly resistor or resistor or regenerative brake regenerative brake option is not connected option is exceeded 3 High duty operation or continuous 1 Reduce the frequency of positioning regenerative operation caused the 2 Use the regenerative brake option of permissible regenerative power of larger capacity the regenerative brake option to 3 Reduce the load be exceeded Checking method Call the status display and check the regenerative load ratio 4 Power supply voltage is abnormal Review power supply MR J 25 0B 260VAC or more MR J 25 0B1 135VAC or more 5 Built in regenerative brake Change servo amplifier or regenerative resistor or regenerative brake brake option option faulty Regenerative 6 Regenerative transistor faulty Ch
105. brake is used 11 4 Encoder cable flexing life Theflexing life of the cables is shown below This graph calculated values Since they are not guaranteed values provide a little allowance for these values 1x108 5x107 1x107 5x109 a Long flexing life encoder cable MR JCCBLOM H MR JHSCBLOM H MR ENCBLOM H 1x108 5x105 b Standard encoder cable MR JCCBLOM L MR JHSCBLOM L 1x105 5x10 Flexing life times 1104 5x109 1x10 200 Flexing radius mm 11 7 11 CHARACTERISTICS 11 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 10m Inrush Currents Ao Servo Amplifier Asp Main circuit power supply Li Le La Control circuit power supply L411 L21 MR J 2S 10B 20B 30A Attenuated to approx 5A in 10ms 70 to 100A MR J 2S 40B 60B 30A Attenuated to approx 5A in 10ms 7 Attenuated to approx 0A in 0 5 to 1ms MR J 2S 70B 100B 54A Attenuated to approx 12A in 10ms 100 to 130A MR 2S 200B 350B 120A Attenuated to approx 12A in 20ms Attenuated to approx OA in 0 5 to 1ms MR J 2S 500B 44A Attenuated to approx 20A in 20ms MR J 2S 700B 88A Attenuated to approx 20A in 20ms 304 MR 2S 11KB i Attenuated to app
106. cable camp fittings 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 Noises produced Noises transmitted Noise radiated directly by servo amplifier in the air from servo amplifier Route 1 Noise radiated from the power supply cable Route 2 Noise radiated from servo motor cable Route 3 Magnetic induction noise e Routes 4 and 5 Static induction noise Route 6 Noises transmitted through electric channels Noise transmitted through power supply cable Route 7 Noise sneaking from grounding cable due to Route 8 leakage current Sensor power supply Gi Sensor Instrument 2 a a Servo motor M rail 2 12 47 12 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
107. column Refer to name and function column 5 PARAMETERS Classifi Initial Settin Symbol Name and Function 9 cation Value Range Servo response 7kW or Refer to Used to select the response of auto tuning less name 0005 and Olga Ste 11kW or column more 0002 ce Response level selection Set Response Machine resonance value level frequency guideline Low response A Vv High 240Hz response 300Hz If the machine hunts or generates large gear sound decrease the set value To improve performance e g shorten the settling time increase the set value aimiojojo gt ojo ujojua a win un ks x T pu 2 2 un co Forward rotation torque limit Assume that the rated torque is 100 Used to limit the torque in the forward rotation driving mode and reverse rotation regenerative mode In other than the test operation mode on the MR Configurator servo configuration software the torque limit value on the servo system controller side is made valid Reverse rotation torque limit Assume that the rated torque is 100 Used to limit the torque in the forward rotation driving mode and forward rotation regenerative mode In other than the test operation mode on the MR Configurator servo configuration software the torque limit value on the servo system controller side is made valid Ratio of load inertia to servo motor ine
108. ctured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident A EEP ROM life The number of write times to the EEP ROM which stores parameter settings etc is limited to 100 000 If the total number of the following operations exceeds 100 000 the servo amplifier and or converter unit may fail when the EEP ROM reaches the end of its useful life Write to the EEP ROM due to parameter setting changes 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 J anuary 1996 and low voltage directive effective in J anuary 1997 of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks CE marking CE marking applies to machines and equipment into which servo amplifiers have been installed 1 EMC directive The EMC directive applies not to the servo units alone but to servo incorporated machines and equipment This requires the EMC filters to be used with the servo incorporated machines and equipment to comply with the EMC directive For specific EMC directive co
109. current is limited to 5000A or less Having been subjected to the short circuit tests of the UL in the alternating current circuit the servo amplifier conforms to the above circuit 4 Capacitor discharge time The capacitor discharge time is as listed below To ensure safety do not touch the charging section for 10 minutes after power off Servo amplifier HESE ine min LMR 25 108 1 20B 1 MR y 35 2 e MR 25 708 to3508 3 MRJ2S1IKB A MRJ 2S 15KB E 6 MR J 25 22K B 8 5 Options and auxiliary equipment UseUL C UL standard compliant products 6 Attachment of a servo motor For the flange size of the machine side where the servo motor is installed refer to CONFORMANCE WITH UL C UL STANDARD in the Servo Motor Instruction Manual 7 About wiring protection For installation in United States branch circuit protection must be provided in accordance with the National Electrical Code and any applicable local codes For installation in Canada branch circuit protection must be provided in accordance with the Canada Electrical Code and any applicable provincial codes A 9 lt lt About the manuals gt gt This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General Purpose AC servo MR J 2S B for the first time Always purchase them and use the MR J 2S B safely Also read the manual of the servo system controller Relevant manuals Manual name Ma
110. d when it is the HC SFS HC RFS or HC UFS the feedback pulse number is 16384 pulses rev 2 Auto tuning parameter No 8 The set values of this parameter were newly added to the MR 25 OB If the peripheral software of the servo system controller is not compatible with the MR 2S O1B the parameter settings are as indicated below The auto tuning mode 2 and manual mode 1 cannot be used olojo L Gain adjustment mode selection For details refer to Section 6 1 1 Set value Gain adjustment mode Description 0 Interpolation mode Fixes position control gain 1 parameter No 13 1 Auto tuning mode 1 Ordinary auto tuning 2 Manual mode 2 Manual adjustment of all gains 3 Servo response level parameter No 9 The set values of this parameter were newly added to the MR 2S OB In addition the machine resonance frequency guidelines corresponding to the set values were changed If the peripheral software of the servo system controller is not compatible with the MR J 25 O8B the parameter settings are as indicated below ojojoj tt Auto tuning response level setting Response Machine resonance frequency guideline 5 15 5 PARAMETERS 4 Machine resonance suppression filter 1 parameter No 18 The settings of this parameter were changed for the MR 2S OB If the peripheral software of the servo system controller is not compatible wi
111. d before shipment When connecting a power factor improving x reactors DC reactor remove the short bar across P P Refer to Section 12 2 4 for details Regenerative brake option 3 SIGNALS AND WIRING 3 12 3 Servo motor terminals Terminal box Encoder connector MS3102A20 29P Encoder connector signal arrangement MS3102A20 29P Signal al HERE ESA Thermal protector terminal block OHS1 OHS2 M4 screw AIA Motor power supply Cooling fan terminal block terminal block x BU BV M4 screw U V W M6 screw n A Earth terminal M6 screw Terminal block signal arrangement oy DN OHS1 OHS2 f u v w BU BV Encoder connector MS3102A20 29P BG72707B Power supply connection screw size Power supply connection screw size HA LFS11K2 EEE AAA 3 31 3 SIGNALS AND WIRING Terminal box inside HA LFS15K2 HA LFS 22K2 fo 0 R BU BV BW sr 01 X Cooling fan terminal block BU BV BW Thermal protector terminal M4 screw block OHS1 OHS2 M4 screw o T T ze U W EN l JE d i H Terminal block signal arrangement RR x BU BV BW OHS1OHS2 Encoder connector Moter power supply MS3102A20 29P terminal block U V Ww U V W M8 screw Earth terminal M5 screw BG72706 Power supply connection scr
112. d for wiring a Wire sizes 1 Across P P N N The following table indicates the connection wire sizes of the DC power supply P N terminals between the FR CV and servo amplifier The used wires are based on the 600V vinyl wires EE A A 12 35 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Grounding For grounding use the wire of the size equal to or greater than that indicated in the following table and make it as short as possible Power regeneration common converter Grounding wire size mm FR CV 7 5K TO FR CV 15K FR CV 22K FR CV 30K FR CV 37K FR CV 55K b Example of selecting the wire sizes When connecting multiple servo amplifiers always use junction terminals for wiring the servo amplifier terminals P N Also connect the servo amplifiers in the order of larger to smaller capacities Wire as short as possible FR CV 55K 50mm 22mm Servo amplifier 15kW P First unit J 50mm assuming that the total of servo amplifier ON Capacities is 27 5kW since 15kW 7kW 3 5kW 2 0kW 27 5kW 22mm Servo amplifier 7kW OP Second unit 22mm assuming that the total of servo amplifier 0 N capacities is 15kW since 7kW 3 5kW 2 0kW 12 5kW Servo amplifier 3 5kW P Third unit 8mm assuming that the total of servo amplifier N Capacities is 7kKW since 3 5kW 2 0kW 5 5kW Servo amplifier 2kW OP Fourth unit 3 5mm2 assuming that the total of servo ampli
113. dge pulse Command pulse value 0 0 Encoder data Current position gt Home position set value The set value appears when home position setting is made Absolute encoder data pulse Within one revolution position at home position setting CYC Motor edge pulse value CYCO Motor edge pulse value 6780 cyc Command pulse value cyY CO Command pulse value 6780 0 Number of revolutions rew from Multi revolution data at home position setting home position set value ABS 15174 ABSO 0 3 Click the Close button to close the absolute encoder data display window 13 4 Appendix App 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 motor i Software version HC KFS053 a MR J 2S 10B1 Servo amplifier Servo motor i Software version HC RFS103 MR J 25 200B HC RFS153 MR J 2S 200B HC RF S203 MR J 2S 350B Version BO or later MR J 25 10B SE MR J 25 10B1 MR 25 20B1 MR 25 40B1 HC RFS353 MR J 2S 500B Version BO or later HC KFS73 MR J 2S 70B Version A3 or later HC UF S352 MR J 2S 500B Version BO or later mm anjaam OO HC MFS053 MR 2S 40B MR J 2S 40B1 HC SFS152 MR 2S 200B HA LFS15K1 MRJ 2S 15KB Version A3 or later MR J 25 500B Version BO or later MRJ 25 11KB Version A4 or la
114. dure 1 Always wire the power supply as shown in above Section 3 5 1 using the magnetic contactor with the main circuit power supply 3 phase 200V L1 L2 L3 1 phase 230V L1 L2 Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs 2 Switch on the control circuit power supply L11 L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply If the main circuit power supply is not on the display shows the corresponding warning However by switching on the main circuit power supply the warning disappears and the servo amplifier will operate properly 3 The servo amplifier can accept the servo on command within 3s the main circuit power supply is switched on Refer to paragraph 2 in this section 2 Timing chart SON accepted Main circuit ON Control circuit Rower OFF l Base circuit ON l OFF Ser l 1 60ms 10ms p S Ems ervo on command from controller OFF A a E 3 Forced stop Install an forced stop circuit externally to ensure that operation can be stopped and Ab CAUTION esop y p pp power shut off immediately If the controller does not have an emergency stop function make up a circuit that switches off main circuit power as soon as EM1 is turned off at a forced stop When EM1 is turned off the dynamic brake is operated to stop the servo motor At this time the display shows the servo forced stop warning E6
115. e keep away from the machine because the machine may be restarted suddenly design the machine so that it is secured against hazard if restarted 6 Maintenance inspection and parts replacement N CAUTION With age the electrolytic capacitor of the servo amplifier will deteriorate To prevent a secondary accident due to a fault it is recommended to replace the electrolytic capacitor every 10 years when used in general environment Please consult our sales representative 7 General instruction To illustrate details the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards When the equipment is operated the covers and safety guards must be installed as specified Operation must be performed in accordance with this Instruction Manual e About processing of waste e When you discard servo amplifier a battery primary battery and other option articles please follow the law of each country area A FOR MAXIMUM SAFETY This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufa
116. e brake option is required or not Permissible duty lt number of positioning times times min Select the regenerative brake option out of the combinations in 1 in this section 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 brake option a Regenerative energy calculation Use the following table to calculate the regenerative energy 8 tf 1 cycle oa Yn S 3 S Q Down Time Z 3 2 S Friction g ei GEN cala torque amp riving Tr 5 S 2 8 O d E 6 2 o 3 O Regenerative 7 Sg L Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor TN m Energy J Utt m No l Tu TF E No T1 Tpsal o lt 55x10 Tpsal Mir A ES 01047 No TE No T2 ti AMA ESMAS A E 3 91047 war No T3 Tpsdi 9 55 x 10 Tpsdi E420 No regeneration 5 T5 CAI ER TU TF KA No T5 Tpsa2 9 5510 Tpsaz EE No Tets Ut No 1 0 1047 Tu TF No T7 Tpsa2 From the calculation results in 1 to 8 find the absolute value Es of the sum total of negative energies 12 2 12 OPTIONS AND AUXILIARY EQUIPMENT b Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo mot
117. e brake option is used with 11kW or more servo amplifier Parameter No 2 L Selection of regenerative 00 Regenerative brake option is not used with 7kW or less servo amplifier The built in regenerative brake resistor is used However the MR J2S 10B does not have a built in regenerative brake resistor and therefore cannot use it Supplied regenerative brake resistors or regenerative brake option is used with 11kW or more servo amplifier 01 FR RC FR RB FR CV 05 MR RB32 08 MR RB30 09 MR RB50 OB MR RB31 0C MR RB51 OE When regenerative brake resistors or regenerative brake option supplied to 11kW or more are cooled by fans to increase capability 10 MR RB032 11 MR RB12 12 OPTIONS AND AUXILIARY EQUIPMENT _ __ _ _ gt gt _ 2 A _ ____ _ __ _ __ _ a gt _ _ _ _ _ _ _ _ _ gt _ _ _z z______ gt E_EE_ zz 4 Connection of the regenerative brake option The regenerative brake option will cause a temperature rise of 100 degrees relative to the ambient temperature Fully examine heat dissipation installation position used cables etc before installing the option For wiring use flame resistant cables and keep them dear of the regenerative brake option body Always use twisted cables of max 5m 16 4ft length for connection with the servo amplifier a MR 2S 350B or less Always remove the wiring from across P D and fit the regenerative brake optio
118. e level of the position control loop Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling Position control Speed control gain 2 setting Be gain 1 guideline 1 ratio of load inertia moment to servo motor inertia moment 35 2 Speed control gain 2 parameter No 16 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 Speed loop response Speed control gain 2 setting frequency H z 1 ratio of load inertia moment to servo motor inertia moment 2x 3 Speed integral compensation parameter No 17 To eliminate stationary deviation against a command the speed control loop is under proportional integral control For the speed integral compensation set the time constant of this integral control Increasing the setting lowers the response level However if the load inertia moment ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression Speed integral S 2000 to 3000 compensation setting ms Speed control gain 2 setting 1 ratio of load inertia moment
119. e or the like near the servo amplifier is shown below Use this product or equivalent lea TET aa FA y suppressor o c TET suppressor Bl cord Des ue vinyl cor 1W T C 1000 1 to 5s I ges Surge suppressor This distance should be short within 20cm 0 79 in Ex 972A 2003 50411 Matsuo Electric Co Ltd 200VAC rating Rated Outline drawing Unit mm Unit in voltage C HF R Q Test voltage AC V Vinyl sheath 1841 5 AC V l 0 71 0 06 Red vinyl cord 6 0 24 10 0 39 or less 1900 39 e gt r or less t gt e 1013 0 39 0 12 200 7 87 or more 15 1 0 59 40 04 4841 5 200 7 87 1 89 0 06 or more Note that a diode should be installed to a DC relay DC valve or the like Maximum voltage Not less than 4 times the drive voltage of the relay or the like Maximum current Not less than twice the drive current of the relay or the like c Cable clamp fitting AERSBAN O SET Generally the earth of the shielded cable may only be connected to the connector s SD terminal However the effect can be increased by directly connecting the cable to an earth plate as shown below Install the earth plate near the servo amplifier for the encoder cable Peel part of the cable sheath to expose the external conductor and press that part against the earth plate with the cable clamp If the cable is thin clamp severa
120. e regenerative brake options that have encased the GRZG400 2Q GRZG400 1Q and GRZG400 0 8Q respectively When using any of these regenerative brake options make the same parameter setting as when using the GRZG400 2Q GRZG400 19 or GRZG400 0 8Q supplied regenerative brake resistors or regenerative brake option is used with 11kW or more servo amplifier Cooling the regenerative brake option with fans improves regenerative capability The G3 and G4 terminals are for the thermal protector G3 G4 are opened when the regenerative brake option overheats abnormally Servo amplifier Do not remove the short bar Regenerative brake option Configure up a circuit which shuts off main circuit power when thermal protector operates Note Specifications of contact across G3 G4 Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4VA Regenerative nl Power W Servo Amplifier Brake Option og without Fans Q Without Fans Fans with Fans Fans Model MR 2S 11K B PX MR RB65 8 500 MR 25 15KB PX MR RB6 5 850 1300 MR J 25 22K B PX MR RB67 4 850 1300 When using fans install them using the mounting holes provided in the bottom of the regenerative brake option In this case set OE O01 in parameter No 2 Top MR RB65 66 67 2 cooling fans 1 0m3 minO 92 a Mounting screw Guleal c P 4 M3 0 118 12 7 12 OPTIONS AND AUXILIARY EQUIPMENT 5 Outline drawing
121. e to alarm 30 Section 9 2 Addition of occurrence factor 4 to alarm 16 Changing of occurrence factor and checking method of alarm 50 Changing of occurrence factor and checking method of alarm 51 Section 10 1 7 8 Addition of MR J 25 11KB 15KB and 22KB Section 10 2 a Addition of connectors and shell kits Section 11 1 4 Addition Section 11 3 Reexamination of HC KFS series dynamic brake time constants Addition of HA LFS series Section 12 1 1 3 Addition of sentences Section 12 1 1 4 a Reexamination of contents Section 12 1 1 4 b Reexamination of contents Section 12 1 1 4 c Addition of sentences Section 12 1 1 4 d Addition Section 12 1 1 5 e Addition Section 12 1 2 1 3 Addition of FR BU 55K brake unit Section 12 1 2 3 a b Addition of FR BR 55K resistor unit Section 12 1 3 1 3 4 Addition of FR RC 55K power regeneration converter Section 12 1 4 Addition reexamination of subsequent sections Section 12 1 5 Addition of HA LFS series wiring Addition of connector sets and monitor cables Section 12 1 6 Addition of POINT Section 12 1 7 1 Reexamination of contents Section 12 1 7 2 a Reexamination of contents Section 12 2 1 1 Addition of cooling fan wiring Addition of FR RC 30K and FR RC 50K Section 12 2 1 2 Reexamination of optional cable table Section 12 2 4 Addition of power factor improving DC reactor reexamination of subsequent sections Section 12 2 5 Changing of interface
122. e used with the MR Configurator servo configuration software Usually however use motor less operation which is available by making the servo system controller parameter setting Without connecting the servo motor output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running This operation may be used to check the servo system controller sequence Use this operation with the forced stop reset Usethis operation with the servo amplifier connected to the servo system controller Exercise control on the motor less operation screen of the MR Configurator servo configuration software 1 Load conditions Load Item ESTA A ee Load nertia moment ratio Same as servo motor nertia moment 2 Alarms The following alarms and warning do not occur However the other alarms and warnings occur as when the servo motor is connected Encoder error 1 16 Encoder error 2 20 Absolute position erasure 25 Battery cable breakage warning 92 e Output signal DO forced output Output signals can be switched on off forcibly independently of the servo status Use this function for output signal wiring check etc Exercise control on the DO forced output screen of the MR Configurator servo configuration software 4 OPERATION AND DISPLAY 2 Configuration Configuration should be as in Section 3 1 Always install a forced stop switch to enable a stop
123. eakage current of the servo motor Found from Table 12 4 120 Table 12 4 Servo motor s Table 12 5 Servo amplifier s leakage current leakage current 100 example om example Iga output KW current mA capacity kW mA Fig 12 1 Leakage current example S Leakage current 60 0 05 t0 05 0 6 to 10 ae 40 Do f 12to22 02 2 SCH 8 1422 O 5 5 3060 100 Cable size mm Ig1 lg2 for CV cable run in metal conduit Rated sensitivity Servo amplifier current of leakage circuit breaker mA ee 2S 10B Sih 2S 350B AAA MRJ 2s 508 La 12 52 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions 2mm 2x5m 2mm 2x5m Servo amplifier MR J2S 60B Servo motor HC MFS73 Usea leakage current breaker designed for suppressing harmonics surges Find the terms of Equation 12 2 from the diagram 23 Ig1 20 T000 0 1 mA 5 192 20 7000 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in Equation 12 2 Ig gt 10 0 1 0 0 1 3 0 1 0 1 gt 4 mA According to the result of calculation use a leakage current breaker having the rated sensitivity current Ig of 4 mA or more A leakage current breaker having Ig of 15 mA is used with the NV SP CP SW CW HW series 12 53 12 OPTIONS AND AUXILIARY
124. eaker Servo system NFB or o controller fuse 8 2 Preceding axis servo amplifier Subsequent axis servo amplifier Magnetic ESQ gt CN1A contactor X o or MC Termination connector MR Configurator Servo configuration Personal software computer MRZJW3 SETUP151E Power factor improving reactor FA BAL aN UN SNC i TX SS LY 1 19 1 FUNCTIONS AND CONFIGURATION 3 MR J2S 500B 3 phase 200V to 230VAC power supply Options and auxiliary equipment Reference Options and auxiliary equipment Reference No fuse breaker Section 12 2 2 Regenerative brake option Section 12 1 1 Magnetic contactor Section 12 2 2 Cables Section 12 2 1 MR Configurator Section 12 1 8 Power factor improving reactor Section 12 2 3 Servo configuration software breaker NFB or fuse Servo system controller contactor MC R GER Preceding axis Servo amp servo amplifier Power factor l To CN1A Subsequent axis improving servo amplifier reactor O Sl CN1A FA BAL e D A or MR FOH Termination Confi II gurator peli TO CNIB connector Servo AO ll configuration Note ck Mes OH Personal software Regenerative brake FA computer MRZJW3 option __ for SETUP151E OH Lu La Note When using the regenerative brake
125. ear the controller using a cable clamping fixture or to connect three or four data line filters in series 3 SIGNALS AND WIRING 3 9 Servo amplifier terminal block TE2 wiring method 1 Termination of the cables 5 Solid wire After the sheath has been stripped the cable can be used as it is Cable size 0 2 to 2 5mm OOO ll Approx 10mm 0 39inch Twisted wire U se 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 Do not solder the core as it may cause a contact fault Cable size 0 2 to 2 5mm Alternatively a bar terminal may be used to put the wires together Cable Size Bar Terminal Type SE l Crimping Tool Maker For 1 cable For 2 cables BT1 25 9 1 d NICHIFU SE TUB 1 25 AA YH 12210 Al TWIN2 x 1 5 8BK Al1 5 8BK AL TWIN2 x 15 128K CRIMPFOX UD6 Phoenix Contact za BT291 PND Michiru TUB 2 A KE 2 Al2 5 88U AI TWINZ2 x 2 5 10BU Al 2 5 8BK 1000 TEE Ee 2 Connection Insert the core of the cable into the opening and tighten the screw with a flat blade screwdriver so that the cable does not come off Tightening torque 0 3 to 0 4N m 2 7 to 3 5 Ib in Before inserting the cable into the opening make sure that the screw of the terminal is fully loose When using a cable of 1 5mm or less two cables may be inserted into one opening O Flat blade screwdriver C Tip thickness 0 4 to 0 6mm Ov
126. easeessesaesaseesessesaeeanateatieeas 7 1 7 3 Adaptive vibration suppression Comtrd nann nnnn nenna 7 3 LA LOW Dass filter atacara ad ae deen eet ee 7 4 8 INSPECTION 8 1 to 8 2 9 TROUBLESHOOTING 9 1 to 9 8 GR Alarms and Warning HE 9 1 9 2 Remedies Toral ad 9 2 GE alten le a 9 8 eu E CEET 10 1 PAR O 10 8 11 1 Overload protection characteristics oocccicninnnicnicninnnncnonncccrcnrccrcnnnr rr 11 1 11 2 Power supply equipment capacity and generated Joes A 11 2 11 3 Dynamic brake charackerlstice rre 11 5 11 4 Encoder cable flexing UC 11 7 11 5 Inrush currents at power on of main circuit and control droit 11 8 TDA OPEL ONS fie A dt sa 12 1 12 1 1 Regenerative brake Opti ONS ooocccnnnnicnicnonmncrccncnnrccr rca 12 1 12 1 2 Brake Nito ai ad 12 10 12 1 3 Power regeneration CONVertel mcccnccicnicnncnnnnccccnncnnnnnn cnc rn 12 12 12 1 4 External dynamic brake sisisi enanat aea aa NEEN 12 15 12 1 5 Cables and cOnmectors mi ad dada 12 18 12 1 6 Maintenance junction card MRIZCNZTMI non nro rn rncnr nar ncrnrnnnnnns 12 31 12 1 7 Battery MR BAT AGBAT 12 32 12 1 8 MR Configurator servo configurations software 12 33 12 1 9 Power regeneration COMMON CONVEFTET oo ceeeeceeeteeteeeeeeeteeeeeeeesecseeateessesaetaeeeseetsesaeeaseeteetaeteeeas 12 34 12 1 10 Heat sink outside mounting attachment MRIACNT 12 38 12 2 Auxiliary eulprrent ee ENER ecient EENS a Taaa annaia eTa 12 41 12 2 1 Recommended wires A 12 41 12 2 2 No fuse breaker
127. ect correctly error occurred disconnected between encoder 2 Encoder fault Change the servo motor and servo amplifier 3 Encoder cable faulty Repair or change cable Wire breakage or shorted CPU parts fault Faulty parts in the servo amplifier Change the servo amplifier SE error 3 ROM memory fault Checking method Alarm 17 or 19 occurs if power is switched on after disconnection of all cable but the control circuit power supply cable Motor Wrong combination Wrong combination of servo Use correct combination ES nation of servo anplifier amplifier and servo motor connected Mal ror and servo motor Encoder error 2 Communication 1 Encoder connector CN 2 Connect correctly error occurred disconnected between encoder 2 Encoder fault Change the servo motor and servo amplifier 3 Encoder cable faulty Repair or change cable Wire breakage or shorted Ground fault 1 Power input wires and servo motor Connect correctly occurred at the output wires are in contact at servo motor outputs main circuit terminal block TE 1 U V and W phases 2 Sheathes of servo motor power Change the cable of the servo cables deteriorated resulting in amplififer ground fault 3 Main circuit of servo amplifier Changethe servo amplifier failed Checking method Alarm 24 occurs if the servo is switched on after disconnecting the U V W power cables from the servo amplifier Absolute Absolute position 1 B
128. ector 14 Maintenance MR J 2CN3TM Refer to Section 12 1 6 SC card Control signal MR 2CN1 Connector 10120 3000VE IM Communication MR CPCATCBL3M Connector 10120 6000EL Connector DE 9SF N E cable Refer to 3 in this Shell kit 10320 3210 000 Case DE C1 6 S6 connection section 3M or equivalent apan Aviation Electronics with PC AT compatible AA personal computer Power supply MR PWCNS1 Plug CE 05 6A22 23SD B BSS connector set Refer to the Servo OT Cable clamp CE 3057 12A 2 D265 Motor Instruction DDK Manual Power supply MR PWCNS2 Plug CE 05 6A24 10SD B BSS EN connector set Refer to the Servo q Cable clamp CE 3057 16A 2 D265 Standard Motor Instruction DDK compliant Manual IP651P67 Power supply MR PWCNS3 Plug CE 05 6A32 17SD B BSS connector set Refer to the Servo CT Cable clamp CE 3057 20A 1 D265 Motor Instruction DDK Manual Brake connector MR BKCN Plug MS3106A10SL 45S D190 DDK EN set Refer to the Servo Cable connector Y SO10 5 8 Daiwa Dengyo Standard Motor Instruction compliant Manual IP651P67 Power supply MR PWCNK1 Plug 5559 04P 210 connector set Terminal 5558PBT3L For AWG16 6 pcs molex Power supply MR PWCNK2 Plug 5559 06P 210 connector set Terminal 5558PBT3L For AWG16 8 pcs molex 22 Connector Set MR J 2CMP2 Connector 10126 3000VE Shell kit 10326 52F 0 008 3M or equivalent Monitor cable MR H3CBL1M F Servo amplifier side connector AMP A Housing 171
129. eezing Environment Ambient humidity 90 RH or less non condensing Indoors without corrosive gas flammable gas oil mist dust and dirt Altitude vibration 1000m or less above sea level 5 9m s or less compliant with J 1S C 0040 a ct 100AF 2254F 225AF 225AF 4004F 400AF 9 125A 2254 250A 400A Note This is the time when the protective function of the FR CV is activated The protective function of the servo amplifier is activated in the time indicated in Section 11 1 12 37 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 10 Heat sink outside mounting attachment MR JACN Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier generated heat to the outside of the box and reduce the amount of heat generated in the box thereby allowing a compact control box to be designed In the control box machine a hole having the panel cut dimensions fit the heat sink outside mounting attachment to the servo amplifier with the fitting screws 4 screws supplied and install the servo amplifier to the control box The environment outside the control box when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment conditions 1 Panel cut dimensions i D 7 4 M10 Screw Unit mm in SS Changeable A A dimension a va e
130. em noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction The following techniques are required 1 Insert the radio noise filter F R BIF on the power cables input cables of the servo amplifier 2 Insert the line noise filter F R BSF 01 FR BLF on the power cables of the servo amplifier When the cables of peripheral devices are connected to the servo amplifier to make a closed loop circuit leakage current may flow to malfunction the peripheral devices If so malfunction may be prevented by disconnecting the grounding cable of the peripheral device 2 Noise reduction products a Data line filter Noise can be prevented by installing a data line filter onto the encoder cable etc For example the ZCAT 3035 1330 of TDK and the ESD SR 25 of Tokin are available as data line filters As a reference example the impedance specifications of the ZCAT3035 1330 TDK are indicated below This impedances are reference values and not guaranteed values Unit mm Unit in 39 1 1 54 0 04 34 a 3440 04 10 to 100MHZ 100 to 500MHZ le ww Loop for fixing the cable band 0 51 0 04 1 18 0 04 Product name Lot number Outline drawing ZCAT3035 1330 12 48 12 OPTIONS AND AUXILIARY EQUIPMENT b Surge suppressor The recommended surge suppressor for installation to an AC relay AC valve AC electromagnetic brak
131. eneration converter wire size list Section 12 2 8 3 Addition of outline drawing Oc 2002 SH NA 030007 C Servo amplifier Addition of MR 2S 11KB MR 2S 15KB and MR 2S 22KB Servo motor Addition of HA LFS and HC LFS series About processing of waste Addition of about processing of waste SAFETY INSTRUCTIONS Addition of FOR MAXIMIM SAFETY CONFORMANCE WITH UL C UL STANDARD Addition of MR 2S 11KB to MR J 25 22KB to 4 Capacitor discharge time Addition of 6 Attachment of servo motor Addition of 7 About wiring protection Section 1 4 Modification made to the contents of the test operation mode Section 1 7 1 Deletion of 6 Section 3 1 1 Addition of MR J 2S 700B or less Section 3 1 2 Addition of MR 2S 11KB or less Section 3 2 1 2 Addition of MR J 2S 11KB or less Section 3 2 2 Addition of 11kW and more to the connector pin No Section 3 2 2 C Addition of dynamic brake sequence Section 3 3 Addition of Note Section 3 4 2 2 3 Wiring reexamination Section 3 5 Addition of POINT Section 3 6 2 Addition of POINT SH NA 030007 C Section 3 6 3 Addition of Note Section 3 9 Reexamination of contents Section 3 12 Addition Section 3 12 2 Addition of power factor improving DC reactor Section 4 3 2 Addition of initialization completion Section 5 2 2 Addition of external dynamic brake selection to parameter No 2 Renaming of parameter Nos 3 to5 Reexamination of parameter No 19 contents Section 9 1 Addition of Not
132. er equipment 1 Installation of one servo amplifier Control box Control box Wiring clearance m a W LL 40mm 1 6 in 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 fan to prevent the internal temperature of the control box from exceeding the environmental conditions Control box Y 100mm 4 0 in or more 10mm 0 4 in Servo or more amplifier 30mm Y 1 2 in or more 30mm 1 2 in or more Vi 3 Others When using heat generating equipment such as the regenerative brake option install them with full consideration of heat generation so that the servo amplifier is not affected Install the servo amplifier on a perpendicular wall in the correct vertical direction 2 3 Keep out foreign materials 1 When installing the unit in a control box prevent drill chips and wire fragments from entering the servo amplifier 2 Prevent oil water metallic dust etc from entering the servo amplifier through openings in the control box or a fan installed on the ceiling 3 When installing the control box in a place where there are much toxic gas dirt and dust conduct an air purge force clean air into the control box from outside to make the internal pressure higher than the external pressure t
133. er the servo system controller power is on or off Therefore once home position return is made at the time of machine installation home position return is not needed when power is switched on thereafter If a power failure or a fault occurs restoration is easy Also the absolute position data which is battery backed by the super capacitor in the encoder can be retained within the specified period cumulative revolution counter value retaining time if the cable is unplugged or broken Servo system controller Servo amplifier d Position data Current position Detecting Detecting the the number position within of revolutions one revolution A A Position control speed control Home position data Servo motor 1 pulse rev accumulative revolution counter Super capacitor 4 High speed serial communication O Within one revolution counter 13 1 13 ABSOLUTE POSITION DETECTION SYSTEM 13 2 Specifications 1 Specification list Electronic battery backup system 1 piece of lithium battery primary battery nominal 3 6V Type MR BAT or A6BAT Home position 32767 rev Note 1 Maximum speed at power failure 500r min Note 2 Battery backup time Approx 10 000 hours battery life with power off Note 3 Data holding time during battery replacement Battery storage period 5 years from date of manufacture
134. erall width 2 5 to 3 5mm To loosen 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 When managing torque with a Phillips bit please consult us Maker Representative Torque screwdriver N6L TDK Nakamura Seisakusho Bit for torque screwdriver B 30 flat blade H3 5 X 73L Shiro Sangyo 3 26 3 SIGNALS AND WIRING 3 10 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 Sheath External conductor Pull back the external conductor to cover the sheath Strip the sheath Cable Ground plate 3 27 3 SIGNALS AND WIRING 3 11 Control axis selection POINT The control axis number set to CS1 should be the same as the one set to the servo system controller Use the axis select switch CS1 to set the control axis number for the servo If the same numbers are set to different control axes in a single communication system the system will not operate properly The control axes may be set independently of the bus cable connection sequence Set the switch to
135. eter No 1 column initial Write to 11 40 value 000A Parameter No 1 Parameter No 40 Write Write to 39 Reference Parameter No 1 Parameter No 1 to 40 Parameter No 1 to 11 40 000E Parameter No 1 Parameter No 1 Write Write to 39 to 40 100E Reference Parameter No 1 Parameter No 1 to 40 Write Parameter No 40 5 10 5 PARAMETERS 5 3 Analog monitor The servo status can be output to two channels in terms of voltage Use this function when using an ammeter to monitor the servo status or synchronizing the torque speed with the other servo 1 Setting Change the following digits of parameter No 22 Parameter No 22 Te Analog monitor 2 MO2 output selection Signal output to across MO2 LG Analog monitor 1 MO1 output selection Signal output to across MO1 LG Parameters No 27 and 28 can be used to set the offset voltages to the analog output voltages The setting range is between 999 and 999mV Description Setting range mV range mV Used to set the offset voltage for the analog monitor 1 MO output hl aaa MEN to set the offset voltage for the analog monitor 2 MO2 999 to 999 output 5 11 5 PARAMETERS 2 Setting description The servo amplifier is factory set to output the servo motor speed to analog monitor MO1 and the torque to analog monitor MO2 The setting can be changed as listed below by changing the parameter No 22 Analog monitor output v
136. evolution in the controller side command unit Information on the motor such as the feedback pulse value present position droop pulses and within one revolution position are derived from the values converted nto the number of pulses set here Setting Number of feedback pulses l 16384 8192 1 RECH H 131072 255 Depending on the number of motor resolution pulses If the number of pulses set exceeds the actual motor resolution the motor resolution is set automatically Rotation direction selection Used to select the rotation direction of the servo motor 0 Forward rotation CCW with the increase of the positioning address Reverse rotation CW with the increase of the positioning address Auto tuning Used to select the gain adjustment mode of auto tuning o o o ale Gain adjustment mode selection For details refer to Section 6 1 1 Gain adjustment mode Description Interpolation mode Fixes position control gain 1 parameter No 13 Auto tuning mode 1 Ordinary auto tuning Auto tuning mode 2 Fixes the load inertia moment ratio set in parameter No 12 Response level setting can be changed Manual mode 1 Manual mode 2 Simple manual adjustment Manual adjustment of all gains Initial Symbol Name and Function Unit Value 0 Range Refer to name and function column Refer to name and function
137. ew size Servo motor Power supply connection screw size HA LFS15K2 HA LFS22K2 M8 Signal Name Abbreviation Description Power supply Connect to the motor output terminals U V W of the servo amplifier Supply power which satisfies the following specifications HA LFS11K2 single phase 200 to 220VAC 50Hz single phase 200 to 230VAC 60Hz Power consumption W 42 50H z 54 60H z Rated voltage V 0 12 50H z 0 25 60H z Voltage frequency Cooling fan HA LF S15K 2 22K 2 Three phase 200 to 220VAC 50Hz Three phase 200 to 230VAC 60Hz Power consumption W 32 50H z 40 60H z Rated voltage V 0 30 50H z 0 25 60H z Voltage frequency Motor thermal relay OHS1 OHS2 OHS1 OHS2 are opened when heat is generated to an abnormal temperature For grounding connect to the earth of the control box via the earth terminal of the servo Earth terminal amplifier Note There is no BW when the HA LFS11K2 is used 3 32 4 OPERATION AND DISPLAY 4 OPERATION AND DISPLAY 4 1 When switching power on for the first time Before starting operation check the following 1 Wiring a A correct power supply is connected to the power input terminals L1 L2 L3 L11 L21 of the servo amplifier b The servo motor power supply terminals U V W of the servo amplifier match in phase with the power input terminals U V W of the servo motor c The servo motor power supply terminal
138. f permissible regenerative power of positioning warning exceed permissible built in regenerative brake resistor or 2 Change regenerative brake regenerative power of regenerative brake option option for the one with larger built in regenerative Checking method capacity brake resistor or Call the status display and check 3 Reduce load regenerative brake regenerative load ratio option Overload There is a possibility that L oad increased to 85 or more of overload R efer to 50 51 warning overload alarm 1 or 2 alarm 1 or 2 occurrence level may occur Cause checking method Refer to 50 51 wo N Ko m pa E3 Absolute position Absolute position encoder 1 Noise entered the encoder Take noise suppression counter warning pulses faulty measures Encoder faulty Parameter Parameter outside Parameter value set from servo system Set it correctly A Besse TI ervo forced stop EM 1 is off External forced stop was made valid Ensure safety and deactivate Controller Emergency stop signal was entered into E nsure safety and deactivate the servo system controller emergency stop E4 6 E E9 Main circuit off Servo on SON was switched on with main circuit power off SSCNET error The servo system warning controller connected is not SSCN ET compatible m m 10 OUTLINE DIMENSION DRAWINGS 10 OUTLINE DIMENSION DRAWINGS 10 1 Servo amplifiers 1 MR J2S 10B to MR J2S 60B M
139. fier oN capacities is 2kW since 2 0kW 2 0kW Junction terminals Overall wiring length 5m or less 4 Other precautions a Always use the FR CVL as the power factor improving reactor Do not use the FR BAL or FR BEL b The inputs outputs main circuits of the FR CV and servo amplifiers include high frequency components and may provide electromagnetic wave interference to communication equipment such as AM radios used near them In this case interference can be reduced by installing the radio noise filter F R BIF or line noise filter F R BSF 01 FR BLF c The overall wiring length for connection of the DC power supply between the FR CV and servo amplifiers should be 5m or less and the wiring must be twisted 12 36 12 OPTIONS AND AUXILIARY EQUIPMENT 5 Specifications Power regeneration common converter Maximum servo amplifier capacity Su 3 5 o a ie currents hort time y S i Total capacity of applicable servo motors 300 torque 60s Note Regenerative rating braking torque Continuous rating Rated input AC voltage frequency Three phase 200 to 220V 50Hz 200 to 230V 60Hz Powe sino Permissible AC voltage fluctuation Three phase 170 to 242V 50Hz 170 to 253V 60Hz wer su SES Permissible frequency fluctuation 15 Power supply capacity va 17 20 2 a 52 66 Protective structure J EM 1030 cooling system Open type IP00 forced cooling Ambient temperature 10 C to 50 C non fr
140. forced stopi Note ET Ready ON servo OFF reset When alarm occurs alarm code appears Note q Ready ON servo ON Ordinary operation Servo system controller power OFF Servo system controller power ON Note The right hand segments of b1 c1 and d1 indicate the axis number Axis 1 in this example 4 OPERATION AND DISPLAY 2 Indication list The servo amplifier was switched on when power to the servo system controller is off Power to the servo system controller was switched off during power on of the servo amplifier The axis No set to the servo system controller does not match the axis No set with the axis setting switch CS1 of the servo amplifier A servo amplifier fault occurred or an error took place in communication with the servo system controller In this case the indication changes Ab gt AC gt Ad gt Ab The servo system controller is faulty na a Communication started between the servo system controller and servo AC Initializing Wi amplifier AE Initialize completion Initial data communication with the servo system controller was completed Ready OF F Note 1 d Note 1 C Note 3 bO JOG operation positioning operation programmed operation DO forced output Note 1 b nee KSE i Test operation mode d M otor less operation CH AA Initializing Initializing Note 1 denotes any of numerals 0 to 8 and what it means i
141. g 2 MO2 LG in terms of voltage Resolution 10 bits output c Power supply No or Signal Symbol w ikw Function Application or less jor more Driver power output terminal for digital interface U sed to output 24V 10 to across VDD COM Connec with COM Permissible current 80mA Driver power input terminal for digital interface U sed to input 24VDC 200mA or more for input interface Connect with VDD CN3 CON2 Common terminal to VDD and COM Pins are connected internally Separated from LG Internal power output VDD CN3 CON2 for interface 10 15 M CN3 CON2 D interface SR 5 18 1 4 Common for digital SG interface 3 CN3 Common terminal to MO1 and MO2 CN4 Control common LG 1 11 i PI Power input for digital Shield Connect the external conductor of the shield cable 3 8 3 SIGNALS AND WIRING 3 3 Alarm occurrence timing chart When an alarm has occurred remove its cause make sure that the operation Z CAUTION signal is not being input ensure safety and reset the alarm before restarting operation When an alarm occurs in the servo amplifier the base circuit is shut off and the servo motor is coated toa stop Switch off the main circuit power supply in the external sequence To deactivate the alarm power the control circuit off then on or give the error reset or CPU reset command from the servo system controller However the alarm cannot be deactivated unless its cause is remo
142. g depth Mechanical Machine resonance point system response level Frequency Notch depth Y Notch frequency Frequency The machine resonance suppression filter is a delay factor for the servo system Hence vibration may increase if you set a wrong resonance frequency or a too deep notch 7 SPECIAL ADJUSTMENT FUNCTIONS 2 Parameters Set the notch frequency and notch depth of the machine resonance suppression filter 1 parameter No 18 Parameter No 18 aid frequency selection Foo imi os 325 20 38 013 or aso os f soo a acer as wo Cos pasoo f o aor a3 568 a8 1667 Copas po ss Papas ac os f o f oo 3062 as as a0 7 Co ro sana as 2005 ae iso Notch depth selection Depth Gain Deep 40dB 2 l 8dB 3 Shallow 4dB Pont 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 The machine characteristic can be grasped beforehand by the machine analyzer on the MR Configurator servo configuration software This allows the required notch frequency and depth to be determined 7 SPECIAL ADJUSTMENT FUNCTIONS 7 3 Adaptive vibration suppression c
143. gx3 6 11 6 GENERAL GAIN ADJUSTMENT __ __ ___ _ __ __ _ _z __ _ _ _ _ z _ _ _ _ _ _ _ _ _ __ _ _ _ _ _ _ _ __ ___ gt gt gt gt E II X 6 5 Differences in auto tuning between MELSERVO J2 and MELSERVO J2 Super 6 5 1 Response level setting To meet higher response demands the MELSERVO 2 Super series has been changed in response level setting range from the MELSERVO J 2 series The following table lists comparison of the response level setting Parameter No 9 KL Response level setting MELSERVO J2 series MELSERVO J2 Super series Machine resonance frequency guideline E AAA C E E AA et cht Ea Note that because of a slight difference in gain adjustment pattern response may not be the same if the resonance frequency is set to the same value 6 5 2 Auto tuning selection The MELSERVO 2 Super series has an addition of the load inertia moment ratio fixing mode It also has the addition of the manual mode 1 which permits manual adjustment with three parameters Parameter No 8 1 Lan adjustment mode selection Auto tuning selection Gain adjustment mode Remarks J MELSERVO J2 series MELSERVO J2 Super series Interpolation mode Position control gain 1 is fixed Auto tuning mode 1 1 Ordinary auto tuning Estimation of load inertia moment Auto tuning Auto tuning mode 2 ratio stopped Response level setting valid Auto tuning M
144. he enhanced response Machine resonance The machine resonance Some filter frequencies suppression filter 1 suppression filter notch filter cannot be set Notch filter setting range was increased In position range The setting unit became the Setting can be made feedback pulse unit in parameter No 6 analog monitor was added bus voltage cannot be set 25 LPF Low pass filter adaptive The low pass filter and adaptive Setting can be made vibration suppression control vibration suppression control functions were newly added 31 ERZ Error excessive alarmlevel The setting unit was changed in Setting can be made but the response to the enhanced setting unit is 0 1 rev resolution 131072 pulses rev of the encoder 33 Optional function 6 The communication baudrate Setting cannot be made 2 with the personal computer was changed to max 57600bps 38 ENR Encoder output pulses The encoder feedback pulses can Setting cannot be made be output from the servo amplifier These pulses can be set Note As of November 2003 5 14 5 PARAMETERS 5 4 2 Explanation of the modified parameters 1 Feedback pulse number parameter No 6 This parameter was newly added to the MR J 2S OB If the peripheral software of the servo system controller is not compatible with the MR 25 OB this parameter setting cannot be changed When the servo motor used is the HC KFS or HC MFS the feedback pulse number is 8192 pulses rev an
145. he alarm about 30 minutes of cooling time after removing the cause of occurrence 9 TROUBLESHOOTING 9 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 Ab CAUTION a ney 8 If an absolute position erase alarm 25 occurred always make home position setting again Otherwise misoperation may occur When any of the following alarms has occurred always remove its cause and allow about 30 minutes for cooling before resuming operation If operation is resumed by switching control circuit power off then on to reset the alarm the servo amplifier and servo motor may become faulty To protect the main circuit elements any of these servo alarms cannot be deactivated from the servo system controller until the specified time elapses after its occurrence J udging the load changing condition until the alarm occurs the servo amplifier calculates this specified time automatically Regenerative error 30 Overload 1 50 Overload 2 51 The alarm can be deactivated by switching power off then on or by the error reset command CPU reset from the servo system controller For details refer to Section 9 1 When an alarm occurs the dynamic brake is operated to stop the servomotor At this time the display indicates the alarm No The servo motor comes to a stop Remove the cause of the alarm in accordance with this sec
146. he control box 2 Connect the diode in the correct direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the forced stop EM1 and other protective circuits 3 If the controller does not have an emergency stop function always install a forced stop switch Normally closed 4 When a personal computer is connected for use of the test operation mode always use the maintenance junction card MR J2CN3TM to enable the use of the forced stop EM1 Refer to section 12 1 6 5 CN1A CN1B CN2 and CN3 have the same shape Wrong connection of the connectors will lead to a fault 6 The sum of currents that flow in the external relays should be 80mA max 7 When starting operation always turn on the forced stop EM1 Normally closed contacts By setting 0001 in parameter No 23 the forced stop EM1 can be made invalid 8 When connecting the personal computer together with analog monitor outputs 1 2 use the maintenance junction card MR J2CN3TM Refer to Section 12 1 3 9 Use MRZJW3 SETUP151E 10 Use the bus cable at the overall distance of 30m 98 4ft or less In addition to improve noise immunity it is recommended to use a cable clamp and data line filters three or four filters connected in series near the connector outlet 11 The wiring of the second and subsequent axes is omitted 12 Up to eight axes n 1 to 8 may be connected The MR J2S O B MR J2 03B5 servo
147. he notch frequency of the machine resonance suppression filter You can automatically set the optimum gains in response to the machine characteristic This simple adjustment is suitable for a machine which has large machine resonance and does not require much settling time You can automatically set gains which make positioning settling time shortest You can optimize gain adjustment and command pattern on personal computer 6 GENERAL GAIN ADJUSTMENT 6 2 Auto tuning 6 2 1 Auto tuning mode The servo amplifier has a real time auto tuning function which estimates the machine characteristic load nertia 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 1 Auto tuning mode 1 The servo amplifier is factory set to the auto tuning mode 1 In this mode the load inertia moment ratio of a machine is always estimated to set the optimum gains automatically The following parameters are automatically adjusted in the auto tuning mode 1 Abbreviation DUES EEN er ARA Ratio of load inertia moment to servo motor inertia moment Position control gain 1 Speed control gain 1 15 PG2 Position control gain 2 ve Speed control gain 2 Speed integral compensation The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied Time to reach 2000r min is the acceleration decelerati
148. in Note The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected Refer to the following table and choose the bus cable OOo ooo mas E MR203B5 O O O 10 Bus cable MR J 2HBUS O M 12 Connector set MR J 2CN1 l 24 Bus cable Q172 2BCBL O M B ja 25 Bus cable Q173J 2B A CBL OM controller 9 Bus cable MR J 2HBUS O M A 11 Connector set MR J 2CN 1 A MR J 2S OB MRJ J 2 03B5 10 Bus cable MR J 2HBUS O M 12 Connector set MR J 2CN1 Maintenance junction card 12 18 12 OPTIONS AND AUXILIARY EQUIPMENT CI En Application Standard encoder MR J CCBLOM L Connector 10120 3000VE Housing 1 172161 9 Standard Refer to 2 in this Shell kit 10320 52F 0 008 Connector pin 170359 1 section 3M or equivalent AMP or equivalent Cable clamp MT 0002 Toa Electric Industry Long flexing life MR CCBLOM H encoder cable Refer to 2 in this Lk section Standard encoder MR J HSCBLOM L Connector 10120 3000VE Plug MS3106B 20 295 Standard cable Refer to 2 in this Shell kit 10320 52F 0 008 Cable clamp MS3057 12A flexing life section 3M or equivalent J apan Aviation Electronics 1P20 Long flexing life MR J HSCBLOM H encoder cable Refer to 2 in this A section IP65 compliant MR ENCBLOM H Connector 10120 3000VE Plug MS3106A 20 295 D190 Long flexing encoder cable Refer to 2 in this Shell kit 10320 52F 0 008 Cable clamp CE3057 12A 3 D265 life
149. ing fan ch LZ YT IL poe K UI gt OI Heat generation area outside mounting dimension Power Approx regeneration A AA BA C E EE K F Mass kg Ib converter FR RC 15K 270 200 450 432 195 10 10 8 3 2 87 19 10 630 7 874 17 717 17 008 7 677 0 394 0 394 0 315 0 126 3 425 41 888 13 386 10 630 23 622 22 913 7 677 0 394 0 394 0 315 0 126 3 543 68 343 18 898 16 142 27 559 26 378 9 843 0 472 0 591 0 591 0 126 5 315 121 254 4 Mounting hole machining dimensions When the power regeneration converter is fitted to a totally enclosed type box mount the heat generating area of the converter outside the box to provide heat generation measures At this time the mounting hole having the following dimensions is machined in the box AA 2 4D hole Unit mm in e 4 ra Model a Bb o aa Ba cracisk 209 412 10 200 432 ot E 10 236 16 220 0 394 7 874 17 009 330 562 10 270 582 FR RC 30K Mounting hole ERACIOK 330 22 126 0 394 10 630 22 913 Freesk 472 62 12 410 670 E AA PES 18 504 25 276 0 472 16 142 26 378 BA 12 14 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 4 External dynamic brake 1 Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop
150. l cables in a bunch Theclamp comes as a set with the earth plate Strip the cable sheath of the clamped area cutter 12 49 Cable Cable clamp J A B Earth plate 40 1 57 External conductor Clamp section diagram 12 OPTIONS AND AUXILIARY EQUIPMENT Outline drawing Earth plate 2 5 0 20 hole 17 5 0 69 installation hole KN i Y i e i i B 0 3 0 01 7 0 28 Note M4 screw Unit mm Unit ml Clamp section diagram n L or less 10 0 39 Es N Note Screw hole for grounding Connect it to the earth plate of the control box type A B c Accessory fittings Clamp fitting AERSBAN DSET 100 36 20 clamp A 2pcs A E 3 94 3 39 1 18 Parepa 2 76 AERSBAN ESET 2 clamp B 1pc 2 76 2 20 p 9 4pc 45 1 77 12 50 30 1 18 0 940 12 OPTIONS AND AUXILIARY EQUIPMENT d Line noise filter FR BLF FR BSFO1 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 Outline drawing Unit mm Unit in Wind the 3 phase wires by the equal number of times in the FR BLF MR J2S 350B or more same direction and connect the filter to the power supply side and out
151. l figure reexamination Section 12 1 10 Addition Section 12 2 9 3 Partial reexamination Appendix Addition MODEL mr ves B GIJUTU SIRYOU MODEL CODE 1CW502 EA MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 8310 This Instruction Manual uses recycled paper SH NA 030007 E 0401 MEE Printed in Japan Specifications subject to change without notice
152. left hand side area of the continuous or broken line in the graph In a machine like the one for vertical lift application where unbalanced torque will be produced it is recommended to use the machine so that the unbalanced torque is 70 or less of the rated torque 1000 During rotation 00 During servo lock 10 Operation time s 0 1 0 50 100 150 200 250 300 Note Load ratio a MR J2S 10B to MR J2S 100B 10000 1000 W During rotation uring servo lock e 100 Operation time s 10 0 50 100 150 200 250 300 Note Load ratio c MR J2S 500B MR J2S 700B 1000 During rotation 100 D D During servo lock 5 10 T D Q O 1 0 1 0 50 100 150 200 250 300 Note Load ratio b MR J2S 200B to MR J2S 350B 10000 1000 o During rotation o E 100 Cc 2 g During servo lock O 40 0 100 200 300 Note Load ratio d MR J2S 11KB to MR J2S 22KB Note If the servo motor is stopped or low speed 30r min or less operation is performed at an abnormally high duty with torque more than 100 of the rating being generated the servo amplifier may fail even in a status where the electronic thermal relay protection is not activated Fig 11 1 Electronic thermal relay protection characteristics 11 1 11 CHARACTERISTICS 11 2 Power supply equipment capacity and generated loss 1 Amount of heat generated by the servo amplifier Table 11 1 indicates servo amplifiers
153. lses 4000 pulse rev Used to set the encoder pulses A phase B phase output by the servo amplifier Bee Set the value 4 times greater than the A phase and B phase pulses You can use parameter No 33 to choose the output pulse setting or output division ratio setting The number of A phase and B phase pulses actually output is 1 4 times greater than the preset number of pulses The maximum output frequency is 1 3Mpps after multiplication by 4 Use this parameter within this range For output pulse designation Set 0000 initial value in parameter No 33 Set the number of pulses per servo motor revolution Output pulse set value pulses rev At the setting of 5600 for example the actually output A phase and B phase pulses are as indicated below A phase and B phase output pulses 3600 1400 pulse For output division ratio setting Set 1000 in parameter No 33 The number of pulses per servo motor revolution is divided by the set value Output pulse Resolution per servo motor revolution pulses rev Set value At the setting of 8 for example the actually output A phase and B phase pulses are as indicated below A phase and B phase output pulses 131072 7 4096 pulse ll manufacturer setting Es change this value by any means BLK Parameter blocks 0000 E to Setting Operation Operation from Operation from name controller MR Configurator and servo configuration function 0000 Reference Parameter No 1 Param
154. minal block Mounting screw 9 0 354 Screw size M8 Tightening torque 13 2 N m 116 83 Ib in 40 y 384 15 118 410 16 142 y y q 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 2 Brake unit The brake unit and resistor unit of other than 200V class are not applicable to the servo amplifier The brake unit and resistor unit of the same capacity must be combined The units of different capacities may result in damage The brake unit and resistor unit must be installed on a vertical surface in the vertical direction If they are installed in the horizontal direction or on a horizontal surface a heat dissipation effect reduces The temperature of the resistor unit casing rises to higher than 100 C Do not cause cables and combustibles to make contact with the casing The brake unit is the integration of the regenerative control and resistor and is connected to the bus across P N of the servo amplifier As compared to the MR RB regenerative brake option the brake unit can return larger power Hence use the this brake unit when the MR RB cannot provide sufficient regenerative brake capability When using the brake unit set C1001 in parameter No 2 1 Selection Permissible Continuous Max Instantaneous 8 Brake unit Resistor unit Applicable Servo Amplifier Power kw Power kw FR BU 15K FR BR 15K MR J 25 500B MR J 25 700B MR J 2S 15KB 2 Connection example Servo
155. n 3 10 34I COMMON li A A A thats Gunes A a 3 10 3 4 2 Detailed description of the interfaces AA 3 11 EH lee 3 14 3 5 1 Connection example coi dd 3 14 OZ CIV Ma SA A E Ed 3 16 ER Ee e iia 3 17 3 6 Connection of servo amplifier and servo MOLOM cocoocnoiccccciconananananonanonnno nono nonnn cnn cncrra nn 3 18 3 6 1 Connection iInstructiONS ccccscssscsscsesesessecseseeessuecaeseesescaecaeseeseescaesaesseseascaeseeseseaesasseaesesaesensenseates 3 18 3 0 2 Connection dada ut hein adie envi tail aa ie 3 18 ER EECH KR RE 3 20 3 7 Servo motor with electromagnetic Drake 3 22 ERR e Ulale lAs DEE 3 25 3 9 Servo amplifier terminal block TE 2 wiring metbol corno nrnncnr nar nornrnnnnnns 3 26 3 10 Instructions for the 3M Conner 3 27 3 11 Controlaxis Selections iii A iia 3 28 3 12 Power line circuit of the MR 25 11KB to MR J 2S 22KB ccccscssesseesesseseessesseesaeserseeesaesaesenseneeaes 3 29 3 12 1 Connection exampl EE 3 29 3 12 2 Servo amplifier terminals oocccnnnninilnnininncnnnnnc nr 3 30 3 12 3 Servo motor terminalSs i 0 0ca cece ee eee ee ee ene ieee eddie tie 3 31 4 OPERATION AND DISPLAY 4 1to 4 8 4 1 When switching power on for the first me 4 1 4 2 Start Upin A a dep beds cae 42 4 3 Servo amplifier display occ eee cseeeeeeeeeeseeeeeeeeecsesaeeeeeessesaesaeeeesessesaesasessesaesaseeseesaeeeseeseeseeseeaseetiees 4 4 4 4 Test operation MOE EEN 4 6 5 PARAMETERS 5 1 to 5 18 5 1 Parameter write inhibits ssacasieseeii
156. n across P C The G3 and G4 terminals act as a thermal protector G3 G4 are opened when the regenerative brake option overheats abnormally Servo amplifier JA remove the lead from across P D Regenerative brake option DO x J S PO f O 2 cO OF ace Notea hea 5m 16 4 ft max EEN o Fan Note 1 Note 1 When using the MR RB5O0 forcibly cool it with a cooling fan 1 0m min 792 or so 2 Make up a sequence which will switch off the magnetic contactor MC when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4VA For the MR RB5O0 install the cooling fan as shown Unit mm in amp Fan installation screw hole dimensions Top 2 M3 screw hole for fan installation Fan Terminal block Depth 10 or less Screw hole already y machined xa re Q lt Thermal relay A CH al le Bottom 82 5 40 1 58 ki 3 25 i i installati i Recommended fan Vertical Horizontal installation Installation surface Toyo Denki s TL396A or equivalent installation 12 4 12 OPTIONS AND AUXILIARY EQUIPMENT b MR J 25 500B MR J 2S 700B Always remove the wiring across P C of the servo amplifier built in regenerative brake resistor and fit the regenerative brake option across P C The G3 and G4 terminals act as a thermal protector G3
157. n common converter For details of the power regeneration common converter FR CV refer to the FR CV Installation Guide 1 B NA 0600075 Do not supply power to the main circuit power supply terminals L1 L2 L3 of the servo amplifier Doing so will fail the servo amplifier and FR CV Connect the DC power supply between the FR CV and servo amplifier with correct polarity Connection with incorrect polarity will fail the FR CV and servo amplifier Two or more FR CV s cannot be installed to improve regeneration capability Two or more FR CV s cannot be connected to the same DC power supply line When using the power regeneration common converter set parameter No 2 to 0001 1 Selection The power regeneration common converter FR CV can be used with 750W to 22kW servo amplifiers There are the following restrictions on use of the FR CV a Up to six servo amplifiers can be connected to one FR CV b FR CV capacity W gt Total of rated capacities W of servo amplifiers connected to FR CV x 2 c The total of used servo motor rated currents should be equal to or less than the applicable current A of the FR CV d Among the servo amplifiers connected to the FR CV the servo amplifier of the maximum capacity should be equal to or less than the maximum connectable capacity W The following table lists the restrictions Maximum number of connected servo amplifiers 622 Total of connectable servo motor rated cur
158. nal 5557 06R 210 NIE i 114 214 215 i View b 3 6 lt mp ema Note For the motor with electromagnetic brake supply electromagnetic brake power 24VDC There is no polarity 3 20 3 SIGNALS AND WIRING 2 HC SFS HC RFS HC UFS2000 r min series Servo motor side connectors 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 23PD B for power is HC SFS53 B to 153 B shared HC SFS121 B to 301 B CE05 2A24 HC SFS202 B to 502 B 10PD B MS3102A10SL HC SFS203 B 353 B 4P CE05 2A32 HC SFS702 B 17PD B MS3102A20 CE05 2A22 HC RFS103 B to 203 B 23PD B The connector CE05 2A24 HC RFS353 B 503 B for power is 10PD B shared CE 05 2A22 HC UFS72 B 152 B 23PD B CE05 2A24 MS3102A10SL HC UFS202 B to 502 B 10PD B 4P Brake connector c Power supply connector Power supply connector signal arrangement CE05 2A22 23PD B CE05 2A24 10PD B CE05 2A32 17PD B Earth Note B1 Note B2 Note For the motor with Note For the motor with electromagnetic brake electromagnetic brake supply electromagnetic supply electromagnetic brake power 24VDC brake power 24VDC There is no polarity There is no polarity Encoder connector signal arrangement Electromagnetic brake connector signal arrangement MS3102A20 29P MS3102A10SL 4P ji
159. name into digital input signals Section 12 2 8 1 Reexamination of our leakage current breaker products Section 12 2 9 3 Addition of outline drawing Section 13 3 Addition of MR 2S 11KB and more Section 13 4 Screen change Print Data_ Manual Number May 2003 SH NA 030007 D COMPLIANCE WITH EC DIRECTIVES 2 6 Addition of 6 CONFORMANCE WITH UL C UL STANDARD Addition of 2 Air volume 2 8m3 min Section 1 3 Inrush current addition Section 3 1 1 Reexamination of table in Note Section 3 1 2 Reexamination of table in Note Section 3 6 3 Addition of power supply connector signal arrangement CE05 2A32 17PD B Section 3 12 3 Change of terminal box inside of HA LFS11K2 Section 5 2 1 Reexamination of alarm 8 initial value Section 5 2 2 Addition of Use of built in regenerative brake resistor to parameter No 2 Section 5 2 2 Reexamination of alarm 8 initial value Section 9 1 Partial sentence change Section 9 2 Partial POINT sentence reexamination Section 9 2 Reexamination of alarm 12 13 definitions Reexamination of alarm 15 definition Addition of alarm 37 occurrence factor and corrective action Addition of During rotation 2 5s or more to alarm 51 Section 10 2 2 a Addition of model PCR Section 11 3 Reexamination of explanation of te Section 11 5 Addition of inrush currents at power on of main circuit and control circuit Section 12 1 2 Partial sentence addition Section 12 1 3 Partial sentence addition Secti
160. nforming methods refer to the EMC Installation Guidelines I B NA 67310 2 Low voltage directive The low voltage directive applies also to servo units alone Hence they are designed to comply with the low voltage directive This servo is certified by TUV third party assessment organization to comply with the low voltage directive 3 Machine directive Not being machines the servo amplifiers need not comply with this directive 2 PRECAUTIONS FOR COMPLIANCE 1 Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model Servo amplifier MR J 2S 10B to MR 25 22KB MR 2S 10B1 to MR 2S 40B1 Servo motor HC KFS O HC MFSO HC SFSO HC RFSO HC UFSO HA LFSO HC LFSO 2 Configuration Control box Reinforced insulating type Note Reinforced insulating transformer No fuse Magnetic breaker contactor Servo NFB MC amplifier IR Note The insulating transformer is not required for the 11kW or more servo amplifier Servo motor 3 Environment Operate the servo amplifier at or above the contamination level 2 set forth in 1EC60664 1 For this purpose install the servo amplifier in a control box which is protected against water oil carbon dust dirt etc 1P54 A 7 4 Power supply a Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category set forth in EC606
161. ng Unit mm Unit in E E Ei d DL 100 3 94 JD G 2 3 0 09 C Terminal block an b 113114 Screw M4 Screw M3 5 Tightening torque 1 2 N m 10 lb in Tightening torque 0 8 N m 7 Ib in DBU 11K Mass Connection kg Ib wire mm DBU 15K 22K Configure up a sequence which switches off the contact of the brake unit after or as soon as it has turned off the servo on signal at a power failure or failure For the braking time taken when the dynamic brake is operated refer to Section 11 3 The brake unit is rated for a short duration Do not use it for high duty When the dynamic brake is used the power supply voltage is restricted as indicated below 3 Phase 170 to 220VAC 50Hz 3 Phase 170 to 242VAC 60Hz 12 17 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 5 Cables and connectors 1 Cable make up Thefollowing cables are used for connection with the servo motor and other models The broken line areas in the diagram are not options Servo system controller Servo amplifier Servo amplifier Note Note 13 Bus cable x CN1A CN1B Bus cable CN1A CN1B H d H a d Termination connector 1 mM CN2 CNS CN2 CN3 _ 0 Wa ag es Note Connector set HC KFS HC MFS HC UFS 3000r min HC SFS HC RFS HC UFS 2000r m
162. ng knob 2 Pull the front cover toward you 1 14 1 FUNCTIONS AND CONFIGURATION 3 For MR J2S 700B Removal of the front cover Reinstallation of the front cover Front cover hook 2 places A LA 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 sockets of the servo amplifier 2 Pull the front cover toward you 2 Press the front cover against the servo amplifier until the removing knob clicks 4 For MR J2S 11KB or more Removal of the front cover LI H _ BR Mounting screws 2 places HATE a E s ei d e e j Mounting screws 2 places ee ER
163. nual No MELSERVO J 2 Super Series To Use the AC Servo Safely Packed with the servo amplifier ee MELSERVO Servo Motor Instruction Manual SH NA 3181 EMC Installation Guidelines 1B NA 67310 A 10 CONTENTS 1 FUNCTIONS AND CONFIGURATION 1 1 to 1 22 AREO e Ue dO AEE EEE AE 1 1 CH Sieste wl block diagr aN siinne tee hie eve a 1 2 1 3 Servo amplifier standard specifications eeeececeeeeseeseeeeeecseeaeeeeeecsaeeeseeesesaeeaseessesaetaeeeseesaesaseesaseetaees 1 5 ELENINI Sania a ee aa val a a aaae aa e a aaa aaa 1 6 Re wee Ee else EE 1 7 1 6 Combination with Servo mr 1 8 AAA O 1 9 EAL Parts T lee EI esu ee deni Nits dem Ee Ee ee 1 9 1 7 2 Removal and reinstallation of the front ower ooccccicnicicccccconnnnnnccncnnnannn cnn cnn cnn nnn cnn rara 1 14 1 8 Servo system with auxiliar y eilprment rr 1 17 2 1 Environmental conditions 2 1 2 2 Installation direction and dear ancees 1 2 2 2 3 Keep out foreign MaterialS siana ieaiai aE aa aa a aa ia aE aa aa alaaa aa a a aia 2 3 2 4 Cable Stress Aa ii 2 4 3 1 Connection example of control Signal system 3 2 EN EL Ee oia tn diria 3 2 31 2 MRJ 25 11K E 0 MOE tud da AA a a 3 4 321 POSSUM SE ny hpi chest ag caps sazi aah chan poe cgs les A or aaidedy O 3 6 3 2 1 Connectors and Signal arrangermente nnns nn nnna 3 6 3 2 2 Signal Explanations iaoi naan eoad ea aa iia daenda nada dae eda daa reod n aa aoard oip dat ieedit nada dao aeaiiai Tie 3 8 3 3 Alarm occurrence timing Le EE 3 9 SE Mele
164. nvalid name o o o an function Es forced stop selection column 0 Valid Use the forced stop EM1 1 Invalid Do not use the forced stop EM1 Automatically switched on internally un pun R D p ia E 7 C 0 E t Lo lt DW rl olan a uy BR WI NI ejo 5 PARAMETERS Classifi Initial Settin e No Symbol Name and Function Unit 9 cation Value Range 24 OP2 Optional function 2 0000 Refer to Used to select slight vibration suppression control and motor less name operation and poi ee SE column L sigh vibration suppression control selection Made valid when auto tuning selection is set to 0002 in parameter No 8 Used to suppress vibration at a stop 0 Invalid 1 Valid Motor less operation selection 0 Invalid 1 Makes motor less operation valid When motor less operation is made valid signal output or status display can be provided as if the servo motor is running actually in response to the servo system controller command without the servo motor being connected Motor less operation is performed as in the motor less operation using the MR Configurator servo configuration software Refer to d 1 in Section 4 4 Adjustment parameters 25 LPF Low pass filter adaptive vibration suppression control 0000 Refer to Used to select the low pass filter and adaptive vibration suppression name control Refer to Chapter 7
165. o E wai HC LFS152 2 pessa as por poa poa poa csrs352 353 ss mm 2 2373 Loi Hc RFs203 3s Ia 18 ma curso as Iw zo 18 wa REES ee 0 0 ee 11 2 11 CHARACTERISTICS Note 1 Note 2 ET EE S i Area required for heat dissipation Servo amplifier Servo motor Power supply Servo amplifier generated heat W capacity kVA HC RFS503 75 195 25 3 9 42 0 MR 25 5008 A E gg MR J 2S 700B HALFS702 106 300 Is 6o oe HA LFS801 12 0 390 45 7 8 83 9 MR J 2S 11KB MR 25 15KB C S ee ee 55 55 i 166 8 pss 90 208 ls vo 10 HA LFS20K1 MR J 25 22KB HA LFS25K1 mm a a 11 3 11 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 10 C at the ambient temperature of 40 C With a 5 C 41 F safety margin the system should operate within a maximum 55 C 131 limit The necessary enclosure heat dissipation area can be calculated by Equation 11 1 where A Heat dissipation area m2 P Loss generated in the control box W AT Difference between internal and ambient temperatures C K Heart dissipation coefficient 5 to 6 When calculating the heat dissipation area with Equation 11 1 assume that P is the sum of all losses generated in the enclosure Refer to T
166. o L L2 and leave L3 open Power supply 70B to 700B to 40B1 3 phase 200 to 230VAC 50 60Hz sel ae SS 50 60Hz AE 50 60Hz Servo motor output Connect to the servo motor power supply terminals U V W Control circuit power supply Regenerative brake option Return converter Brake unit Protective earth PE Supply the following power to Lu L21 Servo amplifier ie 28 108 to 7008 MR J2S 10B1 to 40B1 Power supply 1 phase 200 to 230VAC L11 L21 50 60Hz 1 phase 100 to 120VAC Laa Lor 50 60HZ 1 MR J 2S 350B or less Wiring is factory connected across P D servo amplifier built in regenerative brake resistor When using the regenerative brake option always remove the wiring from across P D and connect the regenerative brake option across P C 2 MR J 2S 500B MR 2S 700B Wiring is factory connected across P C servo amplifier built in regenerative brake resistor When using the regenerative brake option always remove the wiring from across P C and connect the regenerative brake option across P C Refer to Section 12 1 1 for details When using the return converter or brake unit connect it across P N Do not connect it to the servo amplifier of MR 2S 350B or less Refer to Sections 12 1 2 and 12 1 3 for details Connect this terminal to the protective earth PE terminals of the servo motor and control box for grounding 3 16 3 SIGNALS AND WIRING 3 5 3 Power on sequence 1 Power on proce
167. o prevent such materials from entering the control box 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 Use the optional encoder cable within the flexing life range Use the power supply and brake wiring cables within the flexing life of the cables 3 Avoid any probability that the cable sheath might be cut by sharp chips rubbed by a machine corner or stamped by workers or vehicles 4 For installation on a machine where the servo motor will move the flexing radius should be made as large as possible Refer to section 11 4 for the flexing life 3 SIGNALS AND WIRING 3 SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work Before starting wiring make sure that the voltage is safe in the tester more than 10 minutes after power off Otherwise you may get an electric shock Ground the servo amplifier and the servo motor securely Do not attempt to wire the servo amplifier and servo motor until they have been installed Otherwise you may get an electric shock The cables should not be damaged stressed excessively loaded heavily
168. ob t i Encoder Ee d 1 i Position command Ke Se os l i input Model position Model speed control control i d Model Model i position speed l Actual position Actual speed Current i l control control control i i e MR BAT Z I O d i Controller Servo amplifier or absolute position detection system Analog monitor 2 channels or Personal vu termination Servo amplifier computer connector 1 FUNCTIONS AND CONFIGURATION 1 3 Servo amplifier standard specifications Servo Amplifier MR J2S O 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20B1 40B1 3 phase 200 to 230VAC Voltage frequency 50 60Hz or 1 phase 230VAC 3 phase 200 to 230VAC 50 60Hz 50 60Hz 3 phase 200 to 230VAC 170 Permissible voltage to 253VAC 1 phase 85 to 3 phase 170 to 253VAC fluctuation 1 phase 230VAC 207 to Evga serine 127VAC 253VAC fluctuation Control system Sine wave PWM control current control system Overcurrent shut off regenerative overvoltage shut off overload shut off electronic thermal relay servo motor overheat protection encoder fault protection regenerative fault protection undervoltage instantaneous power failure protection overspeed protection excessive error protection F orce cooling open Self cooled Struct Self cooled 1P00 Ext ructure cooled open IP00 xterna open
169. on 12 1 3 2 Addition of Note Section 12 1 4 2 Correction of connection example Addition of Note Section 12 1 5 Addition of bus cable connected to motion controller Section 12 1 5 4 Reexamination addition of contents Section 12 1 6 POINT sentence change Section 12 2 1 1 Correction of error in writing of recommended wire MR J 2S 22KB wire size Section 12 2 1 2 Addition of bus cable Q172 2BCBLOM Q173 2BACBLOM Jan 2004 SH NA 030007 E Safety Instructions Overall reexamination Section 1 5 2 Partial addition Section 1 6 Table reexamination Section 1 8 3 Note addition Section 1 8 4 Note addition Section 3 1 1 Note 15 reexamination Section 3 1 2 Note 15 reexamination Section 4 2 Partial reexamination addition of CAUTION sentence Section 5 2 Partial addition of POINT sentence Section 5 2 1 Addition of Note 3 Jan 2004 SH NA 030007 E Section 5 2 2 Partial addition of parameter No 2 Note addition of parameter No 31 Section 5 4 2 10 deletion Section 9 2 Display 32 item addition Partial reexamination Note addition of display 52 Section 10 1 Overall reexamination Section 11 2 Table change Section 11 3 Partial text addition Section 12 1 1 3 Partial text deletion Section 12 1 1 4 Partial text change Section 12 1 1 5 Overall reexamination Section 12 1 4 2 Addition of Note 2 Section 12 1 7 POINT addition Section 12 1 8 1 a Partial table reexamination Section 12 1 9 2 Partia
170. on free range and return slightly if vibration takes place integral compensation increased by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 2 and 3 6 GENERAL GAIN ADJUSTMENT c Adjustment description 1 Speed control gain 2 parameter No 16 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 Speed loop response frequency Hz Speed control gain setting 1 ratio of load inertia moment to servo motor inertia moment x2x 2 Speed integral compensation parameter No 17 To eliminate stationary deviation against a command the speed control loop is under proportional integral control For the speed integral compensation set the time constant of this integral control Increasing the setting lowers the response level However if the load inertia moment ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression Speed integral gt 2000 to 3000 composition setting ms Speed control gain 2 setting 1 ratio of load inertia moment to servo motor inertia moment 2 For po
171. on time constant of 5s or less Speed is 150r min or higher The ratio of load inertia moment to servo motor is not more than 100 times The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance torque during acceleration deceleration or on a machine which is extremely loose auto tuning may not function properly either In such cases use the auto tuning mode 2 or manual mode 1 2 to make gain adjustment 2 Auto tuning mode 2 Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1 Since the load inertia moment ratio is not estimated in this mode set the value of a correct load inertia moment ratio parameter No 12 The following parameters are automatically adjusted in the auto tuning mode 2 Abbreviation Position control gain 1 Ao va Speed contro gain 1 po rea Position control gain 2 pot G2 Speed contro gain 2 A vc Speed integral compensation 6 GENERAL GAIN ADJUSTMENT 6 2 2 Auto tuning mode operation The block diagram of real time auto tuning is shown below Load inertia Automatic setting moment Control gains PG1 VG1 PG2 VG2 VIC Command S a Current 44 control Current feedback Set 0 or 1 to turn on Real time auto Position speed tuning section EE ee e EE SM EA feedback Load inertia moment ratio estimation section Speed feedback i
172. ontrol 1 Function Adaptive vibration suppression control is a function in which the servo amplifier detects machine resonance and sets the filter characteristics automatically to suppress mechanical system vibration Since the filter characteristics frequency depth are set automatically you need not be conscious of the resonance frequency of a mechanical system Also while adaptive vibration suppression control is valid the servo amplifier always detects machine resonance and if the resonance frequency changes it changes the filter characteristics in response to that frequency Machine resonance point Machine resonance point Mechanical Mechanical system system response response level Frequency level Frequency 1 H i H Notch l Notch N depth depth H l Frequency 1 Frequency Notch frequency Notch frequency When machine resonance is large and frequency is low When machine resonance is small and frequency is high POINT The machine resonance frequency which adaptive vibration suppression control can respond to is about 150 to 500Hz Adaptive vibration suppression control has no effect on the resonance frequency outside this range Use the machine resonance suppression filter for the machine resonance of such frequency Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics or which has too large
173. or pinched Otherwise you may get an electric shock Wire the equipment correctly and securely Otherwise the servo motor may misoperate resulting in injury Connect cables to correct terminals to prevent a burst fault etc Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction Otherwise the signal is not output due to a fault disabling the forced stop EM1 and other protective circuits Servo Amplifier COM 24VDC Servo amplifier Control Control output output signal signal Use a noise filter etc to minimize the influence of electromagnetic interference which may be given to electronic equipment used near the servo amplifier Do not install a power capacitor surge suppressor or radio noise filter FR BIF option with the power line of the servo motor When using the regenerative brake resistor switch power off with the alarm signal Otherwise a transistor fault or the like may overheat the regenerative brake resistor causing a fire Do not modify the equipment CN1A CN1B CN2 and CN3 have the same shape Wrong connection of the connectors will lead to a failure Connect them correctly 3 SIGNALS AND WIRING 3 1 Connection example of control signal system Refer to Section 3 5 for the connection of the power supply system and to
174. or and servo amplifier in the regenerative mode MRJ25 10B 1 55 9 MRJ 25 2081 70 9 MR 25 708__ 80 B k MR 25 1008 _s0 B e MRJ 25 2008 85 40 MR 25 3508 8o MRJ 25 5008 0 Im k MR 25 7008 0 Im IMRJ2S 11KB_ 9 vo k IMRJ2S 15KB_ 9 vo MRJ25 2KB_ 9 on Inverse efficiency n 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 torque allow for about 10 Capacitor charging Ec E nergy charged into the electrolytic capacitor in the servo amplifier Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative brake option ER J J n Es Ec Calculate the power consumption of the regenerative brake option on the basis of single cycle operation period tf s to select the necessary regenerative brake option PRIWISER Mic AS 12 1 3 Parameter setting Set parameter No 2 according to the option to be used The MR RB65 66 and 67 are regenerative brake options that have encased the GRZG400 20 GRZG400 12 and GRZG400 0 80 respectively When using any of these regenerative brake options make the same parameter setting as when using the GRZG400 20 GRZG400 10 or GRZG400 0 80 supplied regenerative brake resistors or regenerativ
175. or less non condensing humidity a In Instorage 90 RH or less non condensing Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Altitude Max 1000m 3280 ft above sea level HC KFS Series HC MFS Series HC UFS13 to 73 HC SFS81 HC SFS52 to 152 HC SFS53 to 153 Y 224 HC RFS Series f 59orl HC UFS 72 152 m s SES HC SFS121 201 HC SFS202 352 HC SFS203 353 HC UFS202 to 502 HC SFS502 to 702 Y 29 4 X 11 7 won Vibration HC KFS Series HC MFS Series X Y 161 HC UFS 13 to 73 HC SFS81 HC SFS52 to 152 HC SFS53 to 153 HC RFS Series HC UFS 72 152 HC SFS121 201 HC SFS202 352 HC SFS203 353 HC UFS202 to 502 HC SFS301 HC SFS502 to 702 X 38 HA LFSTIK2 to 22K2 19 4 or less Note Except the servo motor with reduction gear N CAUTION Securely attach the servo motor to the machine If attach insecurely the servo motor may come off during operation The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage Take safety measures e g provide covers to prevent accidental access to the rotating parts of the servo motor during operation 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
176. ot shorted by wire offcuts metallic dust or the like 5 Machine a The screws in the servo motor installation part and shaft to machine connection are tight b The servo motor and the machine connected with the servo motor can be operated 4 OPERATION AND DISPLAY 4 2 Start up Do not operate the switches with wet hands You may get an electric shock Do not operate the controller with the front cover removed High voltage terminals and charging area exposed and you may get an electric shock During power on or operation do not open the front cover 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 brake resistor servo motor etc since they may be hot while power is on or for some time after power off Their temperatures may be high and you may get burnt or a parts may damaged During operation never touch the rotating parts of the servo motor Doing so can cause injury Connect the servo motor with a machine after confirming that the servo motor operates properly alone 1 Power on When the main and control circuit power supplies are switched on d1 for the first axis appears on the servo amplifier display In the absolute position detection system first power on results in
177. pass filter 1 Function When a ballscrew or the like is used resonance of high frequency may occur as the response level of the servo system is increased To prevent this the low pass filter is factory set to be valid for a torque command The filter frequency of this low pass filter is automatically adjusted to the value in the following expression Filter frequency Speed control gain 2 set valuex 10 Hz 21 x 1 ratio of load inertia moment to servo motor inertia moment set value x 0 1 2 Parameter Set the operation of the low pass filter parameter No 25 Parameter No 25 Que Low pass filter selection 0 Valid automatic adjustment initial value 1 Invalid In a mechanical system where rigidity is extremely high and resonance is difficult to occur setting the low pass filter to be invalid may increase the servo system response to shorten the settling time 8 INSPECTION 8 INSPECTION Before starting maintenance and or inspection make sure that the charge lamp is off more than 10 minutes after power off Then confirm that the voltage is safe in the tester or the like Otherwise you may get an electric shock Any person who is involved in inspection should be fully competent to do the work Otherwise you may get an electric shock For repair and parts replacement contact your safes representative Do not test the servo amplifier with a megger measure insulation resistance or it may become fa
178. plied to the servo amplifier e of MR J2S 100B or more D il SSCNET compatible i 09 LU Rated output 00 Rating plate Rating plate Rated Rated Symbol output kW Symbol output kW 10 0 1 350 3 5 MR J2S 11KB 15KB MR J2S 22KB 20 0 2 500 5 LER 40 0 4 700 7 y 60 0 6 11k 11 70 0 75 15k 15 100 1 22k 22 200 2 Rating plate Rating plate 1 FUNCTIONS AND CONFIGURATION 1 6 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors The same combinations apply to the models with electromagnetic brakes and the models with reduction gears Servo motors Servo amplifier ance MA 2508 058 13 053 13 AA A A AAA A MR 2S er RA A esop ae 2 ETEN Ma 4 META e SA A O A MRJ 25 1008 Zi ee Pl E MRJ 25 2008 _ gt 121 201 152 202 153 203 _103 153 eee REENERT SE Note1 GE Sao Ee 53 saat pean D MAA ASS SE AAA Servo motors Servo amplifier HC LFSO a a a EC wry 25 1008 102 me 25 2008 ATA 52 a ee e MR 25 5008 HR Note1 502 Fr 25 7006 masas mazo ero N A N T N a IEA IP mem moma EC sse Note1 Note1 Notet asa arma E ae Note1 These servo motors may not be connected depending on the production time of the servo amplifier Please refer to app 2 Consult us since the servo amplifier to be used with any of these servo motors is optional 1 FUNCTIONS
179. power supply capacities and losses generated under rated load For thermal design of an enclosure use the values in Table 11 1 in consideration for the worst operating conditions The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation When the servo motor is run at less than the maximum speed the power supply capacity will be smaller than the value in the table but the servo amplifier s generated heat will not change Table 11 1 Power supply capacity and generated heat per servo amplifier at rated output Servo amplifier Note 1 Note 2 P CHE L Area required for heat dissipation Servo motor Power supply Servo amplifier generated heat W capacitylkVA With servo of MR J 2S 10B 1 MR J 2S 20B 1 MR J 25 40B 1 MR J 25 608 MR J 25 70B MR 2S 100B MR J 25 200B MR J 25 350B AE o3 as FE E ICC NEC HC MFS053 13 curas o 25 5 os se Hexrsa os ss o 54 Bekrs ET A a E E E Hcmesas oog 35 Is o 75 Heura oo Is LL or Is HEES to 30 _ 56 se ee 1 Hc srss3_ 10 a os ae neies vo o s5 o s nexes an o o s o o S s HC MFS73 10 8 Heurs 13 oo 15 po 198 Derne ew LI we Im LI me KE E 168 _ HC LFS102 EE He srs21 35 2 18 4 osFs152 Il 25 aw 4 c sFS202 203 35 wo 2 18 14 Hcarsis3_ 25 e zo 18 ma mues f 5s
180. prevent an electric shock always connect the protective earth PE terminal terminal marked of the servo amplifier to the protective earth PE of the control 1 MR J2S 100B or less a For 3 phase 200V to 230VAC or 1 phase 230VAC Note2 3 phase 200V Options and auxiliary equipment Reference Options and auxiliary equipment Reference to 230VAC power supply or No fuse breaker Section 12 2 2 Regenerative brake option Section 12 1 1 1 phase 230VAC Magnetic contactor Section 12 2 2 power supply Cables Section 12 2 1 MR Configurator Servo configuration software Section 12 1 8 Power factor improving reactor Section 12 2 3 No fuse breaker NFB or fuse Servo system controller Servo amplifier i or MITSUBISHI preceding axis Hi servo amplifier To CN1A Subsequent axis servo amplifier a Ben UN CN1A or Magnetic contactor Termination connector factor improving reactor MR Configurator Personal Servo configuration computer software MRZJW3 SETUP151E Note1 Encoder cable Note1 Power supply lead Control circuit terminal block La Regenerative brake O option e Servo motor Cc Note 1 The HC SFS HC RFS series have cannon connectors 2 A 1 phase 230VAC power supply may be used with the servo amplifier of MR J2S 70B or less Connect the power supply to L1 and L2 terminals and leave L3 open 1
181. put side of the servo amplifier The effect of the filter on the power supply side is higher as the number of winds is larger The number of turns is generally four If the wires are too thick to be wound use two or more filters and make the total number of turns as mentioned above On the output side the number of turns must be four or less Do not wind the grounding wire together with the 3 phase wires The filter effect will decrease Use a separate wire for grounding Example 1 NFB MC o oo Power ok supply a AN o oo Line noise 4 FR BSFO1 for MR J2S 200B or less filter Number of turns 4 Servo amplifier o o 110 4 33 Example 2 NFB MC Servo amplifier 95 3 74 2 45 0 20 Power 1 aS leq oo supply SS TL Line noise S H filter O O Two filters are used Total number of turns 4 e Radio noise filter FR BIF for the input side only This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10MHz and lower radio frequency bands The FR BIF is designed for the input only Connection diagram Outline drawing Unit mm Unit in Make the connection cables as short as possible Leakage current 4mA Grounding is always required Red White Blue Green NFB Servo amplifier O A Power supply Va o About 300 11 81
182. r equivalent installation c MR J 2S 11KB to MR J 2S 22KB when using the supplied regenerative brake resistor When using the regenerative brake resistors supplied to the servo amplifier the specified number of resistors 4 or 5 resistors must be connected in series If they are connected in parallel or in less than the specified number the servo amplifier may become faulty and or the regenerative brake resistors burn Install the resistors at intervals of about 70mm Cooling the resistors with fans 1 0m3 min O 92 about two fans improves the regeneration capability In this case set OE OD in parameter No 2 5m or less Do not remove q amplifier the short bar Note The number of resistors connected in series depends on the resistor type Install a thermal sensor or like to configure a circuit that will shut off the main circuit power at abnormal overheat Servo Amplifier Regenerative Regenerative Power W Resistance Number of H Brake Resistor Q Resistors MRJ 25 11KB GRZG400 20 MRJ 25 15KB GRZG400 10 1300 MRJ 25 22KB_ GRZG400 0 80 30o 4 5 12 OPTIONS AND AUXILIARY EQUIPMENT d MR 25 11KB PX to MR 25 22KB PX when using the regenerative brake option The MR J 2S 11KB PX to MR J 25 22KB PX servo amplifiers are not supplied with regenerative brake resistors When using any of these servo amplifiers always use the MR RB65 66 or 67 regenerative brake option The MR RB65 66 and 67 ar
183. rents A _ 33 46 61 90 ms 145 25 When using the FR CV always install the dedicated stand alone reactor FR CVL FR CV 22K AT FR CVL 22K 12 34 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Connection diagram NFB FR CVL FR CV Servo amplifier Servo motor Lu Three phase O 200 to 230vac L LL Note 2 EM1 RA1 Note 1 N Ke Note E al lote 5 Servo system controller Note 3 Note 1 Note 1 RA1 RA2 EM1 OFF 00 0 O alo I Note 1 Configure a sequence that will shut off main circuit power at an emergency stop or at FR CV or servo amplifier alarm occurrence 2 For the servo motor with thermal relay configure a sequence that will shut off main circuit power when the thermal relay operates 3 For the servo amplifier configure a sequence that will switch the servo on after the FR CV is ready 4 For the FR CV the RSO signal turns off when it is put in a ready to operate status where the reset signal is input Configure a sequence that will make the servo inoperative when the RSO signal is on 5 Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in the FR CV When the servo system controller does not have an emergency stop input use the forced stop input of the servo amplifier to make a stop as shown in the diagram 3 Wires use
184. resonance Under operating conditions in which sudden disturbance torque is imposed during operation the detection of the resonance frequency may malfunction temporarily causing machine vibration In such a case set adaptive vibration suppression control to be held parameter No 25 0200 to fix the characteristics of the adaptive vibration suppression control filter 7 SPECIAL ADJUSTMENT FUNCTIONS 2 Parameters The operation of adaptive vibration suppression control selection parameter No 25 Parameter No 25 Adaptive vibration suppression control selection 0 Invalid 1 Valid Machine resonance frequency is always detected to generate the filter in response to resonance suppressing machine vibration 2 Held Filter characteristics generated so far is held and detection of machine resonance is stopped Adaptive vibration suppression control sensitivity selection Set the sensitivity of detecting machine resonance 0 Normal 1 Large sensitivity Adaptive vibration suppression control is factory set to be invalid parameter No 25 0000 Selection the adaptive vibration suppression control sensitivity can change the sensitivity of detecting machine resonance Selection of large sensitivity detects smaller machine resonance and generates a filter to suppress machine vibration However since a phase delay will also increase the response of the servo system may not increase 7 4 Low
185. rox OA in several ms MR J 2S 15KB 235A Attenuated to approx 20A in 20ms MR J 2S 22KB MR J 2S 10B1 20B1 59A Attenuated to approx 5A in 4ms 100 to 130A MR 2S 40B1 72A Attenuated to approx 5A in 4ms Attenuated to approx OA in 0 5 to 1ms Since large inrush currents flow in the power supplies always use no fuse breakers and magnetic contactors Refer to Section 12 2 2 When circuit protectors are used it is recommended to use the inertia delay type that will not be tripped by an inrush current 11 8 12 OPTIONS AND AUXILIARY EQUIPMENT 12 OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment make sure that the charge lamp is off more than 10 minutes after power off then confirm the voltage with a tester or the like Otherwise you may get an electric shock Use the specified auxiliary equipment and options Unspecified ones may lead to a fault or fire 12 1 Options 12 1 1 Regenerative brake options The specified combinations of regenerative brake options and servo amplifiers may only be used Otherwise a fire may occur 1 Combination and regenerative power The power values in the table are resistor generated powers and not rated powers Regenerative power W Note Note Servo amplifier Built in regenerative MR RB032 MR RB12 MR RB32 MR RB3O vw e MR RB31 ve pp brake resistor 400 409 409 139 130 6 70 6 79 E ee E E SS ee
186. rrent Servo motor Position command input Model position control Model speed control Virtual motor Model position Actual position control Actual speed control Controller or Servo amplifier I F Control Servo amplifier or termination connector Current control Virtual encoder H El Ho Electro circuit E2 magnetic power 7 brake supply l l i i Regenerative rn Base amplifier Voltage Overcurrent Current o i brake detection protection detection O 1 Encoder for absolute position detection system Analog monitor 2 channels Personal computer 1 FUNCTIONS AND CONFIGURATION 3 MR J2S 11KB or more ee NFB Regenerative brake option Servo motor Optional battery i Power supply Current i 3 phase detector 200t0 5 gt i 230VAC 1 phase 230VAC i GIS i i Control ch dert LEI Electro Ge R l magnetic f supply go brake Y Y Regenerative Base Voltage Overcurrent Current NA l Z i brake amplifier detection protection detection
187. rtia load inertia ratio Used to set the ratio of the load inertia inertia moment to the inertia moment of the servo motor shaft When auto tuning mode 1 and interpolation mode is selected the result of auto tuning is automatically used Refer to section 6 1 1 Position loop gain 1 Used to set the gain of position loop 1 Increase the gain to improve trackability performance in response to the position command When auto turning mode 1 2 is selected the result of auto turning is 11kW or automatically used more 19 Adjustment parameters 5 PARAMETERS Classifi Initial Settin Symbol Name and Function 9 cation Value un pun R D z pu la a 7 ce 0 E kd 2 lt Speed loop gain 1 Normally this parameter setting need not be changed Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 and interpolation mode is selected the result of auto tuning is automatically used Position loop gain 2 U sed to set the gain of the position loop Set this parameter to increase position response to load disturbance Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 manual mode and interpolation mode is selected the result of auto tuning is automatically used Speed loop gain 2 Set this parameter when vibration occurs on machines of low rigidity or large backlash Higher se
188. s U V W of the servo amplifier are not shorted to the power input terminals L1 L2 L3 of the servo motor d The earth terminal of the servo motor is connected tothe PE terminal of the servo amplifier e Note the following when using the regenerative brake option brake unit or power regeneration converter 1 For the MR J 2S 350B or less the lead has been removed from across D P of the control circuit terminal block and twisted cables are used for its wiring 2 For the MR J 2S 500B MR 2S 700B the lead has been removed from across P C of the servo amplifier built in regenerative brake resistor and twisted cables are used for ts wiring f 24VDC or higher voltages are not applied to the pins of connector CN 3 g SD and SG of connector CN3 are not shorted h The wiring cables are free from excessive force i CN1A should be connected with the bus cable connected to the servo system controller or preceding axis servo amplifier and CN1B should connected with the bus cable connected to the subsequent axis servo amplifier or with the termination connector MR A TM 2 Axis number The axis number setting of CS1 should be the same as that of the servo system controller Refer to Section 3 11 3 Parameters On the servo system controller screen or using the MR Configurator servo configuration software make sure that correct values have been set in the parameters 4 Environment Signal cables and power cables are n
189. s fuses Magnetic comtackore cnn crac 12 44 12 2 3 Power factor improving reactors ocoococcinnnnncccccconnnnnncce cnn cnn rrnn 12 44 12 2 4 Power factor improving DC reackors rr 12 45 12 2 5 Rola Sinai EE ESEEESeEAEEOEVEEe 12 46 12 26 SUPGE ADSONDENS EE 12 46 12 2 7 Noise reduction techniques ocococcicnonninnnco EEN En 12 46 12 2 8 Leakage current breaker NENNEN 12 52 PZO EMC A is ii a a tia 12 54 13 RCA 20 53 34 e IT he RA A A RA Ii 13 1 Se e lee EE 13 2 13 3 Battery installation procedure oononiccnicinnnonncncnrnrre er 13 3 13 4 Confirmation of absolute position detection data 13 4 Appendix App 1 to App 2 App Combination of servo amplifier and Servo MOON ou eeeecceeeeseseeeceeeseeeeeeeeaeeaseeesetaetaeeeteetsetaseateetaes App 1 Optional Servo Motor Instruction Manual CONTENTS the Servo Amplifier Instruction Manual 1 INTRODUCTION 2 INSTALLATION 3 CONNECTORS USED FOR SERVO MOTOR WIRING 4 INSPECTION 5 SPECIFICATIONS 6 CHARACTERISTICS 7 OUTLINE DIMENSION DRAWINGS 8 CALCULATION METHODS FOR DESIGNING MEMO 1 FUNCTIONS AND CONFIGURATION 1 FUNCTIONS AND CONFIGURATION 1 1 Introduction The Mitsubishi MELSERVO J 2 Super series general purpose AC servo is based on the MELSERVO J 2 series and has further higher performance and higher functions It is connected with a servo system controller or similar device via a serial bus SSCNET and the servo amplifier reads position data directly
190. s listed below o Set tothetest operation mode 4 Fourthaxis 6 Sixthaxis O Lal Figithaxis 2 indicates the warning alarm No 3 Requires the MR Configurator servo configuration software 4 OPERATION AND DISPLAY 4 4 Test operation mode The test operation mode is designed for servo operation confirmation and not for machine operation confirmation Do not use this mode with the machine Always use the servo motor alone If an operation fault occurred use the forced stop EM1 to make a stop By using a personal computer and the MR Configurator servo configuration software MRZJ W3 SETUP121E you can execute jog operation positioning operation motor less operation and DO forced output without connecting the motion controller 1 Test operation mode a J og operation J og operation can be performed without using the servo system controller Use this operation with the forced stop reset This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not Exercise control on the jog operation screen of the MR Configurator servo configuration software 1 Operation pattern Speed r min Acceleration deceleration time constant ms 1 to 20000 2 Operation method Operation Screen control Forward rotation start Click the Forward button Reverse rotation start Click the Reverse button Click the Stop button b
191. set with the run signal on Do not modify the equipment Use a noise filter etc to minimize the influence of electromagnetic interference which may be caused by electronic equipment used near the servo amplifier Use the servo amplifier with the specified servo motor The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking For such reasons as service life and mechanical structure e g where a ballscrew and the servo motor are coupled via a timing belt the electromagnetic brake may not hold the motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions N CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a forced stop EM1 Contacts must be open when Circuit must be servo off when an alarm occurrence opened during and when an electromagnetic brake forced stop EM1 interlock MBR Electromagnetic brake Servo motor 3 RA EM1 When any alarm has occurred eliminate its cause ensure safety and deactivate the alarm before restarting operation When power is restored after an instantaneous power failur
192. setting is increased the trackability and settling time for a command decreases but a too high response level will generate vibration Hence make setting until desired response is obtained within the vibration free range If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100Hz adaptive vibration suppression control parameter No 25 or machine resonance suppression filter parameter No 18 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to Section 7 2 7 3 for adaptive vibration suppression control and machine resonance suppression filter Parameter No 9 Atl JE Response level setting Machine characteristic Response level settin Machine resonance p 9 Machine rigidity freq ency guideline Guideline of corresponding machine 7 Large conveyor Arm robot 8 mide General machine tool conveyor Precision A working machine B Mounter Kee Bordes 6 GENERAL GAIN ADJUSTMENT _ _ _ _ _ _ _______ 6 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 6 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 autom
193. sistor is used However the MR J2S 10B does not have a built in regenerative brake resistor and therefore cannot use it Supplied regenerative brake resistors or regenerative brake option is used with 11kW or more servo amplifier 01 FR RC FR BU FR CV 05 MR RB32 08 MR RB30 09 MR RB50 OB MR RB31 0C MR RB51 OE When regenerative brake resistors or regenerative brake option supplied to 11kW or more are cooled by fans to increase capability 10 MR RB032 11 MR RB12 The MR RB65 66 and 67 are regenerative brake options that have encased the GRZG400 20 GRZG400 10 and GRZG400 0 8Q respectively When using any of these regenerative brake options make the same parameter setting as when using the GRZG400 20 GRZG400 10 or GRZG400 0 8Q supplied regenerative brake resistors or regenerative brake option is used with 11kW or more servo amplifier Select the external dynamic brake 0 Invalid 1 Valid Select 1 when using the external dynamic brake with the MR J2S 11KB or more Wrong setting may cause the regenerative brake option to burn If the regenerative brake option selected is not for use with the servo amplifier parameter error 37 occurs 3 AS For automatic setting by servo system controller AR Automatically set from the servo system controller ES 5 PARAMETERS un No cation 6 Basic parameters FBP F eedback pulse number Set the number of pulses per r
194. sition control a Parameters Thefollowing parameters are used for gain adjustment Abbreviation Ratio of load inertia moment to servo motor inertia moment Position control gain 1 Speed control gain 2 Speed integral compensation b Adjustment procedure Set an estimated value to the ratio of load inertia moment to servo AS motor nertia moment parameter No 12 ES Set a slightly smaller value to the position control gain 1 parameter D No 13 eee Increase the speed control gain 2 parameter No 16 within the ncrease the speed control gain vibration and unusual noise free range and return slightly if vibration takes place Decrease the speed integral compensation parameter No 17 within Decrease the time constant of the speed the vibration free range and return slightly if vibration takes place integral compensation 5 Increase the position control gain 1 parameter No 13 Increase the position control gain If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance the like and the desired response cannot be achieved response may be Refer to Section 7 2 and 7 3 increased by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 3 to 5 6 GENERAL GAIN ADJUSTMENT c Adjustment description 1 Position control gain 1 parameter No 13 This parameter determines the respons
195. stant position and the actual servo motor 3 Motor cannot be started due to 1 Review the power supply capacity position exceeds the torque shortage caused by power 2 Use servo motor which provides larger parameter No 31 supply voltage drop output setting value initial 4 Position control gain 1 parameter Increase set value and adjust to ensure value 2 No 13 value is small proper operation revolutions 5 Servo motor shaft was rotated by 1 When torqueis limited increase the external force limit value 2 Reduce load 3 Use servo motor that provides larger output 6 Machine struck something 1 Review operation pattern 2 Install limit switches 7 Encoder faulty Change the servo motor 8 Wrong connection of servo motor Connect correctly Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W Serial Serial Ss 1 Communication cable fault Repair or change the cable communication Communication Open cable or short circuit error occurred EO between servo 2 Communication device e g Change the communication device amplifier and personal computer faulty personal computer communication device e g personal computer Watchdog CPU parts faulty Fault of parts in servo amplifier Change servo amplifier Checking method Alarm 88 occurs if power is switched on after disconnection of all cable but the control circuit power supply cable
196. supply OFF Note 1 Changes with the operating status 2 When the main circuit power supply is off in a motor stop status the main circuit off warning E9 occurs and the alarm ALM does not turn off 3 24 3 SIGNALS AND WIRING 3 8 Grounding Ground the servo amplifier and servo motor securely AN 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 Depending on the wiring and ground cablerouting the servo amplifier may be affected by the switching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Control box Servo motor Note 1 NFB Servo amplifier Power supply 3 phase r 3 200 to 230VAC 2 1 phase Seck 230VAC or 1 phase o oO 100 to 120VAC Ensure to connect it to PE terminal of the servo amplifier Do not connect it directly to the protective earth of the control panel Servo system controller Note 1 For 1 phase 230VAC connect the power supply to L1 L2 and leave L3 open There is no Ls for 1 phase 100 to 120VAC power supply 2 To reduce the influence of external noise we recommend you to ground the bus cable n
197. t coe EENS 5 1 5 2 A 5 1 5 3 AnalOgimonitOr ascii este eh a ee eaten eee ee pean peed eae 5 11 5 4 Replacement of MR 2 OB by MR J ADR 5 14 5 4 1 Main modifications made totheporameters rr 5 14 5 4 2 Explanation of the modified poar ameers A 5 15 6 GENERAL GAIN ADJUSTMENT 6 1 to 6 12 6 1 Different adjustment Methods AAA 6 1 6 1 1 Adjustment on a single servo amplifier ooociccionicidcncnicninicnicnccnnncnncnccnccn cnn rn 6 1 6 1 2 Adjustment using MR Configurator Servo configuration sftwarel 6 3 6 2 AUTO CUNING ini aa 6 4 6 2 1 Auto TUNING Mode EE 6 4 6 2 2 Auto tuning mode operation oe eeeeceeeeeeceeeeeeeeeeseeeeeeeeecaeeaeeeeseesesaeeaseessesaeeaeeessesaesaseateesseseenesaseeseeeas 6 5 6 2 3 Adjustment procedure by auto tunimg cnc 6 6 6 2 4 Response level setting in auto TUNING mole 6 7 6 3 Manual mode 1 simple manual adjustment AA 6 8 6 3 1 Operation of manual mole 6 8 6 3 2 Adjustment by manual mode 1 6 8 6 4 Nter polation Mode arta a 6 11 6 5 Differences in auto tuning between MELSERVO 2 and MELSERVO J 2 Guper sses 6 12 6 5 1 Response level Setting sniper EE a aa iiaae aaae Eain Ea 6 12 6 5 2 Auto tuning selecton 0 eeeeececeeeeeeeeeeeeecseeeeeeeeeeaeeaeetsesaecaeeasseseesaesassessesaesaeeasesaesaesaseeseesaetaseaseetaes 6 12 7 SPECIAL ADJUSTMENT FUNCTIONS 7 1 to 7 4 7 EUnction lOc diagram sitesi A esha ea Ah aA ea 7 1 7 2 Machine resonance suppression filter oo ee eeeeeeceeeceeeseeeeeeceecseeaeeeesaeeaeeessessesas
198. ter MR J 2S 700B Version BO or later MR J 25 15KB Version A3 or later MRJ 25 608 MRJ 25 1008 MR J 2S 500B Version BO or later MR J 2S 700B Version BO or later HC SFS153 MR J 25 200B HA LFS11K2 MR J 2S 11KB Version A3 or later MRJ 25 22KB Version A3 or later App 1 Appendix MEMO App 2 REVISIONS T he manual number is given on the bottom left of the back cover Print Data Manual Number Revision SH NA 030007 A Jan 2001 SH NA 030007 B Servo amplifier Addition of M R J 25 500B and MR J 25 700B Servo motor Addition of HC KF S73 HC SF S502 HC SF S702 HC RFS353 HC RF S503 HC UF S502 and HC UFS352 Section 1 4 Addition of brake unit and regeneration converter Section 1 7 Overall reexamination Section 3 5 2 Addition of return converter and brake unit Section 3 7 Reexamination of Section 3 7 and later Section 5 2 2 Addition of regenerative brake option to parameter No 2 Section 6 1 2 Addition of POINT Changing of alarm 24 name Section 9 2 Changes made to alarm 20 cause and action fields Addition of alarm 33 causes 1 2 Section 10 2 2 Addition Section 12 1 1 3 Overall reexamination Section 12 1 1 4 Addition Section 12 1 1 5 Addition of MR RB31 and MR RB51 regenerative brake options Section 12 1 2 Addition Section 12 1 3 Addition Section 12 1 4 Addition of power supply connector set Section 12 2 1 1 Changing of wiring diagram Addition of brake unit and power reg
199. th the MR 2S O1B the parameter settings are as indicated below The notch depth is 400B 26 Notch frequency selection Set value Frequency 0 Invalid 4500 2250 1500 1125 900 750 642 9 Notch depth selection Set value Depth Gain 0 Deep 40dB 5 In position range parameter No 20 The setting of this parameter was changed for the MR 25 OB The setting unit was changed from the conventional input pulse unit to the feedback pulse unit For details refer to Section 5 2 6 Analog monitor output parameter No 22 The setting of this parameter was changed for the MR 25 OB Bus voltage is a new choice but you cannot select it if the peripheral software of the servo system controller is not compatible with the MR J 2S OB Also the droop pulse output is the encoder resolution unit of the actual motor For details refer to Section 5 3 7 Low pass filter adaptive vibration suppression control parameter No 25 This parameter was newly added to the MR J 2S OB If the peripheral software of the servo system controller is not compatible with the MR 2S O1B this parameter setting cannot be changed Hence the low pass filter is valid and the adaptive vibration suppression control is invalid For details refer to Sections 7 3 and 7 4 8 Error excessive alarm level parameter No 31 The setting of this parameter was changed for the MR 2S O1B The setting unit was ch
200. tion The optional MR Configurator servo configuration software may be used to refer to the cause Deeley Undervoltage Power supply 1 Power supply voltage is low Review the power supply voltage dropped 2 There was an instantaneous MR J 2S 0B control circuit power failure of 160VAC or less 60ms or longer MR J 25 0B1 3 Shortage of power supply capacity 83VAC or less caused the power supply voltage to drop at start etc 4 Power was restored after the bus voltage had dropped to 200VDC Main circuit power switched on within 5s after it had switched off 5 Faulty parts in the servo amplifier Change the servo amplifier Checking method Alarm 10 occurs if power is switched on after CN1A CN1B and CN3 connectors are disconnected RAM memory fault F aulty parts in the servo amplifier Change the servo amplifier 13 Clock error Printed board fault Checking method gt Alarm any of 12 and 13 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables 9 TROUBLESHOOTING Dees Memory error 2 EEP ROM fault 1 Faulty parts in the servo amplifier Change the servo amplifier Checking method Alarm 15 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables 2 The number of write times to EEP ROM exceeded 100 000 Encoder error 1 Communication 1 Encoder connector CN 2 Conn
201. tion mode parameter No 8 0000 Select the interpolation mode Using the position control gain 1 value checked in step 3 as the guideline of the upper limit set in position control gain 1 the value identical to the position loop Set position control gain 1 gain of the axis to be interpolated Using the speed control gain 1 value checked in step 3 as the guideline of the upper limit look at the rotation status and set in speed control gain 1 the value Set speed control gain 1 three or more times greater than the position control gain 1 setting Looking at the interpolation characteristic and rotation status fine adjust the gains and response level setting Select the auto tuning mode 1 Check the upper setting limits Fine adjustment 3 Adjustment description a Position control gain 1 parameter No 13 This parameter determines the response level of the position control loop Increasing PG1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling The droop pulse value is determined by the following expression Rotation speed r min 60 Position control gain set value Xx 131 072 pulse Droop pulse value pulse b Speed control gain 1 parameter No 14 Set the response level of the speed loop of the model Make setting using the following expression as a guideline Speed control gain 1 setting Position control gain 1 settin
202. to servo motor inertia moment set value 6 10 6 GENERAL GAIN ADJUSTMENT 6 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 1 and speed control gain 1 which determine command trackability are set manually and the other gain adjusting parameters are set automatically 1 Parameter a Automatically adjusted parameters Thefollowing parameters are automatically adjusted by auto tuning Parameter No Abbreviation Name 12 GD2 Ratio of load nertia moment to servo motor nertia moment 15 PG2 Position control gain 2 16 VG2 Speed control gain 2 17 VIC Speed integral compensation b Manually adjusted parameters The following parameters are adjustable manually Abbreviation 13 PG1 Position control gain 1 14 VG1 Speed control gain 1 2 Adjustment procedure Operation Description Choose the auto tuning mode 1 parameter No 8 0001 and set the machine resonance frequency of the response level to 15Hz 1 parameter No 9 0001 During operation increase the response level selection parameter No 9 and Adjustment in auto tuning mode return the setting if vibration occurs 1 Check the values of position control gain 1 parameter No 13 and speed control gain 1 parameter No 14 Choose the interpola
203. to perform operation Data from a command unit controls the speed and rotation direction of the servo motor and executes precision positioning A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the main circuit from overcurrent due to sudden acceleration deceleration or overload The torque limit value can be changed to any value with an external analog input or the parameter As this new series has the RS 232C serial communication function a MR Configurator servo configuration software installed personal computer or the like can be used to perform parameter setting test operation status display monitoring gain adjustment etc With real time auto tuning you can automatically adjust the servo gains according to the machine The MELSERVO 2 Super series servo motor is equipped with an absolute position encoder which has the resolution of 131072 pulses rev to ensure more accurate control as compared to the MELSERVO 2 series Simply adding a battery to the servo amplifier makes up an absolute position detection system This makes home position return unnecessary at power on or alarm occurrence by setting a home position once 1 FUNCTIONS AND CONFIGURATION _ _ _ A A A A KE 1 2 Function block diagram Thefunction block diagram of this servo is shown below 1 MR J2S 350B or less Regenerative brake option
204. tting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 and interpolation mode is selected the result of auto tuning is automatically used Speed integral compensation Used to set the constant of integral compensation When auto tuning mode 1 2 and interpolation mode is selected the result of auto tuning is automatically used Machine resonance suppression filter 1 Notch filter Used to select the machine resonance suppression filter Refer to Section 7 2 pr E Notch frequency selection F 00 imaia os 5625 10 203 16 1075 or 4500 o 500 2647 as 200 7 Los 1500 o aor ass 5 1607 Los anes oc as als ac 602 C 900 o 3062 as mas 0 3552 Los aso os f s214 16 205 ae 150 7 Notch depth selection Deep L 2008 GE Ce al Feed forward gain 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 As a guideline when the feed forward gain setting is 100 set 1s or more as the acceleration deceleration time constant up to the rated speed 7kW or less 177 11kW or more 96 7kW or less 35 11kW or more 19 7kW or less 817 11kW or more 455 7kW or less 48 11kW or more 91 rad s Se rad s to 1000 rad s 20 to 20000 ms 1 to 1000 Refer
205. ults The MR Configurator servo configuration software is required Personal computer changes gains automatically and searches for overshoot Gain search function free gains in a short time The MR Configurator servo configuration software is required Slight vibration suppression d SE PP Suppresses vibration of 1 pulse produced at a servo motor stop Parameter No 24 Automatically adjusts the gain to optimum value if load applied to the servo Auto tuning motor shaft varies Higher in performance than MELSERVO J 2 series servo Chapter 6 amplifier Used when the built in regenerative brake resistor of the servo amplifier does Regenerative brake option not have sufficient regenerative capability for the regenerative power Section 12 1 1 generated HN Used when the regenerative brake option cannot provide enough regenerative Brake unit power Section 12 1 2 Can be used with the MR J 25 500B to MR J 2S 22KB Used when the regenerative brake option cannot provide enough regenerative Return converter power Section 12 1 3 Can be used with the MR 25 500B to MR J 25 22KB ue Ge Parameters Torque limit Servo motor torque can be limited to any value No 10 11 Forced stop signal automatic i 3 ON Forced stop EM 1 can be automatically switched on internally to invalidate it Parameter No 23 Output signal DO forced Output signal can be forced on off independently of the servo status Section 4 4 output Use this function for output
206. ulty Do not disassemble and or repair the equipment on customer side 1 Inspection It is recommended to make the following checks periodically a Check for loose terminal block screws Retighten any loose screws b Check the cables and the like for scratches and cracks Perform periodic inspection according to operating conditions 2 Life The following parts must be changed periodically as listed below If any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please contact your sales representative Part name Life guideline Smoothing capacitor Rela Number of power on and number of forced Servo amplifier S stop times 100 000ti mes Cooling fan 10 000 to 30 000hours 2 to 3 years Absolute position battery Refer to Section 13 2 a Smoothing capacitor Affected by ripple currents etc and deteriorates in characteristic The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of ts lifein 10 years of continuous operation in normal air conditioned environment b Relays Their contacts will wear due to switching currents and contact faults occur Relays reach the end of their life when the cumulative number of power on and forced stop times is 100 000 which depends on the power supply capacity c Ser
207. ved Note Main circuit power ON Power off f Power on Control circuit OFF ON Base circuit OFF Brake operation V Dynamic brake Invalid Servo on command ON from controller OFF Alarm 1s Reset command ON from controller OFF ae 50ms or more 60ms or more Alarm occurs Remove cause of trouble Note Switch off the main circuit power as soon as an alarm occurs 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent 32 overload 1 50 or overload 2 51 alarm after its occurrence without removing its cause the servo amplifier and servo motor may become faulty due to temperature rise Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation 2 Regenerative alarm If operation is repeated by switching control circuit power off then on to reset the regenerative 30 alarm after its occurrence the external regenerative brake resistor will generate heat resulting in an accident 3 Instantaneous power failure Undervoltage 10 occurs if power is restored after a 60ms or longer power failure of the control circuit power supply or after a drop of the bus voltage to or below 200VDC If the power failure persists further the control circuit power switches off When the power failure is reset in this state the alarm is reset and the servo amplifier returns
208. vo amplifier cooling fan The cooling fan bearings reach the end of their life in 10 000 to 30 000 hours Normally therefore the fan must be changed in a few years of continuous operation as a guideline It must also be changed if unusual noise or vibration is found during inspection 8 INSPECTION MEMO 9 TROUBLESHOOTING 9 TROUBLESHOOTING 9 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 9 2 or 9 3 and take the appropriate action After its cause has been removed the alarm can be deactivated in any of the methods marked in the alarm deactivation column Alarm deactivation Displa Name e e E LE 12 Memoyerrri O0 N mm 13 Coker E O A 15 Memoryerrr2 O n 16 Encodererrri EE DO oN mMm 17 Boarder d o AA m 19 Memoyerrr3 O n m 1A Motor combination erg O __ 20 Encodererrr2 O m 31 Overspeed_____ __O 32 Overcurrent O 33 Overvoltage 34 CRCerr gt J O O 35 Command frequency errr O Ets Le Lee 46 O 50 5 52 8E Alarms 50 Overoadi O 1 Overload 2 52 Error excessive 8E Serial communication error 96 Home position setting warning Removing the cause of occurrence deactivates the alarm automatically ings Warn Main circuit off warning SSCNET error warning Note Deactivate t
209. when a power failure occurs or the protective circuit is activated and is built in the 7kW or less servo amplifier Since it is not built in the 11kW or more servo amplifier purchase it separately if required Set 10D in the parameter No 2 If the 7kW or less servo amplifier is used but the inertia moment of the load is large the built in brake may not be usable Refer to Section 11 3 and examine Servo amplifier Dynamic brake MR J 2S 11KB DBU 11K MR 2S 15KB DBU 15K MR 2S 22KB DBU 22K 2 Connection example Servo amplifier Operation ready Note1 EM1 OFF OY II NFB MC Power supply Sto o Li Servo motor U 3 phase O Ss oO Lo U 200 to i y 230VAC So Lo v Lu W E 1 O Lat L o IS Dynamic brake Note1 Configure up the circuit to switch power off in the external sequence at servo alarm occurrence 2 Terminals 13 14 are normally open contact outputs If the dynamic brake is seized terminals 13 14 will open Therefore configure up an external sequence to prevent servo on 12 15 12 OPTIONS AND AUXILIARY EQUIPMENT Servo motor rotation Present Alarm Absent ON Base OFF ON RA1 OFF Dynamic brake Invalid Valid Forced stop Snor EM1 Open Timing chart at alarm occurrence 12 16 b Timing chart at forced stop EM1 validity 12 OPTIONS AND AUXILIARY EQUIPMENT 3 Outline dimension drawi
210. will led to a fire Install the equipment in a load bearing place in accordance with this Instruction Manual Do not get on or put heavy load on the equipment to prevent injury Use the equipment within the specified environmental condition range Provide an adequate protection to prevent screws metallic detritus and other conductive matter or oil and other combustible matter from entering the servo amplifier Do not block the intake exhaust ports of the servo amplifier Otherwise a fault may occur Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment Do not install or operate a faulty servo amplifier When the product has been stored for an extended period of time consult Mitsubishi 2 1 Environmental conditions During 0 to 55 non freezing 32 to 131 non freezing 20 to 65 non freezing 4 to 149 non freezing Ambient During Se In storage A or less non condensing humidity In In storage Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Ambience Altitude Max 1000m 3280 ft above sea level momo less Vibration 2 ts 19 4 ft s or less 2 INSTALLATION 2 2 Installation direction and clearances The equipment must be installed in the specified direction Otherwise a fault may occur Leave specified clearances between the servo amplifier and control box inside walls or oth
211. y In such a case choose the auto tuning mode 2 parameter No 8 0003 and set the correct load inertia moment ratio in parameter No 12 When any of the auto tuning mode 1 auto tuning mode 2 and manual mode 1 settings is changed to the manual mode 2 setting the current control gains and load inertia moment ratio estimation value are saved in the EEP ROM 6 GENERAL GAIN ADJUSTMENT 6 2 3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory simply running the servo motor automatically sets the optimum gains that match the machine Merely changing the response level setting value as required completes the adjustment The adjustment procedure is as follows Auto tuning adjustment Acceleration deceleration repeated oad inertia moment ratio estimation value stable Conditions not satisfied Estimation of load inertia moment ratio is difficult Choose the auto tuning mode 2 parameter No 8 0003 and set the load inertia moment ratio parameter No 12 manually Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performance satisfied No To manual mode 6 GENERAL GAIN ADJUSTMENT 6 2 4 Response level setting in auto tuning mode Set the response parameter No 9 of the whole servo system As the response level
212. y Sect j Sectio12 1 1 Encoder connector CN 2 Section3 2 Connector for connection of the servo motor encoder Sectio12 1 5 1 0 signal connector CON 2 Section3 2 Used to connect digital 1 O signals Section12 1 5 Rating plate Se Section1 5 Main circuit terminal block TE 1 Used to connect the input power supply regenerative pe brake option and servo motor i Protective earth PE terminal O Section3 8 Ground terminal Sectio10 1 1 13 1 FUNCTIONS AND CONFIGURATION 1 7 2 Removal and reinstallation of the front cover To avoid the risk of an electric shock do not open the front cover while power is Z caution P P 1 For MR J2S 350B or less Removal of the front cover Reinstallation of the front cover Front cover socket 2 places 1 Insert the front cover hooks into the front cover sockets of the servo amplifier 2 Press the front cover against the servo amplifier until the removing knob clicks 1 Hold down the removing knob 2 Pull the front cover toward you 2 For MR J2S 500B Removal of the front cover Reinstallation of the front cover Front cover hook 2 places A Front cover socket 2 places Front cover 1 Insert the front cover hooks into the front cover sockets of the servo amplifier 2 Press the front cover against the servo amplifier until the removing knob clicks 1 Hold down the removi

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