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Mitsubishi Electronics MR-J2M-P8B User's Manual

Contents

1. Unit mm Unit in 09 Llaeaemseeaaaoo AN End Approx 70 2 76 138 5 5 45 b gt 5 30 130 4 72 gt 0 20 4 5 60 18 Connector layout 1 18 6 5 0 26 mounting hole gt nM S OAM 0 pw N A wrest 65 Mounting screw 4 amp S rig NAME PLATE Tightening torque 1 5 N m El S A d eat 13 3 Ib in 2 dE m 5 E EJ c 22 H ES io E 0 zi Mass 0 4kg 0 88 2 MR J2M 70DU Unit mm Unit in A IL ess ie ss E H LJETEJETIECIEXAEAEADLEJEA3ESCA H ana C3 E CIC qano DLJCIEJDIEQIOEICICIUCI H aca H OGOCGO TOTECO H C3 C3 C3 CJ qano OOS boo U arca EJEAETE3ETE3ETETIEI T Approx 70 2 76 138 5 5 47 203 90 2 60 2 36 gt lt mounting
2. 70 2 76 130 5 45 89 65 0 26 5 0 20 2 64 5 0 18 mounting hole 5 0 20 mT Mounting screw M4 4 Tightening torque 1 5 m 13 3 Ib in E P N RE num pr MEE v x 2 A l bd ye N NAME PLATE N Sy le SS A Ty O Mass 0 3kg 0 665 10 4 10 OUTLINE DRAWINGS 10 3 Connector 1 CN1B CN2 CN3 connector 3M a Soldered type Model Connector 10120 3000VE Shell kit 10320 52 0 008 Unit mm Unit in 22 0 0 87 14 0 0 55 Logo etc are indicated here 39 0 1 54 N 33 3 1 31 12 7 0 50 T N b Threaded type Model Connector 10120 3000VE Shell kit 10320 52A0 008 Note This is not available as option and should be user prepared Unit mm Unit in 12 0 0 47 Ki y 10 0 0 39 27 4 1 08 Logo etc indicated here AED e I 5 7 0 22 23 8 0 94 10 5 10 OUTLINE DRAWINGS Insulation displacement type Mod
3. es nd ses nd 1 REVISIONS The manual number is given on the bottom left of the back cover Print Data Manual Number Apr 2001 SH NAJ030012 A Jan 2002 SH NA 030012 B Addition of FOR MAXIMUM SAFETY CONFORMANCE WITH UL C UL STANDARD Capacitor discharge time changed to 1 min Addition of 6 Attachment of a servo motor Section 1 2 Addition of the case with 1 phase 200 to 230VAC power supply Section 1 3 Addition of MR J2M 70DU Addition of the case with 1 phase 200 to 230 power supply Section 1 5 Addition of MR J2M 70DU Section 1 6 Addition of MR J2M 70DU Addition of HC KFS73 HC MFS73 and HC UFS73 servo motors Section 1 8 Addition of the case with 1 phase 200 to 230VAC power supply Section 2 5 3 Addition Section 3 2 3 1 Overall modification to common line Section 3 2 3 2 Maximum output current changed to 0 5mA Section 3 3 Addition of extension IO unit signals and wiring Section 3 4 1 2 Addition of the case with 1 phase 200 to 230VAC power supply Section 3 4 3 Addition of the case of using 1 phase power supply Section 3 7 3 Overall modification Section 3 8 Addition of the case with 1 phase 200 to 230VAC power supply Section 5 1 2 1 Reexamination of sentence for parameter No 12 Modification to parameter No 19 Addition of POINT to parameter No 38 Section 9 2 Reexamination of sentence for inves
4. 5 gt gt C z C lt J z 10 OUTLINE DRAWINGS 10 2 Unit outline drawings 10 2 1 Base unit MR J2M BULI Unit mm Unit in Variable Dimensions Mass LA B __ MR J2M BU4 230 9 06 218 8 58 1 1 2 43 m MR J2M BU6 290 11 42 278 10 95 1 3 2 87 MR J2M BU8 350 13 78 338 13 307 1 5 3 31 A gt 6 0 24 6 0 24 Connector layout e fs cle ee 454
5. 0 98 350 13 78 338 13 31 1 67 1 38 son MELSERVO o Dam MELSERVO oson Dam MELSERVO Dam MELSERVO MELSERVO son o MELSERVO n MELSERVO Oson Dam 0 MELSERVO ansus mecre 1 a wae AB CC 6 0 24 25 10 N y gt cprnoannunoegogor 1 00 5005 67955999950
6. response level setting Operation First use this mode to make adjustment Yes TE OK 2 Used when the conditions of auto tuning mode 1 are not Ne met and the load inertia Auto tuning mode 2 moment ratio could not be estimated properly for Operation example OK Yes This mode permits o adjustment easily with three Manual mode 1 gains if you were not satisfied with auto tuning Yes You can adjust all gains OK No manually when you want to Manual mode 2 do fast settling or the like END 6 GENERAL ADJUSTMENT 6 1 2 Adjustment using MR Configurator servo configuration software This section gives the functions and adjustment that may be performed by using MELSERVO J2M 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
7. termination 1 phase 5 O connector 200 to 5 z 230VAC 585 RS 232C Srecna MN computer Regenerative brake option F 5 P 5 Analog monitor 3 channels ee lie t Dynamic brake Servo motor Current detection Overcurrent protection Current control Model Actual position control Actual speed control Position Mode command Position input Model position control Model speed control Virtual Virtual servo encoder motor Sis 22 242 mum m ghe m Ae SSS SS Se 2 SSeS cec Servo motor 1 lt Current z detection 2 1 1 1 1 1 CER att Ne ICONE S ENERO P eu UU a NITE TNA Driveunit gt gt 1 Dynamic Servo motor 5 N arth lt Current z M e detection 2 1 1 C8 IL 1 1 1 J 1 Encoder de Q A ums um evade Mi Rp meus qo ede e Eo 0 ees eh eR eS ee ee ee wR
8. 1 4 4 OPERATION AND DISPLAY 4 2 2 Status display of interface unit MELSERVO J2M status during operation is shown on the 5 digit 7 segment LED display Press the UP r DOWN button to change display data as desired When the required data is selected the corresponding symbol appears Press the SET button to display its data 1 Display examples The following table lists display examples Displayed data Item Status Interface unit display Regenerative load ratio 6096 7 IM 7 UWOD 2 Status display list The following table lists the servo statuses that may be shown Refer to Appendix 1 for the measurement point l Sa Displa Name Symbol Unit Description range Regenerative load The ratio of regenerative power to permissible regenerative power is 5 L 96 0 to 100 ratio displayed in 96 Bus voltage v The voltage across P N of the main circuit converter is displayed 0 to 450 Shows the maximum voltage of the main circuit converter across P N maximum value during past 15s is displayed Peak bus voltage 0 to 450 If there is a difference of 40V or more between the bus voltage and peak bus voltage during normal operation use the regenerative brake option 4 OPERATION AND DISPLAY 4 2 3 Diagnostic mode of interface unit Shows the ON OFF states of the external I O signals and whether a forced stop command from the servo sy
9. Change of rating plate Section 2 4 2 Reexamination of description Section 2 6 1 d Reexamination of sentence Section 3 4 2 Addition of cable side connector 353717 2 Addition of Note Section 3 5 1 Addition of POINT Section 3 6 Addition of Note to timing chart Section 5 1 2 2 Addition of DRU parameter No 23 encoder cable selection Section 5 2 2 1 Addition of IFU parameter No 9 SSCNET type selection Section 5 2 2 2 Addition of IFU parameter No 9 SSCNET type selection Section 6 2 2 Addition of POINT Section 9 1 Addition of A 78 and A 79 Section 9 2 Addition of A 78 and A 79 Section 10 3 3 Addition of contact 353717 2 Addition of applicable tool 937315 1 Section 11 1 Layout change Addition of Note Section 12 1 1 1 Addition of sentence Deletion of Note Section 12 1 1 4 Addition of terminal block terminal screw and tightening torque Section 12 1 2 1 Addition of encoder cable MR JCACBLEIM H Section 12 1 2 2 Addition of POINT Section 12 1 2 2 b Addition Section 12 1 3 1 Change of Usage and Connection diagram Section 12 1 4 2 Reexamination of display description and representation Section 12 2 1 2 Addition of encoder cable MR JCACBLEIM H Section 13 3 Change of representation Apr 2003 SH NA 030012 D CONFORMANCE WITH UL C UL STANDARD 2 Installation Addition of air volume 2 8m3 min Section 1 3 1 Addition of inrush current Section 3 1 Partial reexamination of connection diagr
10. Parameter error No Indicates that the data of parameter No 1 is faulty Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 Even during alarm occurrence the other screen can be viewed by pressing the button in the operation area At this time the decimal point in the fourth digit remains flickering 3 For any alarm remove its cause and clear it in any of the following a Switch power OFF then ON b Press the SET button on the current alarm screen c Turn on the alarm reset RES methods for clearable alarms refer to Section 9 1 4 Use IFU parameter No 16 to clear the alarm history b Pressing SET button on the alarm history display screen for 2s or longer shows the following detailed information display screen Note that this 1s provided for maintenance by the manufacturer 6 Press UP or DOWN button to move to the next history 4 OPERATION AND DISPLAY 4 2 5 Interface unit parameter mode The parameters whose abbreviations are marked are made valid by changing the setting and then switching power off once and switching it on again Refer to Section 5 2 2 The following example shows the operation procedure performed after power on to change the serial communication baudrate IFU parameter No 0 to 38400bps Using the button show the basic parameter screen ee The pa
11. 9724 2003 50411 Matsuo Electric Co Ltd 200VAC rating Rated Outline drawing Unit mm Unit in voltage Test voltage AC V Vinyl sheath 1841 5 0 71 0 06 Red vinyl cord 6 0 24 E ee 10 0 39 or less 0 0 39 or less 4 0 16 e 10 3 15 1 0 59 0 04 10 3 0 39 0 39 0 12 200 7 87 48 1 5 200 7 87 0 15 ormore 1 89 0 06 or more Note that diode should be installed to DC relay DC valve or the like or O RA 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 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 drive unit 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 several cables in a bunch The clamp comes a set with the earth plate Ji Cable Cable clamp A B Earth plate Strip the cable sheath of T u the clamped area cutter 2 E 5 cable External conductor Clamp section di
12. Initial value Setting range Refer to Name and function column nN 3 S gt 2 S 9 E 5 Machine resonance suppression filter 2 Used to selection the machine resonance suppression filter Refer to Section 7 2 0 __ Notch frequency selection Set 00 when you have set adaptive vibration suppression control to be valid or held parameter No 25 02 0 0 value value value value oo 5625 10 18 1875 or paso f o9 n pee 19 o 150 4 13 268 15 1667 0 9 f is mas 1 52 75 sna i6 2045 Notch depth selection Setting Depth Gain value 40dB 5 13 Refer to Name and function column 5 PARAMETERS Initial Setting Name and function value range For manufacturer setting Do not change this value by any means n e Un E S gt D S E 5 z Sa 5 14 5 PARAMETERS 5 2 Interface unit 5 2 1 IFU parameter write inhibit Use the unit operation section pushbutton switches or MR Configurator servo configuration software to set the IFU parameters of the interface
13. MELSERVO J2M The base circuit is shut off and the dynamic brake operates to Forced stop EM1 OFF bring the servo motor to stop The servo forced stop A E6 occurs 2 INSTALLATION AND START UP 2 8 Control axis selection The control axis number set to the IFU parameter software should be the same as the one set to the servo system controller Set the control axis numbers of the drive units in the IFU parameters No 11 to 18 Setting the same control axis numbers in a single communication system will disable normal operation Each control axis can be set independently of the slot number where the drive unit has been installed The axis numbers of the drive units installed to the slots are factory set as listed below CL a ie UNE 2 number selection sean ons aie 5 slot axis number selection 16 6slotaxis number selection 0005 3 Blot axis number selection 0007 8 Note The axis number is represented as a set value 1 2 INSTALLATION AND START UP MEMO 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 15 minutes after power off Otherwise you may get an electric shock Ground the base unit and the servo motor securely Do not attempt to wire each unit and
14. ad Note For 1 phase 20 to 230VAC connect the power supply to L L2 and leave Ls open 1 2 1 FUNCTIONS AND CONFIGURATION 1 3 Unit standard specifications 1 Base unit Numberofslts 646 Permissible frequency fluctuation Within 596 Voltage frequency 3 phase 200 to 230VAC or 1 phase 200 to 230VAC 50 60Hz Permissible fluctuation 3 phase 170 to 253VAC or 1 phase 170 to 253VAC 50 60Hz Permissible Permissible frequency fluctuation _ fluctuation Within 596 Maximum servo motor connection 1600 2400 3200 W Continuous Continuous capacity 128 190 _____2560 62 5A 15ms Converter function regenerative control rushing into current control function Regenerative overvoltage shut off regenerative fault protection Protective functions undervoltage instantaneous power failure protection Note The control circuit power supply is recorded to the interface unit 2 Drive unit mm 270 to 81VDO supply 230 to 342VDC Overcurrent shut off functions overload shut off electronic thermal relay Protective functions servo motor overheat protection encoder fault protection overspeed protection excessive error protection Open IP00 Cooling method Self cooled Force cooling With built in fan unit Mass 3 Interface unit MR J2M P8B Power ne circuit for each unit 8 slots or less Interface 55 interface Ichannel RS 232C i
15. 13 ABSOLUTE POSITION DETECTION SYSTEM 13 1 to 13 4 184 13 1 3 retire medie td mano tenerte 13 2 13 3 Confirmation of absolute position detection data sese 13 3 APPENDIX 1 to App 2 App 1 Status indication block diagram 1 Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference Note that the contents of the Servo Motor Instruction Manual are not included in 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 gt E 5 n et H ge o 5 5 D A 1 FUNCTIONS AND CONFIGURATION 1 FUNCTIONS AND CONFIGURATION 1 1 Overview The Mitsubishi general purpose AC servo MELSERVO J2M series is an AC servo which has realized wiring saving energy saving and space saving in addition to the high performance and high functions of the MELSERVO J2 Super series Connected with a servo system controller or like by a serial bus SSCNET the equipment reads position data directly to perform operation Data from a command unit are used to control the speeds and directions of servo motors and execute precisio
16. Also the drive unit 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 drive unit 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 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 base unit servo motor etc together at one point refer to Section 3 8 12 28 12 OPTIONS AND AUXILIARY EQUIPMENT b Reduction techniques for external noises that cause MELSERVO J2M to malfunction If there are noise sources such as a magnetic contactor an electromagnetic brake and many relays which make a large amount of noise near MELSERVO J2M and MELSERVO J2M 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 cable clamp fittings c Techniques for noises radiated by MELSERVO J2M that cause peripheral devices to malfunction Noises produced by MELSERVO J2M are classifie
17. Control signal Qty 2 each connector set 10 1D Maintenance junction card 12 Communication MR CPCATCBL3M Connector DE 9SF N Connector 10120 6000EL cable Refer to 3 in this Case DE C1 J6 S6 Shell kit 10320 3210 000 section Japan Aviation Electronics 3M or equivalent 13 Power supply MR PWCNK1 Plug 5559 04P 210 connector set Terminal 5558PBT3L For AWG16 6 pcs Molex 14 Power supply Plug 5559 06P 210 Terminal 5558PBT3L For AWG16 8 pcs Molex connector set MR PWCNK2 12 9 Termination connector MR J2CN3TM Refer to Section 12 1 3 Standard flexing life IP20 Long flexing life IP20 4 line type Long flexing life IP20 IP20 connection with PC AT compatible personal computer For motor with brake IP20 12 OPTIONS AND AUXILIARY EQUIPMENT Application 15 Power supply MR PWCNK3 connector 16 Base unit MR J2MCNM connector set 17 Battery cable MR J2MBTCBLOM Housing 51030 0230 Terminal 50083 8160 Molex 18 Bus cable Q172J2BCBLOM Connector HDR E14MG1 CB Shell kit HDR E14LPA5 Refer to 4 inthis Honda Tsushin section Note Socket HCN2 2 58 2 Terminal HCN2 2 5S D B Hirose Electric Note When using the battery unit Q170BAT use the Q172J2BCBL L1 M B 19 Bus cable Q173J2BACBLUM Connector HDR E26MG1 Refer to 4 in this Shell kit HDR E26LPA5 section Honda Tsushin 12
18. Encoder Z phase pulse 2 Differential line driver system Encoder A phase pulse 3 Differential line driver system Encoder B phase pulse 3 Differential line driver system Encoder Z phase pulse 3 Differential line driver system Encoder A phase pulse 4 Differential line driver system Encoder B phase pulse 4 Differential line driver system Encoder Z phase pulse 4 Differential line driver system 3 SIGNALS AND WIRING S Vo DO DLE E Note 4 4 2 11 Note 2 CN4B CN4B 1 A 13 38 LG Approx 4 7 2 50 LAS T 49 LB5 HK 48 175 T gt i 47 LAB m 46 186 m 21 LBRe 2 45 126 um L 20 LzRe 2 44 LA7 11 ar LAR7 Li 7 43 LB7 1 18 LBR7 Li 42 127 LG 17 7 41 LA8 T s fare 40 LB8 15 LBR8 4 Li 39 LZ8 m 1 14 zR jJ 1888 rsp H Note ene 9 MBR Ha Ey 10 MBR6 D 34 merom gt EY 35 vers eaj MR J2M D01 Encoder A phase pulse 5 Differential line driver system Encoder B phase pulse 5 Differential line driver system Encoder Z phase pulse 5 Differential line driver system Encoder A phase pulse 6 Differential
19. Plug 5557 04R 210 Servo motor Terminal 5556PBT3L for AWG16 6 pcs Molex Housing 2 178128 3 5 pcs Contact 917511 2 max sheath OD 6 2 8 mm 15 pes Tyco Electronics Housing 1 178128 3 5 pes Contact 917511 2 max sheath OD 9 2 8 mm 15 pes Tyco Electronics Housing 1 179958 3 5 pcs Contact 316041 2 20 pcs Tyco Electronics Connector 10120 3000VE Shell kit 10320 52F0 008 power cable For CNP1B For CNP1A 3M equivalent Connector 10120 6000EL Shell kit 10320 3210 000 3M or equivalent Connector 10120 6000EL Shell kit 10320 3210 000 3M or equivalent 10 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 MR JCCBLOM L H 1 Model explanation Model MR JCCBLLIM EI Symbol Specifications Standard flexing life Long flexing life Symbol Cable length m ft 2 6 56 2 Connection diagram The signal assign
20. pulse 7 1 Encoder pulse outputs for slot 7 Encoder B phase pulse 3 pulse 3 Encoder A phase pulse 4 Encoder B phase Encoder Z phase pulse 4 Encoder A phase pulse 5 pulse 5 Encoder Z phase pulse 5 Encoder A phase Encoder B phase pulse 6 Encoder Z phase pulse 6 pulse 7 Encoder B phase pulse 7 Encoder Z phase Encoder A phase Signal Symbol pulse 8 E Encoder B phase pulse 8 1 Encoder Z phase gt Encoder pulse outputs for slot 8 pulse 8 1 Encoder Z phase pulse 8 178 LZR8 3 12 3 SIGNALS AND WIRING Connector y o Signal Symbol Function Applications m pin No division Electromagnetic MBRI1 Electromagnetic brake interlock signal for axis 1 brake interlock 1 MBRi CN4A 9 wpna Electromagnetic brake interlock signal for axis 2 Elect MBRS3 Electromagnetic brake interlock signal for axis MBR2 CN4A 10 MBR4 Electromagnetic brake interlock signal for axis 4 brake interlock 2 MBR5 Electromagnetic brake interlock signal for axis 5 Electromagnetic MBR6 Electromagnetic brake interlock signal for axis 6 brake interlock 3 CN4A 34 MBR7 Electromagnetic brake interlock signal for axis 7 MBRS8 Electromagnetic brake interlock signal for axis 8 Electromagnetic MBR4 35 disconnected when a forced stop is made valid an alarm brake interlock 4 Electromagnetic brake interlock
21. 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 DRU parameter No 25 DRU parameter No 25 ae 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 DRU 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 pass filter 1 Function When a ballscrew or the like 1s used resonance level of high frequency may occur as the response of the servo system 18 increased prevent this the low pass filter 18 factory set to be valid for a torque command The filter frequency of this low pass fi
22. 5mA Switch TR SG Vces lt 1 0V ceo lt 100 b 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 1 Inductive load Interface unit VIN 24VDC Load F 10 MBR d SG Q Opposite polarity of diode will fail interface unit 3 SIGNALS AND WIRING 2 Lamp load Interface unit VIN 9 24vpc T 10 MBR SG Analog output Output voltage 4 Max output current 0 5mA Resolution 10bit Interface unit MO1 MO2 M03 080 a 1mA meter which deflects LG unidirectionally or bidirectionally 3 SIGNALS AND WIRING 3 3 Signals and wiring for extension IO unit 3 3 1 Connection example The pins without symbols can be assigned any devices using the MR Configurator servo configuration software MR J2M D01 Note 3 Note 4 Encoder A phase pulse 1 Differential line driver system Encoder B phase pulse 1 Differential line driver system Encoder Z phase pulse 1 Differential line driver system t Io fe Encoder A phase pulse 2 Differential line driver system Encoder B phase pulse 2 Differential line driver system Approx 4 7kQ
23. 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 RA NCAUTION o ed Electromagnetic brake The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking Before performing the operation be sure to confirm that the electromagnetic brake operates properly 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 18 used 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 4 Using the IFU parameter No 10 select the axis number of the drive unit which uses the electromagnetic brake interlock MBR 1 Connection diagram Interface unit or extension IO unit Forced Servo motor RA stop B1 24VDC sG P 24VDC MBR RA B2 2 Setting In DRU parameter No 21 electromagnetic brake sequence output set the delay time Tb from electromagnetic brake operation to base circuit shut off at a servo off time
24. Encoder faulty Change the servo motor 8 Wrong connection of servo motor Connect correctly Drive unit s output U V W do not match servo motor s input U V W 52 Error excessive The deviation between the model constant is too small deceleration time constant position and the actual servo motor 3 Motor cannot be started due to 1 Review the power supply position exceeds the torque shortage caused by power capacity DRU parameter supply voltage drop 2 Use servo motor which No 31 setting value provides larger output revolutions parameter No 13 value is small ensure proper operation 9 TROUBLESHOOTING IN A 79 Option slot Extension IO unitis Extension IO unit is disconnected Switch power off and reinsert the loading error connected improperly extension IO unit LN LN 88888 Multiple axis overload Drive unit alarm Serial communication time out Serial communication error Watchdog Drive unit whose 1 Change the slot of the drive unit whose load is large Reduce the load Reexamine the operation 1 Drive unit having large load is effective load factor is adjacent pattern Use a servo motor whose output is large 2 Servo system is instable and Repeat acceleration hunting deceleration and perform auto tuning Change the response setting of auto tuning Turn off auto tuning and make gain adjustment manually 3 Encoder cable and power cable
25. Servo Motor Inertia Moment kg cm Running 3000r min speed equivalent Total Inertia Moment kg cm r min kg cm HC KFS13 HC KFS23 HC KFS43 HC KFS13 HC MFS13 HC MFS23 HC KFS13 HC KFS43 kg cm Simultaneous deceleration total inertia moment maximum value 12 2 12 OPTIONS AND AUXILIARY EQUIPMENT b To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in depth selection of the regenerative brake option 1 Regenerative energy calculation Use the following table to calculate the regenerative energy Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor m Energy J JL 1 al 5 Ti JM No Tr 0 1047 9 55 107 1 2 E2 0 1047 No T2 t 01 Le No T 1 No 1 0 Tpsd1 E420 No regeneration SUP 1 0 1047 a 5 No T5 Tpsa2 55 X1 Ee 0 1047 No To ta JL JM No 1 _ 0 1047 P 9 55 X1 04 Tpsd2 m in 2 Sia queden From the calculation results in 1 to 8 find the absolute value Es of the sum total of negative energies 2 Losses of servo motor and drive unit in regenerative mode The following table lists the efficiencies and other data of the servo motor an
26. 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 less than 30m 98 4ft length including 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 13 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 For use of AWG22 Drive unit side Encoder side 3M P5 LG P5 LG P5 LG MR MRR Note Always make connection for use in an absolute position detection system This wiring is not needed for use in an incremental system 12 12 12 OPTIONS AND AUXILIARY EQUIPMENT b MR JC4CBLOM H When using this encoder cable set O0 100 in DRU parameter No 23 1 Model explanation Model MR JCACBL Long flexing life 2 Connection diagram The signal assignment of the encoder connector is as viewed from the pin side For the pin assignment on the drive unit side refer to Section 3 5 3 Encoder cable Drive unit 1 supplied to servo motor Encoder connector Encoder connector 1 172169 9 Servo motor Encoder cable option or fabricated Tyco Electronics CN2 50m 164 0ft max 1 30cm 0 98ft gt MR JC4CBL30M H to MR JC4CBL50M H Drive unit side E
27. occurrence the decimal points in the fifth and second digits flicker 1 0 Alarm warning number Denotes alarm warning indication Denotes interface unit 4 OPERATION AND DISPLAY 4 2 Status display mode of interface unit 4 2 1 Display flowchart Use the display 5 digit 7 segment LED on the front panel of the interface unit for status display parameter setting etc Set the parameters before operation diagnose an alarm confirm external sequences and or confirm the operation status The unit is in the automatic scroll mode at power on Press the MODE button for more than 2s to change the display before starting operation Press the UP or DOWN button once to move to the next screen e button MODE Status display Alarm Basic IFU parameters Regenerative load External I O Current alarm IFU parameter No 0 ratio signal display iz IO 5 11 ttl itt ttt forced output Bus voltage V Output signal Last alarm IFU parameter No 1 11 1 Peak bus voltage Software version Second alarm in past V low 1 44 L nan Ia LL e LL ggg Cu DOWN Software version Third alarm in past high uw CIL _ IILI Fourth alarm in past IFU parameter No 18 52 trot Fifth alarm in past IFU parameter No 19 4 Sixth alarm in past Parameter error No M
28. unit They cannot be set from the servo system controller Use the unit pushbutton switches or MR Configurator servo configuration software to set the interface unit parameters The following table indicates the IFU parameters which are made valid for reference and write by setting the IFU parameter No 19 Operation from unit operation section or MR Configurator Setting Setting operation servo configuration software Reference 0000 initial value IFU parameter No 1 to 19 000A IFU parameter No 19 5 2 2 Lists PONT For any IFU parameter whose symbol is preceded by set the IFU parameter value and switch power off once then switch it on again to make that parameter setting valid The parameter is set when communication between the servo system controller and servo amplifier 18 established b is displayed After that power the servo amplifier off once and then on again Item list ee Symbol Name cation Value setting BPS Serial communication baudrate selection alarm history clear_ 0000 1 SIC Serial communication time out selection 2 OPI Function selectiont 3 Analog monitor 1output 0000 ___ 4 MD2 Analog monitor2output 0000 5 Analog monitor3output 0000 6 Analog monitor 1offset mv 7 Analog monitor 2offset mv 8
29. 1 Increase the gain to improve trackability performance in response to the position command Adjustment DRU parameters When auto turning mode 1 2 is selected the result of auto turning is automatically used 5 PARAMETERS Classifi Initial Setting Symbol Name and Function cation Value 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 Used 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 16 VG2 Speed loop gain 2 rad s Set this parameter when vibration occurs on machines of low to rigidity or large backlash 20000 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 Speed integral compensation 48 ms 1 Used to set the constant of integral compensation to When auto tuning mode 1 2 and interpolation mode is selected the 1000 result of
30. 11 11 TXD 12 12 12 O 13 13 13 14 14 14 15 15 15 O 16 16 16 17 17 17 Not used 18 18 18 19 19 19 EM1 20 20 20 de de fe Shell Shell Shell BI o 12 21 12 OPTIONS AND AUXILIARY EQUIPMENT 3 Outline drawing Unit mm Unit in 2 45 3 0 21 mounting hole 5 5 1 ZAI x 88 3 47 41 5 1 63 k 100 3 94 R Mass 1109 0 2416 12 22 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 4 MR Configurator servo configurations software Required to assign devices to the pins of CN4A and CN4B of the MR J2M D01 extension IO unit The MR Configurator servo configuration software uses the communication function of the interface unit to perform parameter setting changes graph display test operation etc on a personal computer 1 Specifications Conforms to RS 232C Baudrate bps 57600 38400 19200 9600 Monit Batch display high speed display multiple axis display graph display onitor Minimum resolution changes with the processing speed of the personal computer Alarm display alarm history alarm occurrence time I O display function device display no rotation reason display cumulative power on time display Diagnostic software number display motor information display tuning data display ABS data display shaft name setting unit composition list display Param
31. 3 1 Connection example nece 3 9 3 3 2 Connectors and signal configurations 8 11 3 3 3 Output signal explanations 3 12 3 4 Signals and wiring for base unit eee ener eene ener entes 3 14 3 4 1 Connection example of power line 1 3 14 3 4 2 Connectors and signal configurations eterne tense eene nnns en 3 16 3 17 9 4 4 Power on sequence e ee e ed IH e esee ei ect pe aeta 3 18 3 5 Connection of drive unit and servo motor essen nennen 3 19 354 Connection 8 19 9 5 2 C nnectior BAR 8 19 5 810 oss USES Gens 3 20 3 6 Alarm occurrence timing chart 8 21 3 7 Servo motor with electromagnetic brake ennt ennt nennen 3 22 9 8 GOUT CINE ved resta ede vet edv este rore era 3 26 3 9 Instructions for the enn
32. 6 MERG ENS Electromagnetic brake interlock 7 MBR Electromagnetic brake interlock 8 MERS occurs in the interface unit or drive unit or the servo switches off At alarm Electromagnetic es MBR5 CN4A 9 occurrence they are disconnected independently of the base circuit status brake interlock 5 3 13 3 SIGNALS AND WIRING 3 4 Signals and wiring for base unit When each unit has become faulty switch power off on the base unit power side Continuous flow of a large current may cause a fire 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 Fabricate the cables noting the shapes of the CNP1A housing X type and CNP1B housing Y type 3 4 1 Connection example of power line circuit 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 a controller forced 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 forced stop Forced o RA1 RA2 stop OFF o O SK NFB MC cnp3 MEESERVO J2M Power supply 1 3 phase L2 2 200 to 230VAC ED Ls 3 1 L11 1 La 2 24V
33. AND START UP 3 Others When using heat generating equipment such as the regenerative brake option install them with full consideration of heat generation so that MELSERVO J2M 1s not affected Install MELSERVO J2M 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 each unit 2 Prevent oil water metallic dust etc from entering each unit 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 to prevent such materials from entering the control box 2 4 Cable stress 1 The way of clamping the cable must be fully examined so that flexing stress and cable s own mass 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
34. Analogmonttor3offset 9 SSC SSCNETiypeseletin 10 OP2 Optional functiona ov ___ 11 SLi Slot 1 axis number selection 0000 12 SL2 Slot 2 axis number selection 000 ____ 13 SL3 Slot 3 axis number selection 0002 14 SL4 Slt4axisnumberseletim 10008 15 SL5 Slt5axisnumberseletim _ 004 16 SL6 SltGaxisnumberseletin 0008 0006 18 SL8 Slot 8 axis number selection 19 BLK IFU parameter write inhibit 5 15 n 3 o g 2 E A 0 ss 5 PARAMETERS 2 Details list Classifi Initial Setting Symbol Name and Function cation Value Range BPS Serial communication function selection alarm history clear 0000 Refer to Used to select the serial communication baudrate select various name communication conditions and clear the alarm history and function 0 column L Serial baudrate selection 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps Alarm history clear 0 Invalid 1 Valid When alarm history clear is made valid the alarm history is cleared at next power on After the alarm history is cleared the setting is automatically made invalid reset to 0 Serial communication response delay time 0 Invalid 1 Valid reply sent after delay time of 80055 or more B
35. CNP3 MR Configurator servo configuration software Personal computer Note For 1 phase 200 to 230VAC connect the power supply to L L2 and leave Ls open 1 FUNCTIONS AND CONFIGURATION MEMO 2 INSTALLATION START UP 2 INSTALLATION AND START UP Stacking in excess of the limited number of products is not allowed Install the equipment to incombustibles Installing them directly or close to combustibles will led to a fire Install the equipment in a load bearing 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 each unit Do not block the intake exhaust ports of each unit Otherwise a fault may occur Do not subject each unit to drop impact or shock loads as they are precision equipment Do not install or operate a faulty unit When the product has been stored for an extended period of time consult Mitsubishi When treating the servo amplifier be careful about the edged parts such as the corners of the servo amplifier 2 1 Environmental conditions The following environmental conditions are common to the drive unit interface unit and base unit During 0 to 55 non freezing A
36. 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 a forced 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 5 5 CN1A CN1B CN2 and CN3 have the same shape Wrong connection of the connectors will lead to a fault 6 When using the electromagnetic brake interlock MBR or forced stop EM1 always supply 24VDC between VIN and SG 7 When starting operation always connect the forced stop EM1 and SG Normally closed contacts By setting 0001 in parameter No 23 of the drive unit the forced stop EM1 can be made invalid 8 When connecting the personal computer together with analog monitor 1 2 3 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 cable clamp and data line filters three or four filters connected in series near the connector outlet 11 Up to eight axes 1 to 8 may be connected The MR J2S L1B MR J2 03B5 servo amplifier may be connected on the
37. DRU parameter No 1 to 39 5 11 Operation from MR Configurator servo configuration software parameter to 11 40 U parameter to 40 parameter 1 011 40 parameter 1to40 DRU parameter No 1 to 40 DRU parameter No 40 0000 Refer to name and function column 5 PARAMETERS Initial Setting Name and function value range 41 For manufacturer setting 500 42 Do not change this value by any means 0000 43 0111 44 20 45 50 46 0 47 0 48 0 49 CDP Gain changing selection 0000 Refer to Used to select the gain changing condition Refer to Section 7 5 Name and function column Gain changing selection Gains are changed in accordance with the settings of parameters No 52 to 55 under any of the following conditions 0 Invalid 1 Control command from controller 2 Command frequency is equal to higher than parameter No 50 setting 3 Droop pulse value is equal to higher than A parameter No 50 setting g 4 Servo motor speed is equal to higher than 3 parameter No 50 setting 5 50 CDS Gain changing condition 10 kpps 0 Used to set the value of gain changing condition command pulse to A frequency droop pulses servo motor speed selected in parameter r min 9999 5 49 The set value unit changes with the changing condition item Refer to Section 7 5 51 CDT Gain changing t
38. No 54 speed integral compensation changing ratio DRU parameter No 55 Set the values of after changing position control gain 2 speed control gain 2 and speed integral compensation in ratio 100 setting means no gain change For example at the setting of position control gain 2 100 speed control gain 2 2000 speed integral compensation 20 and position control gain 2 changing ratio 18096 speed control gain 2 changing ratio 150 and speed integral compensation changing ratio 8096 the after changing values are as follows Position control gain 2 Position control gain 2 X Position control gain 2 changing ratio 100 180rad s Speed control gain 2 Speed control gain 2 X Speed control gain 2 changing ratio 100 3000rad s Speed integral compensation Speed integral compensation X Speed integral compensation changing ratio 100 16ms 4 Gain changing selection DRU parameter No 49 Used to set the gain changing condition Choose the changing condition in the first digit If you set 1 here gains can be changed by the control command of controller DRU Parameter No 49 Gain changing selection Gains are changed in accordance with the settings of DRU parameters No 52 to 55 under any of the following conditions 0 Invalid 1 Control command from controller 2 Command frequency is equal to higher than parameter No 66 setting 3 Droop pulse value is equal to higher than parameter No 66 setting 4 Servo motor
39. U correct connection V W coming out of one drive unit are connected to the incorrect servo motor Alarm occurred in one Alarm occurred in one or more axes of Remove the alarm causes of all or more axes of drive drive units installed to the base unit drive units where alarm has units installed to the occurred 2 Incompatibility with the extension Change the interface unit for the IO unit one compatible with the extension IO unit 3 Extension IO unit is faulty Change the extension IO unit 4 Base unit is faulty Change the base unit Wire break or short circuit the IFU parameter No 1 setting correctly Serial communication 1 Communication cable fault Repair or change the cable error occurred stopped for longer than the time set in IFU parameter No 1 between interface unit and communication CPU parts faulty Open cable or short circuit 2 Communication device e g personal Change the communication computer faulty Fault of parts in interface unit Checking method Alarm 8888 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables device e g personal computer Change interface unit 9 TROUBLESHOOTING 9 3 Remedies for warnings When any of the following alarms has occurred do not resume operation by switching power of the servo amplifier OFF ON repeatedly The servo amplifier and servo motor may b
40. Unit in gt 29 7 0 12 7 15 0 28 22 8 0 90 16 3 0 06 4 connector lt Tyco Electronics gt Model Housing 1 179958 3 Contact 816041 2 Applicable tool 234171 1 Unit mm Unit in 33 92 1 33 10 8 10 OUTLINE DRAWINGS 5 CNP1 CNP2 CNP3 connector lt gt Unit mm Unit in 3 0 118 1 2 Circuit number 54 0 213 P 0 047 Layout diagrams classified by the number of poles 5 4 0 213 Variable Dimensions 3 Mee rd ar rcge d N oft BL 5557 04R 4 2 0 165 9 6 0 378 a 0 165 2 7 0 106 2 7 0 106 gt e kB Terminal Unit mm Model 5556 Unit in o 1 9 0 075 NS E rie EI VE TE G E 1 tS e 14 7 0 579 5 5 0 217 6 6 0 26 2 6 4 3 0 169 0 102 1 2 0 047 OMIN gt Applicable wire Core size AWG 18 to 24 5556 PBTL Strip length 3 0 to 3 5 mm 0 118 to 0 138 in AWG28 5556 PBT2L EE S Sheath OD 3 1mm 90 122 in max Exclusive tools Wire specifications Terminal Tool number Sheath OD mm inch 1 5 to 2 2 0 06 to 0 09 57026 5000 5556 PBL AWG18 to AWG24 2 3 to 3 1 0 06 to 0 12 5702
41. distance to a stop The dynamic brake time constant x varies with the servo motor and machine operation speeds Refer to Fig 11 4 Forced stop EM1 zu Time constant Machine speed te Time Lmax 25 Te 11 2 Lmax Maximum coasting disi A D ease totae tp amc usa e mm in Vo Machine rapid mm min in min JM Servo motor inertial kg 02 in JL Load inertia moment converted into equivalent value on servo motor shaft kg oz in Brake time consta Ai sinet Lese sr Seba oue ace Mt sa Dandies eMe at s te Delay time of control section RIS ua tiet asd s There is internal relay delay time of about 30ms 11 4 11 CHARACTERISTICS 0 02 0 018 m w 0 016 0 014 5 0 012 c D S 0 01 23 8 0 008 89 0 006 2 4 S U 73 E 0 004 x 0 0 002 0 500 1000 1500 2000 2500 3000 0 13 0 500 1000 1500 2000 2500 3000 Speed r min Speed r min a HC KFS series b HC MFS series 0 07 73 0 06 0 05 T 0 04 S o 8 0 03 43 0 02 23 13 0 01 00 50 500 1000 1500 2000 2500 3000 Speed r min HC UFS3000r min series Fig 11 4 Dynamic brake time constant Use the dynamic brake at the load inertia moment indicated in the following table If the
42. 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 Base unit Mc FR BAL Drive unit Servo motor 3 phase so LOU La 200 to 230VAC 9 Es 4 L She HU 1 ees 200 to 5 230VAC Lu L2 Note 2 Earth MEE eee 3 Drive unit Servo motor 1 PU D db U V 2 W Note 2 Earth Note 3 Interface unit 1 i CN1A Note 1 273 E c ae 9 Protective earth PE Note 1 To reduce the influence of external noise we recommend you to ground the bus cable near the controller using a cable clamping fixture or to connect three or four data line filters in series 2 The mounting screw of the drive unit is also used for PE connection of the servo motor 3 Ensure to connect it to PE terminal of the drive unit Do not connect it directly to the protective earth of the control panel 4 For 1 phase 230VAC connect the power supply to L L2 and leave Ls open 3 26 3 SIGNALS AND WIRING 3 9 Instructions for the 3M connector When fabricating an encoder cable or the like securely connect the shielded external conduct
43. fabricating use the recommended wire given in Section 12 2 1 and fabricate as in the connection diagram shown in this section a Definition of model Model MR J2MBTCBLLIM Symbol Cable Length L m ft b Outline drawing c Connection diagram Base unit side Battery unit side Housing 51030 0230 Connector 10120 3000VE Terminal 50083 8160 Shell kit 10320 52F0 008 1 LG 9 4Plate SD 12 20 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 3 Maintenance junction card MR J2CN3TM 1 Usage The maintenance junction card MR J2CN3TM is designed for use when a personal computer and analog monitor are used at the same time Interface unit Maintenance junction card MR J2CN3TM X Communication cable Bus cable MR J2HBUSLIM CN3B CN3C 3 SG 20 EMI DC24V 8 VIN d 13 MBR 4 MO1 n Monitor output 14 MO2 1 Reading in both 7 MO3 directions 11 LG Plate SD A1 A2 A4 B2 B1 B5 B6 A5 0 O O O O O O LG Analog monitor output 1 Analog monitor output 2 2 Connection diagram LG CN3A CN3B CN3C LG LG 1 1 MO1 RXD 2 2 2 SG 3 3 3 MO2 MO1 4 4 4 5 5 5 6 6 6 MO3 7 7 7 VIN 8 8 8 9 9 9 10 10 10 LG 11
44. m 47 79 Ib in as 7 ghtening torque 5 4 N m 47 79 Ib in DG gt 10 0 39 90 3 54 007 p 335 13 19 R 100 3 94 e m 2959802080 59206 Regenerative Mass Brake Option kg Ib MR RB34 2 9 6 393 c MR RB54 Terminal block Unit mm in Fan mounting screw amp 82 5 2 M3 screw IS S 3 25 On opposite side JS P x ap C Terminal screw 4 E G3 Tightening torque 1 2 N m 10 6 Ib in EA G4 Y OU qu PA H 7x14slt P En 9 Mounting screw 3 e ol e Screw M6 Si e Wind blows in the Tightening torque 5 4 N m 47 79 Ib in Narrow direction Lb e SN 2 3 i S 4 0 28 0 09 200 7 87 17 0 67 99 12 108 4 25 Approx 30 1 18 223 8 78 d 0 47 120 4 73 8 0 32 Regenerative Mass Brake Option kg Ib MR RB54 5 6 12 346 12 7 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 2 Cables and connectors 1 Cable make up The following 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 a
45. 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 Servo motor EM1 Electromagnetic brake 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 failure 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 dri
46. output to analog monitor 2 name and 010 function T T column Analog monitor 2 selection Servo motor speed 4V max Servo motor speed Torque 4 Torque Servo motor speed 4 Servo motor speed Torque 4 Torque Current command 4V max Current command Speed command 4V max Servo motor speed Droop pulses 4V 128pulse Droop pulses 4V 2048pulse Droop pulses 4V 8192pulse Droop pulses 4V 32768pulse Droop pulses 4V 131072pulse Bus voltage 4V 400V In position AV ON Ready 4V ON Trouble 4V ON Axis number of channel 2 Choose the axis number output to analog monitor 2 Axis number set value Selecting 0 disables output 5 17 5 PARAMETERS Classifi Initial Setting Symbol Name and Function Unit cation Value Range 5 MD3 Analog monitor output 0000 Refer to Choose the signal to be output to analog monitor 3 name and 010 function 7 column Analog monitor 3 selection Servo motor speed 4 Servo motor speed Torque 4 Torque Servo motor speed 4V max Servo motor speed Torque 4V max Torque Current command 4V max Current command Speed command 4V max Servo motor speed Droop pulses 4V 128pulse Droop pulses 4V 2048pulse Droop pulses 4V 8192pulse Droop pulses 4V 32768pulse Droop pulses 4V 131072pulse Bus voltage 4 400 In p
47. position erase A 25 occurred always make home position setting again Otherwise misoperation may occur As soon as an alarm occurs make the Servo off status and interrupt the main circuit power 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 each unit 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 Judging the load changing condition until the alarm occurs the servo amplifier calculates this specified time automatically Regenerative error 4 30 Overload 2 51 Overload 1 A 50 Multi axis overload A 53 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 section The optional MR Configurator servo configuration software may be used to refer to the cause in the Indication field denotes the slot number of the base unit and the axis number of t
48. results on personal computer You can grasp the machine resonance frequency and determine the 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 ADJUSTMENT 6 2 Auto tuning 6 2 1 Auto tuning mode MELSERVO J2M has a real time auto tuning function which estimates the machine characteristic load inertia moment ratio in real time and automatically sets the optimum gains according to that value This function permits ease of gain adjustment of MELSERVO J2M 1 Auto tuning mode 1 MELSERVO J2M 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 DRU parameters are automatically adjusted in the auto tuning mode 1 Speed control gain 1 Position control gain 2 Speed control gain 2 Speed integral compensation l he auto tuning mode 1 may not be performed properly if the following conditions are not satisfied Time to reach 2000r min is the acceleration deceleration time consta
49. same bus 12 Always insert the termination connector MR A TM into CN1B of the interface unit located at the termination 13 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 lee ul MR J2M P8B MR J2S O1B MR J2 03B5 MR J2HBUSEIM 9172 Q172J2BCBLLIMCB Moti Mad Q173CPU N Q173J2BACBLUM controller A motion MR J2HBUSOM A MR J2M P8B 25 MR J2 03B5 MR J2HBUSLIM Maintenance junction card 14 When using an absolute position detection system connect the battery unit MR J2M BT 3 SIGNALS AND WIRING 3 2 I O signals of interface unit 3 2 1 Connectors and signal arrangements The pin configurations of the connectors are as viewed from the cable connector wiring section CN1B Interface unit The connector frames are connected with the PE earth terminal inside the base unit Cable side connector Connector 1 Soldering type Connector 10120 3000VE CN1A Shell kit 10320 52F0 008 CN1B CN3 2 Insulation displacement type Connector 10120 6000EL Shell kit 10320 3210 000 3 SIGNALS AND WIRING 3 2 2 Signal explanations For the interfaces symbols in I O column in the table refer to Sec
50. section MR JCCBLOM H Refer to 2 a in this section 3 MR JC4CBLOM H Refer to 2 b in this section Standard encoder Housing 1 172161 9 Pin 170359 1 Tyco Electronics or equivalent Cable clamp MTI 0002 Toa Electric Industry i i Connector 10120 3000VE Shell kit 10320 52F0 008 3M or equivalent L Connector 10150 3000VE Shell kit 10350 52F0 008 3M or equivalent Shell kit 10320 52F0 008 3M or equivalent cable Long flexing life encoder cable Encoder MR J2CNM Housing 1 172161 9 Pin 170359 1 Tyco Electronics or equivalent Cable clamp MTI 0002 Toa Electric Industry Qty 2 each Connector 10120 6000EL Case PCR LS20LA1 Shell kit 10320 3210 000 Honda Tsushin 3M or equivalent Connector 10120 6000EL Connector 10120 6000EL Shell kit 10320 3210 000 Shell kit 10320 3210 000 3M or equivalent 3M or equivalent Connector PCR S20FS Connector 10120 3000EL Case PCR LS20LA1 Shell kit 10320 52F0 008 Honda Tsushin 3M or equivalent MR J2CN1 Connector 10120 3000VE Shell kit 10320 52F0 008 3M or equivalent connector set Connector set MR J2MCN1 Bus cable MR J2HBUSOM A Refer to 4 in this section Connector PCR S20FS 7 cable Refer to 4 in this section MR J2CN1 A Refer to 4 in this section Connector set
51. servo system As the response level 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 DRU parameter No 25 or machine resonance suppression filter DRU 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 DRU parameter No 9 level setting Machine characteristic Response level setting ME Machine resonance d Machine rigidity Guideline of corresponding machine frequency guideline Large conveyor Een Y General machine 105Hz working machine 130Hz Inserter 160Hz Mounter 200Hz Bonder 240Hz 300Hz 6 GENERAL 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 DRU 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 compensatio
52. such a case choose the auto tuning mode 2 DRU parameter No 8 0003 and set the correct load inertia moment ratio in DRU parameter No 12 When any of the auto tuning mode 1 auto tuning mode 2 and manual mode 1 settings 15 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 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 Auto tuning Conditions not satisfied Estimation of load inertia moment ratio is difficult Choose the auto tuning mode 2 DRU parameter No 8 0003 and set the load inertia moment ratio DRU 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 ADJUSTMENT 6 2 4 Response level setting in auto tuning mode Set the response DRU parameter No 9 of the whole
53. table are resistor generated regenerative powers and not rated powers Regenerative power W Base unit MR RB032 MR RB14 MR RB34 MR RB54 400 260 260 260 MR J2M BU4 MR J2M BU6 30 100 300 500 MR J2M BU8 2 Selection of regenerative brake option a Simple judgment of regenerative brake option necessity The MELSERVO J2M series does not contain a regenerative brake resistor Check whether the regenerative brake option is needed or not in the following method 1 Requirements The drive units mounted to the same base unit are all horizontal axes The operation pattern is clear and the load inertia moments of the axes to be decelerated simultaneously are clear 2 Checking method The following table gives the permissible load inertia moment that does not require the regenerative brake option when speed is reduced from 3000r min Permissible Load Inertia Moment MR J2M 10DU MR J2M 20DU 1 42kg cm MR J2M 40DU MR J2M 70DU 4 94kg cm Calculate the 3000r min equivalent inertia moment of each drive unit Load inertia moment equivalent for 3000r min Ji Jw x running speed 3000 12 1 12 OPTIONS AND AUXILIARY EQUIPMENT 3 First axis Second axis Third axis Fourth axis Fifth axis Sixth axis Seventh axis Eighth axis 3000r min equivalent total inertia moment Calculate the total of the 3000r min equivalent inertia moments of the axes to be decelerated simultaneously and find the max
54. value 0 0 Encoder data Current position 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 6478 CYC Command pulse value CYCO Command pulse value 6478 0 Number of revolutions rev from Multi revolution data at home position setting home position set value ABS 1638 ABSO 0 3 Click the Close button to close the window 13 3 13 ABSOLUTE POSITION DETECTION SYSTEM MEMO APPENDIX App 1 Status indication block diagram Jepooua uonisod sng 4011504 Jejunoo Me SUUN yoeqp peeds uonisod uonisod jueuno 9UO UIUJIM uonenueJejiq ones peo uonoes Bulun ojny 1 queuing N pioy Joye peo snoeuejuejsu enbJoj 8A 29j4 peeds 10 0 uonisod ses nd ses nd dN dd sasind
55. 0 gt composition setting ms Speed control gain 2 setting 1 ratio of load inertia moment to servo motor inertia moment 2 For position control a Parameters The following parameters are used for gain adjustment DRU parameter No Abbreviation Ratio of load inertia moment to servo motor inertia moment pots PG Position control gain 1 ee Speed control gain 2 VIC Speed integral compensation b Adjustment procedure ET motor inertia moment DRU parameter No 12 parameter 13 Increase the speed control gain 2 DRU 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 DRU parameter No 17 Decrease the time constant of the speed within the vibration free range and return slightly if vibration takes integral compensation place 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 ADJUSTMENT c Adjustment description 1 Position control gain 1 DRU parameter No 13 This parameter determines the response level of the p
56. 1 1 PLATE S44 EB tuu 2 P L2 mi S 2 Au IU L es S Terminal screw M4 N Tightening torque 1 2 m 8 1 10 6 Ib in D Sd E N2 2 0 08 GO he 2 6 0 24 Mounting screw M5 Sin N Jb Tightening torque 3 24 N m 1 28 7 Ib in 10 2 2 Interface unit MR J2M P8B Unit mm SEBBEBEBBBEBBEBS SEBEHEBSEEHBEH 4 5 0 18 70 mounting hole 139 5 47 50 1 97 2 2 76 130 5 12 bid gt e 6 5 0 26 SUUM ED 9 Display setting i 5 M p Il 5 r MITSUBISHI MA SEES s d N y ell RATING PLATE muri BS sU DUO SE e UUU 4 4 3 Mass 0 5kg 1 10Ib Mounting screw M4 Tightening torque 1 5 N m 13 3 Ib in 10 2 10 OUTLINE DRAWINGS 10 2 3 Drive unit MR J2M ODU 1 MR J2M 10DU to MR J2M 40DU
57. 1 1 Dynamic brake Invalid 1 1 1 1 1 Reset command ON from controller OFF 50ms or more 30ms 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 A 32 overload 1 A 50 overload 2 A 51 or multi axis overload A 53 alarm after its occurrence without removing its cause each unit 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 A 30 alarm after its occurrence the external regenerative brake resistor will generate heat resulting in an accident 3 Instantaneous power failure Undervoltage A 10 occurs when the input power is in either of the following statuses power failure of the control circuit power supply continues for 30ms or longer and the control circuit is not completely off The bus voltage dropped to 200VDC or less 3 SIGNALS AND WIRING 3 7 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the interface unit signals but also by an external forced stop EM1
58. 12 P Loss generated in the control box W AT Difference between internal and ambient temperatures Heat 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 Table 11 1 for heat generated by the drive unit 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 drive unit when the drive unit is operated at the ambient temperature of 40 C 104 under rated load Outside Inside Air flow Fig 11 2 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 3 11 CHARACTERISTICS 11 3 Dynamic brake characteristics Fig 11 3 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
59. 13 ABSOLUTE POSITION DETECTION SYSTEM 13 2 Specifications 1 Specification list 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 dangerous goods Class 9 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 branch or representative As of October 2005 Home position 32767 rev S O Maximum revolution range 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 5 years from date of manufacture 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 unit voltage low or the battery unit removed or during which
60. 15 EMG 6 16 SD 000 12 16 12 OPTIONS AND AUXILIARY EQUIPMENT b MR J2HBUSOM 1 Model definition Model MR J2HBUS Symbol Cable Length m ft 0 5 1 64 2 Connection diagram MR J2HBUSLIM 10120 6000EL Connector 10120 6000EL Connector 10320 3210 000 Shell kit 10320 3210 000 Shell kit LG i Li LG RD RD TD TD LG LG EMG EMG BAT 12 17 12 OPTIONS AND AUXILIARY EQUIPMENT c Q172J2BCBLOM B When using the battery unit Q170BAT use the Q172J2BCBLOM B For the Q170BAT refer to the Motion Controller Q Series User s Manual IB NA 0300021 1 Model definition Model Q172J2BCBL OM O 2 Connection diagram Q172J2BCBLLIM HDR E14MG1 Connector 10120 6000EL Connector HDR E14 LPA5 Connector case 10320 3210 000 Shell kit TD1 1 RD TD1 8 RD LG 2 LG LG 9 LG RD 3 TD RD 10 TD LG 6 LG BT 13 BT EMG 4 EMG EMG 11 EMG SD Shell SD d Q173J2BACBLOM 1 Model definition Symbol Connection of Battery Unit Q172J2BCBL 1M B HDR E14MG1 Connector 10120 6000EL Connector HDR E14 LPA5 Connectorcase 10320 3210 000 Shell kit TD1 2 RD TD4 8 12 RD LG 2 1 LG LG 9 11 LG RD 3 4 TD RD 10 14 TD LG 6 5 LG BT 13 9 BT EMG 4 7 EMG 11 17 EMG SD Shell Plate SD BAT 1 LG 2 HCN2 2
61. 200 0 to max speed Acceleration deceleration time constant ms 1000 1 to 50000 2 Operation method Forward rotation start Click Forward button Reverse rotation start Click Reverse button Click Pause button 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 Click Start button Click Reset button d Motorless operation Motor less operation may be 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 1s actually running This operation may be used to check the servo system controller sequence Use this operation with the forced stop reset Use this operation with MELSERVO J2M connected to the servo system controller Exercise contr
62. 24 6 1 Different adjustment methods 6 1 6 1 1 Adjustment on a 42 6 1 6 1 2 Adjustment using MR Configurator servo configuration software sse 6 3 6 22 ACUTO TUNNA 6 4 6 2 1 A uto tunine mode iecit qeu etiim ete tene 6 4 6 2 2 Auto tuning mode nennen 6 5 6 2 3 Adjustment procedure by auto 10 6 6 6 2 4 Response level setting in auto tuning mode seen enne eene eene ener 6 7 6 3 Manual mode 1 simple manual 1 6 8 6 3 1 Operation of manual mode 1 6 8 6 3 2 Adjustment by manual mode 1 6 8 6 4 Interpolation modes BI s 6 11 T L Function block reete eqteen coe ia eitis 7 1 1 2 Machine resonance suppression filter sai ndi diuine ded uin pa iie Ha ia ali clara T 1 7 3 Adaptive vibration Suppression controls aene 17 8 PASS Hte eet rete pee tete se rie tedio 74 4 5 Gan changing aes 7 5 TOL App UTE i O3 serere bere ted e
63. 5 R vx La 1 plase S 200 to 230VAC 0 0 00V L2 12 L 3 Note Connect a 1 phase 200 to 230VAC power supply to L1 L2 and keep Ls open Servo motor Dimensions mm in Mounting Terminal Mass output total ww a L s jeeesze sewsze y 300W max FR BAL 0 4K 135 5 31 120 4 72 115 4 53 59 2 32 45 _9 1 77 7 5 0 29 M3 5 2 0 4 4 More than 300W eee on FR BAL 0 75K 135 5 31 120 4 72 115 4 53 69 2 72 57 2 224 0 7 5 0 29 M3 5 2 8 6 17 max More than 450W s 8S 15 160 6 30 145 5 71 140 5 51 71 2 79 55 _9 2 17 us 7 5 0 29 M4 M3 5 3 7 8 16 max 1100W max More than 1100W t FR BAL 3 7K 220 8 66 200 7 87 192 7 56 90 3 54 70 2 G 76 244 10 0 39 4 8 5 18 74 1900W max More than 1900W t FR BAL 5 5K 220 8 66 200 7 87 192 7 56 96 3 78 75 5 2 95 0 2 1000 39 5 M4 9 5 20 94 2500W max More than 2500W t uia 2m FR BAL 7 5K 220 8 66 200 7 87 194 7 64 120 4 72 100 5 3 94 0 2 10 0 39 5 5 14 5 82 0 max More than 750W t 2 2 160 6 30 145 5 71 140 5 51 91 8 58 75 8 95 0 7 5 0 29 M4 M35 5 6 12 35 5 12 27 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 4 Relays The following relays should be used
64. 5S 2 Socket HNC2 2 5S D B Terminal Model Q173J2B ACBL Symbol SSCNET Line Number SSCNETI Line SSCNET2 Line SSCNETS Line SSCNET4 Line 12 18 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Connection diagram 4 When A Q173J2B ACBLOM 10120 6000EL Connector HDR E26MG1 Connector 10320 3210 000 Connector case SSCNET1 Line HDR E26 LPA5 Connector case 4 u lt 2 lt aa 2 9 aa 9 aa 5 9 aa Sg Qa Lr e Lr a cro BePROR u c c ORBSB o cro S ePROER o ra lt lt ie ME e zs res c or LL 7 Lv v ee pp lt i H gt i Lu i Z 2 2 i 1 1 ESL em eee ee Pe nw E OEE PENEN E CO gt o9a99g amp go09 t 98H eg 5 NN xoi c x 55 aN BB 880088 SZ sa B8 o c ac ac 7 12 19 12 OPTIONS AND AUXILIARY EQUIPMENT 5 Battery cable When
65. 7 5000 5556 PBT2L AWG28 ____ 57064 5000 5556 PBT3L AWG16 si 7022 5300 10 9 10 OUTLINE DRAWINGS 6 Bus cable connector Honda Tsushin Industry HDR type Model HDR Number of Pins Note Crimping terminal HDR E14MG1 HDR EI4LPAS _ Wire straightening tool _ 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 x7 0 24 x 0 28 i 1 25 0 98 25 8 1 02 10 10 11 CHARACTERISTICS 11 CHARACTERISTICS 11 1 Overload protection characteristics An electronic thermal relay is built in the drive unit to protect the servo motor and drive unit from overloads Overload 1 alarm A 50 occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 13 1 or overload 2 alarm A 51 occurs if the maximum current flows continuously for several seconds due to machine collision etc Use the equipment on the 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 recommende
66. A 1A Servo motor Wrong combination of Wrong combination of drive unit and correct combination combination drive unit and servo servo motor connected error motor FA 1B Axis set Drive units installed IFU parameter No 11 to 18 setting Make correct setting on the same drive unit mistake have the same axis number error 1 communication base unit properly between interface unit and drive unit Base unit bus There is error in 1 Drive unit connection fault Connect the drive unit to the between interface unit and drive unit Drive unit Drive unit came off 1 Drive unit connection fault Connect the drive unit to the initialization 3 Faulty parts in drive unit Change the drive unit Checking method Alarm A 1E occurs if power is switched on after disconnection of the U V W power cables 9 TROUBLESHOOTING Display T Definition Cause Action Ceu agp Mme 20 Encoder error 2 Communication error occurred between encoder and drive unit A 24 Main circuit error A 25 Absolute position erase FA 30 Regenerative alarm Ground fault occurred at the servo motor outputs U V and W of the drive unit in error Power was switched on for the first time in the absolute position detection system Permissible regenerative power of option is exceeded Regenerative transistor fault Absolute position data
67. 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 About the manuals gt gt This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use MELSERVO J2M for the first time Always purchase them and use the MELSERVO J2M safely Also read the manual of the servo system controller Relevant manuals MELSERVO J2M Series To Use the AC Servo Safely Packed with the MR J2M P8B MR J2M OBU and MR J2M BUD TB NA 0300027 MELSERVO Servo Motor Instruction Manual SH NA 3181 EMC Installation Guidelines IB NA 67310 In this Instruction Manual the drive unit interface unit and base unit may be referred to as follows Drive unit DRU Interface unit Base unit BU A 10 1 FUNCTIONS AND CONFIGURATION 1 1 to 1 10 I LQ VOR VIC 1 1 1 2 Function block diagram uA RR GREG HGB 1 2 1 9 Unit standard speetficatioris leere tele tete tette etae ego ete qe edades 1 3 UA M E E M EM 1 4 1 5 Model code definition c cccccscccsscssscesecessscssecesecssecssecssecssecssecssecssec
68. DC Forced asl 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 200 to 230VAC power supply Controller Note 1 forced Alarm sto orce RAT RAD stop OFF ON Mice quum ze alo alo E gea SK MELSERVO J2M Note 2 NFB MC NP3 Power supply 919 Li 4 sels ufa 200 to 230VAC L2 2 Ls 3 CNP1B Lu 1 La 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 For 1 phase 200 to 230VAC connect the power supply to L1 L2 and leave L3 open 3 15 3 SIGNALS AND WIRING 3 4 2 Connectors and signal configurations The pin configurations of the connectors are as viewed from the cable connector wiring section Base unit The connector frames are connected to the PE earth terminal of the base unit Cable side connector Connector Housing 1 178128 3 X type CNP1A Contact 917511 2 max sheath OD 6 2 8 mm 353717 2 max sheath OD 3 4 mm Note Housing 2 178128 3 Y type Tyco 1 Contact 91 1 2 max sheath OD 2 8 mm Electronics 3 7 2 max sheath OD 3 4 mml Note CNP3 Housin
69. Do not let a magnetic contactor etc intervene Drive unit Servo Motor 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 and other protective circuits may not operate Interface unit Interface unit SG SG Control output Control 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 N CAUTION Provide a emergency 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 reset 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 MELSERVO J2M Burning or breaking each unit may cause a toxic gas Do not burn or break each unit Use the drive unit with the specified servo
70. E3 J N CAUTION has occurred always perform home position setting again Not doing so can cause runaway 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 whether 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 MELSERVO J2M Position data Current position Detecting Detecting the Battery the number position within unit MR J2M BT of revolutions one revolution 1 pulse rev accumulative revolution counter Super capacitor Home position data Position control speed control Servo motor High speed serial communication Within one revolution counter 13 1
71. IGNALS AND WIRING 3 1 Connection example of control signal system Refer to Section 3 4 for the connection of the power supply system and to Section 3 5 for connection with the servo motor Interface unit Note 5 Note 5 24VDC CN3 CN3 VIN 8 13 MBR Note 2 6 Note 3 4 7 Note EM1 20 4 2226 05 Forced stop SG 8 10k0 Note 8 14 MO2 Reading in mu 9 Analog monitor 7 MO3 AT TEE 10ko both directions Servo system Plate SD Be controller Note 10 13 Bus cable 2m 6 56ft or less Option Note 5 7 Note 11 12 13 f Note 5 Termination connector MR A TM Cable clamp Base unit Option Drive unit 5 Slot 1 CN2 Drive unit CON3B Note 5 Slot 2 CN2 Note 9 MR Configurator Note 4 Note 5 servo configuration Personal computer AN software 15m 49 2ft or less 2 4 Drive unit Note 5 Slot 8 dd Note 14 Battery unit MR J2M D01 MR J2M BT 2 CON5 CN4A CN4B pm Note 1 Encoder output pulses Encoder output pulses 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
72. IO unit MR J2M D01 by the Encoder pulse output A Z phase pulse The number of pulses output by the parameter can be changed 1 FUNCTIONS AND CONFIGURATION 1 5 Model code definition 1 Drive unit a Rating plate SON ALM O Rating plate MITSUBISHI MELSERVO MODEL Model MR J2M 40DU lt lt POWER 400W 4 Capacity INPUT DC270V 311V lt lt Applicable power supply OUTPUT 170V0 360Hz23A Rated output current SERIAL 2795046 1 TlC300A GBl Serial number ae MITSUBISHI ELECTRIC Rating plate b Model code MR J2M LIDU Rated output Symbol Capacity of applied servo motor 2 Interface unit a Rating plate AC SERVO fas MR J2M P8B 4 POWER 75W Input capacity AC INPUT 2PH AC200230V 5062 _ Applicable ane 2PH AC200 230V 60Hz sewer SUpply OUTPUT DC5 12 20 4 6A 1 2 0 7A 4 Output voltage current SERIAL _ A5 C Serial number b Model code MR J2M P8B mm ET compatible 1 FUNCTIONS AND CONFIGURATION 3 Base unit a Rating plate Rating plate MR J2M BU4 lt gt Model INPUT 3PH 200 230 Applicable power 14A 50 60Hz supply Serial number PASSED b Model code MR J2M BULI Number of Maximum servo motor Symbol connection capac
73. J2HBUSOM A 0 505 10 a Sitar 10pair CREAM COSTE OM 1 64 to 16 4 UL20276 AWG 28 1Q173J2BACBLOM 7 NS CREAM Battery unit xt J2MBATCBLO 0 3 1 Note 1 d is as shown below d Conductor Insulation sheath 2 Purchased from Toa Electric Industry 3 Standard OD Max OD is about 1096 greater 12 2 2 No fuse breakers fuses magnetic contactors Always use one no fuse breaker and one magnetic contactor with one drive unit Make selection as indicated below according to the total output value of the servo motors connected to one base unit When using a fuse instead of the no fuse breaker use the one having the specifications given in this section 1 No fuse breaker 2 Fuse Servo motor output total Current A Voltage 3 Magnetic contactor Servo motor output total Magnetic contactor 1700W max S N10 More than 1700W to 2800W max S N18 More than 2800W to 3300W max S N20 12 26 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 3 Power factor improving reactors The input power factor is improved to be about 9096 Make selection as described below according to the sum of the outputs of the servo motors connected to one base unit Unit mm Unit in Base unit 2 NFB MR J2M BULI N D 3 phase 200 to 230VAC d Base unit MR J2M BULI Installation screw MC _ FR BAL Note 61
74. Joo 1 Qm 00 20D 45005 6555555555900 NF 0 00 5 5500 65555725550 Dos B 0 cM 00 qm CGCOLDCOLDCICOCD 4900 5 X booooooo0o0dn H Dn 00 q CLDODEBCEJOOD m 90 n booooooo0o0bg 156 jon cprnoannmunegogor 00 1 00 5005 2555955985026 g Qn cmoamounauor 00 5 5500 6552522125520 Oy B _ crnomomunagup Jo oc CEDODEBECIDOCUOO 5 00 6 e aaooocmooo 300 Y gt 5 iD QDUDODDODOLDDOCODDODO Q e 8c zrs 081 22 9 891 720 90 16 158 6 22 70 2 76 10 1 70 2 76 lt E A lt s 21 9 081 279 061 L L
75. MITSUBISHI ELECTRIC General Purpose AC Servo Series Compatible MR J2M P8B MR J2M LIDU MR J2M BULI 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 units until you have read through this Instruction Manual Installation Guide Servo Motor Instruction Manual and appended documents carefully and can use the equipment properly Do not use the units 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 WARNING Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury A 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 S Indicates what must not be done For example No Fire is indicated by e Indicates what must be done For example grounding is indicated by db i In this Instruction Manual instructions a
76. POINT Section 9 2 Reexamination of 52 content Section 12 1 1 3 Partial reexamination of sentence Section 12 1 1 4 Reexamination of outline drawing Section 12 1 4 2 Reexamination of content Section 12 2 6 2 d Modification of FR BSFO01 outline drawing Section 12 2 6 2 Reexamination of connection diagram Section 13 2 1 Addition of POINT Oct 2005 SH NA 030012 G Safety Instructions 1 To prevent electric shock Description is corrected as 15 minutes 4 Additional instructions 2 4 Caution sentence addition Usage Sentence change Compliance with EC Directives Partial sentence change Conformance with UL C UL Standard 4 Partial sentence change Chapter 2 CAUTION sentence addition Section 3 6 CAUTION sentence addition Section 3 6 3 Sentence change Section 3 7 CAUTION sentence addition Section 5 2 1 1 2 Addition of parameter No 49 to 55 60 61 Section 5 2 3 2 Note addition Section 7 5 Addition of gain changing function Chapter 8 WARNING sentence partial change Section 9 1 Note addition in the table for alarm code No A45 A46 Section 9 2 CAUTION sentences addition Addition of the contents of DRU parameter 17 Print Data Manual Number Oct 2005 SH NA 030012 G Section 9 3 Reexamination of Cause 2 of DRU parameter No A 92s Partial addition of the cause of IFU parameter No FA 9F Correction of the contents of IFU parameter No FA E9 Section 10 2 Addition of moun
77. VO J2M has been installed it must conform to the electromagnetic compatibility Gmmunity emission standards after it has satisfied the operating environment electrical equipment specifications For the other EMC directive guidelines on MELSERVO J2M refer to the EMC Installation Guidelines IB NA 67310 CONFORMANCE WITH UL C UL STANDARD The MELSERVO J2M complies with UL508C 1 Unit and servo motors used Use the each units and servo motors which comply with the standard model Drive unit MR J2M LIDU Interface unit MR J2M P8B Base unit MR J2M BULI Servo motor 0 HC UFSO 2 Installation Install a fan of 100 2 8m min air flow 4 in 10 16 cm above MELSERVO J2M or provide cooling of at least equivalent capability 3 Short circuit rating MELSERVO J2M conforms to the circuit whose peak current is limited to 5000A or less Having been subjected to the short circuit tests of the UL in the alternating current circuit MELSERVO J2M 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 15 minutes after power off Discharge time min MR J2M BU4 MR J2M BU6 4 MR J2M BU8 5 Options and auxiliary equipment Use UL 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
78. ables of MELSERVO J2M 2 Insert the line noise filter FR BSFO1 FR BLF on the power cables of MELSERVO J2M When the cables of peripheral devices are connected to MELSERVO J2M 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 ZCAT3035 1330 of TDK and the ESD SR 25 of NEC 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 mmy Unit in 10 to 100MHZ 100 to 500MHZ 39411 5440 04 Loop for fixing the 3441 cable band a 3430 04 0 5150 04 1 1850 04 Product name Lot number Outline drawing ZCAT3035 1330 12 30 12 OPTIONS AND AUXILIARY EQUIPMENT b Surge suppressor The recommended surge suppressor for installation to an AC relay AC valve AC electromagnetic brake or the like near MELSERVO J2M is shown below Use this product or equivalent ap 5 Surge suppressor s j Surge suppressor S rae sSUDDIessor This distance should be short id udis within 20cm 0 79 in Relay
79. about the same as the electromagnetic brake operation delay time to prevent a drop Coasting Servo motor speed 0 r min 100ms ON Base circuit OFF Electromagnetic brake interlock MBR MBR1 to MBR8 Valid OFF Electromagnetic brake operation delay time Servo on command from controller b Forced stop command from controller or forced stop EM1 ON OFF Dynamic brake Dynamic brake Electromagnetic brake Flectromagnetic brake Electromagnetic brake release 1 Servo motor speed 20 1 180 1 o ON Base circuit OFF Electromagnetic Invalid ON Electromagnetic brake brake interlock 1 to MBR8 Valid OFF Forced stop Invalid ON command from controller Valid OFF operation delay time Forced stop 3 SIGNALS AND WIRING c Alarm occurrence Dynamic brake Dynamic brake Servo motor speed 10ms Base circuit OFF Electromagnetic Invalid ON Electromagnetic brake brake interlock operation delay time MBR MBR1 to MBR8 Valid OFF No ON Yes OFF Trouble ALM d Both main and control circuit power supplies off Dynamic brake Dynamic brake Servo motor speed gt Base circuit Electromagnetic Invalid ON brake interlock MBR MBR1 to MBR8 m 0 4 Electromagnetic brake operatio
80. acitor carries electrical charge When this lamp is on do not remove reinstall any unit from to base unit and do not unplug plug cable and connector from into any unit 1 FUNCTIONS AND CONFIGURATION 3 Base unit The following shows the MR J2M BUA CON3A CNP1B First slot connector Control circuit power input connector CON3C Third slot connector CNP1A Regenerative brake option connector CON4 Option slot connector CNP3 NEN Main circuit power input connector CON5 CON1 CON2 Battery unit connector Interface unit connectors Second slot connector Fourth slot connector 1 FUNCTIONS AND CONFIGURATION 1 8 Servo system with auxiliary equipment N WARNING To prevent an electric shock always connect the protective earth PE terminal terminal marked G of the base unit to the protective earth PE of the control box 3 phase 200V to 230VAC Note 1 phase 200V to 230VAC power supply Regenerative brake option Section 12 1 1 Cables Section 12 2 1 Power factor improving reactor Section 12 2 3 Options and auxiliary equipment Reference No fuse breaker NFB or fuse Servo system Subsequent axis Control circuit controller servo amplifier power supply or or Preceding axis Termination Magnetic servo amplifier connector contactor MC Power factor improving reactor Main circuit power supply To
81. agram 12 31 12 OPTIONS AND AUXILIARY EQUIPMENT Outline drawing Unit mm Unit in Earth plate Clamp section diagram 2 5 0 20 hole 17 5 0 69 installation hole L or less 10 0 39 Jl wu e a lt on RE Note Screw hole grounding Connect it to the earth plate of the control box A B c Accessory fittings Clamp fitting 100 86 30 lamp 2 A 10 8 39 a189 ee 2 76 AERSBAN ESET 96 lamp 1 2 E cla C 2 76 2 20 TIS 1 77 12 32 0 940 12 OPTIONS AND AUXILIARY EQUIPMENT d Line noise filter FR BSF01 This filter is effective in suppressing noises radiated from the power supply side and output side of MELSERVO J2M and also in suppressing high frequency leakage current side zero phase current especially within 0 5MHz to 5MHz band Connection diagram Outline drawing Unit mm Unit in Wind the 3 phase wires by the equal number of times in the same direction and connect the filter to the power supply side and output side of MELSERVO J2M 110 4 33 The effect of the filter on the power supply side is higher as the 95 0 5 3 74 0 02 number of winds is larger The number of turns is generally four gt a 2 If the wires are too thick to be woun
82. am Reexamination of motion controller compatible bus cable in Note 13 Section 3 4 Partial change of CAUTION sentence Section 3 4 4 3 Partial reexamination of connection diagram Section 3 5 3 2 Reexamination of diagram Section 4 2 4 2 Partial reexamination of sentence Section 5 1 2 2 Addition of When built in regenerative brake resistor is used to DRU parameter No 2 Print Data Manual Number Apr 2003 SH NA 030012 D Section 9 2 Reexamination of cause and action in FA 12 to 15 Addition of cause and action to FA 37 Reexamination of A 50 definition Addition of During rotation 2 5s or more to A 51 Section 10 3 3 Change to applicable tool 91560 1 Section 10 3 6 Addition Section 12 1 2 1 Reexamination of motion controller compatible bus cable in Note Bus cable addition Section 12 1 2 4 Reexamination of contents Section 12 2 1 2 Bus cable addition Mar 2004 SH NA 030012 E Reexamination of description on configuration software Safety Instructions 1 To prevent electric shock Addition of sentence 3 To prevent injury Change of sentence 4 Additional instructions 1 Change of sentence COMPLIANCE WITH EC DIRECTIVES Modified to IEC60664 1 in 3 Modified to IEC60664 1 in 4 Section 2 7 Partial modification of CAUTION sentence Section 3 7 4 a Partial change of timing chart Section 5 1 2 Change of POINT sentence Section 5 2 1 Change of POINT sentence Addition of IFU parameter No 9 and
83. ange regenerative brake option TET Given Bue cable is faulty unit side axis setting A 35 Command Input frequency of 1 Command given is greater than the Review operation program high controller FA 36 Transfer error Bus cable or printed board is faulty cable 2 Bus cable fault Change the cable 3 Printed board is faulty Change the interface unit 4 Termination connector disconnected Connect termination connector 9 TROUBLESHOOTING Display Name Definition Cause Action FA 37 parameter parameter setting 1 Interface unit fault caused the Change the interface unit error 18 wrong parameter setting to be rewritten 2 There is a IFU parameter whose Change the IFU parameter value value was set to outside the setting to within the 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 A 37 DRU parameter DRU parameter 1 Drive unit fault caused the DRU Change the drive unit setting is wrong parameter setting to be rewritten 2 There is a DRU parameter whose Change the DRU parameter value was set to outside the setting value to within the setting range range by the controller FA 38 DRU parameter In some drive unit the There is a drive unit whose DRU Make correct setting adjustment parameter which parameter 2 or 23 setting 18 error requires all axes to be differ
84. as in the timing chart in 4 in this section 3 SIGNALS AND WIRING 3 Electromagnetic brake interlock signal There are the following electromagnetic brake interlock signals The MR J2M D01 is required to use to 8 Load the MR J2M D01 to the option slot of the base unit Electromagnetic Electromagnetic brake interlock signal for all axes or the axis MBR CN3 13 brake interlock selected in parameter No 10 Electromagnetic 3 MBR1 CN4A 9 Electromagnetic brake interlock signal for axis 1 brake interlock 1 Electromagnetic brake interlock 2 Electromagnetic 2 MBR3 CN4A 34 Electromagnetic brake interlock signal for axis 3 brake interlock 3 CN4A 10 Electromagnetic brake interlock signal for axis 2 Electromagnetic MBR4 CN4A 35 Electromagnetic brake interlock signal for axis 4 brake interlock 4 Electromagnetic MBR5 9 Electromagnetic brake interlock signal for axis 5 brake interlock 5 Electromagnetic F MBR6 CN4B 10 Electromagnetic brake interlock signal for axis 6 brake interlock 6 Electromagnetic A MBR7 CN4B 34 Electromagnetic brake interlock signal for axis 7 brake interlock 7 Electromagnetic A i MBR8 CN4B 35 Electromagnetic brake interlock signal for axis 8 brake interlock 8 a Electromagnetic brake interlock MBR This signal is output from the CN8 connector of the interface unit This signal allows you to select the axis numb
85. ased switching is valid in position control mode refer to DRU parameter No 34 PID control is always valid 5 PARAMETERS Classifi Initial Setting Symbol Name and Function cation Value Range 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 TE output pulse setting selection refer to parameter No 38 0 Output pulse setting 1 Division ratio setting 34 VPI control switch over position droop Used to set the position droop value number of pulses at which PI control is switched over to PID control Set 0001 in DRU parameter No 32 to make this function valid 1 Do not change this value by means VDC Speed differential compensation Used to set the differential compensation 37 For manufacturer setting 0010 38 ENR Encoder output pulses 4000 pulse rev 1 POINT to The MR J2M DO01 extension IO unit is required to output the 65535 encoder pulses A phase B phase Z phase Used to set the encoder pulses A phase B phase output by the enhancing IO unit Set the value 4 times greater than the A phase and B phase pulses You can use DRU parameter No 33 to choose the output pulse setting or output division ratio setting Expansion DRU parameters The number of A phase and B phase pulses actually output is 1 4 times greate
86. asic IFU parameters Serial communication time out selection Set the time out period of the communication protocol in s unit Setting 0 disables time out check Function selection 1 0000 Refer to Used to select the protocol of serial communication name and lolol fo function column Protocol checksum selection 0 Yes checksum added 1 No checksum not added 5 16 5 PARAMETERS Classifi Initial Setting Symbol Name and Function Unit cation Value Range 3 MD1 Analog monitor 1 output 0000 Refer to Choose the signal to be output to analog monitor 1 name and 0 function column Analog monitor 1 selection Servo motor speed 4V max Servo motor speed Torque 4V max Torque Servo motor speed 4V max Servo motor speed Torque 4 Torque Current command 4V max Current command Speed command 4V max Servo motor speed Droop pulses 4V 128pulse Droop pulses 4V 2048pulse Droop pulses 4V 8192pulse Droop pulses 4V 32768pulse Droop pulses 4V 131072pulse Bus voltage 4V 400V In position AV ON Ready 4V ON Trouble 4V ON Axis number of channel 1 Choose the axis number output to analog monitor 1 Axis number set value Selecting 0 disables output MOOWPOANDANA WHAT Basic IFU parameters MUOOWPOANDNAAWNHAO 4 MD2 Analog monitor 2 output 0000 Refer to Choose the signal to be
87. auto tuning is automatically used Machine resonance suppression filter 1 Notch filter Refer to Used to select the machine resonance suppression filter name Refer to Section 7 2 and function 0 column Notch frequency selection os 5625 os 50 os sez 35 Notch depth selection 1 z 3 Feed forward gain 0 Set the feed forward gain When the setting is 100 the droop to pulses during operation at constant speed are nearly zero However 100 sudden acceleration deceleration will increase the overshoot As a guideline when the feed forward gain setting is 10096 set 1s or more as the acceleration deceleration time constant up to the rated speed Adjustment DRU parameters 5 PARAMETERS Classifi Initial Setting Symbol Name and Function cation Value In position range pulse Used 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 50000 parameter No 6 For example when you want to set 10um in the conditions that the ballscrew is direct coupled the lead is 10mm 0 39inch and the feedback pulses are 8192 pulses rev parameter No 6 1 set 8 as indicated by the following expression z 8192 8 192 8 MBR Electromagnetic brake sequence output Used to set a time delay Tb from when the electromagnetic brake interlock MBR turns off until th
88. base unit 2 INSTALLATION AND START UP 2 6 When switching power on for the first time Before starting operation check the following 1 Wiring a Check that the control circuit power cable main circuit power cable and servo motor power cable are fabricated properly b Check that the control circuit power cable is connected to the CNP1B connector and the main circuit power cable is connected to the CNP3 connector c Check that the servo motor power cable is connected to the drive unit CNP2 connector d The earth terminal of the servo motor is connected to the PE terminal of the drive unit Also check that the drive unit is screwed to the base unit securely e When using the regenerative brake option check that the cable using twisted wires is fabricated properly and it 13 connected to the CNP1A connector properly f 24VDC or higher voltages are not applied to the pins of connector CN3 g SD and SG of connector CN3 are not shorted h The wiring cables are free from excessive force G 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 Gj Check that the encoder cable and servo motor power cable connected to the drive unit are connected to the same servo motor properly 2 Axis number a Check that the axis nu
89. cations Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4VA 12 5 12 OPTIONS AND AUXILIARY EQUIPMENT 4 Outline drawing MR RB032 MR RB14 Unit mm in LA 6 0 24 mounting hole T x E p EY 3 5 1 i e e jo 5 0 20 1 Terminal block i ate x G3 G4 C n us e Terminal screw 4 E eh Tightening torque Sf 0 5 to 0 6 N m 4 to 5 Ib in 1 6 0 06 1 _ Mounting screw 20 Screw size M5 0 79 LD gt Tightening torque 3 2 Nm 28 32 Ib in Regenerative Variable dimensions Mass brake option A LC 1D fioj 12 6 12 OPTIONS AND AUXILIARY EQUIPMENT b MR RB34 Unit mm in ox Terminal block e e P a C Terminal screw M4 Rg nm mm m G3 Tightening torque 1 2 N m 10 6 Ib in al NU G4 32 H En i E e o gt gt gt gt El gt gt gt ex Sh Mounting screw 7 gt gt 5 Screw M6 LTT gt Tightening torque 5 4 N
90. control gain 1 DRU parameter No 14 Check the upper setting limits Choose the interpolation mode DRU 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 Fine adjustment gains and response level setting 3 Adjustment description a Position control gain 1 DRU 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 b Speed control gain 1 DRU parameter No 14 Set the response level of the speed loop of the model Make setting using the following expression X 131 072 pulse Droop pulse value pulse as a guideline Speed contro
91. d use two or more filters 69 and make the total number of turns as mentioned above 65 2 56 11 25 0 5 0 44 0 02 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 933 1 3 The filter effect will decrease Use a separate wire for grounding Example 1 NFB MC Base unit Power La supply ES 5 o o 4 L2 Line Ls filter Number of turns 4 Example 2 NFB 5 Base unit o Power p Line noise 4 filter o Two filters are used Total number of turns 4 Radio noise filter FR BIF for the input side only This filter is effective in suppressing noises radiated from the power supply side of MELSERVO J2M 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 When using the FR BIF with a single phase wire always insulate the wires that are not used for wiring Base unit About 300 11 81 5 0 20 hole y Radio noise EIE e 0 28 filter FR BIF 44 1 73 12 33 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 7 Leakage current breaker 1 Selection met
92. d Windows NT are the registered trademarks of Microsoft Corporation in the United State and other countries Pentium is the registered trademarks of Intel Corporation 2 On some personal computers this software may not run properly 12 23 12 OPTIONS AND AUXILIARY EQUIPMENT b Configuration diagram Personal computer BU DRU First axis IFU Communication cable CN3 sem To RS 232C connector 12 24 DRU Eighth axis Servo motor Servo motor 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 use the 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 ded 3 Motor power supply lead Base unit Drive unit Servo motor Power supply U V W Motor Earth 5 Electromagnetic 2 Control circuit power supply lead brake lead Electro magnetic Regenerative brake option B2 brake 1 2 1 Encoder 4 Regenerative brake option lead Encoder cable refer to Section 12 1 2 The following table lists wire sizes The wires used assume that they are 600V
93. d deteriorates in characteristic The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its life in 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 Drive unit 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 18 found during inspection 8 INSPECTION 2 9 TROUBLESHOOTING 9 TROUBLESHOOTING 9 1 Alarms and warning list l he alarm warning whose indication is not given does not exist in that unit 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 O in the alarm deactivation column When an alarm warning occurs the interface unit display shows the corresponding unit and alarm number Interface unit display ie unit axis number Alarm warning number 1 F
94. d drive unit in the regenerative mode Inverse efficiency C charging J MR J2M 10DU MR J2M 20DU 55 MR J2M 40DU MR J2M 70DU Using the following expression find the total of C charging J of the MELSERVO J2M Number of drive unit axesx5 5J Then find the energy at each timing in a single cycle operation pattern The energy is positive in the driving mode and negative in the regenerative mode Enter signed driving regenerative energy values into the following calculation table The shaded areas indicate negative values 12 3 12 OPTIONS AND AUXILIARY EQUIPMENT Entry wig pelo Ap oxmy mo mop om om Lom om Second axis miei pom om _ Fouthaxis E4 Ei e ma Fifthaxis m m ess m om om MESNE m m x Seventhaxs m R Eighthaxis em r __ ED ES Regenerative ES BRENNEN Ll rre El poo ww eeu EN popu exer Calculate the total of energies at each timing Only when the total is negative timings 3 4 in the example use the following expression for calculation Wert Energy total ER regenerative energy ES absolute value C charging total EC If the subtraction re
95. d into those radiated from the cables connected to MELSERVO J2M 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 by MELSERVO J2M Noises transmitted in the air Noise radiated directly from MELSERVO J2M Route 1 Noise radiated from the power supply cable Route 2 Noise radiated from servo motor cable Route 3 Routes 4 and 5 Magnetic induction noise Static induction hoise 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 RON Sensor power Supply Instrument Sensor 2 Stele haa She Sop 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 MELSERVO J2M or run near MELSERVO J2M such devices may malfunction due to noises transmitted through the air The following techniques are required 1 Provide
96. d to use the machine so that the unbalanced torque is 7096 or less of the rated torque The overload protection characteristic is about 20 lower than that of the MELSERVO J2 Super series However operation at the 10096 continuous rating can be performed 1000 1000 During rotation 100 100 During rotation During servo lock During servo lock Operation time s 5 Operation time s 5 0 1 0 1 0 50 100 10 20 20 300 0 50 100 150 200 250 300 Note Load ratio Note Load ratio 96 a MR J2M 10DU to MR J2M 40DU b MR J2M 70DU Note If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a servo motor stop status servo lock status or in a 30r min or less low speed operation status the servo amplifier may fail even when the electronic thermal relay protection is not activated Fig 11 1 MR J2M multiple axis overload curve 11 1 11 CHARACTERISTICS 11 2 Power supply equipment capacity and generated loss 1 Amount of heat generated by the drive unit Table 11 1 indicates drive unit s 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 spe
97. data can be held with the encoder cable disconnected Battery replacement should be finished within this period 2 hours at delivery 1 hour in 5 years after delivery 2 Configuration Servo system controller Base unit Drive unit Interface unit Servo motor Battery unit MR J2M BT 3 Parameter setting Set 0001 in DRU parameter No 1 to make the absolute position detection system valid Absolute position detection selection 0 Valid used in incremental system 1 Invalid used in absolute position detection system 13 2 13 ABSOLUTE POSITION DETECTION SYSTEM 13 3 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator servo configuration software Choose Diagnostics and Absolute Encoder Data to open the absolute position data display screen 1 Click Diagnostics in the menu and click Absolute Encoder Data in the menu Servo Configuration Softy Parameters Test Digital Function device display No motor rotation Total power on time Amplifier version info Motor information Automatic voltage control Axis name setting Unit composition listing 2 Clicking Absolute Encoder Data displays the following window Absolute encoder data Absolute position data Listing of transmission and receiver interface data between controller and amplifier Value of each motor edge pulse Command pulse
98. e eren 3 27 4 OPERATION AND DISPLAY 4 1 to 4 10 4 1 Normalandication 4 1 41 s gUc C 4 2 41 2 Tf alarm warnitg 4 3 4 2 Status display mode of interface 4 4 4 21 Display flowchart ooreen eet tete i vase ett asada 4 4 4 2 2 Status display of interface unit esses eene eene tenen enr eethn nennen nen 4 5 4 2 3 Diagnostic mode of interface unit 4 6 4 2 4 Alarm mode of interface unit 4 7 4 2 5 Interface unit parameter mode ccccccsssccssscesssccessceescesesseceeseseeseecessecesssceeseceessecesecessecesseeeeseeees 4 8 4 2 6 Output signal DO forced UO EE C Eo eod 4 9 5 PARAMETERS 5 1 to 5 26 Del DIVE hu 5 1 5 1 1 Parameter write inhibit 5 1 SHE EA n 5 2 5 2 Interface unit siu inten iin eed eed d o ce eed fe e ead 5 15 5 21 parameter write d WISI RR A A III 5 15 5 15 5 23 5 21 5 2 4 Nest eese ed en reda exse eda eee dus ec tn eda ee eee eerte edo dev da 5
99. e base circuit is shut off S lit cs NN EE not change this value by any means 23 OP1 Optional function 1 0000 et to Used to make the servo forced stop function invalid name nr function L servo forced stop selection column 0 Valid Use the forced stop EM1 1 Invalid Do not use the forced stop EM1 Automatically switched on internally Encoder cable selection 0 2 wire type when MR JCCBL OM L H is used 1 4 wire type when MR JC4CBL is used Adjustment DRU parameters 24 OP2 Optional function 2 0000 Refer to Used to select slight vibration suppression control and motor less name operation and o o L sight 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 function column 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 Section 5 2 4 5 PARAMETERS Classifi Initial Setting Symbol Name and Function Unit cation Val
100. e 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 7 3 increased by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 2 and 3 6 GENERAL ADJUSTMENT c Adjustment description 1 Speed control gain 2 DRU 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 control gain setti Speed loop response frequency Hz 1 ratio of load inertia moment to servo motor inertia 2 Speed integral compensation DRU 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 1s increased to some degree The guideline is as indicated in the following expression Speed integral 2000 to 300
101. e servo system controller In this case the indication changes Ab y 5 The servo system controller is faulty E Communication started between the servo system controller and MELSERVO AC Initializing JoM 2 A Alarm Warning The alarm No warning No that occurred is displayed Refer to Section 9 1 It is a state of the test operation mode with the MR Configurator servo Note 3 configuration software Test operation mode JOG operation positioning operation programmed operation DO forced output motor less operation Note 1 denotes the slot number of the base unit and the axis number of the drive unit 2 indicates the warning alarm No 4 1 2 If alarm warning occurs 1 If alarm warning occurs in drive unit An alarm warning which occurred in the drive unit is represented by the following indication The following indication example assumes that an encoder error 16 occurred in the drive unit of axis 3 installed on slot 1 During alarm occurrence the decimal points in the fifth and second digits flicker 1 1 6 13 Axis number Alarm warning number Denotes alarm warning indication Slot number 2 If alarm warning occurs in interface unit An alarm warning which occurred in the interface unit 13 represented by the following indication The following indication example assumes that interface unit undervoltage A 10 occurred During alarm
102. ecome faulty If the power of the servo amplifier is switched OFF ON during the alarms allow more than 30 minutes for cooling before resuming operation Excessive regenerative warning A E0 Overload warning 1 A E1 If A E6 A E7 or A E9 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 to the cause of warning in the Indication field denotes the slot number of the base unit and the axis number of the drive unit 92 Open battery Absolute position lli warning detection system 2 Battery voltage supplied from the Change battery battery voltage is low battery unit to the encoder fell to about 3 2V or less Detected with the encoder 3 Encoder cable is open Change the encoder cable 96 Home position Home position return 1 Droop pulses remaining are greater Remove the cause of droop pulse setting warning could not be made in than the in position range setting _ the precise position 2 Home position return was executed Reduce creep speed during operation command 3 Creep speed high FA 9F Voltage of battery for Battery voltage fell to 3 2V or less Change the battery absolute position Detected with the serv
103. ed the power supply capacity will be smaller than the value in the table but generated heat will not change Table 11 1 Power supply capacity and generated heat at rated output Note 1 Note 2 SETUP Area required for heat dissipation Unit Servo motor Power supply Generated heat W EN capacitylkVA HCKFS053 13 u P 6 o 216 MR J2M 10DU HC MFS083 13 6e o 21 Hcursis os nu e 02 216 u e o 324 MR J2M 20DU HC MFS23 05 14 e o Boum 05 e 08 8M MR J2M 70DU Note 1 Note that the power supply capacity will vary according to the power supply impedance This value applies to the case where the power factor improving reactor is not used 2 Heat generated during regeneration is not included in generated heat To calculate heat generated by the regenerative brake option use Equation 12 1 in Section 12 1 1 11 2 11 CHARACTERISTICS 2 Heat dissipation area for enclosed drive unit The enclosed control box hereafter called the control box which will contain the drive unit should be designed to ensure that its temperature rise is within 10 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 F limit The necessary enclosure heat dissipation area can be calculated by Equation 11 1 _ where Heat dissipation area 1
104. el Connector 10120 6000EL Shell kit 10320 3210 000 Unit mm Unit in 6 7 0 26 ws 219 Logo etc 2 0 5 20 9 0 82 indicated here 0 02 m _ Se gt Tl of 10 6 10 OUTLINE DRAWINGS 2 connector 3M a Soldered type Model Connector Shell kit 39 0 1 54 23 8 0 94 10150 3000VE 10350 52F0 008 41 1 1 62 xk b Threaded type Model Connector Shell kit 52 4 2 06 10150 3000 VE 10350 52A0 008 Unit mm Unit in 17 0 0 67 18 0 0 71 46 5 1 83 gt Logo etc indicated here 1 1 12 7 0 50 Note This is not available as option and should be user prepared 39 0 1 54 5 2 0 21 23 8 0 94 41 1 1 62 Unit mm Unit in 18 0 0 71 lt 35 9 1 93 Logo etc are indicated here 12 7 0 50 10 OUTLINE DRAWINGS 3 CNP1A CNP1B connector Tyco Electronics Model CNP1A housing 1 178128 3 CNPIB housing 2 178128 3 Contact 917511 2 max sheath OD 6 2 8 mm 353717 2 max sheath OD 3 4 mm Applicable tool 91560 1 for 917511 2 937315 1 for 353717 2 Unit mm 5 08 0 2
105. ent from others set for the same value differs from those of the other axes A 45 Main circuit Main circuit device device overheat overheat 2 The power supply was turned on The drive method is reviewed A 46 Servo motor overheat larger output and off continuously by overloaded A 50 Overload 1 Load exceeded 1 Drive unit is used in excess of its Reduce load overload protection continuous output current Review operation pattern characteristic of servo Use servo motor that provides amplifier larger output 2 Servo system is instable and Repeat acceleration hunting deceleration to execute auto tuning Change auto tuning response level setting Set auto tuning to OFF and make gain adjustment manually 3 Machine struck something 1 Review operation pattern 2 Install limit switches 4 Wrong connection of servo motor Connect correctly Drive unit s output U V W do not match servo motor s input U V W 5 Encoder faulty Change the servo motor Checking method gt 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 status 3 Air cooling fan of drive unit stops 1 Change the drive unit or cooling fan 2 Reduce ambient temperature Servo motor 1 Ambient temperature of servo motor Review environment so that tem
106. ent ratio Auto tuning mode 1 Always estimated GD2 DRU parameter No 1 RSP DRU parameter No 9 initial value PG1 DRU parameter No 1 VG1 parameter No 1 PG2 DRU parameter No 1 VG2 DRU parameter No 1 VIC DRU parameter No Auto tuning mode 2 Fixed to parameter PG1 DRU parameter No 1 GD2 DRU parameter No 12 No 12 value VG1 parameter No 1 RSP DRU parameter No 9 PG2 DRU parameter No 1 VG2 parameter No 1 VIC DRU parameter No Manual mode 1 VG1 parameter No 1 GD2 DRU parameter 1 PG2 parameter No 1 PG1 parameter 1 VG2 parameter 1 VIC DRU parameter No 1 Manual mode 2 GD2 DRU parameter No 1 PG1 parameter 1 VG1 parameter 1 PG2 DRU parameter No 1 VG2 parameter 1 VIC DRU parameter No Interpolation mode Always estimated GD2 parameter No 12 PG1 DRU parameter No 1 PG2 DRU parameter 15 VG1 DRU parameter 1 VG2 DRU parameter No 16 VIC DRU parameter No 17 6 GENERAL ADJUSTMENT 2 Adjustment sequence and mode usage START nterpolation Yes Used when you want to made for 2 or more M match the position gain 1 axes No Interpolation mode PG1 between 2 or more axes Normally not used for Operation other purposes Allows adjustment by Auto tuning mode 1 D cp c c NE 6 merely changing the
107. er set value 1 In the initial setting the eighth axis 13 set to the eighth slot IFU parameter write inhibit 0000 Refer to Operation from unit operation section or name Setting Setting MR and operation servo configuration software function 0000 ppm initial IFU parameter No 1 to 19 Write value 000A F IFU parameter No 19 1 SLA 15 SL5 16 SL6 Basic IFU parameters a E SL7 18 SL8 19 BLK 5 PARAMETERS 5 2 3 Analog monitor The servo status can be output to 3 channels in terms of voltage Using an ammeter enables monitoring the servo status 1 Setting Change the following digits of IFU parameter No 3 to 5 IFU parameter No 3 Analog monitor 1 selection Signal output to across MO1 LG Axis number of analog monitor 1 IFU parameter No 4 Esp je Analog monitor 2 selection Signal output to across MO2 LG Axis number of analog monitor 2 IFU parameter No 5 ESSE SS Tren monitor 3 selection Signal output to across MO3 LG Axis number of analog monitor 3 IFU parameters No 6 to 8 can be used to set the offset voltages to the analog output voltages The setting range 1s between 999 and 999mV IFU parameter No Description Setting range mV Used to set the offset voltage for the analog monitor 1 Used to set the offset voltage for the analog monitor 2 999 to 999 8 to set the offset voltage
108. er of the drive unit to be used with IFU parameter No 10 EE Electromagnetic brake interlock output axis number selection Choose the axis number of the drive unit that will use electromagnetic brake interlock output MBR All connected axes 7 1 When selecting the corresponding axis number The timing chart of the corresponding axis is the same as in 4 of this section 2 When using all axes The timing chart in 4 a of this section changes as described below When the base circuits of all connected axes turn on electromagnetic brake interlock MBR turns on If the servo on command timings differ between the axes the axis whose servo on occurred first will result in overload alarm Hence the servo on command should be given to all axes at the same timing The others are as shown in 4 of this section 3 SIGNALS AND WIRING b Electromagnetic brake interlock 1 to 8 MBR1 to 8 By adding an extension IO unit you can use the electromagnetic brake interlock MBR for each axis The timing chart is as shown in 4 of this section 4 Timing charts a Servo on command from controller ON OFF Delay time 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 Tb to
109. ertia moment 2 times inertia moment after changing Position control gain 2 changing sed to set the ratio of the lt gt position IRL E Speed control gain 2 changing Used to set the ratio of the d nne speed control SCC M Speed integral compensation Used to set the ratio of the after changing speed integral os vios changing ratio compensation to speed integral compensation 4 CDP Gain changing selection Used to select the changing condition sed to set the changing condition values Gain changing condition You can set the filter time constant for a gain change at Gain changing time constant changing 7 SPECIAL ADJUSTMENT FUNCTIONS 1 DRU Parameters No 12 to 17 These parameters are the same as in ordinary manual adjustment Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment position control gain 2 speed control gain 2 and speed integral compensation to be changed 2 Ratio of load inertia moment to servo motor inertia moment 2 GD2B DRU parameter No 52 Set the ratio of load inertia moment to servo motor inertia moment after changing If the load inertia moment ratio does not change set it to the same value as ratio of load inertia moment to servo motor inertia moment parameter No 34 3 Position control gain 2 changing ratio DRU parameter No 53 speed control gain 2 changing ratio DRU parameter
110. eter setting list display change list display detailed display turning Device setting parameter IFU parameter DRU Test operation Jog 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 operation help display 2 System configuration Components Parameters To use this software the following components are required in addition to MELSERVO J2M and servo motor Note 1 Description IBM PC AT compatible where the English version of Windows 95 Windows 98 Windows Me Windows Workstation 4 0 or Windows 2000 Professional operates Processor Pentium 133MHz or more Windows 95 Windows 98 Windows 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 60M B or more Serial port used os Windows 95 Windows 98 Windows Me Windows NT Workstation 4 0 Windows 2000 Professional English version Connectable with the above personal computer Connectable with the above personal computer Communication MR CPCATCBL3M cable When this cannot be used refer to 8 Section 12 1 2 and fabricate Note 1 Windows an
111. for the analog monitor 3 2 Settings The three channels are all factory set to output servo motor speeds By changing the IFU parameter No 3 to 5 values you can change the data as shown in the following tale Refer to 3 for measurement points Setting Outputitem Setting Servo motor speed 1 Torque Note Driving in CCW direction CCW direction 4M 1 speed Max torque T 0 0 torque 1 CW direction Y m Driving in 4 CW direction 5 PARAMETERS Setting Output item Servo motor speed Setting Output item Droop pulses CCW direction Cow 4V 32768pulse direction 32768 pulse 5 32768 pulse T Max speed 0 Max speed CW direction Y 4M Droop pulses CCW direction 44V 131072pulse Driving in CCW direction 131 072 pulse 1 I 1 131072 pulse 3 Torque Note Driving in CW direction 4 V 1 torque 4 V Current command Max current command CW direction 1 1 1 1 1 i CW direction Speed command Max speed 400 V 1 Bus voltage 1 1 0 current command 4M Droop pulses 4V 128pulse 4IV 0 speed direction Droop pulses 4V 2048pulse 4 1 2048 CCW direction Alarm CW direction Droop pulse
112. g 1 1 Contact 31 Note This contact is not included in the option MR J2MCNM 3 16 3 SIGNALS AND WIRING 3 4 3 Terminals Refer to Section 10 2 1 for the layouts and signal configurations of the terminal blocks Connection target mH Connector Pin No Code a Description Application EE 1 When using a three phase power supply Supply L2 and L3 with three phase 200 to 230VAC 50 60Hz power 2 When using a signal phase power supply Supply and L2 with signal phase 200 to 230VAC 50 60Hz power Supply L11 and L21 with single phase 200 to 230VAC 50 60Hz power Main circuit power CNP1B a Control circuit power Regenerative brake Connect the regenerative brake option across P C eer mens Keep N open Refer to Section 12 1 1 Connect this terminal to the protective earth PE terminals of the Protective earth PE servo motor and control box for grounding 3 17 3 SIGNALS AND WIRING 3 4 4 Power on sequence 1 Power on procedure 1 Always wire the power supply as shown in above Section 3 4 1 using the magnetic contactor with the main circuit power supply 3 phase 200V L2 L3 1 phase 200 to 230VAC 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 Lii L21 simultaneously with the main circuit power supply or before switching on the main circuit p
113. ga Servo motor Leakage Drive unit Leakage current output kW current mA capacity kW mA 0 05 to 0 4 0 1 to 0 4 Leakage current 30 Cable size mm Fig 12 1 Leakage current example 191 192 for CV cable run in metal conduit 12 34 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 8 EMC filter For compliance with the EMC directive of the EN standard it is recommended to use the following filter Combination with the base unit Recommended filter Base unit Mass kg Ib MR J2M BU4 MR J2M BU6 SF1253 1 37 3 02 MR J2M BU8 2 Connection example EMC filter Base unit NFB LINE LOAD prt e e gs 4 Note 2 0 L2 E L2 Power supply 1 269 Note 1 Connect when the power supply has earth 2 Connect a 1 phase 200 to 230VAC power supply to L L2 and keep Ls open 3 Outline drawing Unit mm in SF1253 209 5 8 248 gt i 6 0 0 236 a LINE input side S o 5l 2 LOAD output side 4 8 5 23 0 0 906 12 35 12 OPTIONS AND AUXILIARY EQUIPMENT MEMO 12 36 13 ABSOLUTE POSITION DETECTION SYSTEM 13 ABSOLUTE POSITION DETECTION SYSTEM absolute position erase A 25 or an absolute position counter warning A
114. he IO interfaces system in I O column in the table refer to section 3 2 3 Connector Signal Symbol Function Applications pin No division Encoder A phase As LARD LBO and LBRO the pulses per servo motor revolution set DO 2 pulse 1 in the parameter No 38 of the corresponding slots are output in the Encoder B phase differential line driver system pulse 1 In CCW rotation of the servo motor the encoder B phase pulse lags the Encoder Z phase 5 encoder A phase pulse by a phase angle of 1 2 pulse 1 The relationships between rotation direction and phase difference of the A CN4A 47 CN4A 22 CN4A 46 CN4A 21 CN4A 45 CN4A 20 and B phase pulses can be changed using DRU parameter No 33 LZO and LZRO the zero point signals of the encoders of the corresponding slots are output One pulse is output per servo motor Encoder A phase pulse 2 Encoder B ph Ng COC er Daas revolution The same signals as OPO are output in the differential line pulse 2 driver system Encoder Z phase pulse 2 Encoder pulse outputs for slot 1 Symbol Encoder A phase pulse 1 LA1 LARI1 Encoder A phase pulse 3 Encoder Z phase 5 Encoder pulse outputs for slot 2 pulse 4 1 Encoder pulse outputs for slot 3 Encoder B phase 5 Encoder pulse outputs for slot 4 pulse 6 Encoder pulse outputs for slot 5 Encoder Encoder pulse outputs for slot 6
115. he drive unit Power supply voltage 1 Power supply voltage is low Review the power supply voltage had dropped to 200VDC Main circuit power switched on within 5s after it had switched off 5 Faulty parts in the base unit Checking method Alarm A 10 occurs if interface unit is changed 6 Faulty parts in interface unit Checking method Alarm A 10 occurs if base unit Change the base unit Change the interface unit is changed FA 10 Undervoltage fell to or below 160VAC 2 There was an instantaneous control circuit power failure of 30ms or longer 3 Shortage of power supply capacity caused the power supply voltage to Memory error 1 RAM memory fault FAIS error Printed board fault drop at start etc 4 Power was restored after the bus UN 7 1 Connect properly unplugged Faulty parts in the interface unit Change the interface unit Checking method Alarm any of A 11 and 13 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables m Checking method Alarm A 15 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables Change the interface unit 9 TROUBLESHOOTING Display T Definition Cause Action Eu egy Mme 12 er
116. he signals of the RS 232C connector refer to this section and fabricate the cable Model definition Model MR CPCATCBL3M Cable length 3 m 10 ft b Connection diagram MR CPCATCBL3M Personal computer side Interface unit side VINO Plate FG TXD 3 TE 2 RXD T TEN 1 LG 2 E 12 TXD GND 5 ral 11 LG RTS 7 otio ees CTS 8 DSR 6 DIR 4 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 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 15 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 MR J2HBUSOM A 1 Model definition Model MR J2HBUS LIM A Symbol Cable Length m ft 0 5 1 64 2 Connection diagram MR J2HBUS O M A PCR S20FS Connector 10120 6000EL Connector PCR LS20LA1 Case 10320 3210 000 Shell kit LG 4 LG 11 RD 2 RD 12 4 14 LG 5 LG
117. heir masses 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 each unit Each unit may drop Install the each unit 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 controller and servo motor must be installed in the specified direction Leave specified clearances between the base unit and control enclosure walls or other equipment Do not install or operate the unit 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 each unit and servo motor Do not drop or strike each unit or servo motor Isolate from all impact loads When you keep or use it please fulfill the following environmental conditions Environment Conditions 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 4 to 149 non freezing 5 to 158 non freezing Ambient 90 RH or less non condensing 80 RH or less non condensing humidity Cr In Euer ee 90 RH or less non condensing Arane ooo Indoors no direct sunlight Free from corro
118. hod 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 base unit 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 Ig2 Igm mA 12 1 Cable Leakage current breaker o i Type products Models provided with harmonic and surge gt S MELSERVO Cable J2M reduction techniques 101 Ign Iga 192 General models Leakage current on the electric channel from the leakage current breaker to the input terminals of the base unit Found from Fig 12 1 Ig2 Leakage current on the electric channel from the output terminals of the drive unit to the servo motor Found from Fig 12 1 Ign Leakage current when a filter is connected to the input side 4 4mA per one FR BIF Iga Leakage current of the drive unit Found from Table 12 4 Igm Leakage current of the servo motor Found from Table 12 3 Table 12 3 Servo motor s Table 12 4 Drive unit s leakage current leakage current example lgm example I
119. hole 2 36 130 4 72 Connector layout 5 5 0 20 30 1 18 6 5 0 26 an CNP2 1 t 2 4 x O S He 1 V CAA 1 wo 1 3 NAME 224 U N A m fics aed ix 2 Q Mounting screw SR ie NAME PLATE N DEO BEN repe 2 d Tightening torque F HM 5 5 1 5 N m EE m LES 13 3 Ib in ES EN 10 3 Mass 0 7kg 1 54 10 OUTLINE DRAWINGS 10 2 4 Extension unit MR J2M D01 Unit mm Unit in JE3ESESESEHEHEHESESESE3CULDO GOOO CILE EIE Approx 80 3 15 138 5 5 45 25 130 4 72 0 89S 6 5 0 26 5 470 244 5 40 18 e mounting hole Y 1 11 jw drm Mounting screw M4 Tightening torque 1 5 N m ces PE 13 3 Ib in E US ME i APR INL E wu R x amp mg 5 pod x pe c Hs S dH E i key gt N Y x TAI 4e rur Mass 0 2kg 1 106 10 2 5 Battery unit MR J2M BT Unit mm Unit in i 5 5 ila
120. ime constant 1 ms 0 Used to set the time constant at which the gains will change in to response to the conditions set in parameters No 49 and 50 100 Refer to Section 7 5 52 GD2B Ratio of load inertia moment to servo motor inertia moment 2 7 0 times 0 Used to set the ratio of load inertia moment to servo motor inertia to moment when gain changing is valid 300 0 53 PG2B Position control gain 2 changing ratio 100 96 10 Used to set the ratio of changing the position control gain 2 when to gain changing is valid 200 Made valid when auto tuning is invalid 54 VG2B Speed control gain 2 changing ratio 100 96 10 Used to set the ratio of changing the speed control gain 2 when gain to changing is valid 200 Made valid when auto tuning is invalid 55 VICB Speed integral compensation changing ratio 100 96 50 Used to set the ratio of changing the speed integral compensation to when gain changing is valid Made valid when auto tuning is 1000 invalid 56 For manufacturer setting 0000 57 Do not change this value by any means 0000 58 0000 59 0000 5 12 5 PARAMETERS Name and function Optional function C Use to select the encoder output pulse direction 0 0 0 E Set value Encoder pulse output phase changing Changes the phases of A B phase encoder pulses output Servo motor rotation direction Aphase 4 Bphasef f 4 T i E EG
121. imum total of 3000r min equivalent inertia moments Also find the sum total of permissible load inertia moments of the drive units installed on the same base unit Maximum total of 3000r min equivalent inertia moments Sum total of permissible load inertia moments of drive units x 1 42 Regenerative brake option is unnecessary Maximum total of 3000r min equivalent inertia moments Sum total of permissible load inertia moments of drive units x 1 42 Regenerative brake option is necessary Confirmation example In the following 8 axis system the total 3000r min equivalent inertia moment is maximum 9 75kg cm at the timing of 7 The permissible inertia moment of this 8 axis system is 11 36 kg cm as indicated by the following expression 8 axes x1 42 kg cm 11 36 cm Hence Maximum total of 3000r min equivalent load inertia moments 9 75 lt 11 36 kg cm The regenerative brake option is unnecessary Speed 41 2 3 4 5 6 7 8 9 10 11 12 13 First axis E 1 1 1 1 1 1 Second axis E iu ANUS Third axis gt M Operation pattern Fourth axis ATN d TTE ATN Fifth axis lt a 1 1 1 1 1 1 Sixth axis 47 lt Piet ah Seventh axis 1 Em Eighth axis ii 1 I 1 1 1 1 Total inertia moment Load Inertia Moment Servo motor shaft equivalent kg cm
122. ion diagram Base unit Drive unit Servo motor U Red V White W Black QD Green B1 Electro 053 B to 73 B ME le HC MFS053 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 base unit to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake 3 The protective earth of the servo motor is connected to the base unit via the drive unit mounting screw 3 19 3 SIGNALS AND WIRING 3 5 3 terminals 1 Drive unit The pin configurations of the connectors are as viewed from the cable connector wiring section CN2 Drive unit CNP2 2 4 113 Cable side connector onnector 1 Soldering type Connector 10120 3000VE Shell kit 10320 52F0 008 2 Insulation displacement type Connector 10120 6000EL Shell kit 10320 3210 000 Housing 5557 04R 210 CNP2 Terminal 5556PBT3L 2 Servo motor HC KFS HC MFS HC UFS3000r min series a Power supply lead Encoder connector signal arrangement 4 AWG19 0 3m 0 98ft Power supply connector Molex 2 Without electromagnetic brake a b 5557 04R 210 receptacle Enc de
123. irst slot 2 Second 5 3 Third slot 4 5 Fifth stot 6 ugiat 9 TROUBLESHOOTING Alarm deactivation Display Name CPU reset 1 Undervoltage Memory error 1 Memory error 2 Encoder error 1 gt mc ve D n c n 5 d o 5 Ini gt gt gt gt gt gt 2 gt 20 24 Main circuit error 25 Absolutepositionerase 30 Regenerative error O Note 1 O Note 1 Tee Overspeed Overcurrent Overvoltage DRU parameter adjustment error Main circuit device overheat O Note 1 O Note 1 Servo motor overheat O Note 1 Overload 1 O Note 1 Overload 2 O Note 1 Error excessive Ee 5397 Multiple axis overload Drive unit alarm O Note 2 O Battery warning Removing the cause of occurrence deactivates the alarm automatically Note 1 Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence 2 Resetting the drive unit alarm automatically deactivates the alarm display Warnings 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 absolute
124. itioning 2 Use the regenerative brake option of larger capacity 3 Reduce the load above 200VAC option Change the drive unit 9 TROUBLESHOOTING Display m Definition Cause Action Ceu agp Mme onem __ 31 Overspeed Speed has exceeded 1 Small acceleration deceleration time Increase acceleration the instantaneous constant caused overshoot to be deceleration time constant permissible speed large 2 Servo system is instable to cause 1 Reset servo gain to proper overshoot value 2 If servo gain cannot be set to proper value 1 Reduce load inertia moment ratio or 2 Reexamine acceleration deceleration time constant A 32 Overcurrent Current that flew is higher than the U V and W permissible current of 2 Transistor of the servo drive unit Change the drive unit the drive unit faulty Checking method Alarm A 32 occurs if power is switched on after disconnection of the U V W power cables amplifier output U V and W 4 External noise caused the Take noise suppression overcurrent detection circuit to measures misoperate FA 33 Overvoltage Converter bus voltage exceeded 400VDC used option 2 Though the regenerative brake Make correct setting option is used the DRU parameter No 2 setting is 0 0000 Eno used disconnected 2 MN _____ Change drive unit 5 Wire breakage of regenerative brake For wire breakage of regenerative option brake option ch
125. ity W Continuous capacity W 6 6 240 190 8 s 2560 1 6 Combination with servo motor The following table lists combinations of drive units and servo motors The same combinations apply to the models with electromagnetic brakes and the models with reduction gears mum rive un UST HC KFSEI O MR J2M 10DU 053 13 053 13 MR J2M 20DU 23 28 MR J2M 40DU MR J2M TODU 1 FUNCTIONS AND CONFIGURATION 1 7 Parts identification 1 Drive unit Mounting screw Status indicator LED Indicates the status of the drive unit Blinking green Servo off status Steady green Servo on status Blinking red Warning status Steady red Alarm status CN2 Encoder connector Connect the servo motor encoder CNP2 Servo motor connector For connection of servo motor power line cable Rating plate 2 Interface unit Display Indicates operating status or alarm Pushbutton switches Used to change status indication or set IFU parameters Mounting screw CN1A Bus cable connector For connection of servo system controller or preceding axis servo amplifier MM Display setting cover CN1B Bus cable connector For connection of subsequent axis servo amplifier or MR A TM termination connector CN3 For connection of personal computer RS 232C Outputs analog monitor Charge lamp Lit when main circuit cap
126. l gain 1 setting gt Position control gain 1 settingX3 6 11 6 GENERAL ADJUSTMENT MEMO 7 SPECIAL ADJUSTMENT FUNCTIONS 7 SPECIAL ADJUSTMENT FUNCTIONS The functions given in this chapter need not be used generally Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 6 If a mechanical system has a natural resonance level point increasing the servo system response 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 DRU parameter DRU parameter DRU parameter Current control No 18 No 25 No 25 command 0 Ton aed Low pass filter Adaptive vibration suppression control 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 decreasing depth Mechanical Machine resonance point system response level Frequency No
127. line driver system Encoder B phase pulse 6 Differential line driver system Encoder Z phase pulse 6 Differential line driver system Encoder A phase pulse 7 Differential line driver system Encoder B phase pulse 7 Differential line driver system Encoder Z phase pulse 7 Differential line driver system Encoder A phase pulse 8 Differential line driver system Encoder B phase pulse 8 Differential line driver system Encoder Z phase pulse 8 Differential line driver system Note 1 Connect the diodes in the correct orientation Opposite connection may cause the servo amplifier to be faulty and 4 These pins are unavailable when the MR J2M P8B is used as the interface unit 3 10 disable the signals from being output making the forced stop and other protective circuits inoperative 2 The signals having the same name are connected to the inside of the servo amplifier 3 Always connect 24VDC 200mA 3 SIGNALS AND WIRING 3 3 2 Connectors and signal configurations 1 Signal configurations The pin configurations of the connectors are as viewed from the cable connector wiring section CN4A CN4B EA Eo 3 11 3 SIGNALS AND WIRING 3 3 3 Output signal explanations For t
128. 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 Load inertia moment ratio times MR J2M 10DU MR J2M 20DU MR J2M 40DU MR J2M 70DU 11 5 11 CHARACTERISTICS 11 4 Encoder cable flexing life The flexing 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 5x106 a Long flexing life encoder cable MR JCCBLOIM H 1x108 5x105 b Standard encoder cable MR JCCBLLIM L 1x105 5 10 Flexing times 1x104 5x10 ese 4 7 10 20 40 70 100 200 1x10 Flexing radius mm 11 6 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 15 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 base units may only be used Otherwise a fire may occur 1 Combinations and regenerative powers The power values in the
129. lot n N 13 SL3 Slot 3 axis number selection 0002 0000 Choose the axis number of the drive unit connected to the third slot to of the base unit Refer to Section 2 8 0007h Axis number set value 1 In the initial setting the third axis is set to the third slot Slot 4 axis number selection 0003 0000 Choose the axis number of the drive unit connected to the fourth slot to of the base unit Refer to Section 2 8 0007h Axis number set value 1 In the initial setting the fourth axis is set to the fourth slot Slot 5 axis number selection 0004 0000 Choose the axis number of the drive unit connected to the fifth slot to of the base unit Refer to Section 2 8 0007h Axis number set value 1 In the initial setting the fifth axis is set to the fifth slot Slot 6 axis number selection 0005 0000 Choose the axis number of the drive unit connected to the sixth slot to of the base unit Refer to Section 2 8 0007h Axis number set value 1 In the initial setting the sixth axis 13 set to the sixth slot Slot 7 axis number selection 0006 0000 Choose the axis number of the drive unit connected to the seventh to slot of the base unit Refer to Section 2 8 0007h Axis number set value 1 In the initial setting the seventh axis is set to the seventh slot Slot 8 axis number selection 0007 0000 Choose the axis number of the drive unit connected to the eighth slot to of the base unit Refer to Section 2 8 0007h Axis numb
130. lot 3 Slot 7 Slot 8 Pressing the MODE button in the automatic scroll mode for more than 2s switches to the interface related display mode in which the data of the interface unit appears Refer to Section 4 2 4 OPERATION AND DISPLAY 4 1 1 Display sequence in the diagram denotes the slot number of the base unit and the axis number of the drive unit MELSERVO J2M power ON Waiting for servo system controller power to switch Servo system controller power ON Initial data communication with servo system controller At interface unit alarm occurrence SS Ihi tores Interface unit current alarm indication Ready OFF servo OFF Ready ON When alarm Ready ON servo OFF occurs alarm code appears Servo ON Ready ON servo ON Ordinary operation Servo system controller power OFF Servo system controller power ON 4 OPERATION AND DISPLAY 1 Indication list Note 1 Indication Mou MELSERVO J2M was switched on when power to the servo system controller Ab Initializing is off is off Power to the servo system controller was switched off during power on of MELSERVO J2M The axis No set to the servo system controller does not match the axis No set with IFU parameter No 11 to No 18 MELSERVO J2M fault occurred or an error took place in communication Initializing with th
131. lter is automatically adjusted to the value in the following expression Filter frequency _ Speed control gain 2 set value X10 Hz 2mnxx 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 DRU parameter No 25 DRU parameter No 25 a Low pass filter selection 0 Valid automatic adjustment initial value 1 Invalid n 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 7 SPECIAL ADJUSTMENT FUNCTIONS 7 5 Gain changing function This function can change the gains You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation 7 5 1 Applications This function is used when 1 You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation 2 You want to increase the gains during settling to shorten the stop settling time 3 You want to change the gains using an external signal to ensure stability of the servo system since the load inertia moment ratio varies greatly during a stop e g a large load is mounted on a carrier 7 5 2 Function block diagram The valid control gains PG2 VG2 VIC and GD2 of the actual loop are changed according to the conditio
132. lying interface power from external use a 24VDC power supply which has been insulation reinforced in I O 5 Grounding To prevent an electric shock always connect the protective earth PE terminals marked of the base unit 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 c If a leakage current breaker is used to prevent an electric shock the protective earth PE terminals of the base unit must be connected to the corresponding earth terminals d The protective earth PE of the servo motor is connected to the protective earth of the base unit via the screw which fastens the drive unit to the base unit When fixing the drive unit to the base unit therefore tighten the accessory screw securely 6 Auxiliary equipment and 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 in EN60204 1 Ambient temperature 40 104 C CF Sheath PVC polyvinyl chloride Installed on wall surface or open table tray c Use the EMC filter for noise reduction 7 Performing EMC tests When EMC tests are run on a machine device into which MELSER
133. 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 2 INSTALLATION AND START UP 2 5 Mounting method 1 Base unit As shown below mount the base unit on the wall of a control box or like with M5 screws 2 Interface unit drive unit MR J2M 40DU or less The following example gives installation of the drive unit to the base unit The same also applies to the interface unit Sectional view Base unit Drive unit i ES TS wal N NS D NUS NS Catch Positioning hole 1 Hook the catch of the drive unit in the positioning hole of the base unit Sectional view 2 Base unit Drive unit 0 Wall FT EE 2 Using the catch hooked in the positioning hole as a support push the drive unit in 2 4 2 INSTALLATION AND START UP Sectional view QRP sages Wall LULES EAT 3 Tighten the M4 screw supplied for the base unit to fasten the drive unit to the base unit POINT Securely tighten the drive unit fixing screw Sectional view ELIA TILL 3 Drive unit MR J2M 70DU When using the MR J2M 70DU install it on two slots of the base unit The slot number of this drive unit is that of the left hand side slot of the two occupied slots when they are viewed from the front of the
134. maximum clearance between easily affected devices and MELSERVO J2M 1 2 3 2 Provide maximum clearance between easily affected signal cables and the I O cables of MELSERVO J2M 3 Avoid laying the power lines I O cables of MELSERVO J2M and signal cables side by side or bundling them together 4 Insert a line noise filter to the I 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 MELSERVO J2M 4 5 6 2 Provide maximum clearance between easily affected signal cables and the I O cables of MELSERVO J2M 3 Avoid laying the power lines I O cables of MELSERVO J2M 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 MELSERVO J2M system noises produced by MELSERVO J2M 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 FR BIF on the power cables input c
135. mbers of the servo system controller match the axis number settings of the corresponding drive units b When changing the factory setting of any axis number axis number slot number check that the IFU parameter No 11 to 18 values are set without fail Check that the encoder cable and motor power cable of the servo motor are wired to the drive unit mounted to the slot as in the axis setting 3 Parameters Check that the drive unit parameters are set to correct values using the servo system controller screen or MR Configurator servo configuration software b Check that the interface unit parameters are set to correct values using the interface unit display or MR Configurator servo configuration software 4 Environment Signal cables and power cables are not 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 2 INSTALLATION AND START UP 2 7 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 ma
136. mbient operation 32 to 131 non freezing temperature 20 to 65 non freezing 4 to 149 non freezing 90 RH or less non condensing Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Max 1000m 3280 ft above sea level 5 9 m s or less 19 4 ft s7 or less 2 INSTALLATION AND START UP 2 2 Installation direction and clearances The equipment must be installed in the specified direction Otherwise a fault may occur Leave specified clearances between each unit and control box inside walls or other equipment 1 Installation of one MELSERVO J2M 40mm 1 57inch or more 40mm 1 57inch or more 40mm 1 57inch or more some 57inch or more 2 Installation of two or more MELSERVO J2M When installing two units vertically heat generated by the lower unit influences the ambient temperature of the upper unit Suppress temperature rises in the control box so that the temperature between the upper and lower units satisfies the environmental conditions Also provide adequate clearances between the units or install a fan 40mm 1 57inch or more 40mm 1 57inch or more 40mm 1 57inch or more Leave 100mm 3 94inch or more clearance or install fan for forced air cooling 886 88 886 8 40mm 1 57inch more 2 INSTALLATION
137. ment of the encoder connector is as viewed from the pin side For the pin assignment on the drive unit side refer to Section 3 5 3 Encoder cable Drive unit supplied to servo motor Encoder connector Servo motor 1 172169 9 Tyco Electronics Encoder connector Encoder cable option or fabricated 1 2 3 CN2 BAT 4 5 6 30m 98 4ft max MD MDR 0 98ft 7 8 9 P5 LG SHD 12 11 12 OPTIONS AND AUXILIARY EQUIPMENT MR JCCBL2M L MR JCCBL10M L MR JCCBL10M H MR JCCBL5M L MR JCCBL2M H MR JCCBL20M L MR JCCBL20M H MR JCCBL5M H Drive unit side Encoder side Drive unit side Encoder side Drive unit side Encoder side P5 19 He 7 5 19 7 5 7 LG 11 Run LG 11 LG P5 20 5 20 5 LG 12 4 NE LG 12 LG P5 18 Yn P5 18 P5 LG 2 iun LG 2 LG 8 8 8 MR 7 Hd 1 MR 7 1 MR 1 17 4 gt H 2 MRR 17 2 MRR 2 MD 6 4 MD 6 4 MD 4 16 5 MDR 16 5 MDR 5 9 HH 3 9 3 BAT 3 LG 1 eS NE LG 1 LG v SD Plate 9 SD Plate SD Note Always make connection for use in an absolute position detection system This wiring is not needed for use in an incremental system When fabricating an encoder cable use the recommended wires given in Section 12 2 1 and the MR J2CNM connector set for encoder cable fabrication
138. moves the lit LED to the left e Press UP once The CN3 13 pin turns on There will be continuity across CN3 13 pin SG e Press DOWN once ep eee es o The CN3 13 pin turns off Press SET for more than 2s 4 OPERATION AND DISPLAY MEMO 5 5 PARAMETERS Never adjust or change the parameter values extremely as it will make operation NCAUTION instable P When MELSERVO J2M 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 s manual The IFU and DRU parameters can be set in the following methods Setting Method Pushbuttons in interface unit operation section IFU parameters MR Configurator servo configuration software MR Configurator servo configuration software DRU parameters Servo system controller 5 1 1 Parameter write inhibit 5 1 Drive unit When setting the parameter values from the servo system c
139. mplifier Note Note Bus cable L J CN1ACN1B or 10 1 1 1 a Termination connector 1 1 1 1 Extension IO unit Battery unit DRU MR J2M D01 MR J2M BT Note Connector set IFU To regenerative T v uen nes ens M zs brake option CN1B 16 To control circuit Ch 7 nya power supply CNP3 je main circuit NE power supply L ME CONS 17 1 SEHR 1 1 i Personal 1 7 2 77770007 15 13 14 ET ea HC KFS E 11 E ae i je HC MFS 12 HC UFS 3000r min 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 ard cM MR J2M P8B 25 MR J2 03B5 QD75M 7 Bus cable MR J2HBUS O M 9 Connector set MR J2CN1 Q172CPU N 18 Bus cable Q172J2BCBL MCB Q173CPU N 19 Bus cable 9173 2 A motion 6 Bus cable MR J2HBUS O M A 8 Connector set MR J2CN1 A Motion controller MR J2M P8B 25 MR J2 03B5 Maintenance junction card 7 Bus cable MR J2HBUS 9 Connector set MR J2CN1 12 8 12 OPTIONS AND AUXILIARY EQUIPMENT Application 1 MR JCCBLOM L 10120 3000VE Refer to 2 a in this
140. n VIC automatically sets the other gains to the optimum values according to these gains User setting c PG2 VG1 VIC Automatic setting 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 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 DRU parameter No 12 correctly 6 3 2 Adjustment by manual mode 1 f machine resonance occurs adaptive vibration suppression control DRU parameter No 25 or machine resonance suppression filter DRU 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 b Adjustment procedure 1 Set estimated value to the ratio of load inertia moment to servo motor inertia moment DRU parameter No 12 Increase the speed control gain 2 DRU 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 DRU parameter No 17 Decrease the time constant of the speed within the vibration free range and return slightly if vibration takes integral compensation place If the gains cannot b
141. n delay time No ON Trouble ALM Yes OFF 1 Note 15 to 100 1 1 1 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 Electromagnetic brake Electromagnetic brake Servo motor speed brake interlock MBR MBR1 to MBR8 Valid OFF ON Base circuit Tu Electromagnetic Invalid ON Electromagnetic brake H No ON M operation delay time Trouble ALM Note 2 Yes OFF i Main circuit power OFF supply 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 A E9 occurs and the trouble ALM L1 does not turn off Z Electromagnetic brake Electromagnetic brake 3 SIGNALS AND WIRING 3 8 Grounding Ground the base unit and servo motor securely JN WARNING To prevent an electric shock always connect the protective earth PE terminal of the base unit with the protective earth PE of the control box The base unit switches the power transistor on off to supply power to the servo motor Depending on the wiring and ground cablerouting MELSERVO J2M may be affected by the switching noise due to di dt and
142. n positioning The MELSERVO J2M series consists of an interface unit abbreviated to the IFU to be connected with a servo system controller drive units abbreviated to the DRU for driving and controlling servo motors and a base unit abbreviated to the BU where these units are installed A torque limit is applied to the drive unit by the clamp circuit to protect the main circuit power transistors from overcurrent caused by abrupt acceleration deceleration or overload In addition the torque limit value can be changed as desired using the parameter The interface unit has an RS 232C serial communication function to allow the parameter setting test operation status indication monitoring gain adjustment and others of all units to be performed using a personal computer or like where the MR Configurator servo configuration software is installed By choosing the axis number of the drive unit using the MR Configurator servo configuration software you can select the unit to communicate with without changing the cabling The real time auto tuning function automatically adjusts the servo gains according to a machine The MELSERVO J2M series supports as standard the absolute position encoders which have 131072 pulses rev resolution ensuring control as accurate as that of the MELSERVO J2 Super series Simply adding the optional battery unit configures an absolute position detection system Hence merely setting a home position once makes it unnecessar
143. ncoder side 7 A 0 9 Note Always make connection for use in an absolute position detection system This wiring is not needed for use in an incremental system 12 13 12 OPTIONS AND AUXILIARY EQUIPMENT When fabricating an encoder cable use the recommended wires given in Section 12 2 1 and the MR J2CNM 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 When the encoder cable is to be fabricated by the customer the wiring of MD and MDR 13 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 Encoder side 3M P5 19 7 LG 11 P P5 2 eG des ems 5 18 po i LG 2 ara 1 1 1 6 1 1 1 1 1 1 8 1 1 1 1 7 1 MRR 17 2 6 H 4 MDR 16 H gt H 5 BAT 9 ER k S LG LS m 1 eut T SD Plate 9 Note Always make connection for use in an absolute position detection system This wiring is not needed for use in an incremental system 12 14 12 OPTIONS AND AUXILIARY EQUIPMENT 3 Communication cable This cable may not be used with some personal computers After fully examining t
144. ng OFF ON OFF CDP 4 After changing gain 1 1 Change of Before changing gain CDT2100ms 1 1 Position control gain 1 Speed control gain 1 1000 Ratio of load inertia moment 4 0 10 0 4 0 to servo motor inertia moment Position control gain 2 120 84 Speed control gain 2 3000 Speed integral compensation 20 50 7 SPECIAL ADJUSTMENT FUNCTIONS 2 When you choose changing by droop pulses a Setting DRU Parameter No Abbreviation Setting PO Position control gain 1 Lu IPAE e Speed control gain 1 1000 Ratio of load inertia moment to 0 1 times UEM motor inertia moment PG2 Posiioncontrolgain2 control gain 2 rads Speed control gain 2 E 003 Speed integral compensation Ratio of load inertia moment L GD2B 0 1 times servo motor inertia moment 2 Position control gain 2 PG2B changing ratio changing ratio Speed control gain 2 changin Ore 1 T i ratio G h lecti 0003 ain changing selection ging Changed by droop pulses Gain changing condition pube ms Speed integral compensation Gain changing time constant 100 VICB b Changing operation Command pulse Droop pulses Droop pulses pulses 0 Change of each gain CDT 100ms Position control gain 1 Speed control gain 1 Ratio of load inertia moment to servo motor inertia moment Position co
145. ng to the structure and specifications of the machine Refer to Chapter 5 for the parameter definitions 3 Checking the axis number On the interface unit display check that the slot numbers and axis numbers are as set Set the drive unit axis numbers in the IFU parameters No 11 to 18 For MR J2M BU4 First slot Display Third slot Axis number Drive unit status Slot number Secondslot Fourth slot 4 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 MELSERVO J2M is ready to operate and the servo motor is locked 5 Home position return Always perform home position return before starting positioning operation 6 Stop If any of the following situations occurs MELSERVO J2M 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 xeu Operation command Stopping condition Servo off command The base circuit is shut off and the servo motor coasts The base circuit is shut off and the dynamic brake operates to Servo system controller Forced stop command bring the servo motor to stop The controller forced stop A E7 occurs The base circuit is shut off and the dynamic brake operates to Alarm occurrence bring the servo motor to stop
146. ns selected by gain changing selection CDP DRU parameter No 49 and gain changing condition CDS DRU parameter No 50 CDP DRU Parameter No 49 External signal 1 Command pulse gt frequency _ gt Droop pulses gt F Changing Model speed Comparator CDS DRU Parameter No 50 GD2 DRU Parameter No 12 O Valid 1 9 DRU Parameter No 52 2 DRU Parameter No 15 Valid PG2 value PG2 x PG2B gt 100 VG2 DRU Parameter No 16 VG2 x VG2B 100 VIC DRU Parameter No 17 VIC x VICB 100 Valid VG2 value Valid VIC value 7 SPECIAL ADJUSTMENT FUNCTIONS 7 5 3 Parameters When using the gain changing function always set OO 40 in parameter No 2 auto tuning to choose the manual mode 1 of the gain adjustment modes The gain changing function cannot be used in the auto tuning mode DRU Abbrevi EM Parameter Name Unit Description N ation Position control gain 1 Position and speed gains of a model used to set the response Speed control gain 1 level to a command Always valid Ratio of load inertia moment to 0 1 Control parameters before changing motor inertia moment Positioncontrolgain2 control gain 2 rad s essent Speed integral compensation ee _ servo motor in
147. nt of 5s or less Speed is 150r min or higher The ratio of load inertia moment to servo motor inertia moment 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 DRU parameter No 12 The following DRU parameters are automatically adjusted in the auto tuning mode 2 DRU parameter No Abbreviation Position control gain 1 Speed control gain 1 Position control gain 2 Speed control gain 2 Speed integral compensation 6 GENERAL ADJUSTMENT 6 2 2 Auto tuning mode operation The block diagram of real time auto tuning is shown below Load inertia Automatic setting moment Encoder Command 4 Control gains PG1 VG1 PG2 VG2 VIC Set 0 or 1 to Real time auto Position speed tuning section feedback Load inertia moment ratio Switch estimation section DRU parameter No 12 Load inertia moment
148. nterface channel interface lchannel RS 232C interface 1channel Forced stop input 1 point Electromagnetic brake sequence output 1 point i Analog monitor 3channel Open aro Mass gl I 1 10 1 FUNCTIONS AND CONFIGURATION 1 4 Function list The following table lists the functions of this servo For details of the functions refer to the Reference field 1 Drive unit Abbreviation DRU High resolution encoder High resolution encoder of 131072 pulses rev is used as a servo motor encoder d Automatically adjusts the gain to optimum value if load applied to the servo motor Auto tuning Chapter 6 shaft varies Adaptive vibration MELSERVO J2M detects mechanical resonance and sets filter characteristics Section 7 3 ection 7 suppression control automatically to suppress mechanical vibration Suppresses high frequency resonance which occurs as servo system response is Low pass filter Section 7 4 increased Slight vibration A DRU Parameter Suppresses vibration of 1 pulse produced at a servo motor stop suppression control No 24 Forced stop signal DRU Parameter Forced stop 1 can be automatically switched on internally to invalidate it automatic ON No 23 T e DRU Parameters Torque limit Servo motor torque can be limited to any value No 10 No 11 2 Interface unit Abbreviation IFU Forced stop signal input Disconnect forced stop EM1 to b
149. ntrol gain 2 Speed control gain 2 Speed integral compensation 7 SPECIAL ADJUSTMENT FUNCTIONS MEMO 8 INSPECTION 8 INSPECTION Before starting maintenance and or inspection make sure that charge lamp is off more than 15 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 MELSERVO J2M with a megger measure insulation resistance or it may become faulty 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 Life guideline Smoothing capacitor Stop times 100 000times a Smoothing capacitor Affected by ripple currents etc an
150. o amplifier detection system reduced Excessive There is a possibility Regenerative power increased to 85 1 Reduce frequency of regenerative that regenerative or more of permissible regenerative positioning warning power may exceed power of regenerative brake option 2 Change regenerative brake permissible Checking method option for the one with larger regenerative power of Call the status display and check capacity regenerative brake regenerative load ratio 3 Reduce load option A E1 Overload There is a possibility Load increased to 85 or more of Refer to A 50 A 51 that overload alarm 1 Joverload alarm 1 or 2 occurrence level or 2 may occur r Cause checking method Refer to A 50 A 51 A E3 Absolute Absolute position 1 Noise entered the encoder Take noise suppression position counterjencoder pulses faulty measures LN warning setting range controller is outside setting range stop warning EM1 SG opened forced stop FA E7 Controller Forced stop signal was entered into the Ensure safety and deactivate EN forced stop ed servo system controller warning FA E9 Main circuit off Servo on command was issued with main circuit power off 9 10 The following diagram shows the MR J2M BUS base unit where one interface unit and eight drive units 10 1 MELSERVO J2M configuration example 10 OUTLINE DRAWINGS 10 OUTLINE DRAWINGS are installed 0 24
151. o the correct phase terminals U V W of the drive unit 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 The protective earth of the servo motor joins to the base unit via the drive unit mounting screw Connect the protective earth terminal of the base unit to the protective earth of the control box to discharge electricity to the earth 2 The power supply for the electromagnetic brake should not be used as the 24VDC power supply for interface Always use the power supply for electromagnetic brake only 3 5 2 Connection diagram The following table lists wiring methods according to the servo motor types Use the connection diagram which conforms to the servo motor used For cables required for wiring refer to Section 12 2 1 For encoder cable connection refer to Section 12 1 2 For the signal layouts of the connectors refer to Section 3 5 3 For the servo motor connector refer to Chapter 3 of the Servo Motor Instruction Manual Servo motor Connect
152. oad inertia moment to servo motor inertia moment set value 6 10 6 GENERAL 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 The following parameters are automatically adjusted by auto tuning DRU parameter No Abbreviation 12 GD2 Ratio of load inertia moment to servo motor inertia 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 DRU parameter No Abbreviation PG1 Position control gain 1 VG1 Speed control gain 1 Operation Description Choose the auto tuning mode 1 DRU parameter No 8 0001 and set the machine resonance frequency of the response level to 15Hz 1 DRU parameter Select the auto tuning mode 1 No 9 0001 During operation increase the response level setting DRU parameter No 9 Adjustment in auto tuning mode and return the setting if vibration occurs 1 Check the values of position control gain 1 DRU parameter No 13 and speed
153. ol on the motor less operation screen of the MR Configurator servo configuration software 1 Load conditions Load ZEER Oooo o Load inertia moment ratio Same as servo motor inertia 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 A 16 Encoder error 2 20 Absolute position erasure A 25 Battery cable breakage warning A 92 5 PARAMETERS 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 3 Configuration Configuration should be as in Section 3 1 Always install a forced stop switch to enable a stop at occurrence of an alarm 6 GENERAL ADJUSTMENT 6 GENERAL GAIN ADJUSTMENT 6 1 Different adjustment methods 6 1 1 Adjustment on a MELSERVO J2M The gain adjustment in this section can be made on MELSERVO J2M 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 Gain adjustment DRU parameter Estimation of load Automatically set parameters Manually set parameters mode No 8 setting inertia mom
154. ontroller the DRU parameter No 40 setting need not be changed In this drive unit the parameters are classified into the basic DRU parameters No 1 to 11 adjustment DRU parameters No 12 to 26 and expansion DRU parameters No 277 to 40 according to their safety aspects and frequencies of use The values of the basic DRU parameters may be set changed by the customer but those of the adjustment and expansion DRU parameters cannot When in depth adjustment such as gain adjustment 1s required change the DRU parameter No 40 value to make all parameters accessible DRU 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 DRU parameter No 40 setting Operation from MR Configurator Setting Operation Operation from controller a servo configuration software 0000Gnitial value DRU parameter No 1 to 39 DRU parameter No 1 to 11 40 rite 000A DRU parameter No 1 to 39 DRU parameter No 40 rite DRU parameter No 1 to 40 000C parameter No 1 to 39 DRU parameter No 1 to 11 40 000E DRU parameter No 1 to 39 DRU parameter No 1 to 40 rite DRU parameter No 1 to 40 parameter No 1 to 39 DRU parameter No 40 100E DRU 5 PARAMETERS 5 1 2 Lists For any DRU parameter whose symbol is preceded by set the DRU parameter value and switch power off once then switch it on again
155. or of the cable to the ground plate as shown in this section and fix it to the connector shell x 60 Sheath External conductor Pull back the external conductor to cover the sheath External conductor Sheath Strip the sheath Cable Ground plate 3 SIGNALS AND WIRING MEMO 28 4 OPERATION AND DISPLAY 4 OPERATION AND DISPLAY On the interface unit display 5 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 4 1 Normal indication When powered on the MELSERVO J2M is placed in the automatic scroll mode in which the statuses of the drive units installed on the base unit appear at intervals of 2 seconds in due order At this time open slot numbers do not appear In the initial status the indication is in the automatic scroll mode Pressing the SET button switches the automatic scroll mode to the fixed mode In the fixed mode pressing the UP or DOWN button displays the status of the subsequent axis drive unit If an alarm warning occurs in the interface unit the alarm warning number of the interface unit appears Refer to Section 4 1 2 Automatic scroll or button UP DOWN DRU status indication DRU status indication DRU status indication DRU status indication DRU status indication Slot 1 Slot 2 S
156. orated machines and equipment to comply with the EMC directive For specific EMC directive conforming methods refer to the EMC Installation Guidelines IB NA 67310 2 Low voltage directive The low voltage directive applies also to MELSERVO J2M Hence they are designed to comply with the low voltage directive MELSERVO J2M is certified by TUV third party assessment organization to comply with the low voltage directive 3 Machine directive Not being machines MELSERVO J2M need not comply with this directive 2 PRECAUTIONS FOR COMPLIANCE 1 Unit and servo motors used Use each units and servo motors which comply with the standard model Drive unit MR J2M 000 Interface unit MR J2M P8B Base unit MR J2M BULI Servo motor HC KFSO HC MFSO HC UFSO 2 Configuration Control box Reinforced insulating type Reinforced Saher Wi eo Notse Simo breaker contactor MELSERVO stat J2M 3 Environment Operate MELSERVO J2M at or above the contamination level 2 set forth in IEC60664 1 For this purpose install MELSERVO J2M in a control box which is protected against water oil carbon dust dirt etc IP54 4 Power supply Operate MELSERVO J2M to meet the requirements of the overvoltage category II set forth in IEC60664 1 For this purpose a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section b When supp
157. osition 4V ON Ready 4V ON Trouble 4V ON L Axis number of channel 3 Choose the axis number output to analog monitor 3 Axis number set value Selecting 0 disables output mV Basic IFU parameters MOOWPOMDNODARWNAOD 1 Analog monitor 1 offset Used to set the offset voltage of the analog monitor 1 7 MO2 Analog monitor 2 offset Used to set the offset voltage of the analog monitor 2 MO2 Analog monitor 3 offset Used to set the offset voltage of the analog monitor 3 MO2 5 18 5 PARAMETERS Classifi Initial Setting Symbol Name and Function Unit cation Value Range SSC SSCNET type selection 0200 Refer to Select the network type of the interface unit name and function column SSCNET type selection 00 SSCNET3 5ms 01 SSCNET1 7ms 02 SSCNETO 8ms 12 SSCNETII When using motion controller Q series set the communication cycle according to the motion controller The initial settings of communication cycle number of control axes of motion controller Q series are as follows 1 Q173CPU SV13 SSCNETO 8ms 1 to 8 axes SSCNET1 7ms 9 to 16 axes SSCNET3 5ms 17 to 32 axes SV22 SSCNETO 8ms 1 to 4 axes SSCNET1 7ms 5 to 12 axes SSCNET3 5ms 13 to 32 axes Q172CPU SV13 SSCNETO 8ms 1 to 8 axes SV22 SSCNETO 8ms 1 to 4 axes SSCNET1 7ms 5 to 8 axes The communication cycle of motion controller can be changed using the paramete
158. osition 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 5 Speed control gain 2 setting gt 1 i 1 ie gain 1 guideline 1 ratio of load inertia moment to servo motor inertia moment 3 2 Speed control gain 2 DRU 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 18 as indicated in the following expression Speed loop response Speed control gain 2 setting frequency Hz l ratio of load inertia moment to servo motor inertia moment 3 Speed integral compensation DRU 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 2000 to 3000 compensation setting ms Speed control gain 2 setting 1 ratio of l
159. ower 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 MELSERVO J2M will operate properly 3 Each drive unit can accept the command within 4s the main circuit power supply is switched on Refer to paragraph 2 in this section 2 Timing chart SON accepted 1 1 4s Main circuit ON Control circuit power OFF 1 Base circuit ON i Servo on command ON 06 from controller OFF 3 Forced stop Install an emergency stop circuit externally to ensure that operation can be CAUTION stopped and power shut off immediately If the controller does not have a forced stop function make up a circuit which shuts off main circuit power as soon as EM1 SG are opened at a forced stop To ensure safety always install a forced stop switch across EM1 SG disconnecting EM1 SG the dynamic brake is operated to bring the servo motor to a stop At this time the display shows the servo forced stop warning A E6 During ordinary operation do not use forced stop EMI to alternate stop and run The service life of each drive unit may be shortened Interface unit 24VDC 1 VIN Forced stop EM1 SG 3 18 3 SIGNALS AND WIRING 3 5 Connection of drive unit and servo motor 3 5 1 Connection instructions Connect the wires t
160. perature rise is over 40 C ambient temperature is 0 to actuated the thermal 40 C sensor 2 Servo motor is overloaded 1 Reduce load 2 Review operation pattern 3 Use servo motor that provides 9 TROUBLESHOOTING Display i Definition Cause Action Ceu agp Mme 51 Overload 2 Machine collision 1 Machine struck something 1 Review operation pattern the like caused max 2 Install limit switches output current to flow 2 Wrong connection of servo motor Connect correctly successively for Drive unit s output U V W do not several seconds match servo motor s input U V W Servo motor locked 3 Servo system is instable and Repeat acceleration 0 3s or more hunting deceleration to execute auto During rotation tuning 2 5s or more Change auto tuning response level setting Set auto tuning to OFF and make gain adjustment manually 4 Encoder faulty Change the servo motor m 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 5 Servo motor shaft was rotated by 1 When torque is limited external force increase the 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
161. put CN3 Used to output the data set in parameter No 5 to across Analog Analog MO3 LG in terms of voltage Resolution 10 bits output Power supply Symbol Fn Function Application Power input for digital VIN CN3 Driver power input terminal for digital interface interface 8 Used to input 24VDC 200mA or more for input interface Common for digital SG CN3 Common terminal to VIN Pins are connected internally interface 3 Separated from LG CN3 Common terminal to MO1 MO2 and MO3 Control common LG 1 11 Shield Connect the external conductor of the shield cable 3 SIGNALS AND WIRING 3 2 3 Interfaces 1 Common line The following diagram shows the power supply and its common line Interface unit INPO etc M DI 1 Base unit Drive unit Servo motor encoder a Servo motor Extension IO unit Differential line driver output 35mA max 3 SIGNALS AND WIRING 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 a Digital input interface DI 1 Give a signal with a relay or open collector transistor Interface unit 24VDC 200mA or more VIN R Approx 4 7kQ L1 For transistor Approx
162. r In the case of MR J2M initialization of servo amplifier MR J2M LED indication 2 Ab or will not be completed if the communication cycle settings are different between the motion controller and servo amplifier MR J2M Basic IFU parameters Optional function 2 0020 Refer to Choose the input signal filter and test operation name eh function Test operation selection column 0 Invalid 1 Valid Input signal filter 0 No 1 1 777 ms 2 3 555ms L Electromagnetic brake interlock output axis number selection Choose the axis number of the drive unit which uses electromagnetic brake interlock output MBR Setting Selected Axis connected axes First axis Second axis Third axis Fourth axis Fifth axis Sixth axis Seventh axis 8 Eighth axis 5 19 5 PARAMETERS Mme 5 Symbol Name and Function Unit cation Value Range 11 SL1 Slot 1 axis number selection 0000 0000 Choose the axis number of the drive unit connected to the first slot to of the base unit Refer to Section 2 8 0007h Axis number set value 1 In the initial setting the first axis is set to the first slot SL2 Slot 2 axis number selection 0001 0000 Choose the axis number of the drive unit connected to the second to slot of the base unit Refer to Section 2 8 0007h Axis number set value 1 In the initial setting the second axis is set to the second s
163. r able 0 SM 0 981 5556PBTL Female terminal Wi connector 1 172169 With electromagnetic brake Tyco Electronics 5557 06R 210 receptacle 5556PBTL Female terminal Power supply Power supply 5557 068 210 ENEJ 114 2 4 2 5 View b 3116 View b Fo Note 22 Note Supply electromagnetic brake power 24VDC There is no polarity 3 SIGNALS AND WIRING 3 6 Alarm occurrence timing chart When an alarm has occurred remove its cause make sure that the operation signal is not being input ensure safety and reset the alarm before restarting operation As soon as an alarm occurs make the Servo off status and interrupt the main circuit power When an alarm occurs in each unit the base circuit is shut off and the servo motor is coated to a 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 1s removed Note Main circuit Ut power ON Power off Power on Control circuit OFF A 1 4 Valid Brake operation Brake operation 1 1 Servo on command from controller OFF Alarm lt No YES P NO 1X YES X NO 1 1 1
164. r of feedback pulses 16384 8192 32768 131072 25 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 5 PARAMETERS Classifi Initial Setting Symbol Name and Function Unit cation Value Range 7 POL Rotation direction selection Refer to Used to select the rotation direction of the servo motor name 0 Forward rotation CCW with the increase of the positioning and address function Reverse rotation CW with the increase of the positioning column address Basic DRU parameters Auto tuning Refer to Used to select the gain adjustment mode of auto tuning name and olojo function column Gain adjustment mode selection For details refer to Section 6 1 1 Gain adjustment m Description mode 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 Simple manual adjustment Manual mode 2 Manual adjustment of all gains 5 PARAMETERS Classifi Initial Setting Symbol Name and Function cation Value Range Servo response 0005 Refer to Used to select the response level of auto tuning name and ojojo function Auto tuning response level selection col
165. r off once then on again to make the IFU parameter No 10 valid 2 Switching power on changes the interface unit display as shown below in the figure below indicates the axis number of the drive unit 3 Perform test operation using the personal computer 2 Test operation mode a Jog operation Jog 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 1s on or off and whether the servo system controller 13 connected or not Exercise control on the jog operation screen of the MR Configurator servo configuration software 1 Operation pattern Initial value Setting range Speed r min Acceleration deceleration time constant ms 1000 1 to 20000 2 Operation method Forward rotation start Click Forward button Reverse rotation start Click Reverse button Click Stop button b 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 5 PARAMETERS 1 Operation pattern Initial value Setting range Travel pulse 100000 0 to 9999999 Speed r min
166. r 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 Gnitial value in DRU 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 5620 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 Resolution per servo motor revolution Output pulse pulses rev Set value At the setting of 8 for example the actually output A phase and B phase pulses are as indicated below 131072 1 8 4 A phase and B phase output pulses 4096 pulse 5 10 5 PARAMETERS Classifi Initial Setting No Symbol Name and Function Unit cation Value Range 39 For manufacturer setting Do not change this value by any means BLK DRU Parameter blocks write inhibit Expansion DRU parameters 40 Setting Operation 0000 Reference initial Write value 000A Write 000C Reference Reference Write Operation from controller DRU parameter No 1 to 39 DRU parameter U parameter Write No 1 to 39 No 40 DRU parameter No 1 to 39 DRU parameter Write No 1 to 39
167. rameter number is displayed Press UP DOWN to change the number Press SET twice 2 2 d d d d eee The set value of the specified parameter number flickers e Press UP once E E Y During flickering the set value can be changed 5 275 a i e e UP DOWN 000 2 Baudrate 38400bps Press to enter To shift to the next parameter press the UP DOWN button When changing the parameter No 0 setting change its set value then switch power off once and switch it on again to make the new value valid 4 OPERATION AND DISPLAY 4 2 6 Output signal DO forced output POINT This function is available during test operation The output signal can be forced on off independently of the servo status This function is used for output signal wiring check etc This operation must be performed in the servo off state Call the display screen shown after power on Using the MODE button show the diagnostic screen stb e Press UP once P 9 9 Jb Press SET for more than 2s Turns on off the signal under the lit LED X lt Always lit Indicates whether the output signal is or OFF The signals the same as the output signals of CN3 the external I O signal display On ON Off OFF 13 e Pressing MODE once
168. ratio estimation value DRU parameter DRU parameter No 8 No 9 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 DRU 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 DRU 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 DRU parameter No 12 manually From the preset load inertia moment ratio DRU parameter No 12 value and response level DRU 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 servo system controller every 10 minutes since power on At power on auto tuning is performed with the value of each control gain saved in the servo system controller being used as an initial value f sudden disturbance torque is imposed during operation the estimation of the inertia moment ratio may malfunction temporarily In
169. ring the servo motor to a forced stop state in gt y Section 3 2 2 which the servo is switched off and the dynamic brake is operated In the servo off or alarm status this signal is disconnected Electromagnetic brake When an alarm occurs they are disconnected independently of the base circuit output status Section 3 2 2 It is possible to use it to excite an electromagnetic brake Analog monitor Servo status is output in terms of voltage in real time Section 5 2 3 3 Base unit Abbreviation BU Used when the built in regenerative brake resistor of the unit does not have Regenerative brake option x Section 12 1 1 sufficient regenerative capability for the regenerative power generated 4 MR Configurator servo configuration software Machine analyzer function Analyzes the frequency characteristic of the mechanical system o f Can simulate machine motions on a personal computer screen on the basis of the Machine simulation machine analyzer results Gain search function Can simulate machine motions on the basis of the machine analyzer results or d Test operation mode JOG operation and positioning operation are possible 5 Option unit Merely setting home position once makes home position return unnecessary at Absolute position 7 every power on detection system Battery unit MR J2M BT is necessary The encoder feedback is output from enhancing
170. ror 1 memory fault Faulty parts in the drive unit Change the drive unit 13 1 error Printed board fault Checking method A 14i Watchdog CPU parts fault Alum ony of 15 Memory error 2 EEP ROM fault eae if power in switched on after disconnection of all cables but the control circuit power supply cables 94 164 Encoder error 1 Communication error 1 Encoder connector CN2 Connect correctly occurred between disconnected encoder and servo 2 Encoder fault Change the servo motor amplifier 3 Encoder cable faulty Repair or change cable Wire breakage or shorted A 17 Board error 2 CPU parts fault 1 Faulty parts in the drive unit Change the drive unit Checking method Alarm A 17 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables The output terminals 2 The wiring of U V W is Correctly connect the output U V W of drive unit disconnected or not connected terminals U V W of the drive and the input unit and the input terminals U terminals U V W of V W of the servo motor the servo motor are not connected FA 19 19 Memory error 3 ROM memory fault Faulty parts in the interface unit or Change the interface unit or drive unit drive unit Checking method Alarm A 19 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables
171. s 4V 8192pulse 81 92 pulse CCW direction Ready 0 428 pulse 4 b 4IV 4 V provided not provided 2048 pulse CCW direction CW direction Note 4V is outputted at the maximum torque 0 amp t92 pulse 4M 5 PARAMETERS OAJOS uonisog Jepoou3 peeds JOJO INMd queuing Jopooue quano sng 3 Analog monitor block diagram eque Jeu 4011504 asind doouq peeds Jeyig peeds es nd 5 23 5 PARAMETERS 5 2 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 operation fault occurred use the forced stop EM1 to make a stop By using a personal computer and the MR Configurator servo configuration software you can execute jog operation positioning operation motor less operation and DO forced output without connecting the servo system controller 1 Setting and indication 1 Set 00011 in the parameter 10 to enable test operation After setting switch powe
172. servo motor until they have been installed Otherwise you may get an electric shock The cables should not be damaged stressed excessively loaded heavily 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 and other protective circuits Interface unit Interface unit VIN SG SG Control output Control output signal signal Use noise filter etc to minimize the influence of electromagnetic interference which may be given to electronic equipment used near each unit 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 S
173. sive gas flammable gas oil mist dust and dirt Atitude sd Max 1000m 3280 ft above sea level HC KFS Series m s 5 9 or less HC MFS Series 49 HC UFS13 to 43 Vibration HC KFS Series ft s 19 4 or less HC MFS Series X Y 161 HC UFS13 to 43 Note Except the servo motor with reduction gear 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 an extended period of time consult Mitsubishi 2 Wiring N 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 drive unit Connect the output terminals U V W correctly Otherwise the servo motor will operate improperly Connect the servo motor power terminal U V W to the servo motor power input terminal U V W directly
174. speed is equal to higher than parameter No 66 setting 5 Gain changing condition DRU parameter No 50 When you selected command frequency droop pulses or servo motor speed in gain changing selection parameter No 65 set the gain changing level The setting unit 1 as follows Gain changing condition Droop pulses Servo motor speed 6 Gain changing time constant DRU parameter No 51 You can set the primary delay filter to each gain at gain changing This parameter is used to suppress shock given to the machine if the gain difference is large at gain changing for example 7 7 7 SPECIAL ADJUSTMENT FUNCTIONS 7 5 4 Gain changing operation This operation will be described by way of setting examples 1 When you choose changing by external input a Setting DRU Parameter No Abbreviation Setting PO Position control gain 1 Speed control gain 1 1000 Ratio of load inertia moment to servo motor inertia moment Position control gain 2 Speed control gain 2 ____ Speed integral compensation Ratio of load inertia moment GD2B 0 1 times servo motor inertia moment 2 Position control gain 2 53 PG2B 70 changing ratio Speed control gain 2 changin ratio Speed integral compensation 55 VICB 250 changing ratio 0001 49 CDP Gain changing selection Control command from controller b Changing operation Gain changi
175. ssecesecesecesecssecesecesecesecesecesecessenseenseenss 1 5 1 6 Combination with servo MOtOL ea a E E E AE REE AE 1 6 L Partsadentificatiobs Ae Rae Re 1 7 1 8 Servo system with auxiliary nennen eren 1 9 2 INSTALLATION AND START UP 2 1 to 2 10 2 1 Environmental conditions esses nennen enne nne 2 1 2 2 Installation direction and clearances esses nennen nnne nne 2 2 2 3 Keep out foreign materials sese enne enne 2 3 2A Cable stress xui todo tu ded eta deu es a e du e e ee d te hd 2 3 2 5 Mounting method a a T S e Sea Eae O EAE sene 2 4 2 6 When switching power on for the first time tenere ennt 2 6 2 9 2 7 2 5 Control 2 9 3 SIGNALS AND WIRING 3 1 to 3 28 3 1 Connection example of control signal eterne nnn 3 2 3 2 signals of interface unit sese eene enne enne ener ener 3 4 3 2 1 Connectors and signal eene 3 4 3 2 2 S18 nal explanations uisa Oen panneau 3 5 9 29 Uribe ria GOs siae 3 6 3 3 Signals and wiring for extension IO 1 16 3 9 3
176. stem controller is present or not 1 Forced stop command from servo system controller t Absent On Present Off display 2 Forced stop EM 1 ON On OFF Off 3 Electromagnetic brake interlock MBR ON On OFF Off External I O signal Output signal forced The digital output signal can be forced on off For more output information refer to section 4 2 6 Software version low Indicates the version of the software Software version high Indicates the system number of the software 4 OPERATION AND DISPLAY 4 2 4 Alarm mode of interface unit The current alarm past alarm history and parameter error are displayed The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error Display examples are shown below Display Indicates no occurrence of an alarm Current alarm Indicates the occurrence of overvoltage A 33 Flickers at occurrence of the alarm Indicates that the last alarm is Multiple axis overload A 53 Indicates that the second alarm in the past is overvoltage A 33 Indicates that the third alarm in the past is undervoltage A 10 Alarm history Indicates that the fourth alarm in the past is overspeed A 31 Indicates that there is no fifth alarm in the past Indicates that there is no sixth alarm in the past Indicates no occurrence of parameter error
177. stics uei prr trm ritenere ERE HIT den 11 4 11 4 Encoder cable flexing 11 6 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 to 12 36 12 T eniin etn teen tente tenete Eee 12 1 12 1 1 Regenerative brake options ssesssseseeseeeeeeee enters enters seen essen nns 12 1 12 1 2 Cables and connectot amp aie nie n E Pu RR EP MERE HM ERA EPA RAE 12 8 12 1 3 Maintenance junction card 2 8 12 21 12 1 4 MR Configurator servo configurations software ccccccsssssssesesesesescssesescscsesesesescscseseseeeeaes 12 28 12 9 1 sd estia n OH dedii iun Sees 12 25 12 24 Recommended E N et ee puli eto ae gud 12 25 12 2 2 No fuse breakers fuses magnetic 12 26 12 2 3 Power factor improving reactors cccccssccessccesseccesssceessecessecessecesssceessecessecessecesseceesseeeseeeeseseses 12 27 12 2 4 Relays rene peteret eater ee etae yea ev peres 12 28 12 2 5 S rge absOoPbers 12 28 12 2 6 Noise reduction teChniques ccccccsscccsssscessccsssscsssscesssescsssscessscsssccessecessescssascssascessecessescesasenses 12 28 12 2 7 Leakage current breaker enn ns 12 34 12 2 8 EMG e e Dee etti meet rese le ere 12 35
178. sults are negative at all timings the regenerative brake option is not needed From the total of ER s whose subtraction results are positive and a single cycle period the power consumption of the regenerative brake option can be calculated with the following expression Power consumption PR W total of positive ER s 1 cycle operation period t 12 4 12 OPTIONS AND AUXILIARY EQUIPMENT 3 Connection of the regenerative brake option When using the MR RB54 cooling by fan is required Please obtain a cooling fan at your discretion Set DRU parameter No 2 according to the option to be used 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 clear of the regenerative brake option body Always use twisted cables of max 5m 16 4ft length for connection with the base unit The G3 and G4 terminals act as a thermal sensor G3 G4 are disconnected when the regenerative brake option overheats abnormally DRU parameter No 2 Selection of regenerative 00 Not used 06 MR RB34 07 MR RB54 10 MR RB032 12 MR RB14 Base unit Regenerative brake option 5m 16 4 ft max Note Make up a sequence which will switch off the magnetic contactor MC when abnormal heating occurs G3 G4 contact specifi
179. t 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 WARNING Before wiring or inspection switch power off and wait for more than 15 minutes Then confirm the voltage is safe with voltage tester Otherwise you may get an electric shock Connect the base unit 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 for each unit and the servo motor until they are installed Otherwise you can obtain the 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 base unit servo motor and regenera
180. tch depth Y Frequency Notch 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 DRU parameter No 18 DRU parameter No 18 frequency selection or foo soo 297 Cos f oe s os om oe 395 Notch depth selection 0 Deep 40 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 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 control 1 Function Adaptive vibration suppression control is a function in which the drive unit detects machine resonance and sets the filter characteristics automatically to suppress mechanical system vibration Since the filter characteristics frequency depth are set au
181. te Factory settings of servo amplifier Connecting it with the servo system controller and switching power on changes them to the settings of the servo system controller pulse Jee eR RRE k 5 TT 5 17 8 00 0 80 Expansion parameters 5 PARAMETERS veel No Symbol Name Initial Unit cation r setting Value 41 For manufacturer setting 500 42 0000 43 0111 44 20 45 50 46 0 4T 0 48 0 49 changing selection 0000 50 CDS Gain changing condition 10 Note 51 CDT Gain changing time constant 1 ms 52 GD2B Ratio of load inertia moment to Servo motor inertia moment 2 7 0 times 53 PG2B Position control gain 2 changing ratio 100 96 P 54 VG2B Speed control gain 2 changing ratio 100 96 55 VICB Speed integral compensation changing ratio 100 96 5 56 For manufacturer setting 0000 57 0000 2 58 0000 59 0000 E 60 OPC Optional function 0000 8 61 NH2 Machine resonance suppression filter 2 0000 53 62 For manufacturer setting 0000 63 400 64 100 65 1 66 1 67 0 68 0 69 0 70 0 71 0 72 0 73 0 74 0 75 0 Note Depends on the DRU parameter No 49 setting 5 PARAMETERS 2 Details list Classifi Initial Set
182. the regenerative brake 2 Sheathes of servo motor power cables deteriorated resulting in ground fault 3 Main circuit of drive unit failed Checking method Alarm A 24 occurs if power is switched on after disconnection of the U V W power cables 1 Battery voltage low 2 Battery cable or battery is faulty 3 Super capacitor of the absolute position encoder is not charged 1 Mismatch between used regenerative brake option and DRU parameter No 2 setting 3 High duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative brake option to be exceeded Checking method Call the status display and check the regenerative load ratio 6 Regenerative transistor faulty 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 1 Encoder connector CN2 Connect correctly disconnected Wire breakage or shorted output wires are in contact at CNP2 Change the cable Change the drive unit Change battery Always make home position setting again After leaving the alarm occurring for a few minutes switch power off then on again Always make home position setting again Set correctly 2 Regenerative brake option is not Connect correctly connected 1 Reduce the frequency of pos
183. tigation method Section 10 2 Outline drawing modification Section 10 2 2 Outline drawing modification Section 10 2 3 2 Addition of MR J2M 70DU drive unit outline drawing Section 10 2 4 Outline drawing modification Section 10 2 5 Outline drawing modification Section 11 1 2 Addition of the case with MR J2M 70DU Addition of sentence Section 11 2 Addition of MR JM 70DU Addition of HC KFS73 HC MFS73 and HC UFS73 servo motors Section 11 3 Addition of dynamic brake time constants of HC KFS73 HC MFS73 and HC UFS73 servo motors Addition of load inertia moment ratio table of MR J2M 70DU Section 12 1 1 2 a D 2 Overall modification Section 12 1 1 2 b 2 Addition of MR J2M 70DU Section 12 1 4 Addition of POINT Section 12 1 4 1 Partial addition to table Section 12 1 4 2 a Overall modification to table Section 12 2 1 1 Addition of MR J2M 70DU Section 12 2 2 2 No fuse breaker model name changing Section 12 2 3 Addition of the case with 1 phase 200 to 230VAC power supply 2002 SH NA 030012 B Section 12 2 6 2 b Diode mounting diagram modification Section 12 2 7 1 Our leakage current breaker product model name changing Addition of MR J2M 70DU to Table 12 4 Section 12 2 8 2 Addition of the case with 1 phase 200 to 230VAC power supply Section 13 2 1 Reexamination of table Sept 2002 SH NA 030012 C Safety Instructions Addition of About wiring protection Addition of EEP ROM life Section 1 5 2
184. ting Symbol Name and Function Unit cation Value Range 1 AMS Amplifier setting 0000 Refer to Used to select the absolute position detection name and 01010 function column Absolute position detection selection 0 Invalid Used in incremental system 1 Valid Used in absolute position detection system 2 REG Regenerative brake resistor 0000 Refer to Used to select the regenerative brake option used The values set to name the drive units installed on the base unit should all be the same and function 010 column pa Regenerative selection brake option The built in regenerative brake resister is used 00 Not used 06 MR RB34 07 MR RB54 10 MR RB032 11 MR RB14 Wrong setting may cause the regenerative brake option to burn If the regenerative brake option selected is not for use with the drive unit parameter error 37 occurs un 3 g gd 2 2 un d For automatic setting by servo system controller 0080 E Automatically set from the servo system controller 0000 GE poser 6 FBP Feedback pulse number 0 Refer to Set the number of pulses per revolution in the controller side name command unit Information on the motor such as the feedback pulse and value present position droop pulses and within one revolution function position are derived from the values converted into the number of column pulses set here g Numbe
185. ting screw and tightening torque Section 11 1 Reexamination of CAUTION sentence Chapter 12 WARNING sentence partial change Section 12 1 1 4 b Reexamination of outline dimension drawing Section 12 1 4 2 Partial reexamination of table value Section 12 2 6 2 d Reexamination of outline dimension drawing of FR BSFO1 Section 12 2 6 2 c Sentence addition Chapter 13 Reexamination of CAUTION sentence MODEL MODEL CODE MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 This Instruction Manual uses recycled paper SH NA 030012 G 0510 MEE Printed in Japan Specifications subject to change without notice
186. tings 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 Precautions for Choosing the Products Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi machine damage or lost profits caused by faults in the Mitsubishi products damage secondary damage accident compensation caused by special factors unpredictable by Mitsubishi damages to products other than Mitsubishi products and to other duties COMPLIANCE WITH EC DIRECTIVES 1 WHAT ARE EC DIRECTIVES The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety guaranteed products In the EU countries the machinery directive effective in January 1995 EMC directive effective in January 1996 and low voltage directive effective in January 1997 of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks CE marking CE marking applies to machines and equipment into which servo MELSERVO J2M is contained have been installed 1 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 incorp
187. tion 3 2 3 1 Connector applications Function Application CNIA Connector for bus tabletom preceding Used for connection with the controller or preceding axis servo amplifier Used for connection with the next axis servo amplifier or Connector for bus cable to next axis for connection of the termination connector Used for connection with the personal computer Serves as an signal connector when the personal computer is not used Communication connector I O signal connector 2 I O signals a Input signal Symbol Rin Function Application Division Disconnect EM1 SG to bring the servo motor to a forced stop state in which the servo is switched off and the dynamic Forced stop brake is operated In the forced stop state connect EM1 SG to reset that state b Output signals Symbol Ed Fin Function Application I O Division MBR SG are disconnected when a forced stop is made valid Electromagnetic brake CN3 an alarm occurs in the interface unit or drive unit or the interlock MBR 13 servo switches off With IFU parameter 10 choose the axis number of the drive unit that will use this signal MO1 CN3 Used to output the data set in parameter No 3 to across Analog 8 4 MO1 LG in terms of voltage Resolution 10 bits output CN3 Used to output the data set in parameter No 4 to across Analog Analog momtora MO2 LG in terms of voltage Resolution 10 bits out
188. tive brake resistor on or near combustibles Otherwise a fire may cause When each unit has become faulty switch off the main base unit power side Continuous flow of a large current may cause 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 Transport the products correctly according to t
189. to make that parameter setting valid The parameter is set when communication between the servo system controller and servo amplifier 1 established b is displayed After that power the servo amplifier off once and then on again 1 Item list Note Cl fi usl bd No Symbol Name Initial Unit S n cation setting Value Del 0080 EX For automatic setting by servo system controller SEE 4 000 E m Pai FBP Feedback pulse number none POL 001 SP_ Servorespmse 0005 L D2 Ratio of load inertia to servo motor inertia load inertia ratio Position control gain 1 rad s 3 G1 Speed control gain 1 177 rads G2 Position control gain 2 1 VG2 4 control gain 2 8 rad s 1 Basic parameters w v zal d gt G EA alals 2 ro d ms FFC Feedforwardgain npostionrange 100 pulse E ms 0001 a 2 5 las 0001 OP1 OP2 Low pass filter adaptive vibration suppression control 0000 Adjustment parameters ies 0001 For manufacturer setting 0001 r min Z _ Error excessive alarm level 80 P5 WM amp mg VPI PLPIDcontrolswiteh overposition droop 0 For manufacturer setting VDC ENR For manufacturer setting 40 BLK DRU parameter write inhibit 0000 No
190. tomatically you need not be conscious of the resonance frequency of a mechanical system Also while adaptive vibration suppression control is valid MELSERVO J2M 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 LC System response level Frequency level Frequency 1 Notch Notch depth Y depth Y 1 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 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 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 DRU parameter
191. ts 7 5 725 2 Function block diagram 7 5 WEST DALAM CLOLS TEE 7 6 7 5 4 Gain changing 7 8 8 INSPECTION 8 1 to 8 2 9 TROUBLESHOOTING 9 1 to 9 10 9 1 Alarms and warning List ccccccccccsssccessccessccessecesssccesseccessecessecesseceeseceessecessecessecesecesseccsssecessecesaecenaees 9 1 9 2 decet tre deret esee oper ti epe Po PU ei pee e PAUPERI EUER ead eina 9 3 9 3 Remedies for warnY ps o e ago 9 10 10 OUTLINE DRAWINGS 10 1 to 10 10 10 1 MELSERVO J2M configuration eterne nennen enne 10 1 10 2 Unit outlme drawIngs iint rere Fe HERE e FR n Ere L 10 2 10 2 1 Base unit MR J2MSBU EJ Fo pae rer e UD Gee pe toner spend 10 2 10 2 2 Interface unit MR J2M P8B 10 2 t023 Drive nit a aa a aaa a ts He RN 10 3 10 2 4 Extension IO unit 42 001 10 4 10 2 5 Battery unit MR J2ME BT db wits tad nomi edet diet ids 10 4 Connec 10 5 11 CHARACTERISTICS 11 1 to 11 6 11 1 Overload protection Cherie tuve dace eg pati b atit 11 1 11 2 Power supply equipment capacity and generated loss ssssssssssseeeee 11 2 1173 Dynamne brake characteri
192. ue Range 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 and function EBERT column n Low pass filter selection 0 Valid Automatic adjustment VG2 setting x10 When you choose valid 57 552 settingx0 1 Hz bandwidth filter is set automatically 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 2 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 Adjustment DRU parameters LY ESN Do not change this value by any means 27 For manufacturer setting 28 Do not change this value by any means Zero speed sed to set the output range of the zero speed ZSP Error excessive alarm level sed to set the output range of the error excessive alarm Optional function 5 Refer to sed to select PI PID control switch over name and 01010 function column Expansion DRU parameters E PI PID control switch over selection PI control is always valid Droop b
193. umn Response Machine resonance Sus level frequency guideline 1 Low 2 response 3 f D 4 response 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 Forward rotation torque limit Assume that the rated torque is 100 96 Used to limit the torque in the forward rotation driving mode and un 23 o g g gt 2 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 96 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 moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment When auto tuning mode 1 and interpolation mode is selected the result of auto tuning is automatically used Refer to section 6 1 1 In this case it varies between 0 and 1000 Position loop gain 1 Used to set the gain of position loop
194. ve unit 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 These products have been manufactured as a general purpose part for general industries and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life Before using the products for special purposes such as nuclear power electric power aerospace medicine passenger movement vehicles or under water relays contact Mitsubishi These products have been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsafe functions in the system A EEP ROM life The number of write times to the EEP ROM which stores parameter set
195. 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 servo motor side connection method depends on the type and capacity of the servo motor Refer to Section 3 5 3 To comply with the UL C UL CSA Standard use UL recognized copper wires rated at 60 C 140 F or more for wiring Table 12 1 Recommended wires Unit Wires mm ni 1 L1 L2 L3 9 2 L11 L21 4 5 B1 B2 2 AWG14 3 5 AWG12 2 AWG14 2 AWG14 5 5 AWG10 MR J2M 10DU MR J2M 20DU 1 25 AWG16 MR J2M 40DU AWG10 1 25 AWG16 MR J2M 70DU 12 25 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 2 Wires for option cables Characteristics of one Note 3 Length Core size Number Type Model 2 Structure Conductor Insulation coating Finishing Wire model m ft of Cores Wires mm resistance o mm ODd mm Note 1 OD mm 20 10 0 08 12 7 0 127 222 0 38 UL20276 AWG 28 MRJCCBLEM 65640 82 8 6 pers 6pair BLACK 20 30 12 0 18 UL20276 AWG 22 65 6 98 4 6 pains 6pair BLACK 2 5 Note 2 MRJccBLEM H 56 16 4 6 Rr A14B2343 6P 10 to 50 14 Note 2 30 to 50 14 Note 2 Communication UL20276 AWG 28 Ed cecarcaiam 3080 o s oar M BOEMA J2HBUSOM UL20276 AWG 28 IMR
196. 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 5 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 v m Maximum capacity Varistor voltage Permissible circuit Surge Energy limit voltage reference rating range VimA voltage immunity immunity value E 5 V Note 220 140 180 0 4 25 360 300 500 time 198 to 242 Note 1 8 X 20us Example ERZV10D221 Matsushita Electric Industry TNR 10V221K Nippon Chemi con Outline drawing mm in ERZ C10DK221 13 5 0 53 4751 0 0 19 0 04 Vinyl tube XXXXXXKI xX Crimping terminal for M4 screw KXX 0 8 0 03 30 0 1 18 or more 12 2 6 Noise reduction techniques Noises are classified into external noises which enter MELSERVO J2M to cause it to malfunction and those radiated by MELSERVO J2M to cause peripheral devices to malfunction Since MELSERVO J2M is an electronic device which handles small signals the following general noise reduction techniques are required
197. y 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 Switching on the main circuit power control circuit power places the interface unit display in the scroll status as shown below In the absolute position detection system first power on results in the absolute position lost A 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 T 2 INSTALLATION AND START UP 2 Parameter setting Set the parameters accordi
198. y to perform a home position return at power on alarm occurrence or like The MELSERVO J2M series has a control circuit power supply in the interface unit and main circuit converter and regenerative functions in the base unit to batch wire the main circuit power input regenerative brake connection and control circuit power input achieving wiring saving In the MELSERVO J2M series main circuit converter sharing has improved the capacitor regeneration capability dramatically Except for the operation pattern where all axes slow down simultaneously the capacitor can be used for regeneration You can save the energy which used to be consumed by the regenerative brake resistor Bus cable connections Extension IO unit MR J2M D01 Regenerative brake option Encoder pulse output extension DIO Axes 1 to 4 Control circuit power input Encoder cable output extension DIO Axes 5 to 8 Servo motor power cable Main circuit power input Personal computer connection Analog monitor Forced stop input Electromagnetic brake interlock output 1 FUNCTIONS AND CONFIGURATION 1 2 Function block diagram Base unit Interface unit fe H 1 1 Control a Controller or phase 5 Servo amplifier 200 to Position command 5 Control 230 m Servo amplifier Note

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