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Mitsubishi Electronics MR-J2S- A Car Amplifier User Manual

1. Front cover socket 2 places 1 Insert the two front cover hooks at the bottom into the sockets of the servo amplifier 2 Press the front cover against the servo amplifier until the removing knob clicks 1 Push the removing knob A or B and put you finger into the front hole of the front cover 2 Pull the front cover toward you 1 16 1 FUNCTIONS AND CONFIGURATION 4 For MR J2S 11KA or more Removal of the front cover Mounting screws 2 places U E BATA H E n E e d D e i Mounting screws 2 places q T d q y E F 1 Remove the front cover mounting screws 2 places 2 Remove the front cover mounting screws 2 places and remove the front cover U Ef EX TORIO HE nm H a e a 3 Remove the front cover by dra
2. 2 AD75PO A1SD75P O Positioning module AD75PO Servo amplifier A1SD75PD Note 10 10m 32ft max 3 e Note 4 9 Note 4 CN1A CN1B Ee 19 Note 7 POORA Trouble PGO 5V 24 PGOCOM 25 qe Speen CLEAR 5 TEF ERSTEN Limiting torque PULSE F 21 PULSE F PULSE R 22 lq 10m 32ft or less gt l PULSE R PULSE F PULSE COM 19 PULSE R PULSE COM 20 DOG Note 4 9 la 10m 32ft or less CNA o L Px tio 6 LA e e Encoder A phase pulse Note 4 9 16 LAR differential line driver DC24V Biel TES ETA 7 LB Encoder B phase pulse Note 3 6 Emergency stop clo EMG 15 17 Ler bo differential line driver Servo on o SON 5 Ps Control common Reset N RES 14 1 LG Control common Proportion control O PC 8 14 OP gt Encoder Z phase pulse Torque limit selection e oo TL 9 A P15R Hs open collector Note 6 Forward rotation stroke end LSP 16 Plate SD DA Reverse rotation stroke end LSN 17 2m 6 5ft or less No SG 10 Upper limit setting z A Note 4 9 14 o P15R 11 CN3 Analog torque limit pa pa SKS y 10V max torque TLA 12 4 mor pS AIST Note 8 ee LG 1 3 LG Y ek Analog monitor sD Plate 14 moht E A LECH Max 1mA SUBS TJ 1510602 Reading in both le
3. CN1A L CN1B CN1A DC24V 28 o VDD RA Lo COM ALM etc o DO 1 N So 5 SON etc K DI 1 gt Se Note _JoPC zoue D O PP NP y Y A i Cpu ES e SG SG 6 1evbCL10 DT o soma ale le L La P15R 8 l a A A LA etc d LAR OTi gt Differential line GO etc d Analog input TLA ia CT e 10V max current VC eto spl S LG MO A CN3 Analog monitor output oa D SD O O RS 422 O O O O peo o RS 232C Servo motor encoder mph SNe O7 Servo motor MRR o4 me esd ie CH O S te JL ck O Z Ground Note For the open collection pulse train input Make the following connection for the different line driver pulse train input 3 SIGNALS AND WIRING 3 6 2 Detailed description of the interfaces This section gives the details of the I O signal interfaces refer to I O Division in the table indicated in Sections 3 3 2 Refer to this section and connect the interfaces with the external equipment 1 Digital input interface DI 1 Give a signal with a relay or open collector transistor Source input is also possible Refer to 7 in this section For use of internal power suppl For use of external power suppl Servo amplifier Do not connect 24VDC VDD COM Servo amplifier R Approx 4 70 COM Note For a transistor Approx 5mA S V ces lt 1 0V ceo lt
4. Unit mm 5 Unit in oye YY CA d 4 d 9 oO Iesel E E a lt e KK A ft y y 0 2 5 gt Ww AR 100 3 94 D 2 3 0 09 p C F Terminal block E GND alb li3l14 Screw M3 5 Screw M4 Tightening torque 1 2 N m 10 6 Ib in Tightening torque 0 8 N m 7 Ib in Mass Connection Dynamic brake A C E F G pense a e o o e r 6 kg Ib wire mm DBU 11K DBU 15K 22K Configure up a sequence which switches off the contact of the brake unit after or as soon as it has turned off the servo on signal at a power failure or failure For the braking time taken when the dynamic brake is operated refer to Section 12 3 The brake unit is rated for a short duration Do not use it for high duty When the dynamic brake is used the power supply voltage is restricted as indicated below 3 Phase 170 to 220VAC 50Hz 3 Phase 170 to 242VAC 60Hz 13 17 13 OPTIONS AND AUXILIARY EQUIPMENT 13 1 5 Cables and connectors 1 Cable make up Thefollowing cables are used for connection with the servo motor and other models Those indicated by broken lines in the figure are not options 9 Operation i panel Pech DA RE I 1 1 bret ee iiA E fo SC CN1A CN1B EIERE ER SR Personal t l computer l I
5. Note 1 To be connected for dog type home position setting The connection in Note 2 is not required 2 To be connected for data set type home position setting The connection in Note 1 is not required 3 This circuit is for reference only 4 The electromagnetic brake interlock MBR output should be controlled by connecting the programmable controller output to a relay 15 24 15 ABSOLUTE POSITION DETECTION SYSTEM 3 Sequence program example a Conditions This sample program is an ABS sequence program example for a single axis X axis Totransmit the ABS data using the OFF to ON change of the servo on SON as the trigger 1 When the servo on SON and the GND of the power supply are shorted the ABS data is transmitted when the power to the servo amplifier power is turned ON or at the leading edge of the RUN signal after a PC reset operation PC RESET The ABS data is also transmitted when an alarm is reset or when the emergency stop state is reset 2 If a check sum discrepancy is detected in the transmitted data ABS data transmission is retried up to three times If the check sum discrepancy is still detected after retrying the ABS check sum error is generated Y 4A ON 3 The following time periods are measured and if the ON OFF state does not change within the specified time the ABS communication error is generated Y4A ON ON period of ABS transfer mode Y 41 ON
6. 2 4 12 9 0 47 Y Approx Fan air orientation mounting hole A Y De ese ok AR f AA EAN f CN4 UI x z o R du 6 ss O TE2 e P CHARGE CON2 l o TE1 e la DA nc Ee E 0 47 12 He 1200 47 3061284 JLS 350 13 78 12 0 47 A lt N o S o N e a a y Servo amplifier Mass kg lb MR J 2S 22KA 20 44 1 fe Terminal signal layout TE1 PE terminal Mounting Screw Screw Size M10 eet E A Trino torque Terminal screw M8 a bad Tightening torque GOIN m 52 Ib in Terminal screw M8 Tightening torque GOIN m 52 Ib mi TE2 Lit Let Terminal screw M4 Tightening torque 1 2 N m 10 6 Ib in 11 7 11 OUTLINE DIMENSION DRAWINGS AAA 11 2 Connectors 1 Servo amplifier side lt 3M gt a Soldered type Model Connector 10120 3000VE Shell kit 10320 52F0 008 Unit mm 12 0 0 47 Unit in AD oln o 2 Logo etc are indicated here Variable dimensions Connector Shell kit A B 10120 3000VE 10320 52F 0 008 22 0 0 87 33 3 1 31 b Threaded type Model Connector 10120 3000VE Shell kit 10320 52A0 008 Unit mm Note This is not available as option and should be user prepared Cad T m e 14 0 9 55 Logo etc are indicated here l l 12 7 0 50 11
7. HIE OQ leelolaleleni fo Basic parameters Interpolation mode Fixes position control gain 1 parameter No 6 Auto tuning mode 1 Ordinary auto tuning Auto tuning mode 2 Fixes the load inertia moment ratio set in parameter No 34 Response level setting can be changed Manual mode 1 Simple manual adjustment Manual mode 2 Manual adjustment of all gains Setting 0 automatically sets the resolution of the servo motor connected For the HC MFS series 131072 pulses are set for example 4 CDV _ Electronic gear denominator Used to set the electronic gear denominator value For the setting refer to Section 5 2 1 3 CMX Electronic gear numerator Used to set the electronic gear numerator value For the setting refer to Section 5 2 1 5 PARAMETERS Initial Setting Control Class No Symbol Name and function Unit g value range mode In position range Used to set the in position INP output range in the command pulse increments prior to electronic gear calculation For example when you want to set 100 um when the ballscrew is directly coupled the lead is 10mm the feedback pulse count is 131072 pulses rev and the electronic gear numerator CMX electronic gear denominator CDV is 16384 125 setting in units of 10 um per pulse set 10 as indicated by the following expression 6 ae X 131072 pulse rev x 12519 10 X 107
8. i D 7 4 M10 Screw Unit mm in SS Changeable A A dimension a va e A C Servo amplifier N OD TS o 236 255 270 203 MR J 2S 11KA kin A aio MRJACNISK 9 291 10 63 7 992 MRJ 2S 15KA E e A o MR J ACN22K 320 op 30 230 MR 25 22KA oO o 12 835 13 583 14 173 11 417 TI l A a E Punched 2 B 6 hole E wo ES ag o d a ot 345 oo lt A gt GR 5 lt B gt lt gt Screw 2 places Attachment 4 places Attachment MR JACN15K MR JACN22K 13 36 13 OPTIONS AND AUXILIARY EQUIPMENT 3 Fitting method Fit using the assembiling Servo Punched screws amplifier Le hole Attach i 7 ttachment y A E a Control box a Assembling the heat sink outside mounting attachment b Installation to the control box 4 Outline dimension drawing a MR J ACN15K MR J 2S 11KA MR 2S 15KA 20 0 787 A E DE e aj Panel ISe B o Lo Y e I jaw SH Hp Io ul ly NETA QO i k 1 r O I LA A 5 l Ns Attachment 2 x l f A b f vn e Servo amplifier Servo amplifier LO 19 1 a i l l I l E Bie S Attachment n d ie fas Ns Cl O 2 S Va e Es y YF y2 3 a AR i Panel 236 9 291 l 4 012 lt 280 11 024 Mounting hole 3 2 0 126 260 10 236 155 6 102 105 11 5 a 60 4 134 10 453
9. 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 parameter No 2 0200 and set the load inertia moment ratio parameter No 34 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 7 GENERAL GAIN ADJUSTMENT 7 2 4 Response level setting in auto tuning mode Set the response The first digit of parameter No 2 of the whole 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 parameter No 60 or machine resonance suppression filter parameter No 58 59 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to Section 8 1 for adaptive vibration suppression control and machine resonance suppression filter Parameter No 2 Response level setting Gain adjustment mode selec
10. 3 SIGNALS AND WIRING 3 1 3 Torque control mode Speed selection 1 O 10m 32ft max Servo amplifier Note 4 CN1B Note 4 8 CN1A 8 10 Note 3 Emergency stop Note 4 8 Note 4 8 CN1B CN1A VDD Note 10 Note 6 SCH ote 2 5 e i u ALM En Zero speed ZSP Gad Limiting torque VLC bad 10m 32ft or less Encoder Z phase pulse Servo on AC Reset o Speed selection2 oo 7 Forward rotation start e oo 9 differential line driver Encoder A phase pulse differential line driver Note 11 8V max torque Upper limit setting Analog speed limit 0 to 10V rated speed 2m 6 5ft max Encoder B phase pulse differential line driver Control common Control common Note 9 MR Configurator Personal Servo configuration computer software E Note 7 Communication cable Encoder Z phase pulse open collector Max 1mA Reeg BEE E Analog monitor SS gt l Note 4 8 12 CN3 4 MO1 3 JLG 14 Note 4 8 CN3 13 LG Plate SD Reading in both 3 SIGNALS AND WIRING Note 1 8 9 To prevent an electric shock always connect the protective earth PE terminal of the terminal marked servo amplifier to the protective earth PE of the control box Connect the diode
11. 8 Note 2 i i 105 6 gt A14B2339 4P Note 2 i V 103 Ze A14B2343 6P Note 2 MR ENCBLOM H 10to 50 72 Note 2 32 8 to 164 A14B2343 6P Communication UL20276 AWG 28 0 5to5 UL20276 AWG 28 1 64 to 16 4 E i g 10pair CREAM MR J HSCBL boas J 10 to 50 32 8 to 164 6 56 16 4 L H 6 56 16 4 Encoder cable MR J HSCBLOM L 10to 30 32 8 to 98 4 M H 8 MR 2HBUS Note 1 d is as shown below d Conductor Insulation sheath 2 Purchased from Toa Electric Industry 3 Standard OD Max OD is about 10 greater 13 41 13 OPTIONS AND AUXILIARY EQUIPMENT 13 2 2 No fuse breakers fuses magnetic contactors Always use one no fuse breaker and one magnetic contactor with one servo amplifier When using a fuse instead of the no fuse breaker use the one having the specifications given in this section Fuse a O de Servo amplifier No fuse breaker Current A Voltage V MR 25 10A 1 30A frame 5A MR J 25 20A 30A frame 5A MR J 2S 40A 20A1 30A frame 10A MR J 2S 60A 40A1 30A frame 15A MR J 2S 70A 30A frame 15A Magnetic contactor 30A frame 20A 40 MR J 2S 700A 100A frame 75A K5 MR J 25 22KA 225A frame 175A 13 2 3 Power factor improving reactors The input power factor is improved to be about 90 For use with a 1 phase power supply it may be slightly lower than 90
12. Servo amplifier To CN1A Bop aupanng RR CT 000 TALE SN an Note Regenerative brake option To CN1B Command device 2 Junction terminal block MR Configurator Servo configuration Personal software computer MRZJW3 SETUP151E Note When using the regenerative brake option remove the lead wires of the built in regenerative brake resistor 1 23 1 FUNCTIONS AND CONFIGURATION 5 MR J2S 11KA or more 3 phase 200V to 230VAC power supply Servo configuration software Options and auxiliary equipment Reference Options and auxiliary equipment Reference No fuse breaker Section 13 2 2 Regenerative brake option Section 13 1 1 Magnetic contactor Section 13 2 2 Cables Section 13 2 1 MR Configurator secon 13 1 9 Power factor improving reactor Section 13 2 3 Power factor improving Section 13 2 4 DC reactor No fuse E breaker NFB or EE fuse ersonal software computer MRZJW3 SETUP151E Y UJ La Magnetic Lu contactor MC MS O O i Analog monitor S a OS To CN4 Note2 SY L IS ES Power o improving o reactor
13. Model MODEL MR J2S 60A lt Conadi POWER 600W Pn INPUT__ 3 24 3PH 1PH200 230V 50Hz Applicable power supply 3PH 1PH200 230V 60Hz 5 5A 1PH 230V 50 60Hz OUTPUT 170V 0 360Hz 3 6A Rated output current AA MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN SERIAL ASK TC3 AAAAG52 S Serial number 1 FUNCTIONS AND CONFIGURATION 2 Model MR J2S 0A 0 0 Series With no regenerative resistor Symbol Description Indicates a servo amplifier of 11 to 22kw that does not use a regenerative resistor as standard accessory PX Power Supply Power supply 3 phase 200 to 230VAC Note1 1 phase 230VAC 1 phase 100V to 120VAC Note 1 1 phase 230V is supported by 750W or less 2 1 phase 100V to 120V is supported by 400W or less General purpose interface Rated output Rated Rated output kW output kW 0 1 3 5 0 2 5 0 4 7 0 6 11 0 75 15 MR 32S 100A or less Rating plate MR J2S 11KA 15KA MR J2S 200A 350A Rating plate MR J2S 22KA Rating plate Rating plate 1 FUNCTIONS AND CONFIGURATION 1 6 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors The same combinations apply to the models with electromagnetic brak
14. 6 DISPLAY AND OPERATION Display Press the SET button to show the motor series ID of the servo motor currently connected For indication details refer to the optional MELSERVO Servo Motor Instruction Manual Press the SET button to show the motor type ID of the servo motor currently connected For indication details refer to the optional MELSERVO Servo Motor Instruction Manual Press the SET button to show the encoder ID of the servo motor currently connected For indication details refer to the optional MELSERVO Servo Motor Instruction Manual Motor series Motor type Encoder 6 DISPLAY AND OPERATION 6 4 Alarm mode The current alarm past alarm history and parameter error are displayed The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error Display examples are shown below Display Indicates no occurrence of an alarm Current alarm Indicates the occurrence of overvoltage AL 33 Flickers at occurrence of the alarm Indicates that the last alarm is overload 1 AL 50 Indicates that the second alarm in the past is overvoltage AL 33 Indicates that the third alarm in the past is undervoltage AL 10 Alarm history Indicates that the fourth alarm in the past is overspeed AL 31 Indicates that there is no fifth alarm in the past Indicates that there is no sixth alarm i
15. Unit mm Servo amplifier FR BAL MR J2S OA NFB MG o SY o_o L i i o 3 phase ST o 00 o L2 H 200 to 230VAC 6 o oe 00 Z 4 L3 homo Servo amplifier i o FR BAL MR J2S O A W l D1 Me 4 Li Installation screw Note 1 phase 230VAC ie Tup SE t S Servo amplifier _FR BAL MR J2S OA1 NFB MC 1 phase ole o O L1 100 to120VAC i 5 oo Le Ti TO i Z Note For the 1 phase 230V power supply Connect the power supply to L1 L2 and leave L3 open Ze Dimensions mm in Mounting Terminal Mass Servo ampitier Mogel W wi H D DI C screw size screw size _ kg Ib 2 0 4 4 2 8 6 17 3 7 8 16 5 6 12 35 8 5 18 74 200 7 87 14 5 32 0 19 41 9 27 59 5 35 77 16 MRJ25 22KA____ FR BAL 30K_ 290 11 41 190 5 7 48 0 2 25 0 98 M8 M 43 94 79 13 42 13 OPTIONS AND AUXILIARY EQUIPMENT 13 2 4 Power factor improving DC reactors The input power factor is improved to be about 95 Note 1 Terminal cover Screw size G C or less a Eo t 2 FXL H p E R Notch B or less A or less ane Mounting foot part 5m or less Servo amplifier FR BEL Note1 Fit the supplied terminal cover after wiring 2 When using the DC reactor remove the short circuit bar across P P1 Power factor Dimensions mm in 4 A Servo amplifier improv
16. 19 20 HC KFS E SEET LJ HC MFS HC UFS 3000r min HC UFS 2000r min HC SFS 15 16 17 18 Vo HC RFS Note 1 Use 12 and 13 with 7kW or less 2 Use 21 with 11kW or more 13 18 13 OPTIONS AND AUXILIARY EQUIPMENT d cken __ _deserpten _____ Application Standard encoder JMR CCBLOM L Connector 10120 3000VE Housing 1 172161 9 Standard Refer to 2 in this Shell kit 10320 52F 0 008 Connector pin 170359 1 flexing life section 3M or equivalent Tyco Electronics or equivalent Cableclamp MTI 0002 Toa Electric Industry Long flexing life MR CCBLOM H Long flexing encoder cable Refer to 2 in this E i section MR J HSCBLOIM L Connector 10120 3000VE Connector MS3106B 20 29S Standard Refer to 2 in this Shell kit 10320 52F 0 008 Cable clamp MS3057 12A flexing life section 3M or equivalent DDK IP20 Long flexing life MR J HSCBLOM H Long flexing encoder cable Refer to 2 in this A section IP65 compliant MR ENCBLOM H Connector 10120 3000VE Connector Long flexing encoder cable Refer to 2 in this Shell kit 10320 52F 0 008 MS3106A20 29S D190 li section 3M or equivalent Cable clamp CE3057 12A 3 D265 Back shell CE02 20BS S DDK resistant Encoder Connector 10120 3000VE Housing 1 172161 9 connector set Shell kit 10320 52F 0 008 Connector pin 170359 1 3M or equivalent Tyco Electronics or equivalent Cableclamp MTI 0002 To
17. 15 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page M5 MOV K16 DO ABS data transfer start MOV K3 D1 MOV KO D2 MOV KO D5 Dmov ko D9 Dmov ko AO RST co RST ct M5 Y31 ABS data transfer start Y31 C1 ABS transfer Checksum counter mode co C1 Y31 af 1 Counter Sum ABS transfer counter mode DmoveAo D3 movP ko AO Initializing ABS data transmission counter Initializing checksum transmission counter Initializing checksum register Initializing ABS data register ABS transfer mode initial setting Initializing ABS data register Initializing ABS data register Resetting ABS transmission counter Resetting checksum transmission counter ABS transfer mode ABS transfer mode control Clearing register ee et eee ake FROMPH0000 K5 D8 K1 1 Reading x axis rotation A Absolute position direction parameter polarity A1SD75 Masking rotation direction rorat op cirection setting detection parameter c fs M18 Rotation direction M18 judgment ki EE Masking ABS data sign PLS processing command Reversing polarity of upper Saving ABS 32 bit data 8 H ps k Ne G D4 16 bits PLS processing T a command ae Se Decrementing upper 16 bits by 1 Reversing absolute Mea 53 Reversing polarity of lower position polarity S 16 bits Lower 16 bits 0 gt i ko 0 K D4 Dia
18. Dimensions E RECH wn E Ge HF30804 TMA HE3100A TMA pe as aes ees Ge aa K SCH E 13 53 13 OPTIONS AND AUXILIARY EQUIPMENT 13 2 10 Setting potentiometers for analog inputs Thefollowing variable resistors are available for use with analog inputs 1 Single revolution type WA2WYA2SE BK 2KQ J apan Resistor make Resistance Dielectric strength Insulation Mechanical Rated power Resistance Rotary torque tolerance for 1 minute resistance rotary angle Ww xo Oms 700V A C 100M Qor more 300 5 10 to 100g cm or less Panel hole machining diagram Connection diagram Outline dimension drawing Unit mm in Unit mm in 20 0 79 25 0 98 30 1 18 EE Seo _ 36 0 14 hole 2 5 0 10 q i s 0 08 Y 10 0 37 hole o ae Ss N 1 2 3 Be 3 2 2 Multi revolution type Position meter RRS1OM 202 J apan Resistor make Analog dial 23M J apan Resistor make Resistance Dielectric strength Insulation Mechanical Rated power Resistance Rotary torque tolerance for 1 minute resistance rotary angle aw x a 700V A C 1000M Qor more 3600 as 100g cm or less Panel hole machining diagram Unit mm in Panel thickness 2 to 6 0 08 to 0 24 Connection diagram 1 bal b0 0 SE CW O 2 9 0 35 hole Outline dimension drawing RRS10 M202 23M Unit mm in Unit
19. o D gt a 5 d 3 G4G3CP 8 5 0 34 7 318 12 52 90 3 54 17 335 13 19 Regenerative rte 0 67 a brake option Mass kg Ib 1 94 100 18 94 y y MR RB30 A SC A 10 0 39 MR RB31 2 9 6 4 MR RB32 13 8 13 OPTIONS AND AUXILIARY EQUIPMENT _ _ gt _ gt _ 5z _ _ _ _ a _ _ _ _ _ _ ___ _ __ _ _ ___ __ _ __ _ _ _ _ __ ____ 2 c MR RB50 MR RB51 Fan mounting screw E 49 2 M3 screw R A 93 On opposite side e S v if i vd f oO e ma E Ei a D O E E oda 9 P 8 A E pi da A rO nie rs qS T o Y lay Wind blows in the om y amp 3 3 m LYN arrow direction D o g o EN E Tio 3 Ws lt M 2 y rt 2 3 af 117 0 28 0 09 200 7 87 17 0 67 SS 12 108 4 25 Approx 30 1 18 223 8 78 0 47 120 4 73 8 0 32 d MR RB65 MR RB66 MR RB67 2 410 40 39 monutinghde 10 0 39 oe 2 3 0 09 15 0 59 230 9 00 38 B e 260 10 24 JO xz 215 8 47 230 9 06 S 2 4 M3 screw ra ul Fan mounting wot eil Dy Y 30 1 18 Unit mm in oll 0 0 39 o ol 500 19 69 427 16 81 Terminal block Unit mm in P C Term
20. 1 Position control mode An up to 500kpps high speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 131072 pulses rev resolution The position smoothing function provides a choice of two different modes appropriate for a machine so a smoother start stop can be made in response to a sudden position command A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the main circuit from overcurrent due to sudden acceleration deceleration or overload This torque limit value can be changed to any value with an external analog input or the parameter 2 Speed control mode An external analog speed command 0 to 10VDC or parameter driven internal speed command max 7 speeds is used to control the speed and direction of a servo motor smoothly There are also the acceleration deceleration time constant setting in response to speed command the servo lock function at a stop time and automatic offset adjustment function in response to external analog speed command 3 Torque control mode An external analog torque command 0 to 8VDC or parameter driven internal torque command is used to control the torque output by the servo motor To protect misoperation under no load the speed limit function external or internal setting is also available for application to tension control etc 1 FUNCTIONS AND CONFIGURATION 1 2 Function block diagram
21. 15 1 Outline 15 1 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 general purpose programming controller power is on or off Therefore once the home position is defined 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 General purpose programmable controller Servo amplifier Pulse train command CPU Positioning module Se Home position data EEPROM memory Current position Current position Backed up in the case of power failure be 5 c fe S E 9 E Ka o o Speed control number of revolutions Battery MR BAT current position Changing the data Servo motor 1 pulse rev Accumulative Y revolution counter Super capacitor Within
22. Sensor power supply Instrument Sensor Servo motor M js 2 13 45 13 OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques When measuring instruments receivers sensors etc which handle weak signals and may malfunction due to noise and or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier such devices may malfunction due to noises transmitted through the air The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 1 2 3 2 Provide maximum clearance between easily affected signal cables and the 1 O cables of the servo amplifier 3 Avoid laying the power lines Input cables of the servo amplifier 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 the servo amplifier 4 5 6 2 Provide maximum clearance between easily affected signal cables
23. 1 Open the operation window When the model used is the MR J 2S 200A MR J 25 350A or more also remove the front cover 2 Install the battery in the battery holder 3 Install the battery connector into CON 1 until it dicks Operation window Battery Battery holder For MR J2S 100A or less Battery connector CON1 Battery holder Battery For MR J2S 500A MR J2S 700A For MR J2S 11KA or more 15 ABSOLUTE POSITION DETECTION SYSTEM 15 4 Standard connection diagram Servo amplifier E VDD CN1B 3 COM CN1B 13 Note 2 Stroke end in forward rotation LSP CN1B 16 Stroke end in reverse rotation wo A AA Note 3 External torque control e Reset KEE 989 RES CN1B 14 SG CN1B 10 EMG Note 1 Tee Emergency sto Electromagnetic Output i oTo So EMG CN1B 15 brake output SO ES gt SON CN1B 5 H SC oer Sg E z moe ORO e ABS request ABSMICN1B 8 e ad IS Lu ques ABSR CNIB 9 E K ABS bit0 GE Input rd ABS bit 1 DO1 CN1B 4 ma 7 CN1B 19 Li gt CN1B 6 D UO module EES Don gt WE Near zero point signal 0 Sto SG ICN1A 10 Stop signal__ 0 p e i Power supply 24V VDD CN1B 3 Ready F RD CN1A 19 2 Zero point e z P15R CN1A 4 es signal OP CNTIA 14 28 CR_ CN1A 8 E Clear Vl Pa A e e SG CN1A 20 poa L bk
24. Servo motor speed Analog torque command TLA Zero speed ZSP ON J Control change LOP OFF 2 Speed limit in torque control mode As in Section 3 4 3 3 3 Torque control in torque control mode As in Section 3 4 3 1 4 Torque limit in torque control mode As in Section 3 4 3 2 5 Torque limit in position control mode As in Section 3 4 1 5 3 SIGNALS AND WIRING 3 5 Alarm occurrence timing chart When an alarm has occurred remove its cause make sure that the operation signal is not being input ensure safety and reset the alarm before restarting operation As soon as an alarm occurs turn off Servo on SON and power off the main circuit When an alarm occurs in the servo amplifier 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 reset the alarm switch the control circuit power supply from off to on press the SET button on the current alarm screen or turn the reset RES from off to on However the alarm cannot be reset unless its cause is removed Note Main circuit control circuit ON Power off power supply OFF Base circuit ON ff OFF D icbrake Valid A ade E E RE SON OFF A a ar gt gt RD OFF Trouble ON E DO y ALM Ort bout 1s Y RES A OFF Alarm occurs gt p 50ms or more 60ms or more Remove cause of trouble
25. When the binary data of each 2bits of the 11 ABS data is added up 10 1101 is obtained 11 Se ache EE d 11 11 11 11 11 11 1011015 Therefore the check sum of 10 ABS data is 2D gt 15 11 15 ABSOLUTE POSITION DETECTION SYSTEM 2 Transmission error a Time out warning AL E 5 In the ABS transfer mode the time out processing shown below is executed at the servo If a time out error occurs an ABS time out warning AL E5 is output The ABS time out warning AL E5 is cleared when the ABS transfer mode ABSM changes from OFF toON 1 ABS request OF F time time out check applied to 32 bit ABS data in 2 bit units check sum If the ABS request signal is not turned ON by the programmable controller within 5s after the send data ready TLC is turned ON this is regarded as a transmission error and the ABS time out warning AL E5 is output ON ABS transfer mode OFF 1 5s e gt 1 I I 3 I 1 l ON i f gt D a K e pS SS ABS request GE OFF i Signal is not turned ON ON 7 a Send data ready OFF i AL E5 warning No 2 ABS request ON time time out check applied to 32 bit ABS data in 2 bit units check sum If the ABS request signal is not turned OFF by the programmable controller within 5s after the send data ready TLC is turned OFF this is regarded as the transmission error and the ABS time out warning AL E 5 is output ON ABS transfe
26. Alarm occurred in theservo 1 Emergency stop EMG of the After ensuring safety turn amplifier servo amplifier was turned i off 2 Trouble ALM of the servo amplifier was turned on action Note Refer to 2 in this section for details of error occurrence definitions 15 63 15 ABSOLUTE POSITION DETECTION SYSTEM 2 ABS communication error a The OFF period of the send data ready signal output from the servo amplifier is checked Ifthe OFF period is 1s or longer this is regarded as a transfer fault and the ABS communication error is generated The ABS communication error occurs if the ABS time out warning AL E 5 is generated at the servo amplifier due to an ABS request ON time time out ON ABS transfer mode OFF 4 ON ABS request OFF ON Se er ae eee Send data ready f OFF l The signal does not come ON ABS communication Es error NO b The time required for the ABS transfer mode signal to go OFF after it has been turned ON ABS transfer time is checked If the ABS transfer time is longer than 5s this is communication error occurs if the ABS time out warning AL E5 is generated at the servo amplifier due to an ABS transfer mode completion time time out 5s 4 gt i ON di TA ABS transfer mode OFF The signal does not go OFF 1 2 3 4 18 19 i ON ABS request OFF ON Send data ready 1 2 3 4 18 19 OFF ABS communication YES error N
27. Keyboard Connectable with the above personal computer Connectable with the above personal computer Note that a serial mouse is not used Connectable with the above personal computer MR CPCATCBL3M When this cannot be used refer to 3 Section 12 1 5 and fabricate Note 1 Windows and Windows NT are the registered trademarks of Microsoft Corporation in the United State and other countries Pentium is the registered trademarks of Intel Corporation 2 On some personal computers this software may not run properly Communication cable 13 30 13 OPTIONS AND AUXILIARY EQUIPMENT b Configuration diagram 1 When using RS 232C Servo amplifier Personal computer Communication cable ker EEN CN3 CN2 lt gt Servo motor To RS 232C connector O 2 When using RS 422 You can make multidrop connection of up to 32 axes Servo amplifier Personal computer RS 232C RS 422 converter Note Communication cable 4 To RS 232C Axis 1 connector Servo amplifier Servo amplifier CN3 CN2 Axis 32 Note For cable connection refer to section 14 1 1 13 31 Servo motor Servo motor Servo motor 13 OPTIONS AND AUXILIARY EQUIPMENT 13 1 10 Power regeneration common converter For details of the power regeneration common converter FR CV refer to the FR CV Installation Guide IB NA 0600075 Do not supply power t
28. La1 Regenerative brake Y option Options and auxiliary equipment Reference Options and auxiliary equipment Reference No fuse breaker Section 13 2 2 Regenerative brake option Magnetic contactor Section 13 2 2 Cables MR Configurator Servo configuration software Section 13 1 9 Power factor improving reactor Control circuit terminal block Servo amplifier MITSUBISHI C Note 1 The HC SFS HC RFS series have cannon connectors 2 A 1 phase 230VAC power supply may be used with the servo amplifier of MR J2S 70A or less For 1 phase 230VAC connect the power supply to L1 L2 and leave Ls open 1 To CN1A 19 Command device Personal computer Note1 Encoder cable Note1 Power supply lead Servo motor Junction terminal block MR Configurator Servo configuration software MRZJW3 SETUP151E 1 FUNCTIONS AND CONFIGURATION b For 1 phase 100V to 120VAC 1 phase 100V to 120VAC Options and auxiliary equipment Reference Options and auxiliary equipment Reference power supply No fuse breaker Section 13 2 2 Regenerative brake option Section 13 1 1 i Ed Magnetic contactor Section 13 2 2 Cables Section 13 2 1 EAT AKE MR Configurator Section 13 1 9 Power factor improving reactor Section 13 2 3 E 3 Servo configuration software Se No fuse breaker H NFB or fuse Servo
29. M18 i M20 Note 1 M21 Note 1 ABS transmission mode timer E M22 ABS request response timer Retry wait timer M23 ABS data send reading response timer T10 mee Clear CR ON timer M24 T200 Transmitted data read 10ms delay timer Note 1 Required for data set type home position return 2 Required for electromagnetic brake output 15 49 15 ABSOLUTE POSITION DETECTION SYSTEM c ABS data transfer program for X axis This sequence program example assumes the following conditions Parameters of the A1SD75 P1 positioning module 1 Unit setting 3 pulse PLS 2 Travel per pulse 1 1 pulse To select the unit other than the pulse conversion intothe unit of the feed value per pulse is required Hence add the following program to the area marked N ote in the sequence program LI A HE LD PKOO D3 DH unit setting Unitsetting lt Additional program gt Unit Unitoftravel Lo umpPLs ACA RN PLS Constant K for conversion into unit of 1 to 10 to 1000 1to 10to 100to 1000 1to 10to 1000 None travel Reference For lum PLS set constant K to 10 For 5um PLS set constant K to 50 The additional program is not required for the unit setting is PLS Ze Mitte A oes ee et Sig Ae Ee MOV KO K3 von bh Output signal reset Error reset completion z Z Z z E a a E m E E E Ny TO Hooo Kis Ki vu A1SD75 error reset A A A a y 6 settin
30. Manual mode 2 0400 PG1 GD2 PG2 VG1 VG2 parameter No 6 parameter No 34 parameter No 35 parameter No 36 parameter No 37 pee e eo vs Set E e eier aS VIC parameter No 38 Interpolation mode 0000 Always estimated GD2 parameter No 34 PG1 parameter No 6 PG2 parameter No 35 VG1 parameter No 36 VG2 parameter No 37 VIC parameter No 38 7 GENERAL GAIN ADJUSTMENT 2 Adjustment sequence and mode usage START Interpolation Yes Used when you want to mage tor g gr morg match the position gain No Interpolation mode PG1 between 2 or more axes Normally not used for Operation other purposes Allows adjustment by Auto tuning mode 1 pp merely changing the response level setting Operation First use this mode to make adjustment i ee ne OK Used when the conditions of auto tuning mode 1 are not No Yes met and the load inertia Auto tuning mode 2 O cet oe wag EE EEN moment ratio could not be estimated properly for example Yes 7 On This mode permits NO adjustment easily with three Manual mode 1 F F gains if you were not satisfied with auto tuning Operation results You can adjust all gains No manually when you want to do fast settling or the like Manual mode 2 7 1 2 Adjustment using MR Configurator servo configuration software
31. N CAUTION Transport the products correctly according to their 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 the servo amplifier The servo amplifier may drop Install the servo amplifier in a load bearing place in accordance with the Instruction Manual Do not climb or stand on servo equipment Do not put heavy objects on equipment The controller and servo motor must be installed in the specified direction Leave specified clearances between the servo amplifier and control enclosure walls or other equipment Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing Provide adequate protection to prevent screws and other conductive matter oil and other combustible matter from entering the servo amplifier and servo motor Do not drop or strike servo amplifier or servo motor Isolate from all impact loads When you keep or use it please fulfill the following environmental conditions Conditions Environment e Servo amplifier Servo motor During 0 to 55 non freezing 0 to 40 non freezing Ambient operation 32 to 131 non freezing 32 to 104 non freezing temperature 20 to 65 non freezing 15 to 70 non freezing In storage F 4 to 149 non freezing 5 to 158 non freezing Ambien
32. Note Shut 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 AL 32 overload 1 AL 50 or overload 2 AL 51 alarm after its occurrence without removing its cause the servo amplifier and servo motor may become faulty due to temperature rise Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation 2 Regenerative alarm If operation is repeated by switching control circuit power off then on to reset the regenerative AL 30 alarm after its occurrence the external regenerative brake resistor will generate heat resulting in an accident 3 Instantaneous power failure Undervoltage AL 10 occurs when the input power is in either of the following statuses A power failure of the control circuit power supply continues for 60ms or longer and the control circuit is not completely off The bus voltage dropped to 200VDC or less for the MR J 2S UA or to 158VDC or less for the MR J 2S CIA1 4 In position control mode incremental When an alarm occurs the home position is lost When resuming operation after deactivating the alarm make a home position return 3 39 3 SIGNALS AND WIRING 3 6 Interfaces 3 6 1 Common line The following diagram shows the power supply and its common line
33. e C1 D Y41 MO ABS data transfer start Y41 C1 WF ABS Checksum transfer counter mode Setting retry flag ABS data transmission i l Resetting retry counter retry contro Alarm reset output Error flag output Salam detection alarm i l Resetting ready to send reset contro Resetting servo on request Servo alarm counter Initializing check sum transfer counter Initializing check sum register Initializing ABS data register ABS transfer mode Initial setting Initializing ABS data register Initializing ABS data register Resetting error for ABS coordinate Resetting ABS transfer counter Resetting check sum transfer counter ABS transfer mode ABS transfer mode control Initializing ABS data transfer To be continued 15 27 15 ABSOLUTE POSITION DETECTION SYSTEM co C1 Y41 Counter Check sum ABS counter transfer mode DMOVP AO MOVP KO FROMP H0001 K7872 D8 WAND H0004 WAND H8000 PLS Rotation direction M13 judgment D8 K4 NEG PLS processing command K1 NEG Ko D3 _ K M4 co 7 1 MOV van Read ABS data enabled counter WAND H0003 WOR D5 ROR D3 AO K1 D8 A1 M13 D4 D4 D3 D4 D5 D5 AO K2 D1 c1 PLS 15 28 M5 Continued from preceding page 2 Saving ABS 32 bit data H Clearing register d 1 Reading X axis rotating dire
34. nertia moment ratio in real time and automatically sets the optimum gains according to that value This function permits ease of gain adjustment of the servo amplifier 1 Auto tuning mode 1 The servo amplifier is factory set to the auto tuning mode 1 In this mode the load inertia moment ratio of a machine is always estimated to set the optimum gains automatically The following parameters are automatically adjusted in the auto tuning mode 1 Abbreviation Oo 6 f o JESS control gain 2 Ratio of load inertia moment to servo motor inertia moment Position control gain 2 The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied Time to reach 2000r min is the acceleration deceleration time constant of 5s or less Speed is 150r min or higher The ratio of load inertia moment to servo motor inertia moment is 100 times or less 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
35. 0 Switched on off by external input 41 DIA Input signal automatic ON selection Used to set automatic Servo on SON i LSP reveres rotation stroke end LSN 0 Switched on off by external input amplifier LSP input selection amplifier input selection 1 Switched on automatically in servo amplifier No need of external wiring Used to assign the control mode changing signal input pins and to set Control change LOP in Used to set the control mode change signal input connector pins Note that this parameter is made valid when parameter No position spe ed speed torque or torque posi 0 Droop pulses are cleared on the 42 DI1 Input signal selection 1 the clear CR put pin assignment 0 is set to select the iti tion change mode Set value Connector pin No CN1B 5 CN1B 14 CN1A 8 CN1B 7 Clear CR selection leading edge 1 While on droop pulses are always cleared 5 17 P s ES Refer to Name and function column Refer to Name and function column 5 PARAMETERS Initial Setting Control Class No Symbol Name and function Unit g value range mode 43 DI2 Input signal selection 2 CN1B 5 0111 Refer to This parameter is unavailable when parameter No 42 is set to assign Name the control change LOP to CN1B pin 5 and Allows any input signal to be assigned to CN1B pin 5 function Note that the setting digit and assigned si
36. 2 1 Environmental conditions C 0 to 55 non freezing 32 to 131 non freezing 20 to 65 non freezing 4 to 149 non freezing Ambient storage AA or less non condensing humidity Storage Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Ambience Altitude Max 1000m 3280 ft above sea level Ke m s 5 9 m s2 or less Vibration 3 S ft s 19 4 ft s or less 2 INSTALLATION 2 2 Installation direction and clearances The equipment must be installed in the specified direction Otherwise a fault may occur N gt 8 Sa Z caAuTiO Leave specified clearances between the servo amplifier and control box inside walls or other equipment 1 Installation of one servo amplifier Control box Control box Se X 40mm 1 6 in or more Servo amplifier Wiring clearance ww DI engl mg i 10mm Y 0 4 in Y or more S 2 8 in or more Leien e Ae o eben WEE ZA v Bottom 40mm 1 6 in or more Up 2 INSTALLATION 2 Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions Control box Y 100mm 4 0 in o
37. A sum check is executed for the received 32 bit data After making sure that ABS transfer mode OFF there are no errors in the data the current position is set Dip alloganon change TLC send data ready OFF End processing 15 7 15 ABSOLUTE POSITION DETECTION SYSTEM 15 7 2 Transfer method The sequence in which the base circuit is turned ON servo on when it is in the OFF state due tothe servo on SON going OFF an emergency stop EMG or alarm ALM is explained below In the absolute position detection system every time the servo on SON is turned on the ABS transfer mode ABSM should always be turned on to read the current position in the servo amplifier tothe controller The servo amplifier transmits to the controller the current position latched when the ABS transfer mode ABSM switches from OFF to ON At the sametime this data is set as a position command value inside the servo amplifier Unless the ABS transfer mode ABSM is turned ON the base circuit cannot be turned ON 1 At power on a Timing chart Power SUPPIY oer If SON is turned ON before ABSM is input ON Servo on SON OFF 2 3 4 ON 3 ABS transfer mode During transfer of ABS Y During transfer of ABS ABSM OFF Note ABS request ABSR Send data ready TLC Transmission ABS data l D01 bit1 ZSP bit2 Base circuit ON Ready Operation Ope
38. A t Lit ON Output signals p t Ha eee ZSP CN 1 B 19 Zero speed VLC CN 1 B 6 Speed reached ALM CN 1 B 18 Trouble OP CN 1 A 14 Encoder Z phase pulse 6 11 6 DISPLAY AND OPERATION 6 7 Output signal DO forced output When the servo system is used in a vertical lift application turning on the electromagnetic brake interlock MBR after assigning it to pin CN1B 19 will release the electromagnetic brake causing a drop Take drop preventive measures on the machine side 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 servo on SON Operation Call the display screen shown after power on Using the MODE button show the diagnostic screen e A o e Een y mi ee rae Press UP twice ES Press SET for more than 2 seconds N A N N N ees Switch on off the signal below the lit segment gt lt o Always lit LU d i p y p y see Indicates the ON OFF of the output signal The correspondences H H between segments and signals are as in the output signals of the CNIA Ge CN1B CN1B CN1B CNIA CNA external I O signal display de Be MA 107 18 Lit ON extinguished OFF SS gt DW Press MODE onc
39. Encoder cable 4 Regenerative brake option lead refer to Section 13 1 5 Power supply Fan lead The following table lists wire sizes The wires used assume that they are 600V vinyl wires and the wiring distance is 30m 98 4ft max If the wiring distance is over 30m 98 4ft choose the wire size in consideration of voltage drop The alphabets a b c in the table correspond to the crimping terminals Table 13 2 used to wire the servo amplifier For connection with the terminal block TE2 of the MR 2S 100A or less refer to Section 3 11 The servo motor side connection method depends on the type and capacity of the servo motor Refer to Section 3 8 To comply with the UL C UL CSA Standard use UL recognized copper wires rated at 60 C 140 F or more for wiring 13 39 13 OPTIONS AND AUXILIARY EQUIPMENT Table 13 1 Recommended wires Note 1 Wires mm Servo amplifier mie L2 L3 2 Lu La 3U V W PP D AP C N 5 B1 B2 6 BU BV BW MR J 25 40A 1 1 25 AWG16 a 2 AWG14 a MR 25 200A 3 5 AWG12 b 1 25 3 5 AWG12 b 5 b 1 25 AWG16 AWG16 Note 2 5 AWG10 5 5 AWG10 b 3 5 AWG12 b MR J 2S 11KA_ 14 AWG6 d 22 AWG4 e 5 5 AWG10 b Note 1 For the crimping terminals and applicable tools refer to table 13 2 2 3 5mm for use of the HC RFS203 servo motor Use wires 6 of the following sizes with the brake unit FR BU and power regeneration converter
40. MRJ 2S 11KA GRZG400 20 50 80 8 4 MRJ 25 15KA GRZG400 10 1300 MRJ 25 22KA GRZG400 0 80 130 4 5 13 6 13 OPTIONS AND AUXILIARY EQUIPMENT d MR 25 11KA PX to MR J 25 22KA PX when using the regenerative brake option The MR 2S 11KA PX to MR 25 22KA PX servo amplifiers are not supplied with regenerative brake resistors When using any of these servo amplifiers always use the MR RB65 66 or 67 regenerative brake option The MR RB65 66 and 67 are regenerative brake options that have encased the GRZG400 2Q GRZG400 10 and GRZG400 0 8Q respectively When using any of these regenerative brake options make the same parameter setting as when using the GRZG400 2Q GRZG 400 1 or GRZG400 0 8Q supplied regenerative brake resistors or regenerative brake option is used with 11kW or more servo amplifier Cooling the regenerative brake option with fans improves regenerative capability The G3 and G4 terminals are for the thermal sensor G3 G4 are opened when the regenerative brake option overheats abnormally Servo amplifier Do not remove the short bar AR SE rea Regenerative brake option Configure up a circuit which shuts off main circuit power when thermal sensor operates Note Specifications of contact across G3 G4 Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4VA Regenerative PUT Power W Servo Amplifier Brake Option og without Fans Model Q
41. Rating plate pa Display M panel Front cover x m window Cooling fan ch LZ YT IL poe K UI gt OI Heat generation area outside mounting dimension Power Approx regeneration A AA BA C E EE K F Mass kg Ib converter FR RC 15K 270 200 450 432 195 10 10 8 3 2 87 19 10 630 7 874 17 717 17 008 7 677 0 394 0 394 0 315 0 126 3 425 41 888 13 386 10 630 23 622 22 913 7 677 0 394 0 394 0 315 0 126 3 543 68 343 18 898 16 142 27 559 26 378 9 843 0 472 0 591 0 591 0 126 5 315 121 254 4 Mounting hole machining dimensions When the power regeneration converter is fitted to a totally enclosed type box mount the heat generating area of the converter outside the box to provide heat generation measures At this time the mounting hole having the following dimensions is machined in the box AA 2 4D hole Unit mm in 4 Es Model a B D aa BA rank a o 03300210 0719 SS EE 10 236 16 220 0 394 7 874 17 009 rec ale 20 0350 13000231 Mounting hole FR RC 30K gt 992 22 126 0 394 10 630 22 913 renos b sselche ze KEE E 18 504 25 276 0 472 16 142 26 378 BA 13 14 13 OPTIONS AND AUXILIARY EQUIPMENT 13 1 4 External dynamic brake 1 Selection of dynamic bra
42. The current position in the servo amplifier is updated even during an emergency stop When servo on SON and ABS transfer mode ABSM are turned ON during an emergency stop as shown below the servo amplifier transmits to the controller the current position latched when the ABS transfer mode ABSM switches from OFF to ON and at the same time the servo amplifier sets this data as a position command value However since the base circuit is OFF during an emergency stop the servo lock status is not encountered Therefore if the servo motor is rotated by external force or the like after the ABS transfer mode ABSM is turned ON this travel is accumulated in the servo amplifier as droop pulses If the emergency stop is cleared in this status the base circuit turns ON and the motor returns to the original position rapidly to compensate for the droop pulses To avoid this status reread the ABS data before clearing the emergency stop Power ON SUPPIY OFF al Servo on ON SON OFF Emergency stop on EMG OFF ON ABS transfer mode During transfer of ABS i ABSM a ABS request ON ABSR OFF Send data ready TLC OFF Send ABS data A ABS data A l 80 ms ON i Base circuit OFF 20 ms lt p ee ON Ready Operation RD OFF enabled 15 15 15 ABSOLUTE POSITION DETECTION SYSTEM b If emergency stop is activated during servo on The ABS transfer mode ABSM is permissible while in
43. When a position shift occurs check a output pulse counter b cumulative command pulse display c cumulative feedback pulse display and d machine stop position in the above diagram A B and C indicate position shift causes For example A indicates that noise entered the wiring between positioning unit and servo amplifier causing pulses to be mis counted In a normal status without position shift there are the following relationships 1 Q P positioning unit s output counter servo amplifier s cumulative command pulses 2 P CM X parameter No 3 CDV parameter No 4 C cumulative command pulses x electronic gear cumulative feedback pulses 3 C A M cumulative feedback pulses x travel per pulse machine position Check for a position shift in the following sequence 1 When Q P Noise entered the pulse train signal wiring between positioning unit and servo amplifier causing pulses to be miss counted Cause A Make the following check or take the following measures Check how the shielding is done Change the open collector system to the differential line driver system Run wiring away from the power circuit Install a data line filter Refer to 2 a Section 13 2 6 CMX 2 When P CDV C During operation the servo on SON or forward reverse rotation stroke end was switched off or the clear CR and the reset RES switched on Cause C If a malfunction may occur due to much noise inc
44. differential line driver Encoder B phase pulse differential line driver Control common Note 3 6 Emergency stop Servo on Reset Proportion control Encoder Z phase pulse differential line driver Note 8 Analog monitor Max 1mA Torque limit selection Note 6 Forward rotation stroke end Reverse rotation stroke end Analog torque limit 10V max torque Note 11 Personal MR Configurator Servo configuration software computer Note 8 CN3 Communication cable Reading in both directions 2m 6 5ft max 3 SIGNALS AND WIRING Note 1 11 12 13 14 To prevent an electric shock always connect the protective earth PE terminal terminal marked of the servo amplifier to the protective earth PE of the control box Connect the diode in the correct direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop EMG and other protective circuits The emergency stop switch normally closed contact must be installed CN1A CN1B CN2 and CN3 have the same shape Wrong connection of the connectors will lead to a fault The sum of currents that flow in the external relays should be 80mA max If it exceeds 80mA externally supply 24VDC 10 200mA power for the interface 200mA is a value applicable when all I O signals
45. parameter No 8 KENEN parameter No 9 KENEN A d parameter No 10 Internal speed SES A rats made 1 o o IO of aa parameter No 73 BRO ema parameter No 74 parameter No 75 Note 0 off 1 on 3 17 3 SIGNALS AND WIRING Proportion control Connec Symbol tor pin No PC CN1B 8 Emergency stop CN1B 15 Clear Electronic gear selection 1 Electronic gear selection 2 Gain changing CR CN1A 8 aN CM2 Functions Applications Connect PC SG to switch the speed amplifier from the proportional integral type to the proportional type If the servo motor at a stop is rotated even one pulse due to any external factor it generates torque to compensate for a position shift When the servo motor shaft is to be locked mechanically after positioning completion stop switching on the proportion control PC upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift When the shaft is to be locked for a long time switch on the proportion control PC and torque control TL at the same time to make the torque less than the rated by the analog torque limit Turn EMG off open EMG common to bring the motor to an emergency stop state in which the base circuit is shut off and the dynamic brake is operated Turn EMG on short EMG common in the emergency stop state to reset that state Turn CR on to clear the position control counter droop
46. 10 gt m 30 50 El AA AA PET TT A A A p30 00 ee Se es 100 MRJ 25 500a ro AS mam MRJ25 7004 170 YAA EA PAE 300 Note Always install a cooling fan Note Regenerative power W Servo amplifier External regenerative MR RB65 MR RB66 brake resistor Accessory 8Q 5Q AAA ae ree MR RB67 40 MR 2S 11KA 500 800 500 800 A MRJ 25 15KA 850 1300 850 1300 MRJ 25 22KA 850 1300 AAA AAA 850 1300 Note Values in parentheses assume the installation of a cooling fan 2 Selection of the regenerative brake option a Simple selection method In horizontal motion applications select the regenerative brake option as described below When the servo motor is run without load in the regenerative mode from the running speed to a stop the permissible duty is as indicated in Section 5 1 of the separately available Servo Motor Instruction Manual For the servo motor with a load the permissible duty changes according to the inertia moment of the load and can be calculated by the following formula Permissible_ Permissible duty for servo motor with no load value indication Section 5 1 in Servo Motor Instruction Manual duty m 1 2 Lass times min running speed where m load inertia moment servo motor inertia moment From the permissible duty find whether the regenerative brake option is required or not Permissible duty lt number of positioning times times min Selec
47. 16384 Position loop gain 1 7kW or red s 4 Used to set the gain of position loop less 35 to Increase the gain to improve trackability in response to the position 11kW or 2000 command more 19 When auto turning mode 1 2 is selected the result of auto turning is automatically used 7 PST Position command acceleration deceleration time constant ms 0 P position smoothing to Used to set the time constant of a low pass filter in response to the 20000 position command You can use parameter No 55 to choose the primary delay or linear acceleration deceleration control system When you choose linear acceleration deceleration the setting range is 0 to 10ms Setting of longer than 10ms is recognized as 10ms POINT When you have chosen linear acceleration deceleration do not select control selection parameter No 0 and restart after instantaneous power failure parameter No 20 Doing so will cause the servo motor to make a sudden stop at the time of position control switching or restart Example When a command is given from a synchronizing detector synchronous operation can be started smoothly if started during line operation Basic parameters Synchronizing detector 7 Start Servo motor Servo amplifier Without time r constant setting r With time constant setting 1 Servo motor speed S ON t OFF Start SC1 Internal speed command 1 100 r min 0 to Used to set s
48. 3 28 3 SIGNALS AND WIRING 3 4 2 Speed control mode 1 Speed setting a Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command VC A relationship between the analog speed command VC applied voltage and the servo motor speed is shown below The maximum speed is achieved at 10V The speed at 10V can be changed using parameter No 25 Rated speed r min Speed r min 10 i 0 10 CW direction Rated speed CCW direction VC applied voltage V Forward rotation CCW as Reverse rotation CW The following table indicates the rotation direction according to forward rotation start ST1 and reverse rotation start ST 2 combination Note 1 External input signals Analog speed command VC Polarity ST2 ST1 DV SES RRE Servo lock Servo lock Servo lock po 1 cow Note 2 Rotation direction Internal speed Polarity commands Stop Servo lock CCW Stop No servo lock ie Nee ol We 1 1 Stop Stop Stop Stop Servo lock Servo lock Servo lock Servo lock Note 1 0 off 1 on 2 If the torque limit is canceled during servo lock the servomotor may suddenly rotate according to position deviation in respect to the command position The forward rotation start ST1 and reverse rotation start ST2 can be assigned to any pins of the connector CN1A CN1
49. A 10 236 f Sy E qua ams alo co to 13 37 13 OPTIONS AND AUXILIARY EQUIPMENT b MR J ACN22K MR 2S 22KA 58 2 28 580 22 835 510 20 079 13 38 68 2 677 ae S o o a Panel A al 3 S d 2 e e 3 T i 7 C I ee tr Fr se EJE A I I Attachment i i i l i l Servo amplifer Servo amplifer wo po A S l d EN We S EE Attachment g 7 1 L 7 E 2 MA a LI 38 Py Lo HR 326 12 835 IS rane 370 14 567 Mounting hole 3 210 128 350 13 78 155 6 102 105 11 5 4 134 0 453 WW a Ss 8 260 G i 10 236 13 OPTIONS AND AUXILIARY EQUIPMENT 13 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 13 2 1 Recommended wires 1 Wires for power supply wiring The following diagram shows the wires used for wiring Use the wires given in this section or equivalent 1 Main circuit power supply lead 3 Motor power supply lead Servo amplifier Servo motor Power supply 6 Brake unit lead or 5 Elect ti Return converter Electromagnetic 2 Control power supply lead Hi lead Brake unit or Electro B1 Return converter magnetic B2 brake y
50. ABS transfer mode j Torque limiting To create the status information for the servo torque limiting mode During ABS data transfer for several seconds after the servo on SON is turned on the torque limiting must be off M Servo torque limiting mode ABS transfer Torque limiting mode mode 15 58 15 ABSOLUTE POSITION DETECTION SYSTEM 3 Sequence program 2 axis control The following program is a reference example for creation of an ABS sequence program for the second axis Y axis using a single A1SD75 module Create a program for the third axis in a similar manner a Y axis program Refer to the X axis ABS sequence program and create the Y axis program Assign the X inputs Y outputs D registers M contacts T timers and C counters of the Y axis so that they do not overlap those of the X axis The buffer memory addresses of the A15D75 differ between the X and Y axes The instructions marked 1 in the program of Section 15 8 3 2 c should be changed as indicated below for use with the Y axis gt FROMP H0000 K155 Dg K1 DFROP H0000 K0072 D9 K1 gt DFROP H0000 K222 D9 KI DTOP H0000 K1154 D3 K1 DTOP H0000 K1204 D3 K1 TO H0000 K1150 K9003 K1 gt TO H0000 K1200 K9003 K1 Ke Program configuration 20 FROMP H0000 K5 D8 ui X axis ABS sequence program Program in Section 15 8 3 2 c DE A e e ea a Aa e SI Y axis ABS sequence program Refer to the X axis program and
51. FR RC 4 AWG6 4 AWG6 Table 13 2 Recommended crimping terminals Servo amplifier side crimping terminals Crimping terminal Applicable tool a ee lO A eee be 398s syg ee Body YF 1 E 4 FVD8 5 Head YNE 38 Dice DH 111 DH 121 C Body YF 1 E 4 FVD14 6 Head YNE 38 Dice DH 112 DH 122 Body EI E 4 J apan Solderless FVD22 6 Head YNE 38 Terminal Dice DH 113 DH 123 Body YPT 60 21 Dice TD 124 TD 112 38 56 Body YF 1 E 4 SE Head YET 60 1 Dice TD 124 TD 112 NOP60 R38 6S NOM60 NICHIFU Dice TD 125 TD 113 Note R60 8 Body YF 1 EA J n Head YET 60 1 na Dice TD 125 TD 113 Note 1 Cover the crimped portion with an insulating tape 2 Always use the recommended crimping terminals since they may not be installed depending on the size 13 40 13 OPTIONS AND AUXILIARY EQUIPMENT 2 Wires for cables When fabricating a cable use the wire models given in the following table or equivalent Table 13 3 Wires for option cables Length Note 3 Type Finishin Wire model i am G 2to10 12 UL20276 AWG 28 MRJ CCBLOM 6 56 to 32 8 6 pairs ST 30 6pair BLAC 20 30 12 12 0 18 62 12 82 UL20276 AWG 22 65 6 98 4 6 pairs 6pair BLAC 6 56 16 4 MR CCBLOM J 10 to 50 32 8 to 164 2 5 2 5 2 5 12 Note 2 6 pairs es Ta q A14B2343 6P 14 Note 2 7 pairs A0008 202 y A14B0238 7P 0 08 0 3 0 2 0 2 0 2 0 2 0 2 0 2 08
52. In this Instruction Manual instructions at a lower level than the above instructions for other functions and so on are classified into POINT After reading this installation guide always keep it accessible to the operator 1 To prevent electric shock note the following Z WARNING Before wiring or inspection switch power off and wait for more than 15 minutes Then confirm the voltage is safe with voltage tester Otherwise you may get an electric shock Connect the servo amplifier and servo motor to ground Any person who is involved in wiring and inspection should be fully competent to do the work Do not attempt to wire the servo amplifier and servo motor until they have been installed Otherwise you may get an electric shock Operate the switches with dry hand to prevent an electric shock The cables should not be damaged stressed loaded or pinched Otherwise you may get an electric shock During power on or operation do not open the front cover of the servo amplifier You may get an electric shock Do not operate the servo amplifier with the front cover removed High voltage terminals and charging area are exposed and you may get an electric shock Except for wiring or periodic inspection do not remove the front cover even of the servo amplifier if the power is off The servo amplifier is charged and you may get an electric shock 2 To prevent fire note the following N CAUTION Do no
53. Note 1 O Note 1 O Note 1 L aALSO o 1 1 Overod1____________ O Notei O Notet O Note 1 as o 1 Overload 2 Note 1 Note 1 O Note 1 aL52 1 o0 1 EA EA o o TA ALBA o o o Seia ommunicationtimeoterr o O ALS o o o Seialcommunicatinerrr O o o 88888 o o o Wathdg o Nnm 9 ee Removing the cause of occurrence E deactivates the alarm S ee gt Note 1 Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence 2 0 off 1 on 10 6 10 TROUBLESHOOTING 10 2 2 Remedies for alarms When any alarm has occurred eliminate its cause ensure safety then reset the alarm and restart operation Otherwise injury may occur AN CAUTION If an absolute position erase AL 25 occurred always make home position setting again Otherwise misoperation may occur As soon as an alarm occurs turn off Servo on SON and power off the main circuit When any of the following alarms has occurred always remove its cause and allow about 30 minutes for cooling before resuming operation If operation is resumed by switching control circuit power off then on to reset the alarm the servo amplifier and servo motor may become faulty Regenerative error AL 30 Overload 1 AL 50 Overload 2 AL 51 The alarm can be deactivated by switching power off then on press the SET button on the current alarm screen
54. Reexamination Section 13 2 1 1 Connection diagram change Wire table addition Chapter 15 Addition of Note on AL 25 Print data Oct 2002 SH NA 030006 D Servo amplifier Addition of MR J 25 11KA MR 2S 15KA and MR 2S 22KA Servo motor Addition of HA LFS11K2 HA LFS15K2 HA LFS22K2 and HC LFSO SAFETY INSTRUCTIONS Addition of About processing of waste Addition of FOR MAXIMUM SAFETY Addition of EEP ROM life Compliance with EC Directives 2 Addition of Note to 3 Reexamination of sentences in 4 a Conformance with UL C UL Standard Addition of 6 Attachment of servo motor Addition of 7 About wiring protection Section 1 4 Change made to the contents of the test operation mode Section 1 7 2 4 Addition Section 1 8 5 Addition Section 2 3 3 Sentence change Section 3 1 1 1 2 Addition of Note 14 Section 3 1 2 Addition of Note 14 Section 3 1 3 Addition of Note 12 Section 3 2 Addition of Note Section 3 5 Addition of Note Section 3 7 Addition of POINT Section 3 8 2 Addition of POINT Overall reexamination Section 3 8 3 Addition of Note Section 3 11 Overall reexamination Section 3 13 Addition Section 4 2 3 POINT sentence change Section 4 2 4 POINT sentence change Section 5 2 2 Addition of regenerative brake option to parameter No 0 Addition of CN1B pin 19 s function selection to parameter No 1 Modification made to the contents of parameter No 5 Reexamination of the contents of parameter No 2
55. Section11 1 Section3 7 Section11 1 Fixed part 4 places regenerative brake option Section13 1 1 Protective earth PE terminal O Section3 10 Ground terminal Section11 1 1 11 1 FUNCTIONS AND CONFIGURATION 3 MR J2S 500A The servo amplifier is shown without the front cover For removal of the front cover refer to Section 1 7 2 Q rn D Fixed part 4 places Cooling fan Name Application Reference Battery connector CON 1 Used to connect the battery for absolute position data Section15 3 backup Battery holder i Contains the battery for absolute position data backup Section15 3 Display The 5 digit seven segment LED shows the servo Chapter6 status and alarm number Operation section U sed to perform status display diagnostic alarm and parameter setting operations MODE UP DOWN SET E Used to set data Chapter6 Used to change the display or data in each mode Used to change the mode 1 0 signal connector CN 1A Used to connect digital I O signals PA 1 0 signal connector CN 1B Used to connect digital I O signals SSES Communication connector CN 3 Section3 3 Used to connect a command device RS 422 RS232C Section13 1 5 and output analog monitor d
56. This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR Configurator servo configuration software which operates on a personal computer Adjustment Machine analyzer With the machine and servo motor You can grasp the machine resonance frequency and coupled the characteristic of the determine the notch frequency of the machine mechanical system can be measured by resonance suppression filter giving a random vibration command from You can automatically set the optimum gains in the personal computer to the servo and response to the machine characteristic This simple measuring the machine response adjustment is suitable for a machine which has large machine resonance and does not require much settling time Gain search Executing gain search under to and fro You can automatically set gains which make positioning positioning command measures settling settling time shortest characteristic while simultaneously changing gains and automatically searches for gains which make settling time shortest Machine simulation Response at positioning settling of a You can optimize gain adjustment and command machine can be simulated from machine pattern on personal computer analyzer results on personal computer 7 GENERAL GAIN ADJUSTMENT 7 2 Auto tuning 7 2 1 Auto tuning mode The servo amplifier has a real time auto tuning function which estimates the machine characteristic load
57. Use the cable after stripping the sheath and twisting the core At this time take care to avoid a short caused by the loose wires of the core and the adjacent pole Do not solder the core as it may cause a contact fault Alternatively a bar terminal may be used to put the wires together 2 When the wires are put together Using a bar terminal Sep EE ENEE CRIMPFOX ZA 3 Phoenix Contact Cut the wire fina out of bar SE to less than 0 5mm up Less than 0 5mm When using a bar terminal for two wires insert the wires in the direction where the insulation sleeve does not interfere with the next pole and pressure them Pressure Vv ES SS N Pressure 3 SIGNALS AND WIRING 2 Termination of the cables a When the wire is inserted directly Insert the wire to the end pressing the button with a small flat blade screwdriver or the like Small flat blade screwdriver or the like Jf E Twisted wire b When the wires are put together using a bar terminal Insert a bar terminal with the odd shaped side of the pressured terminal on the button side ETA When removing the short circuit bar from across P D press the buttons of P and D alternately pulling the short circuit bar For the installation insert the bar straight to the end Bar terminal for one wire or solid wire SA Bar terminal for two wires When the two wires are inserted into one opening a bar terminal for two wires is required
58. _ zrsT Mei M64 A ZRST co c2 Servo on request Servo on output ABS data transmission start Clearing retry counter Resetting ready to send ABS data Servo on and Resetting servo on request 9 q retry control Resetting ABS transfer mode Resetting ABS request Resetting retry flag Resetting check sum judgement Resetting communication counter 15 ABSOLUTE POSITION DETECTION SYSTEM 2 Continued from preceding page ABS data transmission start X4 MO Y3 Alarm Error flag reset PB Y3 HY HRS C1 Alarm reset J 7ST MO M64 HL ZST DO D3 RST c2 RST co X5 Gab mo Emergency stop PB X3 D vio Servo alarm DEET Y1 RT Y2 RST M99 RST M5 est M6 M1 S a Er vi J ZRST Mi0 M64 s Ea D2 RST c2 per co To be continued 15 41 Alarm reset output Clearing retry counter Clearing ABS data receiving area Clearing ABS receive data buffer Resetting ABS data reception counter Resetting all data reception counter Servo alarm Error flag output detection alarm reset control Servo alarm output Resetting ABS transfer mode Resetting ABS request Resetting ready to send Resetting servo on request Resetting retry flag ABS transfer mode ON Clearing ABS data reception area Clearing ABS receiver data ABS transfer mode buffer oc l Initial setting Resetting ABS data reception counte
59. in the Servo Motor Instruction Manual 7 About wiring protection For installation in United States branch circuit protection must be provided in accordance with the National Electrical Code and any applicable local codes For installation in Canada branch circuit protection must be provided in accordance with the Canada Electrical Code and any applicable provincial codes A 10 lt lt About the manuals gt gt This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General Purpose AC servo MR J 2S A for the first time Always purchase them and use the MR J 2S A safely Relevant manuals MELSERVO 2 Super Series To Use the AC Servo Safely B NA 0300010 MELSERVO Servo Motor Instruction Manual SH NA 3181 EMC Installation Guidelines IB NA 67310 A 11 MEMO CONTENTS 1 FUNCTIONS AND CONFIGURATION 1 1 to 1 24 LT io ONY tices Goa eee cee ee ete eat Reeth nc Stee Bas te aaa ON 1 1 1 2 FUNCION l ck diag ET EE 1 2 1 3 Servo amplifier standard specifications eeeeceeceeeseeeeeeeeeeseceeeeeeeesaeeaeeeesesaeeaseeesesaesaseeseessesaseesateetiees 1 5 EC D Ile glo RI 1 6 1 5 Model code definition laa 1 7 1 6 Combination with Servo mr 1 9 US EC eg TEE 1 10 NG REI Cas E ug le Lee EE 1 10 1 7 2 Removal and reinstallation of the front ower ooccccicccicciccconnonccccnccnncnnn nac cnn crono nnn nc rr rana 1 15 1 8 Servo system with auxiliar y eilprment cnc rc 1 19 2
60. inertia moment ratio parameter No 34 The following parameters are automatically adjusted in the auto tuning mode 2 Abbreviation ss Pl Position control gain 1 37 VG2 Speed control gain 2 7 GENERAL GAIN ADJUSTMENT 7 2 2 Auto tuning mode operation The block diagram of real time auto tuning is shown below Load inertia Automatic setting moment Encoder Control gains PG1 VG1 PG2 VG2 VIC Current Command D control Current feedback Set 0 or 1 to turnon Real time auto Position speed ATA NE ape Eo tuning section feedback O Switch Parameter No 34 Load inertia moment ratio estimation value Parameter No 2 First digit Gain adjustment Response level mode selection setting When a servo motor is accelerated decelerated the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor The results of estimation are written to parameter No 34 the ratio of load inertia moment to servo motor These results can be confirmed on the status display screen of the MR Configurator servo configuration software section If the value of the load inertia moment ratio is already known or if estimation cannot be made properly chose the auto tuning mode 2 parameter No 2 O 2 O O to stop the estimation of the load inertia moment ratio Switch in above dia
61. l controller coordinate system 0 20000 30000 70000 system 70000 30000 20000 0 ABS 20000 O 4 50000 ABS 50000 0 4 20000 coronate Direction in which gt SE Direction in which S system address increases SS address increases Z Absolute position data can be detected Absolute position data can be detected a ABS coordinate value error occurs if ABS coordinate value error occurs if power is turned on within this range power is turned on within this range Home position address changed to 2000 Home position address changed to 2000 a If revolution direction parameter Pr 14 0 b If revolution direction parameter Pr 14 1 c In a positioning program the address of the positioning point should be determined by adding the home position address tothe target position address Example After home position return execute positioning at 1 to 3 1 Positioning at position address 80000 PC coordinate 140000 2 Positioning at position address 130000 PC coordinate 190000 3 Positioning at position address O gt coordinate 60000 ABS coordinate 1 error region 80000 60000 Programmable Machine home position Home position operation home ae 2 controller l position Wee coordinate 0 10000 50000 60000 100000 150000 system ABS coordinate 50000 DA 50000 Direction in which system A o 0 60000 irection in whic Stroke limit 3 address morgage Home position address chang
62. operation delay time No ON Trouble ALM Yes OFF d Both main and control circuit power supplies off Dynamic brake Dynamic brake x Electromagnetic brake Electromagnetic brake ON Base circuit 1 OFF l i 4 l Electromagnetic Invalid ON GE brake interlock MBR Valid OFF 1 fi i gt Electromagnetic brake No ON l J operation delay time Trouble ALM 1 Note 2 Yes OFF l l Main circuit ON power Control circuit OFF Note Changes with the operating status Servo motor speed e Only main circuit power supply off control circuit power supply remains on Dynamic brake Dynamic brake x Electromagnetic brake Electromagnetic brake Servo motor speed l l Note 1 l 15ms or more R i ON Base circuit i l OFF Eng Electromagnetic brake interlock Valid OFF f l l MBR K Electromagnetic brake No ON operation delay time Trouble ALM Note 2 Yes OFF ON Main circuit power supply OFF Note 1 Changes with the operating status 2 When the main circuit power supply is off in a motor stop status the main circuit off warning A E9 occurs and the trouble ALM does not turn off 3 SIGNALS AND WIRING 3 10 Grounding Ground the servo amplifier and servo motor securely JN WARNING To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier with the protective earth PE of the control
63. voltage depending on products At the voltage of less than 0 05V torque may vary as it may not be limited sufficiently Therefore use this function at the voltage of 0 05V or more ES 100 Servo amplifier o 2 g TL E SG o 3 P15R e eil TLA ay E Japan resistor TU La TLA application voltage V RRS10 or equivalent SD TLA application voltage vs torque limit value b Torque limit value selection Choose the torque limit made valid by the internal torque limit value 1 parameter No 28 using the external torque limit selection TL or the torque limit made valid by the analog torque limit TLA as indicated below When internal torque limit selection TL1 is made usable by parameter No 43 to 48 internal torque limit 2 parameter No 76 can be selected However if the parameter No 28 value is less than the limit value selected by TL TL1 the parameter No 28 value is made valid Note E EE sore S Torque limit value made valid a EE Internal torque limit value 1 parameter No 28 TLA gt Parameter No 28 Parameter No 28 TLA lt Parameter No 28 TLA AA e Parameter No 76 lt Parameter No 28 Parameter No 76 TLA gt Parameter No 76 Parameter No 76 TLA lt Parameter No 76 TLA Note 0 off 1 on c Limiting torque TLC TLC turns on when the servo motor torque reaches the torque limited using the internal torque limit 1 2 or analog torque limit
64. 100 pA TR Note This also applies to the use of the external power supply 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Provide a diode D for an inductive load or an inrush current suppressing resister R for a lamp load Permissible current 40mA or less inrush current 100mA or less a Inductive load For use of internal power suppl For use of external power suppl Servo amplifier Servo amplifier Do not connect VDD COM If the diode is not connected as shown the servo amplifier will be damaged If the diode is not connected as shown the servo amplifier will be damaged 3 SIGNALS AND WIRING b Lamp load For use of internal power suppl For use of external power suppl Servo amplifier 24VDC Servo amplifier Do not connect VDD COM 3 Pulse train input interface DI 2 Provide a pulse train signal in the open collector or differential line driver system a Open collector system 1 Interface For use of internal power supply For use of external power supply Servo amplifier Do not connect Max input pulse VDD OPC frequency 200kpps Servo amplifier Max input pulse About 1 2kQ OPC frequency 200kpps 2m 78 74in or less LI o About 1 2kQ e 24VDC 2m 78 74in or less PP NP Ya TI lso 2 Conditions of the input pulse tc tHL GAEREN tLH
65. 10m 32ft or less CN1B CN1A 4 Note 3 6 Emergency stop 616 EMG 15 9 ICOM Servo on oo SON 5 SC 18 SA Speed reached O Reset RES 14 J Speed selection 2 O SP2 7 Ready Forward rotation start oo EECH i Reverse rotation start o Ree Note 6 Forward rotation stroke end Reverse rotation stroke end differential line driver Encoder A phase pulse differential line driver Encoder B phase pulse Note 13 10V rated speed Upper limit setting Y Note 10 Analog torque limit le 10V max torque differential line driver Control common Control common Encoder Z phase pulse open collector Note 4 9 14 2m 6 5ft max CN3 4 gt a Note 8 Note 11 Analog monitor MR Configurator Personal Note 4 9 Max 1mA Servo configuration computer Note 8 CN3 Reading in software Communication cable both directions 3 SIGNALS AND WIRING Note 1 9 To prevent an electric shock always connect the protective earth PE terminal terminal marked of the servo amplifier to the protective earth PE of the control box Connect the diode in the correct direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop EMG and other protective circuits The emergency stop switch normally closed contact must be installe
66. 2 Switch on servo on Alarm occurs Refer to Section 10 2 and remove cause Section 10 2 SON Servo motor shaft is Call the external I O signal 1 Servo on SON is not input Section 6 6 free display and check the Wiring mistake ON OFF status of the input 2 24VDC power is not signal supplied toCOM Switch on forward Servo motor does Call the status display and Analog torque command is OV Section 6 2 rotation start RS1 not rotate check the analog torque or reverse rotation command TC start RS2 Call the external I O signal RS1 or RS2 is off Section 6 6 display and check the ON OFF status of the input signal Check the internal speed Set value is 0 1 limits 1 to 7 Section 5 1 2 parameters No 8 to 10 72 to 75 Check the analog torque Torque command level is too command maximum output low as compared to the load parameter No 26 value torque Check the internal torque limit 1 parameter No 28 10 5 10 TROUBLESHOOTING 10 2 When alarm or warning has occurred Configure up a circuit which will detect the trouble ALM and turn off the servo on SON at occurrence of an alarm 10 2 1 Alarms and warning list When a fault occurs during operation the corresponding alarm or warning is displayed If any alarm or warning has occurred refer to Section 10 2 2 or 10 2 3 and take the appropriate action When an alarm occurs ALM turns off Set 00 01 in parameter No 49
67. 2 and 13 1 3 for details Connect this terminal to the protective earth PE terminals of the servo motor and control box for grounding 3 48 3 SIGNALS AND WIRING 3 7 3 Power on sequence 1 Power on procedure 1 Always wire the power supply as shown in above Section 3 7 1 using the magnetic contactor with the main circuit power supply three phase 200V L1 L2 L3 single phase 230V single phase 100V L1 L2 Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs 2 Switch on the control circuit power supply L11 L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply If the main circuit power supply is not on the display shows the corresponding warning However by switching on the main circuit power supply the warning disappears and the servo amplifier will operate properly 3 The servo amplifier can accept the servo on SON about 1 to 2s after the main circuit power supply is switched on Therefore when SON is switched on simultaneously with the main circuit power supply the base circuit will switch on in about 1 to 2s and the ready RD will switch on in further about 20ms making the servo amplifier ready to operate Refer to paragraph 2 in this section 4 When the reset RES is switched on the base circuit is shut off and the servo motor shaft coasts 2 Timing chart Main circuit Control circuit Power supply
68. 3 50 ER SEHR a ul 3 52 3 9 Servo motor with electromagnetic Drake 3 54 3 10 Grounding EE 3 57 3 11 Servo amplifier terminal block TE 2 wiring mehol 3 58 3 11 1 For the servo amplifier produced later than J an 2006 3 58 3 11 2 For the servo amplifier produced earlier than Dec 2008 3 60 3 12 Instructions for the 3M Conner 3 61 3 13 Power line circuit of the MR 25 11KA to MR J ZS 2Z3kKA nar ncrnrnnnnnns 3 62 3 13 1 Connection example EEN 3 62 EREKKZWisbivuellu ge ul EIERE 3 63 3 13 3 Servo motor terMinNalS oocccninnnininnnnnc rr 3 64 4 OPERATION 4 1to4 6 4 1 When switching power on for the first me 4 1 D e e EE 42 4 2 1 Selection of control Mode comcccicconoioconnncr 4 2 Ge tele wf ee lege Bun e TEE 4 2 4 2 3 Speed IA 4 4 4 2 4 Torque ntr o mode oi da 4 5 4 3 Multidrop COMMUNICATION E 4 6 5 PARAMETERS 5 1 to 5 34 baiParameter litio ea 5 1 5 1 1 Parameter write Lui le iia ta AA A iia 5 1 A RNA 5 2 52 Detailed desp ia 5 26 5 21 Electronic gear vivirlo ii 5 26 52 2 E vr e ge WEE 5 30 5 2 3 Using forward reverse rotation stroke end to change the stopping pattern 5 33 524 Alarm history aia ds 5 33 525 POSIt OM ue e ln DEE 5 34 6 1 Display How NE e a 6 1 ele EE 6 2 DO ele Elle eege eege ee eee a ee te gees 6 2 6 2 2 Status display ll coi ee aap Gadhia tice oe aa 6 3 6 2 3 Changing the status display screen 6 4 G3 EI wie ler e e EE 6 5 6 4 Alarm ModE RN 6 7 6 5 Parameter Mode c
69. 51 warning overload alarm 1 or 2 alarm 1 or 2 occurrence level 2 Encoder faulty Change servo motor The multi revolution 3 The movement amount fromthe home Make home position setting counter value of the position exceeded a 32767 rotation or absolute position encoder 37268 rotation in succession exceeded the maximum revolution range 10 13 10 TROUBLESHOOTING Display AL ER ABS time out We 1 PC lader program wrong Contact the program torque TLC improper wiring stop warning EMG was turned off emergency stop AL E9 Main circuit off Servo on SON was Switch on main circuit power switched on with main circuit power off Servo on SON turned on 1 PC ladder program wrong 1 Correct the program servo on warning more than 1s after servo 2 Seryo on SON improper wiring 2 Connect properly amplifier had entered absolute position data transfer mode 10 14 11 OUTLINE DIMENSION DRAWINGS 11 OUTLINE DIMENSION DRAWINGS 11 1 Servo amplifiers 1 MR J2S 10A to MR J2S 60A MR J2S 10A1 to MR J2S 40A1 Unit mm A Approx 70 2 76 135 5 32 Unit in 96 0 24 mounting hole Terminal layout Terminal cover open MITSUBISHI pee SN E Y d 1 1 1 a DEE Biel Efe off fe off 168 6 61 if o3 PAHO Name plate on one fe Approx 7 0
70. ASCII code General start of head start of text end of text end of transmission 2 Codes for data ASCII unit codes are used bs o o o fofofofo o MENESES De 0 0 1 1 0 0 1 1 AMECA AEREA Neta NUL DLE Space o P DADA 3erxfoc3 3 c s c s al ere AL Rie lo BEE pep Es el vel CASARES E AE adas al 2 fe E a a e Se PET Reed Pes eA WS EES ECOS E ea EN EA po Ap eer DEL 3 Station numbers You may set 32 station numbers from station O to station 31 and the ASCII unit codes are used to specify the stations Station number_ Jo f 2 3 Ja s s 7 s 9 fo 21 a2 fi3 14 jis asCiicode_ o ja 2 3 la s le 7 le jo la B fc lo le F jasciicode Je u h k ji jm n Jo e fo r js r ju v For example 30H is transmitted in hexadecimal for the station number of 0 axis 1 14 COMMUNICATION FUNCTIONS 14 5 Error codes Error codes are used in the following cases and an error code of single code length is transmitted On receipt of data from the master station the slave station sends the error code corresponding to that data to the master station The error code sent in upper case indicates that the servo is normal and the one in lower case indicates that an alarm occurred Error code E Error name Description Remarks Servo normal Servo alarm fade A Normal operation Data transmitted was processed properly Parity error occurred in the transmitted d
71. Adaptive vibration suppression oomtrd anann n nna 8 3 3 4 Lowspass filter ca da alain 8 4 3 5 Gainichanging func Ones conic valet Sat sete eed ee 85 e ellene EE 8 5 8 5 2 Function block diagrams vcd dilata 8 5 EN EE 8 6 8 5 4 Gain changing operatlon rr 8 8 9 INSPECTION 9 1 to 9 2 10 TROUBLESHOOTING 10 1 to 10 14 a Re D ET EI Gee ve ee a eae tn eee ee eae ee ve ee A aE 10 1 10 1 1 Position Control ul TER 10 1 10 1 2 Speed control Mode EE 10 4 le KE Re ge Dee uge Bo e 10 5 10 2 When alarm or warning has oOurtrel rra nro 10 6 10 2 1 Alarms and Warning liSt occcnncnicnnnnninnicnion ono 10 6 EREECHEN 10 7 10 2 3 Remedies for Wat NiNgS siina eaei aea an a i S date aa ai ea aaa aaa aie Eaa Nei eaa EEN Eaa 10 13 11 OUTLINE DIMENSION DRAWINGS 11 1 to 11 10 E Ween e gt 11 1 EA e EE 11 8 12 CHARACTERISTICS 12 1 to 12 8 12 1 Overload protection characteristics eesesesesesesrsrsisisiststststnsistntntntntntntntnnuononetstntnnntntnnnnnnnnsenennn nnt 12 1 12 2 Power supply equipment capacity and generated lOSS A 12 2 12 3 Dynamic brakecharackeristlce enn 12 5 12 4 Encoder cable flexing UC 12 7 12 5 Inrush currents at power on of main circuit and control droit 12 8 13 giele EE 13 1 13 1 1 e Eiere EI ele VEER 13 1 13 12 Brake UNE thetic aan aie Gate aati 13 10 13 1 3 Power regeneration converter dnccccicnicnicnnnnnnnncccccnncnnnnnn cnn cnn 13 12 13 1 4 External dynamic Drake 13 15 13 1 5 Cables and ee ue re KC
72. Check the upper setting limits Fine adjustment 3 Adjustment description a Position control gain 1 parameter No 6 This parameter determines the response level of the position control loop Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling The droop pulse value is determined by the following expression Rotation speed r min 60 Position control gain 1 setting b Speed control gain 1 parameter No 36 Set the response level of the speed loop of the model Make setting using the following expression as a guideline Speed control gain 1 setting gt Position control gain 1 settingx3 7 10 x 131 072 pulse Droop pulse value pulse 7 GENERAL GAIN ADJUSTMENT _ _ _ __ _ _ __ _ _ gt _ _ _ __ _ _ _ _ gt _ _ _ _ _ _ _ _ _ _ _ gt __ gt gt _ gt E_ ____ES3SGOEOEOGOOo gt gt 2_E 7 5 Differences in auto tuning between MELSERVO J2 and MELSERVO J2 Super 7 5 1 Response level setting To meet higher response demands the MELSERVO 2 Super series has been changed in response level setting range from the MELSERVO J 2 series The following table lists comparison of the response level setting Parameter No 2 OR Response level setting MELSERVOJ2 series Machine resonance frequency 1 3 Note that because of a slight difference in gain adjustment pattern
73. DM MR J HSCBL OM H MR ENCBLOM H These encoder cables are used with the HC SFS HC RFS HC UFS2000r min series servo motors 1 Model explanation Model MR JHSCBLOM D Specifications Standard flexing life Long flexing life Symbol Cable length m ft 2 2 6 56 5 5 16 4 10 10 32 8 20 20 65 6 30 30 98 4 40 40 131 2 50 50 164 0 Note MR JHSCBLOM L has no 40 131 2 and 50m 164 0ft sizes Model MR ENCBLOM H Long flexing life Symbol Cable length m ft 2 2 6 56 5 5 16 4 10 10 32 8 20 20 65 6 30 30 98 4 40 40 131 2 50 50 164 0 2 Connection diagram For the pin assignment on the servo amplifier side refer to Section 3 3 1 Servo amplifier m Encoder connector Encoder cable Optional or fabricated CN2 50m 164 0ft max 13 23 Servo motor Encoder connector Signal 13 OPTIONS AND AUXILIARY EQUIPMENT MR JHSCBL2M L MR JHSCBL10M L MR JHSCBL10M H MR JHSCBL5M L to to MR JHSCBL2M H MR JHSCBL30M L MR JHSCBL50M H MR JHSCBL5M H MR ENCBL10M H MR ENCBL2M H to MR ENCBL5M H MR ENCBL50M H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side P5 19 PS Pa LG 11 LG LG P5 20 P5 P5 LG 12 LG LG MR 7 P5 P5 MRR 17 LG LG P5 18 LG 2 BAT 9 MR MR LG 1 MRR MRR S
74. For the connection diagram of the MR J 2S 11KA to MR J 2S 22KA refer to Section 3 13 where the connection diagram is shown together with the power line circuit 3 SIGNALS AND WIRING Servo motor Connection diagram Servo amplifier Servo motor Note 1 24VDC HC KFS053 B to 73 B BE HC MFS053 B to 73 B EMG A HC UFS13 B to 73 B To be shut off when servo off or Trouble ALM Encoder cable Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake Servo amplifier Note 1 24VDC HC SF S121 B to 301 B if HC SF S202 B 702 B HC SF S203 B 353 B EMG HC UF 5202 B to 502 B To be shut off when servo off HC RFS353 B to 503 B or Trouble ALM Encoder cable Encoder Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake Servo amplifier Servo motor U Vo Wo D o Note 1 24VDG HC SF S81 B HC SF S52 B to 152 B SFS5 o To HC SFS53 B to 153 B EMG HC RFS103 B to 203 B To be shut off when servo off HC UFS72 B 152 B or Trouble ALM Encoder cable Encoder
75. J2S 500A MR J2S 700A Power supply 3 phase 200 to 230VAC Servo amplifier NFB MC eo Es a Le 53558 Ls 0 4 A ee ee Regenerative brake option Current Servo motor detector Dynamic brake circuit supply e Overcurrent protection mplifier Voltag detection Current detection l Electro Ba lt magnetic power brake gt Pulse input Virtual encoder Model position control Model speed control Virtual motor Model torque Model position Actual position Current control Actual speed control control Dike Se Gi Et Ss A Analog monitor 2 channels Analog 2 channels D I O control Controller oon RS 422 RS 232C Start Failure etc Da E MR BAT CT Optional battery for absolute position detection system 1 FUNCTIONS AND CONFIGURATION 3 MR J2S 11KA or more Regenerative brake option Power supply NFB 200 to 230VAC 1 phase 5 230VAC Servo motor Control power supply i Electro y magnate B2 brake Regenerative Base Voltage Overcurrent Current brake amplifier
76. LLJ testa sr2 st2rs set Lut weem Po ss ss ss se sc se Led NAB MS E ARA N 12 l TLA e Note3 TL A GC TC TC TLA SE mp zi com com com com com com T pp m res res res Res RES RES emm asp ems emo emo emo emo emo A E EA ESE AAA 17 LSN LSN sy Ia en gt 221 am am am am am am No49 swf o as zsp Is Is sp Le wins ajos ose ss ose se ose Note 1 Input signal O Output signal 2 P Position control mode S Speed control mode T Torque control mode P S Position speed control change mode S T Speed torque control change mode T P Torque position control change mode 3 By setting parameters No 43 to 48 to make TL available TLA can be used 4 CN1B 4 and CN1A 18 output signals are the same However this pin may not be used when assigning alarm codes to CN1A 18 3 13 3 SIGNALS AND WIRING 4 Symbols and signal names LSP Forwardrotation strokeend 98 pe Encoder Z phase pulse open collector Encoder Z phase pulse differential line driver Encoder A phase pulse LAR differential line driver Encoder B phase pulse differential line driver SG Digital I F common NP P15R 15VDC power suppl NP Forward reverse rotation pulse train PR p pry Shield TLC Limitingtorque PASO 3 14 3 SIGNALS AND WIRING 3 3 2 Signal explanations For the I O interfaces symbols in I O division column in the table refer to Sec
77. MRJ25 1081 _5 IZ MRJ25 204_ _ 70 9 MRJ 25 201 7 A E MRJ2S 70A_ ai 18 MR 25 100A _ _ 80 8B MR 25 200A _85 0 MRJ 25 3508_ TS o MR J25 5008_ __ 0 _ _ 45 MR J25 7008_ __ 0 0 MRJ 25 11KA_ 90 To MRJ 25 15KA_ 90 OT MRJ25 22KA_ ___ 0 __ 250 Inverse efficiency n Efficiency including some efficiencies of the servo motor and servo amplifier when rated regenerative torque is generated at rated speed Since the efficiency varies with the speed and generated torque allow for about 10 Capacitor charging Ec Energy charged into the electrolytic capacitor in the servo amplifier 13 2 13 OPTIONS AND AUXILIARY EQUIPMENT Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative brake option Calculate the power consumption of the regenerative brake option on the basis of single cycle operation ERJ J n Es Ec period tf s to select the necessary regenerative brake option PRIWISER anciana a 3 Connection of the regenerative brake option Set parameter No 2 according to the open to be used The MR RB65 66 and 67 are regenerative brake options that have encased the GRZG400 2Q GRZG400 12 and GRZG400 0 80 respectively When using any of these regenerative brake options make the same parameter setting as when using the GRZG400 20 GRZG
78. P D Dk 7kW across P C of built in regenerative brake resistor 4 Other precautions a Always use the FR CVL as the power factor improving reactor Do not use the FR BAL or FR BEL b The inputs outputs main circuits of the F R CV and servo amplifiers include high frequency components and may provide electromagnetic wave interference to communication equipment such as AM radios used near them In this case interference can be reduced by installing the radio noise filter FR BIF or line noise filter F R BSF 01 FR BLF c The overall wiring length for connection of the DC power supply between the FR CV and servo amplifiers should be 5m or less and the wiring must be twisted 13 34 13 OPTIONS AND AUXILIARY EQUIPMENT 5 Specifications Power regeneration common converter Maximum servo amplifier capacity e 3 5 O Ge ZE EE E currents hort time y S i Total capacity of applicable servo motors 300 torque 60s Note1 Regenerative rating braking torque Continuous rating Rated input AC voltage frequency Three phase 200 to 220V 50Hz 200 to 230V 60Hz Power suno Permissible AC voltage fluctuation Three phase 170 to 242V 50Hz 170 to 253V 60Hz wer su SE Permissible frequency fluctuation 15 Power supply capacity Note2 KVA 17 20 28 a 52 66 Protective structure J EM 1030 cooling system Open type IP00 forced cooling Ambient temperature 10 C to 50 C non freezing Environment
79. POSITION DETECTION SYSTEM MEMO 15 66 Appendix App 1 Signal arrangement recording sheets 1 Position control mode CN1A 2 Speed control mode CN1A 3 Torque control mode CN1A App 1 J9JUNO9 SV UonEInOIE OD JUSWOW BILOU PROT uolyisod e Jepogua uonoalep uo sod ajmjosqy UONN OASIJ SU0 DUU ju9seJd Jajuno9 Saw eyue uf UONISOA uono yq mo U0 ulyM yoeqpee pseds asind yoeqpess amjejnuno uonyoes Bulun ony JOA sng ll O1JUuO9 queuing 101 U09 p ds FE kE 3 uoneinoyeo anen p ds Jo owW NEIS Appendix App 2 Status display block diagram ploy Aead sal oles peo oles peo anbJo 29d 91109143 snoaue ue su 101 U09 ECH Ado 4 asjnd o OD XINO dN ga Puewwog Jes6 9 u01 109 3 asind doo ses nd puewwod amjenuno Aouanbaa asind puewwog App 2 Appendix App 3 Combination of servo amplifier and servo motor The servo amplifier software versions compatible with the servo motors are indicated in the
80. SH NA 030006 E Safety Instructions 1 To prevent electric shock Sentence addition 3 To prevent injury Sentence addition 4 Additional instructions Partial sentence change COMPLIANCE WITH EC DIRECTIVES 2 6 a Addition Section 1 3 Inrush current addition Section 3 6 2 3 a 1 Partial figure change Section 3 6 2 3 b 1 Partial figure change Section 3 8 3 Partial figure change Section 3 13 3 Partial terminal box inside figure change Section 4 2 CAUTION sentence addition Section 5 1 2 2 Parameter No O Addition of The built in regenerative brake resistor is used to Regenerative brake option is not used Addition of FR CV to the setting of 01 in Selection of regenerative brake option Partial sentence deletion Parameter No 20 Addition of sentence to Slight vibration suppression control Section 5 2 1 3 Servo amplifier Electronic gear 3000r min changed to 2048 125 Servo amplifier Electronic gear 2000r min changed to 4096 375 Section 6 4 2 Sentence change Section 6 6 3 a In position LNP changed to INP Section 10 2 1 Partial sentence change Section 10 2 2 AL 12 to 15 Contents reexamination AL 37 Addition of Cause 3 AL 50 Partial contents change AL 51 Addition of During rotation 2 5s or more Section 12 3 Change of sentence that explains te Section 12 5 Addition Section 13 1 1 4 d Partial connection diagram change Section 13 1 2 Addition of When using the brake unit set 01 0 O in parame
81. Servo emergency stop Servo on Y38 Home position return start Y39 i X34 Note 2 Y 35 Note 1 Servo on ABS transfer mode ABS request Alarm reset Electromagnetic brake output Clear Servo alarm ABS communication error Operation mode Y3A Operation mode D register ABS data transmission start Sum check completion Sum check mismatch ABS data ready Transmission data read enabled Checksum 2 bits read completion ABS 2 bits read completion ABS 2 bits request Servo on request Servo alarm ABS data transmission retry start pulse Retry flag set Retry flag reset PLS processing command Clear CR ON timer request Data set type home position return request H ome position return processing instruction Current position change processing instruction Current position change flag C counter ABS data receive times counter Checksum receive times counter Retry counter ABS checksum error ABS data transmission counter M5 Checksum transmission counter M6 Checksum addition register M7 ABS data Lower 16 bits M8 ABS data Upper 16 bits M9 ABS data 2 bit receiving buffer m10 Check data in case of checksum error 4 M11 Number of retries MIZ Forward rotation direction M13 Home position address Lower 16 bits M14 Home position address U pper 16 bits M15 Drive unit ready data M16 Home position return completion data M17 Received shift data Lower 16 bits
82. Tee Command di PP CN1A 3 pulses a PG CN1A 13 for differential NP ICN1A 2 line driver type 2 rp I NG CN1A 12 Upper limit settin Mana fe i ae H P15R CN1B 11 orgue imit TLA CN1B 12 10V max t La ae E max torque LG ue SD Plate Note 1 Always install the emergency stop switch 2 For operation always turn on forward rotation stroke end LSP reverse rotation stroke end LSN 3 When using the torque limit signal TL set I 4 in parameter No 46 to assign TL to pin CN1B 7 15 4 15 ABSOLUTE POSITION DETECTION SYSTEM 15 5 Signal explanation When the absolute position data is transferred the signals of connector CN1 change as described in this section They return to the previous status on completion of data transfer The other signals are as described in Section 3 3 2 For the I O interfaces symbols in the I O Category column in the table refer to Section 3 6 DO 1 Ma 1 0 Control Signal name Code Pin No Function Application category mode ABS irandar Note While ABSM is on the servo amplifier is in the ABS ote ABSM transfer mode and the functions of ZSP TLC and D01 mode CN1B 8 AGE A A are as indicated in this table Note Turn on ABSR to request the ABS data in the ABS ABS request ABSR CN1B 9 transfer mode Indicates the upper bit of the ABS data 2 bits which is Position sent from the servo to the programmable controller in control the ABS transfer mode Indic
83. Thefunction block diagram of this servo is shown below 1 MR J2S 350A or less Regenerative brake option Servo amplifier A e eee ee ee eee een Servo motor Note2 o Note1 i Power NFB MC DS U i U supply 6 e i 5 b 3 phase Ge E E Current Al y y 200 to 4 detector ui 230VAC 3 CHARGE Regene Pes aW 1 phase lamp ph rative 230VAC or y E 1 phase Fan EE 100t0120VAG MR J2S 200A or more ke Control circuit power supply i Regenerative A brake Base amplifier Voltage Overcurrent Current g l detection protection detection O l eebe Eech Virtual encoder Model position control Model speed control Model yposition Actual position control Model speed Actual speed control Model torque Current control MR BAT En k Q Optional battery for absolute position detection system Analog monitor 2 channels WZ D I O control Controller Analog Servo on RS 422 RS 232C 2 channels Start Failure etc Note 1 The built in regenerative brake resistor is not provided for the MR J2S 10A 1 2 For 1 phase 230VAC connect the power supply to L1 L2 and leave L3 open L3 is not provided for a 1 phase 100 to120VAC power supply 1 2 1 FUNCTIONS AND CONFIGURATION 2 MR
84. To CN1A FA BAL Ls LS Le lo f f Junction terminal Li To CN1B block 2 E o Lo OH o Jee t O Regenerative brake 000 option P Note2 Note1 There is no BW when the HA LFS11k2 is used 2 Use either the FR BAL or FR BEL power factor improving reactor 1 24 Power factor improving DC reactor FR BEL Servo motor series 2 INSTALLATION 2 INSTALLATION Stacking in excess of the limited number of products is not allowed Install the equipment to incombustibles Installing them directly or close to combustibles will led to a fire Install the equipment in a load bearing place in accordance with this Instruction Manual Do not get on or put heavy load on the equipment to prevent injury Use the equipment within the specified environmental condition range Provide an adequate protection to prevent screws metallic detritus and other conductive matter or oil and other combustible matter from entering the servo amplifier Do not block the intake exhaust ports of the servo amplifier Otherwise a fault may occur Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment Do not install or operate a faulty servo amplifier When the product has been stored for an extended period of time consult Mitsubishi When treating the servo amplifier be careful about the edged parts such as the corners of the servo amplifier
85. Y41 X30 RH gt Completion of servo positioning ABS transfer Positioning mode completion Y41 ABS transfer mode i Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y41 X31 M H Servo zero speed ABS transfer Zero ABS transfer mode j Torque limiting To create the status information for the servo torque limiting mode During ABS data transfer for several seconds after the servo on SON is turned on the torque limiting must be off Y41 X32 m Servo torque limiting mode ABS transfer Torque limiting mode mode 15 33 15 ABSOLUTE POSITION DETECTION SYSTEM 4 Sequence program 2 axis control The following program is a reference example for creation of an ABS sequence program for the second axis Y axis using a single A1SD71 module Create a program for the third axis in a similar manner a Y axis program Refer to the X axis ABS sequence program and create the Y axis program Assign the X inputs Y outputs D registers M contacts T timers and C counters of the Y axis so that they do not overlap those of the X axis The buffer memory addresses of the A15D71 differ between the X and Y axes The instructions marked 1 in the program of Section 15 8 1 3 c should be changed as indicated below for use with the Y axis FROMP H0001 K7872 D8 K1 FRO
86. 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 Test operation 1 Using jog operation in the test operation mode operate at the lowest speed to confirm that the servo motor operates Refer to Section 6 8 2 3 Parameter setting Set the parameters according to the structure and specifications of the machine Refer to Chapter 5 for the parameter definitions and to Sections 6 5 for the setting method Setting Control mode regenerative brake option selection Position control mode MR RB 12 regenerative brake option is used Input filter 3 555ms initial value Electromagnetic brake interlock signal is not used Used in incremental positioning system Function selection 1 2 Auto tuning Middle response initial value is selected Auto tuning mode 1 is selected Electronic gear numerator CMX Electronic gear numerator SSES O Electronic gear denominator CDV Electronic gear denominator After setting the above parameters switch power off once Then switch power on again to make the set parameter values valid 4 2 4 OPERATION 4 Servo on Switch t
87. approx 5A in 4ms Attenuated to approx OA in 0 5 to 1ms Since large inrush currents flow in the power supplies always use no fuse breakers and magnetic contactors Refer to Section 13 2 2 When circuit protectors are used it is recommended to use the inertia delay type that will not be tripped by an inrush current 12 8 13 OPTIONS AND AUXILIARY EQUIPMENT 13 OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment make sure that the charge NWARNING 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 N CAUTION 13 1 Options 13 1 1 Regenerative brake options The specified combinations of regenerative brake options and servo amplifiers may only be used Otherwise a fire may occur N CAUTION 1 Combination and regenerative power The power values in the table are resistor generated powers and not rated powers Regenerative power W Servo amplifier Built in regenerative MR RB032 MR RB12 MR RB32 MR RB30 Note MR RB31 Tv Al brake resistor 409 409 400 130 130 6 70 6 79 MRJ 25 10A 1 Re MRJ 25 60A 10 _ ma Kees MRJ2S 70A 2 3 10 30 TU Sl MRJ25 100A 29 30 10 30 Sl MRJ25 200A 10 SS 30 500 MRJ25 350A
88. are used Reducing the number of I O points decreases the current capacity Refer to the current necessary for the interface described in Section 3 6 2 Connect the external 24VDC power supply if the output signals are not used When starting operation always turn on emergency stop EMG and Forward Reverse rotation stroke end LSP LSN Normally closed contacts Trouble ALM turns on in normal alarm free condition When this signal is switched off at occurrence of an alarm the output of the programmable controller should be stopped by the sequence program When connecting the personal computer together with analog monitor 1 MO1 and analog monitor 2 MO2 on the 7kW or less servo amplifier use the maintenance junction card MR J2CN3TM Refer to Section 13 1 5 The pins with the same signal name are connected in the servo amplifier This length applies to the command pulse train input in the opencollector system It is 10m 32ft or less in the differential line driver system Use MRZJW3 SETUP 151E When using the internal power supply VDD always connect VDD COM Do not connect them when supplying external power Refer to Section 3 6 2 Connect to CN1A 10 when using the junction terminal block MR TB20 For the 11kW or more servo amplifier analog monitor 1 MO1 and analog monitor 2 MO2 are replaced by CNA CN4 Oj ES 2m 6 5ft or less 3 SIGNALS AND WIRING
89. as in parameter No 58 However you need not set 00 if you have set adaptive vibration suppression control to be valid or held Notch depth Same setting as in parameter No 58 ll Mi 0000 Refer to Name and function column s 11060 60 Refer to Name and function column Refer to Name and function column 5 PARAMETERS Initial Setting Control Class No Symbol Name and function Unit g value range mode LPF Low pass filter adaptive vibration suppression control Refer to Used to selection the low pass filter and adaptive vibration Name suppression control Refer to Chapter 8 and function 0 column Low pass filter selection 0 Valid Automatic adjustment 1 Invalid When you choose vaid the filter of the handwidth represented by the following expression is set automatically For 1kW or less VG2 setting x10 2nx 1 GD2 settingxo 1 Hz For 2kW or more VG2 setting x5 2nx 1 GD2 settingx0 1 Hz Adaptive vibration suppression control selection Choosing valid or held in adaptive vibration suppression control selection makes the machine resonance control filter 1 parameter No 58 invalid 61 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
90. as the station number added to the transmission data the transmission data is made valid for all servo amplifiers connected However when return data is required from the servo amplifier in response to the transmission data set 0 to the station number of the servo amplifier which must provide the return data 1 Transmission of data from the controller to the servo 10 frames data T o E S S S E i Controller side Data A Check Station number e O T Data T Master station E No sum H fo X x O Servo side Station number Slave station O Q OO o E x UI 6 frames Positive response Error code A Negative response Error code other than A 14 COMMUNICATION FUNCTIONS 2 Transmission of data request from the controller to the servo 10 frames Controller side Station number Master station ke c S E E o O oO Stati b S 8 E Check Servo side SE T 5 Data T Se Slave station X 5 Xx 6 frames data 3 Recovery of communication status by time out EOT causes the servo to return to the receive neutral status Controller side Master station 30m Servo side Slave station 4 Data frames The data length depends on the command Data or Data or 12 frames or 16 frames 4 frames 8 frames 14 6 14 COMMUNICATION FUNCTIONS 14 4 Character codes Control codes Hexadecimal Personal computer terminal key operation Code name Description
91. below to switch on the signals keep terminals connected automatically in the servo amplifier Parameter No 41 Automatic ON O J 3 15 3 SIGNALS AND WIRING External torque limit selection Internal torque limit selection Forward rotation start Reverse rotation start Forward rotation selection Reverse rotation selection Connec tor pin Functions Applications Control mode seas SES Turn TL off to make Internal torque limit 1 parameter No 28 valid or turn it on to make Analog torque limit TLA valid For details refer to 5 Section 3 4 1 When using this signal make it usable by making the setting of parameter No 43 to 48 For details refer to 5 Section 3 4 1 Used to start the servo motor in any of the following directions Cote input signals Servo motor starting direction i o ll Stop servolock a EE E E ______sw___ Lili Stop servo tock Note 0 off 1 on If both ST1 and ST2 are switched on or off during operation the servo motor will be decelerated to a stop according to the parameter No 12 setting and servo locked Used to select any of the following servo motor torque generation directions Note Input signals x d n Maien orque generation direction E o o Torqueisnotgenerated Forward rotation in Fees mode el Reverse rotation in driving mode EN 1 1 Torqueisnot generated Note 0 off 1 on 3 16 3 SIGNALS
92. brake output 15 38 15 ABSOLUTE POSITION DETECTION SYSTEM c ABS data transfer program for X axis M8002 DMov ko D24 Initial pulse KO K3 Ko K1 KO K4 K100000 Ki KO ki K10000 Ki KO ka K50000 Ki KO ui mm KI KO K12 K2 K1 KO k D24 K1 KO K15 K200 KI KO K19 K100000 Ki Dmov K300000 D100 DMOV K 250000 D102 mov ko D104 DMOV Ko Z DMOV K4 D4 To be continued 15 39 Setting home position address to 0 Setting 1PG pulse command unit 1PG max speed 100 kpps 1PG Jog speed 10 kpps 1PG home position return speed 50 kpps 1PG creep speed 1 kpps 1PG home position return zero point count twice 1PG home position address Initial in setting tial setting 1PG acceleration deceleration time 200ms 1PG operation speed 100kpps Position move account 1 300000 pulses Position move account 2 250000 pulses Position move account 3 0 pulses Clearing index registers V Z Setting 4 times for check sum error transmission frequency 15 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page To be continued 15 40 X6 M6 Y SET M5 Servo on Retry PB M5 Y12 MO Y11 f 1 AF AF AF Yo Servo on ABS check Error ABS request error flag communication error r LPLS M1 M1 M6 HH 1 ABS Retry transmission X6 start RST M99 Servo on PB RST M5 Y12 z RT vi RST Y2 RST M6 t
93. data ready timer 1s error detecting mode TO v49 H ABS communication error ABS transfer NG T1 ABS request NG T3 Send data ready NG To be continued Note When the unit setting parameter value of the A1SD71 positioning module is changed from 3 pulse to 0 mm the unit isX0 1um for the input value To change the unit tox1um and this program to multiple the feed value by 10 15 30 15 ABSOLUTE POSITION DETECTION SYSTEM 5 Continued from preceding page M2 HH gt gt Pi M10 H ABS transfer retry start pulse Check sum NG M10 c2 Y SET M11 Setting retry flag Retry start Retry pulse counter D7 c2 Retry counter ABS transfer M11 K1 retry control A T2 Retry wait timer 100ms Retry flag set T2 Kl RST M11 Resetting retry flag Retry wait timer M9039 A DMOV A0 D100 H Saving received shift data PC RUN END POINT When absolute position data is received at power ON for example if a negative coordinate position which cannot be handled by the A1SD71 is detected the ABS coordinate error Y4B ON is generated If this error is generated move the axis into the positive coordinate zone in J OG operation Then turn OFF the servo on pushbutton switch and turn it ON again 15 31 15 ABSOLUTE POSITION DETECTION SYSTEM d X axis control program This precludes execution of the X axis start program whil OFF Positioning X axis start mode comman
94. detection protection detection l 1 y l A _ Position Virtual Virtual command motor encoder Model position Actual position Actual speed Current Model torque for absolute position detection system control control control l RS 232C RS 422 D A A UF y Lon CN1A CN1B CN3 H CN4 Analog monitor D I O control Analog Servo on 2 channels Start Failure etc Co 2 channels ntroller RS 422 RS 232C 1 FUNCTIONS AND CONFIGURATION 1 3 Servo amplifier standard specifications Servo Amplifier MR 325 7 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA 10A1 20A1 40A1 3 phase 200 to 230VAC 1 phase 100 to Voltage frequency 50 60Hz or 1 phase 3 phase 200 to 230VAC 50 60Hz 120VAC 230VAC 50 60H z 50 60Hz 3 3 phase 200 to 230VAC 2 170 to 253VAC 1 phase D Permissible voltage fluctuati 3 phase 170 to 253VAC y ee voitage Rucduaton Hephase 230VAC 207 to PE 85 to 127VAC 3 253VAC Overcurrent shut off regenerative overvoltage shut off overload shut off electronic thermal relay servo motor overheat protection encoder error protection regenerative brake error protection undervoltage instantaneous power failure protection overspeed protection excessive error protection Max inpu
95. diagram Section 13 2 1 1 Addition of Note for recommended wires Section 13 2 8 1 Addition of leakage current to recommended filter Section 14 1 2 2 Deletion of MR CPC98CBL3M communication cable Section 14 11 1 6 Addition Section 14 11 2 8 Addition Section 15 7 Addition of POINT Section 15 8 1 1 b Change in b Coordinates when zero address is changed to other than 0 Section 15 8 2 1 b Review of connection diagram Section 15 9 Change of display screen Section 15 10 1 1 Deletion of Cause 5 of ABS checksum error Feb 2001 SH NA O30006 C Addition of MR 2S 500A 700A servo amplifiers Addition of HC KF S73 HC SFS502 HC SF S702 HC RF S353 HC RF S503 HC UF S502 HC UF S353 servo motors Section 1 2 Function block diagram modification Section 1 7 Overall reexamination Section 3 7 1 2 Addition of single phase 100 to 120VAC Section 3 7 2 Addition of regenerative brake converter and brake unit Section 5 1 2 2 No O Item addition to regenerative brake option selection No 5 Example addition No 27 Setting range change No 49 AL 26 addition Section 5 2 2 Overall reexamination Section 7 4 1 Reexamination Chapter 8 Hierarchy reexamination Section 10 2 2 AL 30 Reexamination AL 8E Reexamination of Cause and Action Section 11 1 4 5 Addition Section 11 2 3 Addition Section 12 1 3 Addition Chapter 13 Hierarchy reexamination Section 13 1 4 1 Connection diagram change Cable addition Section 13 1 4 3
96. disable 0 Read enable 1 Read disable Enable disable information changes according to the setting of parameter No 19 parameter write inhibit When the enable disable setting is read disable ignore the parameter data part and process it as unreadable 14 17 14 COMMUNICATION FUNCTIONS 2 Parameter write POINT The number of write times to the EEP ROM is limited to 100 000 Write the parameter setting Write the value within the setting range Refer to Section 5 1 for the setting range Transmit command 8 4 the data No and the set data The data No is expressed in hexadecimal The decimal equivalent of the data No value corresponds to the parameter number When the data to be written is handled as decimal the decimal point position must be specified If it is not specified data cannot be written When the data is handled as hexadecimal specify O as the decimal point position Write the data after making sure that it is within the upper lower limit value range given in Section 5 1 2 Read the parameter data to be written confirm the decimal point position and create transmission data to prevent error occurrence On completion of write read the same parameter data to verify that data has been written correctly Set data 8114 0 0 to See below 5114 Data is transferred in hexadecimal Geen point position 0 No decimal point Lower first digit Lower second digit Lower third digit Lowe
97. emergency stop Servo on PB Servo ready J OG PB JOG PB l Position start PB Position stop PB Home position return start PB 1PG error reset Y A Note 2 Y 5 Note 1 Y10 yY11 Y12 ABS data Lower 16 bits ABS data U pper 16 bits Check sum addition counter l Check data in case of check sum error Transmission retry count in check sum discrepancy Home position address Lower 16 bits Home position address U pper 16 bits 1PG present position address Lower 16 bits 1PG present position address U pper 16 bits Retry wait timer ABS transfer mode timer ABS request response timer E Ready to send response timer ABS data waiting timer BS transfer mode BS request larm reset lectromagnetic brake output BS communication error BS check sum error BS data transmission start etry command BS data read pare ABS data 2 bit receiving buffer ABS data 32 bit buffer Check sum 6 bit buffer For checksum comparison um check discrepancy greater gt um check discrepancy um check discrepancy less gt lear CR ON timer request ata set type home position return request BS data ready C counter II data reception frequency counter 19 times heck sum reception frequency counter ABS data reception frequency counter 16 times Note 1 Necessary when data set type home position return is executed 2 Necessary in the event of electromagnetic
98. filter Servo amplifier Note 1 MPD SINE Power supply O oO O Note 1 For 1 phase 230VAC power supply connect the power supply to L1 L2 and leave L3 open There is no Ls for 1 phase 100 to 120VAC power supply 2 Connect when the power supply has earth 3 Outline drawing SF1252 SF1253 EE i 149 5 5 886 6 0 0 236 i 209 5 8 248 6 0 0 236 tie z S LINE LINE input side input side 2 g Si S e 5 S 3 ME LOAD LOAD SC side J output side gt Es 16 0 0 63 8 5 23 eu 906 0 335 WOU a Tomm KN 13 52 13 OPTIONS AND AUXILIARY EQUIPMENT HF3040A TM HF3050A TM HF3060A TMA 6 K 9 O O t A 3 L 3 L Kl ololele Y DG F 2 E D 2 B 2 H 2 Y Dimensions mm in ee O NEO E A A A A O A A ms ma 10 24 8 27 8 35 6 10 5 51 4 92 1 73 5 51 2 76 R3 25 ccs 11 42 9 45 3 94 7 48 6 89 6 29 1 73 6 69 3 94 length 290 240 100 190 175 160 44 230 0 32 me ma KEENER i A 5
99. 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 12 1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is operated at the ambient temperature of 40 C 104 F under rated load Outside Inside Air flow Fig 12 5 Temperature distribution in enclosure When air flows along the outer wall of the enclosure effective heat exchange will be possible because the temperature slope inside and outside the enclosure will be steeper 12 CHARACTERISTICS 12 3 Dynamic brake characteristics Fig 12 6 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use Equation 12 2 to calculate an approximate coasting distance to a stop The dynamic brake time constant t varies with the servo motor and machine operation speeds Refer to Fig 12 7 Please contact us for the servo motor not indicated L max L max Vo jm JL T te Emergency stop EMG Ge Time constant Machine speed te Time Vo Je Sen bech is EEN 12 2 Maximum
100. gt 13 La J eading in bo ra a J directions Note 11 p Plate SD MR Configurator een 2m 6 5ft max Note 4 9 Servo configuration computer Note 8 en software Communication cable E a Note 1 3 SIGNALS AND WIRING Note 1 9 10 11 12 13 14 To prevent an electric shock always connect the protective earth PE terminal terminal marked of the servo amplifier to the protective earth PE of the control box Connect the diode in the correct direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop EMG and other protective circuits The emergency stop switch normally closed contact must be installed CN1A CN1B CN2 and CN3 have the same shape Wrong connection of the connectors will lead to a fault The sum of currents that flow in the external relays should be 80mA max If it exceeds 80mA externally supply 24VDC 10 200mA power for the interface 200mA is a value applicable when all I O signals are used Reducing the number of I O points decreases the current capacity Refer to the current necessary for the interface described in Section 3 6 2 Connect the external 24VDC power supply if the output signals are not used When starting operation always turn on emergency stop EMG and forward reverse rotation stroke end LSP LSN Normally closed contacts Trouble ALM turns on in no
101. handled as hexadecimal specify 0 as the decimal point position The data to be sent is the following value fo TTT f Data is transferred in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit By way of example here is described how to process the set data when a value of 15 5 is sent Since the decimal point position is the second digit the decimal point position data is 2 As the data to be sent is hexadecimal the decimal data is converted into hexadecimal 155 gt 9B Hence 0200009B is transmitted 14 15 14 COMMUNICATION FUNCTIONS 14 12 2 Status display 1 Status display data read When the master station transmits the data No refer to the following table for assignment to the slave station the slave station sends back the data value and data processing information 1 Transmission Transmit command O 1 and the data No corresponding to the status display item to be read Refer to Section 14 11 1 2 Reply The slave station sends back the status display data requested Data 32 bits long represented in hexadecimal Data conversion into display type is required Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Decimal point position No decimal point Lower first digit usually no
102. in the deviation counter is displayed When the servo motor is rotating in the reverse direction the decimal points in the upper four digits are lit Since the servo amplifier display is five digits it shows the lower five digits of the actual value The number of pulses displayed is not yet multiplied by the electronic gear The position command input pulses are counted and displayed As the value displayed is not yet multiplied by the electronic gear CMX CDV it may not match the indication of the cumulative feedback pulses The value in excess of 99999 is counted but since the servo amplifier display is five digits it shows the lower five digits of the actual value Press the SET button to reset the display value to zero When the servo motor is rotating in the reverse direction the decimal points in the upper four digits are lit The frequency of the position command input pulses is displayed The value displayed is not multiplied by the electronic gear CM X CDV 1 Torque control mode Analog speed limit VLA voltage is displayed 2 Speed control mode Analog speed command VC voltage is displayed 1 Position control mode speed control mode Analog torque limit TLA voltage is displayed 2 Torque control mode Analog torque command TLA voltage is displayed The ratio of regenerative power to permissible regenerative power is displayed in The continuous effective load torque is displayed The effective value
103. in the past 15 seconds is displayed relative to the rated torque of 100 The maximum torque generated during acceleration deceleration etc The highest value in the past 15 seconds is displayed relative to the rated torque of 100 Torque that occurred instantaneously is displayed The value of the torque that occurred is displayed in real time relative to the rate torque of 100 Position within one revolution is displayed in encoder pulses The value returns to 0 when it exceeds the maximum number of pulses The value is incremented in the CCW direction of rotation 6 DISPLAY AND OPERATION Displa Se Ge ange Within one revolution The within onerevolution position is displayed in 100 pulse position high increments of the encoder The value returns to O when it exceeds the maximum number of pulses The value is incremented in the CCW direction of rotation ABS counter Travel value from the home position in the absolute position detection systems is displayed in terms of the absolute position detectors counter value Load inertia moment The estimated ratio of the load inertia moment to the servo motor ratio i shaft inertia moment is displayed Bus voltage The voltage across P N of the main circuit converter is displayed 6 2 3 Changing the status display screen The status display item of the servo amplifier display shown at power on can be changed by changing the parameter No 18 settings The item displayed in
104. in three years independently of whether power is kept on or off 3 Period during which data can be held by the super capacitor in the encoder after power off with the battery voltage low or the battery removed or during which data can be held with the encoder cable disconnected Battery replacement should be finished within this period 2 Configuration Positioning module 1 0 module A15D7152 A1SD71S7 AX40 41 42 A1SD750 AY40 Al 42 FX 1PG FX 1GM FX 10GM FX2 32MT Programmable controller Servo amplifier A1SD75 etc CN1A CN2 Jona incor Battery MR BAT Servo motor 3 Parameter setting Set 1000 in parameter No 1 to make the absolute position detection system valid Parameter No 1 paraa Selection of absolute position detection system 0 Incremental system 1 Absolute position detection system 15 2 15 ABSOLUTE POSITION DETECTION SYSTEM 15 3 Battery installation procedure Before starting battery installation procedure make sure that the charge lamp is off WARNING 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 The internal drcuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand
105. load disturbance 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 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 manual mode and interpolation mode is selected the result of auto tuning is automatically used Speed integral compensation 7kW or Used to set the integral time constant of the speed loop less 48 Lower setting increases the response level but is liable to generate 11kW or vibration and or noise more 91 When auto tuning mode 1 2 and interpolation mode is selected the result of auto tuning is automatically used 5 16 5 PARAMETERS value range mode VDC Speed differential compensation Used to set the differential compensation Made valid when the proportion control PC is switched on AE manufacturer setting QS not change this value by any means Expansion parameters 1 forward rotation stroke end Servo on SON input selection 1 Switched on automatically in servo No need of external wiring Forward rotation stroke end 0 Switched on off by external input 1 Switched on automatically in servo No need of external wiring Reverse rotation stroke end LSN
106. of all cables but the control circuit power supply cable Note The error excessive detection for 2 5 revolutions is available only when the servo amplifier of software version BO or later is used For the servo amplifier of software version older than BO an error excessive alarm occurs when the deviation deviation counter value between the instructed position and the actual servo motor position exceeds 10 revolutions 10 12 10 TROUBLESHOOTING 10 2 3 Remedies for warnings If an absolute position counter warning AL E3 occurred always make home CAUTION 7 position setting again Otherwise misoperation may occur When any of the following alarms has occurred do not resume operation by switching power of the servo amplifier OFF ON repeatedly The servo amplifier and servo motor may become faulty 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 AL EO Overload warning 1 AL EI If Servo emergency stop warning AL E 6 or ABS servo on warning AL EA 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 Use the optional MR Configurator servo configuration software to refer to the cause of warning AL SE Open battery Absolute position 1 Battery cable is open Repair ca
107. open the absolute position data display screen 1 Cricking Diagnostics in the menu opens the sub menu as shown below o Configuration Sof Parameters Test Ad Digital Lo Funetion device display No motor rotation Total power on time Amplifier version info Motor information Tuning dat Axis name setting Unit composition listine 2 By cricking Absolute Encoder Data in the sub menu the absolute encoder data display window appears Absolute position data Command pulse value Value of each motor edge pulse Command pulse value 128491167 128491167 Value of each command pulse CDVICMX X Value of each motor edge pulse Encoder data lt Current position gt Position at power loss gt Absolute encoder data pulse Absolute encoder data CYC Motor edge pulse value 6780 cyC Command pulse value Number of motor rotations rev ABS 15685 Convert to starting point by the following expressions Value of each motor edge pulse ABS X Encoder one revolution counts CYC CYCO CYCO Motor edge pulse value 6427 cyco Command pulse value Number of motor rotations ABSO 511 3 Crick the Close button to close the absolute encoder data display window 15 62 15 ABSOLUTE POSITION DETECTION SYSTEM 15 10 Absolute position data transfer errors 15 10 1 Corrective actions 1 Error list The number within parentheses in the table indicates the output coil or input contact numbe
108. output pulse setting selection refer to parameter No 27 0 Output pulse designation 1 Division ratio setting ES to Name and function column Refer to Name and function column 5 PARAMETERS Initial Setting Control Class No Symbol Name and function Unit g value range mode 55 Expansion parameters 2 OPA Function selection A Used to select the position command acceleration deceleration time 57 E 59 constant parameter No 7 control system E Position command acceleration deceleration time constant control 0 Primary delay 1 Linear acceleration deceleration Serial communication time out selection Used to set the communication protocol time out period in s When you set 0 time out check is not made For manufacturer setting Do not change this value by any means Machine resonance suppression filter 1 Used to selection the machine resonance suppression filter Refer to Section 8 1 Notch frequency selection Set 00 when you have set adaptive vibration suppression control to be valid or held po No T elt OOorO2 o value esch SE Pech oo mana 08 9023 io 2813 is 1075 Por 4500 o9 500 Jo 267 9 150 os 1500 os 4091 1s 2368 am 1067 os wo f op 362 15 aes 10 1552 os mo os sais 16 2005 ie 150 7 Notch depth selection Setting Depth Gain D i frequency Same setting
109. parameter No 54 Encoder Z phase The same signal as OP is output in the differential line DO 2 pulse driver system Differential line driver 15 15 W i A re er PA 4 1 MO1 LG in terms of voltage Resolution 10 bits output A Ae era PA 14 2 M02 LG in terms of voltage Resolution 10 bits output 3 Communication Refer to Chapter 14 for the communication function Connec vO Control Signal tor pin Functions Applications division mode DEI RS 422 I F RS 422 and RS 232C functions cannot be used together Choose either one in parameter No 16 RS 422 Termination resistor connection terminal of RS 422 interface termination When the servo amplifier is the termination axis connect this terminal to RDN CN 3 15 RS 232C 1 F RS 422 and RS 232C functions cannot be used together Choose either one in parameter No 16 3 22 3 SIGNALS AND WIRING 4 Power supply EE com Signal Symbol Functions Applications I O division 7KW or 11kW or SIT ee I F internal ES 18 e 18 Used to output 24V 10 to across VDD SG power supply When using this power supply for digital interface connect it with COM Permissible current 80mA Digital I F power Used to input 24V DC for input interface supply input Connect the positive terminal of the 24VDC external power supply 24VDC 10 Open collector When inputting a pulse train in the open collector power input system supply this terminal with the positive power of 2
110. period of ABS request Y 42 OFF period of ready to send ABS data X32 4 If the relationship between the polarity of the received ABS data and the setting value for parameter No 14 rotating direction of A1SD71 involves negative coordinate values which cannot be handled by the A15D71 the ABS coordinate error is generated Y4B ON b Device list Servo alarm Alarm reset DO ABS data transmission counter MO ABS data transmission dat D4 ABS data Upper 16 bits m4 Transmission datareadenabled Check data in case of check sum error ABS 2 bits read completion D8 Forwardrotation direction____ m8_____ Servoonrequest Dg Homeposition address Lower 16bits___ IM Servoalarm T2 Retrywaittimer__________ ________Ccwnte ________ T10 Note Clear CR ON timer Check sum receive frequency counter Note 1 Necessary when data set type home position return is executed 2 Necessary in the event of electromagnetic brake output 15 25 15 ABSOLUTE POSITION DETECTION SYSTEM c ABS data transfer program for X axis This sequence program example assumes the following conditions Parameters of the A1SD71 S2 positioning module 1 Unit setting 3 pulse PLS 2 Travel per pulse 1 1 pulse To select the unit other than the pulse conversion into the unit of the feed command value per pulse is required Hence add the following program to the area marked Note in the sequence program lt Additional program gt
111. phase 200V to 230VAC power supply No fuse breaker NFB or fuse contactor MC K Power factor improving reactor FA BAL Note el Regenerative brake option Options and auxiliary equipment Reference Options and auxiliary equipment Reference No fuse breaker Section 13 2 2 Regenerative brake option Section 13 1 1 Magnetic contactor Section 13 2 2 Cables Section 13 2 1 MR Confi gurator Section 13 1 9 Power factor improving reactor Section 13 2 3 Servo configuration software Servo amp A Junction terminal 81 Hi DS TT el MR Configurator 7 E To CN1B Servo X iO H configuration Mes OH Personal software KO FF computer MRZJW3 as Orb SETUP151E i G E Note When using the regenerative brake option remove the lead wires of the built in regenerative brake resistor 1 22 1 FUNCTIONS AND CONFIGURATION 4 MR J2S 700A 3 phase 200V to 230VAC power supply No fuse breaker NFB or fuse contactor MC k Power Options and auxiliary equipment Reference Options and auxiliary equipment Reference No fuse breaker Section 13 2 2 Regenerative brake option Section 13 1 1 Magnetic contactor Section 13 2 2 Cables Section 13 2 1 MR Configurator Section 13 1 9 Power factor improving reactor Section 13 2 3 Servo configuration software
112. protection is not activated Fig 12 1 Electronic thermal relay protection characteristics 12 1 12 CHARACTERISTICS 12 2 Power supply equipment capacity and generated loss 1 Amount of heat generated by the servo amplifier Table 12 1 indicates servo amplifiers power supply capacities and losses generated under rated load For thermal design of an enclosure use the values in Table 12 1 in consideration for the worst operating conditions The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation When the servo motor is run at less than the maximum speed the power supply capacity will be smaller than the value in the table but the servo amplifier s generated heat will not change Table 12 1 Power supply capacity and generated heat per servo amplifier at rated output Note 1 Note 2 P CHE g n Area required for heat dissipation Servo amplifier Servo motor Power supply Servo amplifier generated heat W capacity kVA Hexrsos o3 _25__ __as_ _o5__ __s4_ MRJ 2S 10A 1 HC MFS053 13 kon o oe a a oa HicKEs23 gt os 0 B o5 54 MR J 25 20A 1 HekFseaa o9 a s o 75 MR J 25 40A 1 Hc mrsa3 os zs s o z3 Heus oo a 15 o 75 e sFss2 10 4 oa 6 MRJ25 608 H c srs53 1o 4 B5 o 86 perra o o AA nekes f n 1 E 14 1 18 MR J 2S 70A HC MFS73 10 8 EDEN eee E SU IA F
113. response may not be the same if the resonance frequency is set to the same value 7 5 2 Auto tuning selection The MELSERVO 2 Super series has an addition of the load inertia moment ratio fixing mode It also has the addition of the manual mode 1 which permits manual adjustment with three parameters Parameter No 2 at WE adjustment mode selection Auto tuning selection Gain adjustment mode Remarks J MELSERVO J2 series MELSERVO J2 Super series Interpolation mode Position control gain 1 is fixed Auto tuning mode 1 Ordinary auto tuning Estimation of load inertia moment Auto tuning Auto tuning mode 2 ratio stopped Response level setting valid Auto tuning Manualmode 3 Simple manual adjustment invalid Manual mode 2 Nu a VS Manual adjustment of all gains 7 11 7 GENERAL GAIN ADJUSTMENT MEMO 12 8 SPECIAL ADJUSTMENT FUNCTIONS 8 SPECIAL ADJUSTMENT FUNCTIONS The functions given in this chapter need not be used generally U se them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 7 If a mechanical system has a natural resonance point increasing the servo system response level may cause the mechanical system to produce resonance vibration or unusual noise at that resonance frequency Using the machine resonance suppression filter and adaptive vibration suppression control functions can suppress the resonance of the mechanical syst
114. reverse rotation stroke end to change the stopping pattern The stopping pattern is factory set to make a sudden stop when the forward reverse rotation stroke end is made valid A slow stop can be made by changing the parameter No 22 value Parameter No 22 Setting Stopping method Sudden stop ooo Sy Kei Position control mode Motor stops with droop pulses cleared initial value Speed control mode Motor stops at deceleration time constant of zero Slow stop Position control mode The motor is decelerated to a stop in accordance with the parameter No 7 value Speed control mode The motor is decelerated to a stop in accordance with the parameter No 12 value 5 2 4 Alarm history clear The servo amplifier stores one current alarm and five past alarms from when its power is switched on first To control alarms which will occur during operation clear the alarm history using parameter No 16 before starting operation Clearing the alarm history automatically returns to 0000 After setting this parameter is made valid by switch power from OFF to ON Parameter No 16 ia Alarm history clear 0 Invalid not cleared 1 Valid cleared 5 PARAMETERS 5 2 5 Position smoothing By setting the position command acceleration deceleration time constant parameter No 7 you can run the servo motor smoothly in response to a sudden position command The following diagrams show the operation patterns of the servo motor in
115. servo amplifier slave station receives communication data to when it sends back data Set 0 to send back data in less than 800us or 1 to send back data in 800us or more Parameter No 16 III p Serial communication response delay time 0 Invalid 1 Valid reply sent in 800us or more 4 Station number setting Set the station number of the servo amplifier in parameter No 15 The setting range is stations O to 31 5 Protocol station number selection When communication is made without setting station numbers to servo amplifiers as in the MR J 2 A servo amplifiers choose no station numbers in parameter No 53 The communication protocol will be free of station numbers Parameter No 53 LE tad station number selection 0 With station numbers 1 No station numbers 14 COMMUNICATION FUNCTIONS 14 3 Protocol Whether station number setting will be made or not must be selected if the RS 232C communication function is used Note that choosing no station numbers in parameter No 53 will make the communication protocol free of station numbers as in the MR 2 A servo amplifiers Since up to 32 axes may be connected to the bus add a station number to the command data No etc to determine the destination servo amplifier of data communication Set the station number to each servo amplifier using the parameter Transmission data is valid for the servo amplifier of the specified station number or group When is set
116. servo motor Basic parameters Set the time of the arc part for S pattern acceleration deceleration Speed command Speed Servo motor 2 3 3 si STA STC STC STB SIC STC STA Acceleration time constant parameter No 11 STB Deceleration time constant parameter No 12 STC S pattern acceleration deceleration time con stant parameter No 13 Long setting of STA acceleration time constant or STB deceleration time constant may produce an error in the time of the arc part for the setting of the S pattern acceleration deceleration time constant The upper limit value of the actual arc part time is limited by 2000000 2000000 STA for acceleration or by STB for deceleration Example At the setting of STA 20000 STB 5000 and STC 200 the actual arc part times are as follows Limited to 100 ms since i ion 2000000 During acceleration 100 ms 100 ms lt 200Imsl 20000 f 200 ms as set since During deceleration 200 ms 2000000 400 ms gt 200 ms 5000 5 PARAMETERS Initial Setting Control Class No Symbol Name and function Unit g value range mode 14 TQC Torque command time constant ms 0 T Used to set the constant of a low pass filter in response to the torque to command 20000 Torque Torque command D EN y Mier Da VC filtered TQC f TQC Torque command time constant ISCH 15 SNO Station number setting sta 0 Used to specify the station number for ser
117. set in the direction in which the position address of the programmable controller coordinate system increases on moving away from machine home position as illustrated below Note that the home position for positioning must be more than one revolution of the servo motor shaft from the machine home position If the address of the machine home position is changed to any value other than 0 the home position should be set in the direction in which the position address increases on moving away from the machine home position machine home position after changing the home position address and at a point removed from the machine home position by more than one revolution of the motor shaft Home position operation home position E Machine home position Programmable controller coordinate 0 10000 50000 system ABS 20000 O 4 50000 coordinate Direction in which system address increases More than 1 revolution of motor shaft a If revolution direction parameter Pr 14 0 Machine home Home position position Programmable e al controller coordinate 50000 10000 O SE eae A I ABS 50000 a 0 20000 coordinate Direction in which system address increases More than 1 revolution of motor shaft b If revolution direction parameter Pr 14 1 b In the range where the address decreases on moving away from the machine home position do not turn the power supply to the progra
118. shut off as in the timing chart shown in 3 in this section 3 SIGNALS AND WIRING 3 Timing charts a Servo on SON command from controller ON OFF Tb ms after the servo on SON signal 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 about the same as the electromagnetic brake operation delay time to prevent a drop Servo motor speed O r min Base circuit Electromagnetic Invalid ON brake MBR Valid OFF ON Servo on SON OFF b Emergency stop EMG ON OFF Electromagnetic brake operation delay time Dynamic brake Dynamic brake E Electromagnetic brake Servo motor speed Electromagnetic brake a Electromagnetic brake release T l l 10ms A ee 180m8 ON I Base circuit oe E 180ms Electromagnetic Invalid ON Electromagnetic brake KE brake interlock MBR valid OFF f operation delay time _ d Invalid ON Emergency stop EMG Valid OFF 3 SIGNALS AND WIRING c Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed Electromagnetic brake l Ax 10ms AR ty ON Base circuit OFF Electromagnetic Invalid ON Electromagnetic brake brake interlock MBR Valid OFF
119. suppression control P S T 000 GD2B Ratio of load inertia moment to Servo motor inertia moment 2 63 VG2B Speed control gain 2 changingratio LES 100 64 VICB Speed integral compensation changing ratio Ps 100 BES 0000 se s 10 motes For manufacturer setting S CMX4 SCH Internal speed command 4 Internal speed limit 4 Internal speed command 5 SC5 SC Internal speed limit 5 Internal speed command 6 ESA 2 ES E WV D es Keel DN ees 1 1 1 1 ES 500 0 0 0 0 0 0 0 HUY Expansion parameters 2 afa o Ed lc a a ESA EE SC be oa 3 72 73 Internal speed limit 6 Internal speed command 7 75 SC7 rae Internal speed limit 7 Internal torque limit 2 WH For manufacturer setting 100 EI n a3 n 3 N 0M ER 5 Y jn 10 a jaljlala 0 10 10 o poo CO CO Ra o nN rR Note 1 The setting of 0 provides the rated servo motor speed 2 Depends on the servo amplifier 3 Depends on the parameter No 65 setting 5 PARAMETERS 2 Details list Initial Setting Control STY Control mode regenerative brake option selection 0000 Refer to Used to select the control mode and regenerative brake option Name and 0 function column select the control mode 0 Position 1 Position and speed 2 Speed 3 Speed and torque 4 Torque 5 Torque and position Selection of regenerative
120. the VLA LG voltage of OV Used to set the offset voltage of the analog torque command TC Used to set the offset voltage of the analog torque limit TLA ha Used to set the offset voltage of the analog monitor MO1 to 999 32 MO2 Analog monitor 2 offset PMA ett art eenormentertsos ao P 33 MBR Electromagnetic brake sequence output P S T Used to set the delay time Tb between electronic brake interlock MBR and the base drive circuit is shut off ee 34 Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor times shaft inertia moment When auto tuning mode 1 and interpolation fe 37 P S i Refer to section 7 1 1 Expansion parameters 1 In this case it varies between 0 and 1000 mode is selected the result of auto tuning is automatically used 7kW or rad s less 35 to 11kW or 1000 more 19 7kW or rad s 20 less 177 to 11kW or 8000 more 96 Speed loop gain 2 7kW or rad s 20 Set this parameter when vibration occurs on machines of low rigidity less 817 to or large backlash Higher setting increases the response level but is 11kW or 20000 liable to generate vibration and or noise more 45 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 the position response to level
121. the emergency stop state In this case the base circuit and the ready RD are turned ON after the emergency stop state is reset Servo on SON Emergency stop EMG ABS transfer mode ABSM ABS request ABSR Send data ready TLC Send ABS data Base circuit Ready RD ON OFF ON OFF During transfer of ABS BY i 80 ms E Operation enabled 15 16 15 ABSOLUTE POSITION DETECTION SYSTEM 15 7 3 Home position setting 1 Dog type home position return Preset a home position return creep speed at which the machine will not be given impact On detection of a zero pulse the home position setting CR is turned from off to on At the same time the servo amplifier clears the droop pulses comes to a sudden stop and stores the stop position into the non volatile memory as the home position ABS data The home position setting CR should be turned on after it has been confirmed that the in position DO1 or INP is on If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to 1 000 000 times Servo Motor Near zero point dog Dog signal ON po POG OFF S Completion of ON positioning DO1 or INP OFF Home position ON setti
122. the initial status changes with the control mode as follows Control mode Status display at power on Position Cumulative feedback pulses Position speed Cumulative feedback pulses servo motor speed Speed Servo motor speed Speed torque Servo motor speed analog torque command voltage Torque Analog torque command voltage Torque position Analog torque command voltage cumulative feedback pulses 6 DISPLAY AND OPERATION 6 3 Diagnostic mode Display Not ready Indicates that the servo amplifier is being initialized or an alarm has occurred Sequence Ready Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate Refer to section 6 6 Indicates the ON OFF states of the external I O signals The upper segments correspond to the input signals and the External I O signal lower segments to the output signals display Lit ON Extinguished OFF The 1 0 signals can be changed using parameters No 43 to 49 Output signal DO The digital output signal can be forced on off For more forced output information refer to section 6 7 J og operation can be performed when there is no command from the external command device For details refer to section 6 8 2 The MR Configurator servo configuration software M RZJ W3 SETUP151E is required for positioning operation This operation Positioning cannot be performed from
123. the operation section of the servo operation amplifier Positioning operation can be performed once when there is no command from the external command device Without connection of the servo motor the servo amplifier provides output signals and displays the status as if the servo motor is running actually in response to the external input signal For details refer to section 6 8 4 Merely connecting the servo amplifier allows the resonance point of the mechanical system to be measured The MR Configurator servo configuration software MRZJ W3 SETUP151E is required for machine analyzer operation Motorless operation Machine analyzer operation Software version low Indicates the version of the software Software version high Indicates the system number of the software If offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor to rotate slowly at the analog speed command VC or analog speed limit VLA of OV this function automatically makes zero adjustment of offset voltages When using this function make it valid in the following Automatic VC offset procedure Making it valid causes the parameter No 29 value to be the automatically adjusted offset voltage 1 Press SET once 2 Set the number in the first digit to 1 with UP DOWN 3 Press SET Y ou cannot use this function if the input voltage of VC or VLA is 0 4V or more
124. the sensitivity of detecting machine resonance 0 Normal 1 Large sensitivity Adaptive vibration suppression control is factory set to be invalid parameter No 60 0000 Setting the adaptive vibration suppression control sensitivity can change the sensitivity of detecting machine resonance Setting 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 8 4 Low pass filter 1 Function When a ballscrew or the like is used resonance of high frequency may occur as the response level of the servo system is increased To prevent this the low pass filter is factory set to be valid for a torque command The filter frequency of this low pass filter is automatically adjusted to the value in the following expression Speed control gain 2 settingx10 2r X 1 Ratio of load inertia moment to servo motor inertia moment setting 0 1 Filter frequency H z 2 Parameter Set the operation of the low pass filter parameter No 60 Parameter No 60 L Low pass filter selection 0 Valid automatic adjustment initial value 1 Invalid In a mechanical system where rigidity is extremely high and resonance is difficult to occur setting the low pass filter to be invalid may increase the servo system response level to shorten the settling time 8 SPECIAL
125. to output the alarm code in ON OFF status across the corresponding pin and SG Warnings AL 92 to AL EA have no alarm codes Any alarm code is output at occurrence of the corresponding alarm In the normal status the signals available before alarm code setting CN 1B 19 ZSP CN1A 18 INP or SA CN1A 19 RD are output After its cause has been removed the alarm can be deactivated in any of the methods marked in the alarm deactivation column Press Display CN1B 19 CN1A 18 CN1A 19 Name Power SET on pin pin pin OFF gt ON eu alarm screen 0 I 0 O AL 10 Undervoltage AL 12 0 0 0 Memory error 1 O aL133 o o o e or gt gt EES ais o o 0 Memoyeror2_ O ALI6 1 1 0 Encodererrri O a17 o o 0 Boarderror____ _0O jad o o 0 Memoyerr3 O aLa 1 1 O Motorcombinationerror O AL 20 1 1 0 Encodererror2_ O _AL 24 1 o O Maincircuiterror O ALS 1 1 0 Absolutepositionerae O AL 30 o o 1 Regenerativeerror Note 1 O Note 1 Note 1 a3 1 o J 1 Overspesd E O o AL32 1 o Overcurrent LO o o AL33 o o 1 jOvevodtage o Tnm o o 0 Tr Alarms _AaL 35 1 o 1 Commandpulsefrequencyerror AL 37 o o o Parametererror ees P ALAS o 1 1 Maincircuitdeviceoverheat_ LOmwete 1 O Note 1 O Note 1 L ALAS o 1 1 Servomotoraveheat O
126. to provide no fraction for CDV is as follows CMX _ 65536 _ 26214 4 _ 26214 _ CDV 1195 450 450 7 RRE ts ot tA aa Nt ae acta al Miata Dee Moun as eed 5 4 As a result it is understood that the value nearer to the calculation result of Expression 5 2 is the result of Expression 5 4 Accordingly the set values of 1 b in this section are CMX 26214 CDV 450 5 PARAMETERS 3 Setting for use of A1SD75P The A1SD75P also has the following electronic gear parameters Normally the servo amplifier side electronic gear must also be set due to the restriction on the command pulse frequency differential 400kpulse s open collector 200kpulse s AP Number of pulses per motor revolution AL Moving distance per motor revolution AM Unit scale factor A1SD75P Servo amplifier Command S AP JUUL CMX iati value Control AL x AM Command CDV f unit pulse Electronic gear Electronic gear Feedback pulse Servo motor The resolution of the servo motor is 131072 pulses rev For example the pulse command needed to rotate the servo motor is as follows Servo motor speed r min Required pulse command 2000 131072 x 2000 60 4369066 pulse s 3000 131072 x 3000 60 6553600 pulse s For the A1SD75P the maximum value of the pulse command that may be output is 200kpulse s in the open collector system or 400kpulse s in the differential line driver system Hence either of the servo motor speeds exceeds the
127. transfer mode is off turning on the servo on signal SON does not switch on the base circuit 15 7 1 Data transfer procedure Each time the servo on SON is turned ON when the power is switched ON for example the programmable controller reads the position data present position of the servo amplifier Time out monitoring is performed by the programmable controller Servo amplifier Programmable controller Servo on SON ON ABS transfer mode ON Every time the SON is turned ON the ABS transfer DIO allocation ch mode signal is turned ON Send data ready ON to set the data to be transmitted ABS request ON T P d DEE ENEE i ransmission data set Send data ready OFF L Watch dog timer lt Current position data gt da The data is read in units of 2 bits the read data is written Start processing Repeated to configure 32 bit data to the lowest bits and the 16 times register is shifted right until 32 bit data is configured Shift and addition ABS request OFF Send data ready ON ABS request ON le E EE lt Sum check data gt aci EE EE The data is read in units of Send data ready OFF Watch dog timer i 2 bits the read data is written r EA to the lowest bits and the 3 times register is shifted right until Reading 2 bits 6 bit data is configured Shift and addition salida Shit and action 4 Repeated to configure 6 bit data Send data ready ON Setting the current position
128. 007 Turns on SON LSP and LSN 3 Positioning operation Transmit the following communication commands a Setting of positioning operation data A 0 MON Write the speed r min in hexadecimal on time constant ms i in hexaded mal hexadecimal b Input of servo on stroke end Turn on the input devices SON LSP and LSN by using command 9 2 data No 0 0 9112 0110 00000001 Turns on SON Servo OFF 00000006 Turns off SON and turns on LSP straceand ON SI ve Servo on Stroke end ON 9 2 O 0 00000007 Turns on SON LSP LSN c Start of positioning operation Transmit the speed and acceleration deceleration time constant turn on the servo on SON and forward reverse rotation stroke end LSP LSN and then send the moving distance to start positioning operation After that positioning operation will start every time the moving distance is transmitted To start opposite rotation send the moving distance of a negative value When the servo on SON and forward reverse rotation stroke end LSP LSN are off the transmission of the moving distance is invalid Therefore positioning operation will not start if the servo on SON and forward reverse rotation stroke end LSP LSN are turned on after the setting of the moving distance d Temporary stop A temporary stop can be made during positioning operation AJO DO Retransmit the same communication commands as at the start time
129. 04 3441 1 34 0 04 10 to 100MHz 100 to 500MHz Loop for fixing the cable band 0 51 0 04 1 1840 04 Product name Lot number Outline drawing ZCAT3035 1330 13 46 13 OPTIONS AND AUXILIARY EQUIPMENT b Surge suppressor The recommended surge suppressor for installation to an AC relay AC valve AC electromagnetic brake or the like near the servo amplifier is shown below Use this product or equivalent Surge suppressor mO O Q_ O Surge suppressor Surge suppressor This distance should be short within 20cm 0 79 in Ex 972A 2003 50411 Matsuo Electric Co Ltd 200VAC rating Rated Outline drawing Unit mm Unit in voltage C HF R Q Test voltage AC V Vinyl sheath 18 1 5 ac Blue vinyl cord Red vinyl cord oe IW T C 1000 1to5s ft ene 6 0 24 NA 10 0 39 or el 10 0 39 or less He 10 3 15 1 0 59 0 04 0 39 0 39 0 12 200 7 87 48 1 5 200 7 87 0 15 or more 1 89 0 06 or more Note that a diode should be installed to a DC relay DC valve or the like O O SG Maximum voltage Not less than 4 times the drive voltage of the relay or the like Diode Maximum current Not less than twice the drive current of the relay or the like c Cable clamp fitting AERSBAN O SET Generally the earth of the shielded cable may only be connected to the connector s SD terminal However the effect c
130. 08 331 353 353 441 15 15 2 4 Note The error excessive detection for 2 5 revolutions is available only when the servo amplifier of software version BO or later is used When the software version is earlier than BO the error excessive detection level of that servo amplifier is 10 revolutions Protective functions Position control mode Speed control mode Environment ER 1 FUNCTIONS AND CONFIGURATION 1 4 Function list Thefollowing table lists the functions of this servo For details of the functions refer to the reference field de Note Function Description Reference Control mode This servo is used as position control servo Section 3 1 2 Speed control mode This servo is used as speed control servo Section 3 4 2 Section 4 2 3 Section 3 1 3 Torque control mode This servo is used as torque control servo Section 3 4 3 Section 4 2 4 Position s control change Using external input signal control can be switched y ition speed g ing val inpu sig a wi P S TEE mode between position control and speed control t trol ch Usi t input signal control b itched Speed torque control change sing external input signal control can be switc S T Section 3 4 5 mode between speed control and torque control Torque position control Using external input signal control can be switched T P Sora change mode between torque control and position control High resolution encoder of 131072 pulses rev is used as a servo motor
131. 0A1 to MR J 2S 40A1 Servo motor HC KFS O HC MFSO HC SFSO HC RFSO HC UFSO HA LFSO HC LFSO 2 Configuration Control box Reinforced insulating type Note Reinforced insulating transformer No fuse Magnetic breaker contactor NFB Note The insulating transformer is not required for the 11kW or more servo amplifier 3 Environment Operate the servo amplifier at or above the contamination level 2 set forth in EC60664 1 For this purpose install the servo amplifier in a control box which is protected against water oil carbon dust dirt etc 1P54 A 7 4 Power supply a Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category set forth in EC60664 1 For this purpose a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage category III set forth in E60664 1 a reinforced insulating transformer is not required in the power input section b When supplying interface power from external use a 24VDC power supply which has been insulation reinforced in 1 0 5 Grounding a To prevent an electric shock always connect the protective earth PE terminals marked of the servo amplifier tothe protective earth PE of the control box b Do not connect two ground cables
132. 1 Internal speed limit 1 parameterNo8 10 1 0 linterna speed limit 2 parameter No 9 When speed selection 1 Internal SE limit 3 parameter No SC SP3 is made valid EE 1 o 1 Internal speed limit 5 parameter No 73 1 1 0 Internal speed limit 6 parameterNo74 initial status Gaz Kale a Internal speed limit 7 parameter No 75 Note 0 off 1 on When the internal speed limits 1 to 7 are used to command the speed the speed does not vary with the ambient temperature c Limiting speed VLC VLC turns on when the servo motor speed reaches the speed limited using any of the internal speed limits 1 to 7 or the analog speed limit VLA 3 SIGNALS AND WIRING 3 4 4 Position speed control change mode Set 0001 in parameter No O to switch to the position speed control change mode This function is not available in the absolute position detection system 1 Control change LOP Use control change LOP to switch between the position control mode and the speed control mode from an external contact Relationships between LOP and control modes are indicated below Note LOP Servo control mode A Position control mode Speed control mode Note 0 off 1 on The control mode may be changed in the zero speed status To ensure safety change control after the servo motor has stopped When position control mode is changed to speed control mode droop pulses are reset If the signal has b
133. 1 from the servo amplifier of station 0 Station number oo Servo amplifier station 0 Parameter No 2 Axis No Command Data No Start eA a Sl ee ae ee 0 10 15 STX 0112 ETX EH Checksum calculation and Checksum 30H 30H 35H 02H 30H 32H 03H FC i addition Addition of SOH to make Transmission data SOH 0 98 STX 0 2 ETX up transmission data Master station gt slave station Data receive ke No Is there receive data No Yes a No 3 consecutive times Master station gt slave station Y Other than error code 93 No A a 100ms after EOT transmission a e v Error processing Yes Master station lt slave station Yes No Receive data analysis Error processing End 14 10 14 COMMUNICATION FUNCTIONS 14 11 Command and data No list POINT If the command data No is the same its data may be different from the interface and drive units and other servo amplifiers 14 11 1 Read commands 1 Status display Command 0 1 Display item Frame length 01111 isio Status display data value and cumulative feedback pulses IO 8 1 _ processing information 0111 8112 droop pulses cumulative command pulses foma IS ee a a analog speed command voltage caceria acs 0111 analog torque limit voltage regenerativeloadra
134. 1 Environmental CONd tIONS o moccicnninninnnnmnmncc iia eTa i a EAEE uS AEK aE EEE anarai 2 1 2 2 Installation direction and dearances 1 2 2 2 3 Keep out foreign EC EIERE 2 3 ZA CASES A EE E 2 4 3 1 Standard Connection example ocococoicionononnnononnrcrc e 3 2 E VPR OSIitiOm CAMA le de a 3 2 3 1 2 Speed CONtrOMOde coc a 3 6 3 1 3 Tor QUECONtrOl Mde until is 3 8 3 2 Internal connection diagram Of Servo amplifier ooooooonciccicncnncicnicnnonnncnncnncncrnnncn cnn n cnn narrar 3 10 BIMOTA a BS eas 3 11 3 3 1 Connectors and Signal arrangermmente cece eeeeeeeeeeeeeeeeeeeeeaeeeteeesesaesaseeseesaesaseeseesetaetateetaeee 3 11 EE e ER elle NEE 3 15 3 4 Detailed description of the aonals A 3 24 3 4 1 Position Control ue EEN 3 24 3 4 2 Speed control MOS soil ada 3 29 3 4 3 TOQUE CONTEO TMOG umi A A iS 3 31 3 4 4 Position speed control change MOE AA 3 34 3 4 5 Speed torque control CHANGE mole 3 36 3 4 6 Torque position control Change moche AA 3 38 3 5 Alarm occurrencetiMing Chart inncccicinnininnnnnnnnc aea Eiana aea Cie TAa a aaaea A an aai 3 39 OUNAE T 3 40 Ee ul e AE 3 40 3 6 2 Detailed description of the interfaces AAA 3 41 3 7 Input power SUpply ele iio aci 3 46 3 7 1 eo aale adio AESlar EET E A A E 3 46 SNE gu LIEGE 3 48 3 7 3 e Ee Ee EE dd 3 49 3 8 Connection of servo amplifier and servo mo 3 50 3 8 1 Connection le gl de EE 3 50 3 8 2 Connection diagr aM mepende peii aaae ea aeai apania a padaan ada dah eed A pei d i aaaea dada vat at
135. 10 1 Trouble at start up Excessive adjustment or change of parameter setting must not be made as it will AN CAUTION Keng georp 9 make operation instable Using the MR Configurator servo configuration software you can refer to unrotated servo motor reasons etc The following faults may occur at start up If any of such faults occurs take the corresponding action 10 1 1 Position control mode 1 Troubleshooting Start up sequence Investigation 1 Power on LED is not lit Not improved if connectors 1 Power supply voltage fault LED flickers CN1A CN1B CN2 and CN3 2 Servo amplifier is faulty are disconnected Improved when connectors Power supply of CNP1 cabling CN1A and CN1B are is shorted disconnected Improved when connector 1 Power supply of encoder CN2 is disconnected cabling is shorted 2 Encoder is faulty CN3 is disconnected shorted 2 Refer to Section 10 2 and remove cause Section 10 2 Switch on servo on Refer to Section 10 2 and remove cause Section 10 2 SON Servo motor shaft is 1 Check the display to see if 1 Servo on SON is not input Section 6 6 not servo locked the servo amplifier is Wiring mistake is free ready to operate 2 24VDC power is not 2 Check the external 1 O supplied to COM signal indication to see if the servo on SON is ON Enter input Servo motor does Check cumulative command 1 Wiring mistake Section 6 2 command not rotate a For open collec
136. 102A10SL 4P HC SFS203 B 353 B The connector CE05 2A24 HC RF 353 B 503 B for power is 10PD B shared CE05 2A22 HC UFS72 B 152 B 23PD B CE05 2A24 MS3102A10SL HC UFS202 B to 502 B 10PD B 4P c Power supply connector Brake connector Power supply connector signal arrangement CE05 2A22 23PD B CE05 2A24 10PD B CE05 2A32 17PD B n 5i Ge a U B v DO Oa Ho c B Lo O arth GE Note B1 Note B2 Note For the motor with Note For the motor with electromagnetic brake electromagnetic brake supply electromagnetic supply electromagnetic brake power 24VDC brake power 24VDC There is no polarity There is no polarity Encoder connector signal arrangement Electromagnetic brake connector signal arrangement MS3102A20 29P MS3102A10SL 4P iat A Note B1 aO Os B Note B2 Note For the motor with electromagnetic brake View b supply electromagnetic brake power 24VDC There is no polarity 3 SIGNALS AND WIRING 3 9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal Contacts must be open when Circuit must be servo off when an trouble ALM opened during and when an electromagnetic brake emergency stop EMG interlock MBR J N CAUTION Er Electromagnetic brake Servo motor ES RA EMG Th
137. 11 OUTLINE DIMENSION DRAWINGS 3 MR J2S 200A MR J2S 350A Unit mm Approx 70 Vale ia 06 0 24 90 3 54 2 76 195 7 68 mounting hole F6 78 3 07 3 Terminal layout IAS IESSE SEREERL 5 wow LfN UNO A PE terminal Fan air orientation Servo amplifier Mass Se mp MR J2S 200A MRJ 2S 350A ven Terminal signal layout TE1 PE terminals Mounting Screw Screw Size M5 Li Le Ls U Vi Ww i i ER Terminal screw M4 NZ 28 676 Ib in Tightening torque 1 2 N m 10 6 Ib ml Terminal screw M4 Tightening torque 1 2 N m 10 6 Ib in TE2 fun fia D P O N Terminal screw M4 Tightening torque 1 2 N m 10 6 Ib in 11 3 11 OUTLINE DIMENSION DRAWINGS 4 MR J2S 500A 2 6 00 24 Unit mm mounting hole Unit in Approx o oe 130 5 12 0 24 E S 200 7 87 8 118 4 65 6l 2 76 S 0 19 5 Ze up E Set Terminal layout MITSUBISHI cu MITSUBISHI TE1 REN cl 1 A REES SAGES HEE CEs cl NI 2 HE SEE CE SN MA TE2 250 9 84 235 9 25 II Fan air orientation Mass S lifi MR J 2S 500A 4 9 10 8 Terminal signal layout Mounting Screw ua
138. 13 18 13 1 6 J unction terminal block MR T B20 ccccccccscssesssesssesssesseessseesseesseesseesseeseesseesseeseesseusseeesatees 13 26 13 1 7 Maintenance junction card MRIZCNZTMI 13 28 13 1 8 Battery MR BAT A6BAT tee Foster A ase as E 13 29 13 1 9 MR Configurator Servo configurations software csseccssssssssssssersseessesseseessessaesaesenssneeaes 13 30 13 1 10 Power regeneration COMMON COmverte occ eccecceetseeeectetseeeeeeesecaeceessesaeeaseessetaetaseeseesaetaeeasieees 13 32 13 1 11 Heat sink outside mounting attachment MRIACN 13 36 13 2 Auxiliary e e LE 13 39 13 2 1 Recommended OC 13 39 13 2 2 No fuse breakers fuses Magnetic comtackore cnn cnn nnr crac 13 42 13 2 3 Power factor Mproving reactors ocoococcnnnnnccccccnnnnnnccrrcnn cancer 13 42 13 2 4 Power factor improving DC reachors cnn rra 13 43 13 25 Rel Suicida 13 44 13 26 Surge aso Scar rd ai ds 13 44 13 2 7 EZ elfle le ve Cell EE 13 44 13 2 8 Leakage current breaker NENNEN 13 50 L322 OE MIG TCR ere eege cen by ati tetas A dos Did eee nese ose eee eee 13 52 13 2 10 Setting potentiometers for analog Inpute cece eeeeeeeceeeeeeeeeeteceeteecsetaesaeeeseesaetaeeaseeteeaees 13 54 E tee ville ge ONY 2 ta A tte ac ebb ac A aid 14 1 E E ere nts te EE 14 1 E oer Ee e nit IC EE 14 2 14 2 Communication speclficatlonms rr 14 3 14 2 1 COMMUNICATION Oervlew tnta tn tA EANANANEENENENESENENENEAEAEANANENEE EENEN Enn nnn EnEn Enn 14 3 142 2 lu E gue E 14 4 o O 14 5 TAA Cl
139. 154 D3 K1 18 When the current value is changed in the A1SD75 the current feed value is changed at the start of positioning data No 9003 Therefore the starting program for positioning data No 9003 19 is added 8 Y axis sequence program Y axis data set type home position return program The slot numbers and buffer addresses are changed as indicated by 20 9 Writing absolute position data to A1SD75 The A15D75 allows the current position to be changed only when the ready RD of the Servo amplifier is on Therefore if the CPU scan is fast the program for A1SD71 may change the current position before the ready RD switches on 7 is added because the current position must be changed after it has been confirmed that the drive unit ready RD of the A15D75 D75 has switched on off 10 ABS coordinate error detection As the A1SD75 can handle the negative polarity coordinate position that the A1SD71 could not handle the program for ABS coordinate error detection is deleted 13 11 Dog type home position return program Due to the changes in wiring described in 4 a 4 of this section the program for outputting the clear CR Y 35 after completion of a home position return is required 16 15 61 15 ABSOLUTE POSITION DETECTION SYSTEM 15 9 Confirmation of absolute position detection data Y ou can confirm the absolute position data with MR Configurator servo configuration software Crick Diagnostics and Absolute Encoder Data to
140. 2 Connect correctly error occurred disconnected between encoder 2 Encoder cable faulty Repair or change the cable and servo amplifier Wire breakage or shorted 3 Encoder fault Change the servo motor U V and W phases 2 Sheathes of servo motor power Change the cable cables deteriorated resulting in 3 Main circuit of servo amplifier Change the servo amplifier failed AL 24 Main circuit Ground fault 1 Power input wires and servo motor Connect correctly error occurred at the output wires arein contact at servo motor outputs main circuit terminal block TE 1 ifi ground fault Checking method gt AL 24 occurs if the servo is switched on after disconnecting the U V W power cables from the servo amplifier 10 8 10 TROUBLESHOOTING Display Absolute Absolute position 1 Reduced voltage of super capacitor After leaving the alarm occurring for a few position erase data in error in encoder minutes switch power off then on again Always make home position setting again 2 Battery voltage low Change battery 3 Battery cable or battery is faulty Always make home position setting again Power was switched 4 Super capacitor of the absolute After leaving the alarm occurring for a few on for the first time position encoder is not charged minutes switch power off then on again in the absolute Always make home position setting again position detection system Regenerative Permissible alarm
141. 2 n 5 0 02 o g 0 015 0 01 HS 0 005 22K2 9 500 1000 1500 2000 Speed r min i HA LFS series Time constant t s Time constant t s Time constant t s Time constant del 0 045 0 04 0 035 0 03 0 025 0 02 0 015 0 01 0 005 F 152 102 o 500 1000 1500 2000 Speed r min d HC SFS2000r min series 203 500 1000 1500 2000 2500 3000 Speed r min f HC RFS series 0 07 73 0 06 0 05 0 04 0 03 43 0 02 23 13 0 01 0 0 50 500 10001500200025003000 Speed r min h HC UFS3000r min series 40 0 35 0 30 0 29 0 302 20 0 15 0 10 0 5 0 500 1000 1500 2000 Speed r min j HC LFS series Fig 12 8 Dynamic brake time constant 2 12 CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated in the following table If the load inertia moment is higher than this value the built in dynamic brake may burn If there is a possibility that the load inertia moment may exceed the value contact Mitsubishi Servo amplifier Load inertia moment ratio times MR J 2S 10A to MR 2S 200A 30 MR J 2S 10A1 to MR J 25 40A1 MRJ 2S 350A MR 25 500A MR 25 700A MR J 2S 11KA to MR 25 22KA Note 30 Note The value assumes that the external dynamic brake is used 12 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 allowan
142. 28 6 PE terminal 4 0 16 gt Variable dimensions Mass Servo amplifier Kg Ib sors seoza 07059 22 0 87 1 1 2 43 Note This data applies to the 3 phase 200 to 230VAC and 1 phase 230VAC power supply models A Terminal signal layout TE1 For 3 phase 200 to 230VAC and 1 phase 230VAC For 1 phase 100 to 120VAC eee Sec crew Size Li Le L3 SSES Le Tightening torque 095 3 24 N m scl Bal VIAN 28 676 Ib in Terminal screw M4 Terminal screw M4 Tightening torque 1 2 N m 10 6 Ib in Tightening torque 1 2 N m 10 6 Ib in TE2 PE terminals lt Front Terminal screw M4 Tightening torque 1 2 N m 10 6 Ib in 11 1 11 OUTLINE DIMENSION DRAWINGS 2 MR J2S 70A MR J2S 100A Unit mm 96 90 24 70 2 76 Unit in mounting hole Approx 70 2 76 190 7 48 Terminal layout Terminal cover open 0 87 1 65 a il Ezz ODO andl LL 6 0 24 kg b MR J 2S 70A 1 7 MR J 2S 100A 3 75 TT Terminal signal layout TE1 Mounting Screw Screw Size M5 L Le Ls Tightening torque 3 24 N m 28 676 Ib in E Terminal screw M4 Tightening torque 1 2 N m 10 6 Ib in TE2 lt Front le P La Lit N PE terminals Terminal screw M4 Tightening torque 1 2 N m 10 6 Ib in 11 2
143. 3 Addition of AL 37 related sentences to parameter No 49 Section 5 2 1 3 Reexamination of some servo motor speeds Section 5 2 2 Changed to analog monitor Section 7 2 2 POINT sentences addition Section 10 2 1 Sentence addition Section 10 2 2 Addition of 4 to alarm 16 Addition of 3 to alarm 20 Addition of 6 to alarm 33 Changing of occurrence factor and checking method of alarm 50 Changing of occurrence factor and checking method of alarm 51 Section 11 2 1 Overall change Section 12 1 4 Addition Note sentence addition Section 12 3 Note sentence addition Section 13 1 1 1 Regenerative brake option addition Section 13 1 1 3 Parameter setting addition Section 13 1 1 4 Reexamination Section 13 1 1 5 Outline drawing addition Section 13 1 2 Addition of FR BU 55K brake unit Print data Oct 2002 SH NA 030006 D Section 13 1 3 Addition of FR BU 55K brake unit Section 13 1 4 Addition Section 13 1 5 1 Configuration diagram reexamination Note sentence addition Addition of connector sets and monitor cables Section 13 1 5 2 POINT sentence addition Section 13 1 9 2 a Reexamination Section 13 2 1 1 Reexamination Section 13 2 3 Reexamination Section 13 2 4 Addition Section 13 2 8 1 Leakage current breaker addition Section 13 2 9 1 EMC filter addition Section 14 1 2 2 Personal computer connector corrected to D SUB9 Section 14 11 Addition of POINT Section 14 12 7 2 d Addition J un 2003
144. 3 SIGNALS AND WIRING 3 11 2 For the servo amplifier produced earlier than Dec 2005 1 Termination of the cables Solid wire After the sheath has been stripped the cable can be used as it is Approx 10mm 0 39inch Twisted wire Use the cable after stripping the sheath and twisting the core At this time take care to avoid a short caused by the loose wires of the core and the adjacent pole Do not solder the core as it may cause a contact fault Alternatively a bar terminal may be used to put the wires together Cable Size Bar Terminal Type Crimping Tool Maker For 1 cable For 2 cables ping 1 25 1 5 16 Al1 5 10BK Al TWINx1 5 10BK CRIMPFOX ZA 3 Phoenix Contact Al2 5 10BU a a ea or 2 Connection Insert the core of the cable into the opening and tighten the screw with a flat blade screwdriver so that the cable does not come off Tightening torque 0 3 to 0 4N m 2 7 to 3 5 Ib in Before inserting the cable into the opening make sure that the screw of the terminal is fully loose When using a cable of 1 5mm or less two cables may be inserted into one opening O Flat blade screwdriver C Tip thickness 0 4 to 0 6mm Overall width 2 5 to 3 5mm To loosen Cable Opening Control circuit terminal block Use of a flat blade torque screwdriver is recommended to manage the screw tightening torque The following table indicates the recommended products of the torque screwdriver for tightening torque management an
145. 400 10 or GRZG400 0 80 supplied regenerative brake resistors or regenerative brake option is used with 11kW or more servo amplifier Parameter No 0 00 02 03 04 05 06 08 09 OE Selection of regenerative Regenerative brake option or regenerative brake option is not used with 7kW or less servo amplifier Supplied regenerative brake resistors or regenerative brake option is used with 11kW or more servo amplifier MR RB032 MR RB12 MR RB32 MR RB30 MR RB50 MR RB31 MR RB51 When regenerative brake resistors supplied to 11kW or more are cooled by fans to increase capability 13 OPTIONS AND AUXILIARY EQUIPMENT 4 Connection of the regenerative brake option When using the MR RB50 and MR RB51 cooling by a fan is required Please obtain a cooling fan at your discretion The regenerative brake option will cause a temperature rise of 100 C 212 F degrees relative to the ambient temperature Fully examine heat dissipation installation position used cables etc before installing the option For wiring use flame resistant cables and keep them dear of the regenerative brake option body Always use twisted cables of max 5m 16 4ft length for connection with the servo amplifier a MR 2S 350A or less Always remove the wiring from across P D and fit the regenerative brake option across P C The G3 and G4 terminals act as a thermal sensor G3 G4 are opened when the regenerative bra
146. 4VDC Digital I F Common terminal for input signals such as SON and common EMG Pins are connected internally Separated from LG 15VDC power Outputs 15VDC to across P15R LG Available as power for TC TLA VC VLA Permissible current 30mA Control common Common terminal for TLA TC VC VLA FPA FPB OP MOL MO2 and P15R Pins are connected internally Shield Connect the external conductor of the shield cable p 3 23 3 SIGNALS AND WIRING 3 4 Detailed description of the signals 3 4 1 Position control mode 1 Pulse train input a Input pulse waveform selection Command pulses may be input in any of three different forms for which positive or negative logic can be chosen Set the command pulse train form in parameter No 21 Arrow _f L or _J L in the table indicates the timing of importing a pulse train A and B phase pulse trains are imported after they have been multiplied by 4 Forward rotation Reverse rotation Parameter No 21 Pulse train form command command Command pulse train Forward rotation pulse train Reverse rotation pulse train Pulse train sign Negative logic A phase pulse train B phase pulse train Forward rotation pulse train Reverse rotation pulse train Pulse train sign Positive logic A phase pulse train B phase pulse train 3 SIGNALS AND WIRING b Connections and waveforms 1 Open collector system Connect as shown below Se
147. 5 b c Regenerative brake option outline dimension drawing reexamination Section 13 1 9 2 a Reexamination of Windows trademarks Section 13 2 9 3 Reexamination of outline dimension drawings of HF 3040A TM HF 3050A TM HF 3060A T MA and HF 3080 T MA HF 3100A TMA Section 15 8 1 3 c Correction to error in writing Section 15 8 3 2 a 3 Correction to error in writing Oc 2004 SH NA 030006 G Section 1 2 Partial diagram reexamination Section 1 3 Addition of Note Section 1 5 2 Partial addition change Section 3 1 1 1 Partial diagram change Section 3 1 1 2 Partial diagram and Note change Section 3 1 2 Partial diagram change Section 3 1 3 Partial diagram change Section 3 3 2 2 Functions Applications of Speed reached is changed Section 3 4 1 5 Addition of CAUTION Section 3 4 2 1 a Addition of Note2 Section 3 4 4 3 b Partial addition of table Section 3 5 Addition of CAUTION Section 3 5 3 Change of text Section 3 6 1 Partial diagram reexamination Section 3 9 3 d Partial diagram reexamination Section 3 9 3 e Partial diagram reexamination Section 3 11 Addition of POINT Section 4 2 4 4 2 Partial text deletion Print data SH NA 030006 G Section 5 1 2 2 Partial parameterN 0 20 change Section 5 2 1 1 b POINT sentence addition Section 10 2 2 CAUTION sectence addition AL 12 partial Cause change AL bi addition of Note change of Definition AL 17 partial a
148. 5 Emergency stop TL CN 1 B 9 Torque limit PC CN 1 B 8 Proportional control CR CN 1 A 8 Clear RES CN 1 B 14 Reset SON CN 1 B 5 Servo on LSN CN 1 B 17 Reverse rotation stroke end Input signals Pe yf EI PE LSP CN 1 O Ge stroke end Output signals H E Ch E SE ke CN 1 A 18 In position ZSP CN 1 B 19 Zero speed TLC CN 1 B 6 Limiting torque DO1 CN 1 B 4 In position ALM CN 1 B 18 Trouble OP CN 1 A 14 Encoder Z phase pulse b Speed control mode EMG CN 1 B 15 Emergency stop ST2 CN 1 B 9 Reverse rotation start ST1 CN 1 B 8 For ward rotation start SP2 CN 1 B 7 Speed selection 2 SP1 CN 1 A 8 Speed selection 1 RES CN 1 B 14 Reset Mm SON CN 1 B 5 Servo on LSN CN 1 B 17 External emergency stop LSP CN 1 B 16 Forward rotation stroke end CH Lit ON m RW Extinguished OFF Input signals e Ly It SE signal i d VW H RD CN 1 A 19 Ready SA CN 1 A 18 Limiting speed ZSP ON 1 B 19 Zero speed TLC CN 1 e 6 Limiting torque DO1 CN 1 B 4 Limiting speed ALM CN 1 B 18 Trouble P CN 1 A 14 Encoder Z phase pulse c Torque control mode EMG CN 1 B 15 Emergency stop RS1 CN 1 B 9 Forward rotation selection RS2 CN 1 B 8 Reverse rotation selection SP2 CN 1 B 7 Speed selection 2 SP1 CN 1 A 8 Speed selection 1 RES CN 1 B 14 Reset SON CN 1 B 5 Servo on Input signals
149. 60A Servo motor HC MFS73 Io Iga lg2 Igm Use a leakage current breaker generally available Find the terms of Equation 13 2 from the diagram 79 _2 Igl 20 1000 Hl mA 200 2 192 20 1000 HI mA Ign 0 not used Iga 0 1 mA lgm 0 1 mA Insert these values in Equation 13 2 Ig gt 10 0 1 0 0 1 1 0 1 0 1 gt 4 0 mA According to the result of calculation use a leakage current breaker having the rated sensitivity current lg of 4 0 mA or more A leakage current breaker having Ig of 15 mA is used with the NV SP SW CP CW HW series 13 51 13 OPTIONS AND AUXILIARY EQUIPMENT 13 2 9 EMC filter For compliance with the EMC directive of the EN Standard it is recommended to use the following filter Some EMC filters are large in leakage current 1 Combination with the servo amplifier Recommended filter Servo amplifier Mass kg Ib Leakage current mA MR J 2S 10A to MR 25 100A SF1252 0 75 1 65 MR J 25 10A1 to MR 25 40A1 MR 25 200A MR 25 350A SF 1253 EEE 1 37 3 02 MR J 25 500A Note HF 3040A TM 5 5 12 13 MR J 25 700A Note HF 3050A TM 6 7 14 77 MR J 25 11KA Note HF 3060A TMA 3 0 10 0 22 05 MRJ 2S 15KA Note HF 3080A TMA 13 0 28 66 MR J 25 22KA Note HF 3100A TMA 14 5 31 97 Note Soshin Electric A surge protector is separately required to use any of these EMC filters Refer to the EMC Installation Guidelines 2 Connection example EMC
150. 8 0 zo 1 909 0 295 5 291 6 78 5 0 236 3 091 FR BU 55K E 3 ee 7 i me 5 ae re SE 5 qe 2 307 0 5 0 295 12 787 F R BU 30K 13 11 13 OPTIONS AND AUXILIARY EQUIPMENT b Resistor unit FR BR Unit mm in 2 D x T CA A SN A Control circuit S Note ES g3 P A Co mea trials a o Main circuit E EH a terminals gt a eee e FR BR 55K for os N Two eye bolts are provided GA AAN Py Ve h low ER it it EE ict as shown below E AA 5 0 197 E 204 Eye bolt 8 031 40 1 575 C45 0 197 At5 0 197 Resistor Approx Unit Ge 13 1 3 Power regeneration converter When using the power regeneration converter set 0100 in parameter No 0 1 Selection The converters can continuously return 75 of the nominal regenerative power They are applied to the servo amplifiers of the MR 2S 500A to MR J 2S 22KA Power Nominal E 4 regeneration Regenerative Servo Amplifier ao converter Power kW 300 MR J 2S 500A g 200 FR RC 15 E MR 25 700A S 100 FR RC 30 MR J 2S 11KA 5 MRJ 25 15KA 5 50 5 FR RC 55K R J 25 22KA ss O rE Sale e SZ o 50 75 100 150 Nominal regenerative power 13 12 13 OPTIONS AND AUXILIARY EQUIPMENT 2 Connection example
151. 8 11 OUTLINE DIMENSION DRAWINGS c Insulation displacement type Model Connector 10120 6000EL Shell kit 10320 3210 000 Unit mm 6 7 90 26 Unit in 2 60 5 20 9 0 82 Logo etc are indicated here 0 02 29 7 1 17 2 Bus cable connector lt Honda Tsushin Industry gt Unit mm Unit in PCR LS20LA1 PCR LS20LA1W LGT ege E LO gt o 2 o nN a 0 04 1 kg 0 04 Model Number of Pins wah Crimping terminal PCR S20F S soldering type PCR LS20LA1 FHAT 002A PCR S20F insulation displacement type PCR LS20LA1W Note PCR S20F and PCR LS20LA1W are not options and are to be supplied by the customer 11 9 11 OUTLINE DIMENSION DRAWINGS 3 Communication cable connector lt Japan Aviation Electronics Industry gt Unit mm Unit in Fitting fixing screw G A B CG D F T E Reference DE C1 6 56 34 5 1 36 190 75 24 99 0 98 33 1 30 6 0 24 18 0 71 11 10 12 CHARACTERISTICS 12 CHARACTERISTICS 12 1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads Overload 1 alarm AL 50 occurs if overload operation performed is above the electronic thermal relay prot
152. 872 D8 K1 to FROMP H0000 K5 D8 K1 8 The rotation direction parameter masking area is changed from WAND H0004 D8 to WAND H0001 D8 9 3 Reversing absolute position polarity The rotation direction judging area is changed from D8 K 4 to D8 K1 10 4 Reading checksum 6 bits reading ABS data 32 bits The 4 bits reading area is changed from MOV K 1 X30D5 to MOV K1X20 D5 11 5 Restoring absolute position data The slot number and buffer address of the A1SD75 home position address reading area are changed from DF ROP H0001 K 7912 D9 K1 to DF ROP H0000 K 72 D9 K1 12 Data register 15 60 15 ABSOLUTE POSITION DETECTION SYSTEM 6 Writing absolute position data to A1SD75 The slot number and buffer address of the X axis current value changing area are changed from DTOP H0001 K 41 D3K1 to DTOP H0000 K 1154 D3 K1 14 When the current value is changed in the A1SD75 the current feed value is changed at the start of positioning data No 9003 Therefore the starting program for positioning data N 0 9003 15 is added 7 X axis data set type home position return program The slot numbers and buffer addresses of the X axis home position address changing area are changed from DTOP H0001 K 7912 D9 K 1 to DTOP H0000 K72 D9 K1 and from DF ROP H0001 K 7912 D9 K1 to DF ROP H0000 K 72 D9 K1 17 The slot number and buffer address of the X axis current value changing area are changed from DTOP H0001 K 41 D3 K1 to DTOP H0000 K 1
153. ADJUSTMENT FUNCTIONS 8 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 8 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 8 5 2 Function block diagram The valid control gains PG2 VG2 VIC and GD2 of the actual loop are changed according to the conditions selected by gain changing selection CDP parameter No 65 and gain changing condition CDS parameter No 66 CDP Parameter No 65 External signal CDP Command pulse frequency Droop pulses Changin Model speed a CDS Parameter No 66 GD2 Parameter No 34 O Valid O O GD2 value Valid PG2 value Valid VG2 value Valid VIC value 8 SPECIAL ADJUSTMENT FUNCTIONS 8 5 3 Parameters When using the gain changing function always set O 0 40 in parameter No 2 auto tuning to choose the manual mode of the gain adjustment modes The gain changing function cannot be used in the auto tuning
154. AND WIRING Signal Symbol e pn Functions Applications division TS TT SJT Speed selection 1 e TA lt Speed control mode gt DI 1 U sed to select the command speed for operation When using SP3 make it usable by making the setting of parameter No 43 to 48 l DI 1 olo Speed selection 2 SP2 e 1B Setting of Note Input parameter signals Speed command No 43 to 48 SJ 0 0 Analog speed command VC KOD a parameter No 8 BEE parameter No 9 Internal speed command 3 parameter No 10 topa Analog speed command VC Internal speed command 1 parameter No 8 Internal speed command 2 parameter No 9 Internal speed command 3 d parameter No 10 Internal speed command 4 ter Is made al parameter No 72 Speed selection 3 SP3 DI 1 AIA When speed selection SP3 is not used initial status Gf esra parameter No 73 EE e parameter No 74 CEE lems parameter No 75 Note 0 off 1 on lt Torque control mode gt Used to select the limit speed for operation When using SP3 make it usable by making the setting of parameter No 43 to 48 Setting of Note Input parameter signals Speed limit No 43 to 48 NO Analog speed limit VLA EE 1 Internal speed command 1 parameter No 8 SP3 is not used SEE Internal speed command 2 initial status parameter No 9 Internal speed command 3 parameter No 10 o Analog speed limit VLA cua
155. Ambient humidity 90 RH or less non condensing Indoors without corrosive gas flammable gas oil mist dust and dirt Altitude vibration 1000m or less above sea level 5 9m s or less compliant with J 1S C 0040 Sg ee 100AF 100AF 225AF 225AF 225AF No fuse breaker or leakage current breaker 100A 125A 125A 175A Note1 This is the time when the protective function of the FR CV is activated The protective function of the servo amplifier is activated in the time indicated in Section 12 1 2 When connecting the capacity of connectable servo amplifier specify the value of servo amplifier 13 35 13 OPTIONS AND AUXILIARY EQUIPMENT 13 1 11 Heat sink outside mounting attachment MR JACN Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier generated heat to the outside of the box and reduce the amount of heat generated in the box thereby allowing a compact control box to be designed In the control box machine a hole having the panel cut dimensions fit the heat sink outside mounting attachment to the servo amplifier with the fitting screws 4 screws supplied and install the servo amplifier to the control box The environment outside the control box when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment conditions 1 Panel cut dimensions
156. B using parameters No 43 to 48 Generally make connection as shown below Servo amplifier 2kQ 210 Japan resistor RRS10 or equivalent 3 SIGNALS AND WIRING b Speed selection 1 SP 1 speed selection 2 SP 2 and speed command value Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1 SP 1 and speed selection 2 SP 2 or the speed setting made by the analog speed command VC Note Ext input signal EE Speed command value o o Analogspeedcommand VC lo II Internal speed command 1 parameter No 8 lo 1 o Internal speed command 2 parameter No 9 Internal speed command 3 parameter No 10 Note 0 off 1 on By making speed selection 3 SP3 usable by setting of parameter No 43 to 48 you can choose the speed command values of analog speed command VC and internal speed commands 1 to 7 Speed command value o o o Analogspeedcommand vc o o 1 Internal speed command 1 parameter No 8 o 1 o intemal speed command 2 parameter No 9 Internal speed command 3 p Internal speed command 4 Es 05 TEME AAA EE ER A Note 0 off 1 on The speed may be changed during rotation In this case the values set in parameters No 11 and 12 are used for acceleration deceleration When the speed has been specified under any internal speed command it does not vary due to the ambient temperature 2 Speed re
157. Base circuit Servo on SON Reset RES Ready RD 3 Emergency stop Servo on SON accepted 1110ms 60ms I gt H WM l i i 60ms i ON l l 1 L L L OFF 20ms 11 10ms 20ms 1 10ms 20ms 10ms ON Pid Pit Pid gt tit or _ ___I L Power on timing chart Make up a circuit that shuts off main circuit power as soon as EMG is turned off at an emergency stop When EMG is turned off the dynamic brake is operated to bring the servo motor to a sudden stop At this time the display shows the servo emergency stop warning AL E 6 During ordinary operation do not use the external emergency stop E MG to alternate stop and run The servo amplifier life may be shortened Also if the forward rotation start ST 1 and reverse rotation start ST2 are on or a pulse train is input during an emergency stop the servo motor will rotate as soon as the warning is reset During an emergency stop always shut off the run command mergency stop SG Servo amplifier VDD Joo 3 SIGNALS AND WIRING 3 8 Connection of servo amplifier and servo motor 3 8 1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric AN warn ING shock i dl i Connect the wires to the correct phase terminals U V W of the servo amplifier and servo motor Otherwise the servo motor will operate improperly Do not connect AC p
158. CBL10M L MR JCCBL30M L 19 11 20 12 18 2 Plate to Encoder side 7 t l i l H l H 1 ji H 1 i I H 1 I i l 1 i i l H l i 1 I H H V oo PM 9 Note Always make connection for use in an absolute position detection system This wiring is not needed for use in an incremental system MR JCCBL10M H to MR JCCBL50M H Drive unit side Encoder side P5 LG P5 LG P5 LG MR MRR MD MDR BAT LG SD When fabricating an encoder cable use the recommended wires given in Section 13 2 1 and the MR J 2CNM connector set for encoder cable fabrication and fabricate an encoder cable as shown in the following wiring diagram Referring to this wiring diagram you can fabricate an encoder cable of up to 50m 164 0ft length 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 is not required Refer to Chapter 3 of the servo motor instruction manual and choose the encode side connector according to the servo motor installation environment Drive unit side 3M P5 LG P5 LG P5 LG MR MRR BAT LG SD For use of AWG22 Encoder side Note Always make connection for use in an absolute position detection system This wiring is not needed for use in an incremental system 13 22 13 OPTIONS AND AUXILIARY EQUIPMENT b MRY HSCBL
159. COASTING distance ccccccsseccsercesssececseeceseeecesaececasecsensecaeessaeessensesseressnueeseeeessaes mm in Machine rapid teedrate nn non n nro nr nnnar nn nnnnranoss mm min in min Servo Motor inertial moment kg cm oz in2 Load inertia moment converted into equivalent value on servo motor shaft kg cm oz in2 Brake tie e E LEE s Delay time of control Sei micci n a ii ca a aia ec A a eaaa s For 7kW or less servo there is internal relay delay time of about 30ms For 11kW to 22kW servo there is delay time of about 100ms caused by a delay of the external relay and a delay of the magnetic contactor built in the external dynamic brake 0 02 0 018 z 0 016 E 0 014 e S 0 012 23 S g 0 01 73 5 S 0 008 5 S E 0 006 E 4 0 004 NAAA E 2 0 002 43 9 500 1000 1800 2000 2500 3000 0500 1000 1500 2000 2800 3000 Speed r min Speed r min a HC KFS series b HC MFS series Fig 12 7 Dynamic brake time constant 1 12 CHARACTERISTICS Time constant 1 s 0 04 A 0 035 e 0 03 5 0 025 5 0 02 o 0 015 E E 0 01 0 005 e 1000 Ea aa c HC SFS1000r min series 0 12 0 1 0 08 0 06 0 04 0 02 10 e 153 50 500 1000 1500 2000 2500 3000 Speed r min e HC SFS3000r min series 0 1 E r S er 502 0 07 352 0 06 2 0 05 3 0 04 E 0 03 0 02 202 GE 152 500 1000 1500 2000 Speed r min g HC UFS 2000r min series 0 04 0 035 om 0 025 15K
160. D Plate Note2 Use of AWG24 ee BAT Less than 10m 32 8ft LG SC Note 1 This wiring is required for use in the absoluteSD SD position detection system This wiring is not needed for use in the incremental system 2 AWG28 can be used for 5m 16 4ft or less Use of AWG22 Use of AWG24 10m 32 8ft to 50m 164 0ft 10m 32 8ft to 50m 164 0ft When fabricating an encoder cable use the recommended wires given in Section 13 2 1 and the MR J 2CNS connector set for encoder cable fabrication and fabricate an encoder cable in accordance with the optional encoder cable wiring diagram given in this section You can fabricate an encoder cable of up to 50m 164 0ft length Refer to Chapter 3 of the servo motor instruction guide and choose the encode side connector according to the servo motor installation environment 13 24 13 OPTIONS AND AUXILIARY EQUIPMENT 3 Communication cable POINT This cable may not be used with some personal computers After fully examining the signals of the RS 232C connector refer to this section and fabricate the cable a Model definition Model MR CPCATCBL3M Cable length 3 m 10 ft b Connection diagram MR CPCATCBL3M Personal computer side Servo amplifier side TXD 3 RXD GND RTS CTS DSR DTR So o JO PD D SUB9 pins Half pitch 20 pins When fabricating the cable refer to the connection diagram in this section The follo
161. E e sFser 15 5 15 10 108 MR 25 100A nesse wos a7 _s0_ fo oo 168 _ HC LFS102 Fee a a aa ERES IRA EEES he sFs201 35 22 ia 194 Hc sFS152 153 25 20 2 18 194 Hc sFs202 203 35 oo 2 18 194 MR J 25 200A Hc aFS1583 25 oo 2 18 194 mues f 5 o E wai HC LFS152 2 pessa as por o poa poa c sFs352 353 a Im 2 237 ai MRJ25 3504 H c RFs203 35 2 18 4 lHc uFs2o2 35s 22 ia 194 Hc rs202 35 oo 2 18 19 4 Note 1 Note that the power supply capacity will vary according to the power supply impedance This value assumes that the power factor improving reactor is not used 2 Heat generated during regeneration is not included in the servo amplifier generated heat To calculate heat generated by the regenerative brake option use Equation 13 1 in Section 13 1 1 12 2 12 CHARACTERISTICS Note 1 Note 2 y BEES des a Area required for heat dissipation Servo amplifier Servo motor Power supply Servo amplifier generated heat W capacityIkVA With servo off HC SFS502 HC RFS353 AAA HC RFS503 MR 25 5008 HC UFS352 eee ae et IEA Hc uFs502 75 e HC LFS302 HA LFS502 Hc sFs702 100 30 6o og MR J 25 700A naits me 30 6o ag HA LFS11K2 o s s n 118 4 HA LFS801 12 0 83 9 MR 2S 11KA HA LFS12K1 A ee ee l a 124 8 HA LFS1IKIM en o Le no 1184 Ha LFS15K2 220 e s
162. E EE TA AN A DTOP H0001 ka D9 Ki Note 1 If data of the home position address parameter is not written by using an starting a program for data set type home position return the circuits ind circuit indicated by Note 2 is not necessary Setting X axis home position address 500 in the data register Clear CR ON timer request Clear CR 100ms ON timer Setting data set type home position return request Resetting data set type home position return request Clear CR ON H 1 Changing X axis present position data A6GPP programming tol etc before icated by Note 1 are necessary and the 2 Contrary to Note 1 above if the home position address is written in the home position address parameter the circuit indicated by Note 3 is necessary and the circuits indicated by 15 32 Note 1 are not necessary 15 ABSOLUTE POSITION DETECTION SYSTEM g Electromagnetic brake output During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Set 1010 in parameter No 1 of the servo amplifier to choose the electromagnetic brake interlock MBR Y41 X31 744 H Electromagnetic brake output ABS Brake MBR transfer mode h Positioning completion To create the status information for servo positioning completion During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop
163. EE e e Screw Size M5 L Terminal screw M4 Built in regenerative brake resistor eo torque Tightening torque 1 2 N m 10 6 Ib in lead terminal fixing screw 24 N m Le 28 676 Ib in Ls cal CG P N V Ww Terminal screw M4 Tightening torque 1 2 N m 10 6 Ib in 606 41 Terminal screw M3 5 Tightening torque 0 8 N m 7 lb in 11 4 11 OUTLINE DIMENSION DRAWINGS 5 MR J2S 700A 2 6 90 24 Unit mm Unit ml mounting hole s 180 7 09 Approx 70 200 7 87 0 39 o 10 160 6 23 10 2 7 5138 5 43 6 02 T a 0 39 GE 3 Saa na E S gt A HS TA 3 gt i o ia Y e ala x Se elo lO 0 mm Bt E y Ean ey GC et EE E A KE EE UN e gt 6 0 24 Lei e Fan air orientation Mass S lifi MR J 2S 700A 7 2 15 9 Terminal signal layout N TE1 PE terminals Mounting Screw Screw Size M5 GlclGicleiviuvlvlwl hn geo e A Tightening torque Terminal screw M4 Built in regenerative 28 676 Ib in Tightening torque 1 2 N m 10 6 Ib wll brake resistor D lead terminal fixing screw Terminal screw M4 TE2 Tightening torque 1 2 N m 10 6 Ib in L Ter
164. Edition 44 of the Dangerous Goods Rule of the International Air Transport Association IATA went into effect on January 1 2003 and was enforced immediately In this rule provisions of the lithium and lithium ion batteries were revised to tighten the restrictions on the air transportation of batteries However since this battery is non dangerous goods non Class 9 air transportation of 24 or less batteries is outside the range of the restrictions Air transportation of more than 24 batteries requires packing compliant with the Packing Standard 903 When a self certificate is necessary for battery safety tests contact our branch or representative For more information consult our branch or representative As of Dec 2005 Use the battery to build an absolute position detection system 13 OPTIONS AND AUXILIARY EQUIPMENT 13 1 9 MR Configurator Servo configurations software The MR Configurator servo configuration software MRZ W3 SETUP151E uses the communication function of the servo amplifier to perform parameter setting changes graph display test operation etc on a personal computer 1 Specifications Communication signal Conforms to RS 232C Baudrate bps 57600 38400 19200 9600 Display high speed monitor trend graph Minimum resolution changes with the processing speed of the personal computer Monitor Display history amplifier data Diagnostic Digital I O no motor rotation total power o
165. F ON ABS request OFF ON Send data ready OFF Yes ABS check sum error No 15 13 15 ABSOLUTE POSITION DETECTION SYSTEM 3 At the time of alarm reset If an alarm occurs turn OFF the servo on SON by detecting the alarm output ALM If an alarm has occurred the ABS transfer mode ABSM cannot be accepted In the reset state the ABS transfer mode ABSM can be input Servo on ON SON OFF Reset SR RES OFF ON ABS transfer mode During transfer of ABS ABSM ABS request ABSR Send data ready TLC Transmission ABS data ABS data Y 80 ms Base circuit Alarm output ALM ON Ready y Operation RD OFF enabled A Occurrence of alarm 15 14 15 ABSOLUTE POSITION DETECTION SYSTEM 4 At the time of emergency stop reset a If the power is switched ON in the emergency stop state The emergency stop state can be reset while the ABS data is being transferred If the emergency stop state is reset while the ABS data is transmitted the base circuit is turned ON 80 ms after resetting If the ABS transfer mode ABSM is OFF when the base circuit is turned ON the ready RD is turned ON 20 ms after the turning ON of the base circuit If the ABS transfer mode ABSM is ON when the base circuit is turned ON it is turned OFF and then the ready RD is turned ON The ABS data can be transmitted after the emergency stop state is reset
166. MITSUBISHI ELECTRIC General Purpose AC Servo Mel SetWU J2 Super Series General Purpose Interface MODEL MR J2S LA SERVO AMPLIFIER INSTRUCTION MANUAL e Safety Instructions e Always read these instructions before using the equipment Do not attempt to install operate maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual Installation guide Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment safety information and instructions In this Instruction Manual the safety instruction levels are classified into WARNING and CAUTION d WARNING Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury d CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are indicated by the following diagrammatic symbols Indicates what must not be done For example No Fire is indicated by R Indicates what must be done For example grounding is indicated by GE E
167. MP H0001 K7892 D8 K1 DFROP H0001 K7912 D9 K1 DFROP H0001 K7922 D9 K1 DTOP H0001 K41 D3 Ki gt DTOP H0001 K341 D3 K1 Program configuration PQS Re See E SS aS SS SS RO X axis ABS sequence program Program in Section 15 8 1 3 f Y axis ABS sequence program Refer to the X axis program and write the Y axis i program Pr ts Ser hak tio o te dol b Data set type home position return Arrange the data set type home position return programs given in Section 15 8 1 3 f in series to control two axes Refer to the X axis data set type home position return program and create the Y axis program Assign the X inputs Y outputs D registers M contacts and T timers of the Y axis so that they do not overlap those of the X axis The buffer memory addresses of the A15D75 differ between the X and Y axes The instructions marked 1 in the program of Section 15 8 1 3 f should be changed as indicated below for use with the Y axis DTOP H0001 K7912 D9 Ki DTOP H0001 K7922 D9 K1 DTOP H0001 K41 D9 Ki DTOP H0001 K341 D9 K1 Program configuration Aap ere cae Neer A et oe era X axis data set type home position return program Program in Section 15 8 1 3 f Y axis data set type home position return program Refer to the X axis program and write the Y axis program l EE 15 34 15 ABSOLUTE POSITION DETECTION SYSTEM 15 8 2 MELSEC FX 2N 32MT FX 2N 1PG 1 C
168. MR J 2CN3TM is designed for use when a personal computer and analog monitor outputs are used at the same time Servo amplifier Communication cable Bus cable Maintenance junction card MR J2CN3TM MR J2HBUSOM Analog monitor 2 CN3B CN3 CN3A CN3C A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6 O O O O O O O O VDD COM EM1 DI MBR EMGO SG PE LG LG MO1 MO2 Not used Analog monitor 1 2 Connection diagram TE1 O O O O Not used O O O O 3 Outline drawing Unit mm Unit in A 2 45 3 0 21 mounting hole al 8 a Ye Re 88 3 47 41 5 1 63 100 3 94 Mass 110g 0 24lb 13 28 13 OPTIONS AND AUXILIARY EQUIPMENT 4 Bus cable MR J2HBUS OM Model MR J2HBUSOM Cable length m ft 0 5 1 64 1 3 28 5 5 16 4 MR J2HBUSO5M MR J2HBUS1M MR J2HBUS5M 10120 6000EL connector 10120 6000EL connector 10320 3210 000 shell kit 10320 3210 000 shell kit peral 11 11 2 2 12 12 E E PA g 13 13 4 l 4 14 l 14 5 E 5 15 l Si 6 H 6 16 17 46 AA AE 17 H gt H 17 a b I g 18 18 9 m 9 19 l 19 10 t 10 20 IZ 20 I Lee Plate Plate 13 1 8 Battery MR BAT A6BAT The revision
169. Machine resonance suppression filter 2 parameter No 59 The setting method of machine resonance suppression filter 2 parameter No 59 is the same as that of machine resonance suppression filter 1 parameter No 58 However the machine resonance suppression filter 2 can be set independently of whether adaptive vibration suppression control is valid or invalid 8 3 Adaptive vibration suppression control 1 Function Adaptive vibration suppression control is a function in which the servo amplifier detects machine resonance and sets the filter characteristics automatically to suppress mechanical system vibration Since the filter characteristics frequency depth are set automatically you need not be conscious of the resonance frequency of a mechanical system Also while adaptive vibration suppression control is valid the servo amplifier always detects machine resonance and if the resonance frequency changes it changes the filter characteristics in response to that frequency Machine resonance point i Machine resonance point Mechanical Mechanical system system response response l level Frequency evel Frequency i d H d H Notch Notch depth y depth Frequency 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
170. N SYSTEM d X axis program Do not execute the X axis program while the ABS ready M8 is off Positioning X axis start Note mode command Mg r IS I N When M8 ready to send ABS data switches on k HA 27 _ X axis start program 4 the X axis start program is executed by the X axis i CK i start co and Est P E AES ta Pret e O Bele o ol a send ABS e Dog type home position return Refer to the home position return program in the A1SD75 User s Manual Note that this program requires a program which outputs the dear CR Y 35 after completion of home position return Add the following program Home position return 7 7 j 7 7 I i E gt 7 S 7 g rset command E Reading 1 axis home position return FROM H0000 K817 D12 e completion signal Hv WAND vom D12 bh Masking home position return completion M22 H Home position return processing instruction M22 12 ke Y35 H Switching clear CR on Processing Home position return instruction completion judgment 15 56 15 ABSOLUTE POSITION DETECTION SYSTEM f Data set type home position return After jogging the machine to the position where the home position e g 500 is to be set choose the home position return mode and set the home position with the home position return start PBON After switching power on rotate the servo motor more than 1 revolution before starting home position return Donot turn ON t
171. N1B CN1A CN1A f R display 19 Pin 18 Pin 19 Pin 88888 Watchdog AL 12 AL 13 AL 15 AL 17 AL 19 Memory error 3 AL 37 Serial communication AL 8A timeout AL 8E Ab30 AL 33 Overvoltage o 1 o AL 10 Undervoltage bla af o o pate Manatee Command pulse frequenc pee alarm AL 52 Error excessive AL 16 1 1 Monitor combination error AL 20 AL 25 Absolute position erase Note 0 off 1 on 3 21 3 SIGNALS AND WIRING i Control Connector pin No F A ae 1 0 mode Signal Symbol Functions Applications E 7kW or 11kW or division elt less more DO 2 Encoder Z phase CN1A CN1A Outputs the zero point signal of the encoder One pulse is pulse 14 14 output per servo motor revolution OP turns on when the Open collector zero point position is reached Negative logic The minimum pulse width is about 400us For home position return using this pulse set the creep speed to 100r min or less Encoder A phase CN1A CN1A Outputs pulses per servo motor revolution set in pulse 6 parameter No 27 in the differential line driver system Differential line CN1A CN1A In CCW rotation of the servo motor the encoder B phase driver 16 pulse lags the encoder A phase pulse by a phase angle of Encoder B phase 1 2 pulse The relationships between rotation direction and phase Differential line difference of the A and B phase pulses can be changed driver using
172. NY NY eree The parameter number is displayed o Li Li Press de AN to change the number E Press SET twice gt v ay EY gt v si v U d d d bene The set value of the specified parameter number flickers PAE 5 Press UP once re re re E dE NS During flickering the set value can be changed II sr UP DOWN 0002 Speed control mode Press SET to enter e To shift tothe next parameter press the UP DOWN button When changing the parameter No O setting change ts set value then switch power off once and switch it on again to make the new value valid 2 Expansion parameters To use the expansion parameters change the setting of parameter No 19 parameter write disable Refer to section 5 1 1 6 DISPLAY AND OPERATION 6 6 External I O signal display The ON OFF states of the digital I O signals connected to the servo amplifier can be confirmed 1 Operation Call the display screen shown after power on Using the MODE button show the diagnostic screen d o KZ y LA J Press UP once K LI el Geh Ger te External UO signal display screen PI DY Do a pa 2 Display definition SC CN1B CN1BCN1B CN1ACN1B CN1BCN1B CN1B 9 8 7 CH D A OH Always lit i ZA ACI Ach ACh Ac CN1A CN1B ene CN1BCNIA ens 14 18 6 19 18 Lit ON Extinguished OFF The 7 segment LED shown above indicates ON OFF Each segment at top indicates the input sig
173. Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake 3 51 3 SIGNALS AND WIRING 3 8 3 I O terminals 1 HC KFS HC MFS HC UFS3000r min series E Power supply lead Encoder connector signal arrangement 4 AWG19 0 3m 0 98ft E Power supply connector Molex Without electromagnetic brake a 5557 04R 210 receptacle Encoder cable 0 3m 0 98ft 5556PBTL Female terminal With connector 1 172169 9 With electromagnetic brake Tyco Electronics 5557 06R 210 receptacle 5556PBTL Female terminal Power ae Power supply connector n o connector i SE E 4 at alles 3 ale 4 O Earth 5 Note e View b ER Note B2 Note For the motor with electromagnetic brake supply electromagnetic brake power 24VDC There is no polarity 3 52 3 SIGNALS AND WIRING 2 HC SFS HC RFS HC UFS2000 r min series Servo motor side connectors motor side connectors Servo motor S KS d Electromagnetic or power su or encoder p SE brake connector HC SFS81 B The connector CE05 2A22 HC SFS52 B to 152 B for power is 23PD B HC SFS53 B to 153 B shared HC SFS121 B to 301 B CE05 2A24 HC SFS202 B to 502 B 10PD B MS3
174. Note5 Section 3 1 3 Partial change of connection diagram Change of Note5 Section 3 3 1 3 Change of Note4 Section 3 3 2 2 SA explanation change Section 3 6 2 4 b 2 Diagram reexamination Section 3 7 1 Diagram reexamination Section 3 7 2 L1 L2 L3 partial reexamination in the table Section 3 9 Addition of CAUTION Section 3 9 3 d Change of time from power OFF to base circuit OFF Section 3 11 1 Addition Section 3 13 3 Change of drawing of servo motor terminal box outside Section 4 2 2 3 Change of parameter No 3 setting valuein the table Dec 2005 SH NA 030006 H Section 5 1 2 2 Addition of Note for parameter No 17 Partial reexamination of sentence for parameter No 19 Section 5 2 2 Change of sentence Section 5 2 2 2 Addition of N ote Section 6 6 2 a Change of Note3 Section 10 2 1 AL 45 46 addition of Note Section 10 2 2 AL 37 addition of Cause Section 10 2 3 Addition of POINT AL 92 addition of Cause Section 12 1 Reexamination of Note Section 13 1 1 5 b e change of outline drawing Section 13 1 2 2 Diagram addition of P1 terminal Reexamination of Note Section 13 1 3 2 Diagram addition of P1 terminal Reexamination of Note Section 13 1 4 2 Diagram addition of P1 terminal Reexamination of Note Section 13 1 10 2 Diagram addition of P1 terminal Reexamination of Note Section 13 1 10 5 Partial table change Section 13 2 7 2 d FR BSF 01 change of dimensions Section 14 12 3 2 Reexam
175. O 15 64 15 ABSOLUTE POSITION DETECTION SYSTEM c To detect the ABS time out warning AL E5 at the servo amplifier the time required for the ABS request signal to go OFF after it has been turned ON ABS request time is checked If the ABS request remains ON for longer than Is it is regarded that an fault relating to the ABS request signal or the send data ready TLC has occurred and the ABS communication error is generated The ABS communication error occurs if the ABS time out warning AL E5 is generated at the servo amplifier due to an ABS request OFF time time out ON ABS transfer mode OFF ABS request The signal does not go OFF id ON Send data ready OFF ABS communication Mee error NO 15 10 2 Error resetting conditions Always remove the cause of the error before resetting the error Output coil Name Servo status Resetting condition AD71 ABS communication error Ready RD ol Reset when servo on SON X36 signal turns off ABS checksum error For AD71 Reset when servo on SON PB X36 signal turns from off to on For FX 1PG Reset when servo on SON PB X36 signal turns off ABS coordinate error Y4B Ready RD on Reset when servo on SON PB X36 signal turns from off to on after a motion to coordinate is made by jog operation Servo alarm Y48 Y10 Ready RD on Reset when alarm reset PB turns on or power switches from off to on 15 65 15 ABSOLUTE
176. O 20 RP NP 12 Sg yw 3 3kQ q COMI 10 Ze CLR 8 WA ee Wea SE y PGO OP 14 Ww V SD Plate Note 1 To be connected for the dog type home position setting At this time do not connect the portions marked Note 2 2 To be connected for the data set type home position setting At this time do not connect the portions marked Note 1 3 The electromagnetic brake interlock MBR should be controlled by connecting the programmable controller output to a relay 15 36 15 ABSOLUTE POSITION DETECTION SYSTEM 2 Sequence program example a Conditions 1 Operation pattern ABS data transfer is made as soon as the servo on pushbutton is turned on After that positioning operation is performed as shown below Home position 300000 address After the completion of ABS data transmission J OG operation is possible using the J OG or J OG pushbutton switch After the completion of ABS data transmission dog type home position return is possible using the home position return pushbutton switch 2 Buffer memory assignment For BFM 26 and later refer to the F X2 N 1PG User s Manual BMF BMFNo Upper 16 Lower 16 Name and symbol Set value Remark bits bits Pulse rate 2000 Feed rate 1000 Parameter H 0000 Command unit Pulses Max speed Vmax 100000P PS Bias speed Vbia OPPS J OG operation Vjog 10000P PS Home position return speed high speed VRT 50000P PS Home position return speed creep VcL 1000PP
177. P Reverse rotation pulse train across NG NP The command pulse train form can be changed using parameter No 21 3 19 3 SIGNALS AND WIRING 2 Output signals Connec Signal Symbol tor pin No Trouble CN1B 18 Dynamic brake interlock TFE Speed reached Limiting speed CN1B Limiting torque Zero speed CN1B Electromagnetic brake interlock Warning Battery warning Functions Applications ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit Without alarm occurring ALM turns on within about 1s after power on This signal can be used with the 11kW or more servo amplifier When using this signal set 010 0 in parameter No 1 When the dynamic brake is operated DB turns off Refer to Section 13 1 4 parameter No 5 When the in position range is increased INP SG may be kept connected during low speed rotation SA turns off when servo on SON turns off or the servomotor speed has not reached the preset speed with both forward rotation start ST1 and reverse rotation start ST2 turned off SA turns on when the servomotor speed has nearly reached the preset speed When the preset speed is 20r min or less SA always turns on VLC turns on when speed reaches the value limited using any of the internal speed limits 1 to 7 parameter No 8 to 10 72 to 75 or the analog speed limit VLA in the torque control mode VLC turn
178. P and LSN tool D Enables the disabled external output signals DO EAS 4 7 Data for test operation mode Command 9 2 A 0 Setting range Frame length 9 2 Input signal for test operation Refer to section 14 12 6 9112 AO Forced output from signal pin foe 14 12 8 Setting range Frame length A1 0 1110 Writes the speed of the test operation mode jog operation 0000 to 7FFF positioning operation Writes the accel eration deceleration time constant of the test ES operation mode jog EE SE operation TEFFFFFF a ee O operation mode jog operation positioning operation Writes the moving distance in pulses of the test operation ESSE mode jog operation positioning eps sun TEFFFFFF Ke EE operation positioning operation 14 13 14 COMMUNICATION FUNCTIONS 14 12 Detailed explanations of commands 14 12 1 Data processing When the master station transmits a command data No or a command data No data to a slave station the servo amplifier returns a reply or data according to the purpose When numerical values are represented in these send data and receive data they are represented in deci mal hexadecimal etc Therefore data must be processed according to the application Since whether data must be processed or not and how to process data depend on the monitoring parameters etc follow the detailed explanation of the corresponding command Thefollowing methods are ho
179. S Home position return zero point signal count 2 pulses Initial value 10 Home position address 0 Acceleration deceleration time 200ms Initial value 100 Not usable Target address I 0 Operation speed I V 100000 Initial value 10 Target address 11 0 Operation speed 11 10 Operation command Sakata db 3 Instructions When the servo on pushbutton switch and the GND of the power supply are shorted the ABS data is transmitted when the servo amplifier power is turned ON or at the leading edge of the RUN signal after a PC reset operation PC RESET The ABS data is also transmitted when an alarm is reset or when the emergency stop state is reset If check sum discrepancy is detected in the transmitted data the ABS data transmission is retried up to three times If the check sum discrepancy is still detected after retrying the ABS check sum error is generated Y12 ON The following time periods are measured and if the ON OFF state does not change within the specified time the ABS communication error is generated Y11 ON ON period of ABS transfer mode Y 1 ON period of ABS request Y 2 OFF period of ready to send the ABS data X2 15 37 15 ABSOLUTE POSITION DETECTION SYSTEM b Device list X input contact Y output contact T210 ote 1 Clear CR ON timer ABS bit O completion of positioning ABS bit 1 zero speed Send ABS data ready torque limit control Servo alarm Alarm reset PB Servo
180. SET ZRST M62 RST Y11 X6 l E LA ast ABS Servo on communi PB cation error RST DO DO K1 M99 M64 M6 Y1 Y2 K500 ABS transfer mode Y2 X2 r 1 1201 K100 tJ HA 1202 ABS transfer ABS request K100 ABS transter Send data ready in T203 T203 Send data r M2 ABS request NG eady NG r QY11 D4 T200 Retry wait timer Retry command M6 KE Retry To be continued 15 43 r C1 M5 ABS data gt DO Di Adding 1PG home position address ABS data gt 1PG Writing absolute position data to Setting ABS data ready ES Clearing check sum judging area Resetting retry flag Detecting ABS communication error Resetting ABS request ABS transfer mode 5s timer ABS request response 1s timer Detecting ABS communication Ready to send response error 1s timer ABS communication error Counting retry frequency ABS transfer retry control Setting servo on request 15 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page M109 Normally OFF M110 M111 1PG control command T not used M102 M103 X7 2 M99 PLS M120 H Start command pulse ion ABS data PB ready 0 ung H 1PG JOG command e Operation command j control LU 105 1 PG JOG command TT E Y A a Ee a a a A A al fe X7 X14 mo6 1PG home position return start IRA nee een ed A een ae PS
181. Servo amplifier Lu La Note3 Power factor improving reactor NFB MC FR BAL O oli Power supply S 3 phase Olo STO SN gt La 200V or 230VAC l gt o O 00 La VDD i SG COMO S o oSON ALMO PA CH SE 5 S Note2 C P Di N p Note4 5m 16 4ft or less ROYO A Ready SE O O O D RDY B B output O R L Alarm O S L2 output O T Ls OR 1 O R Note 1 aa Phase detection 0S terminals 0 TX LOT Power regeneration converter FR RC __FR RC Operation ready BoC RA2 EMG OFF ON mea Gade als alo w 1 Vv a Note 1 When not using the phase detection terminals fit the jumpers across RX R SX S and TX T If the jumpers remain removed the FR RC will not operate 2 For the servo amplifiers of 5k and 7kW always remove the wiring across P C of the built in regenerative brake resistor 3 Refer to the power return converter FR RC instruction manual IB NA 66330 for the power factor improving reactor to be used When using FR RC with the servo amplifier of 11k to 22kW do not use the power factor improving reactor FR BEL together 4 For the amplifiers of 11k to 22kW always connect across P P1 Wiring is factory connected 13 13 13 OPTIONS AND AUXILIARY EQUIPMENT 3 Outside dimensions of the power regeneration converters Unit mm in 2 4D hole Mounting foot removable UI Mounting foot k as movable aI
182. Servo status is shown on the 5 digit 7 segment LED Status display y K pi E ls P S T Section 6 2 display ON OFF statuses of external I O signals are shown on the External I O signal display di a poet S E 6 6 Output signal can be forced on off independently of the Output signal DO servo status Section 6 7 forced output no Use this function for output signal wiring check etc Voltage is automatically offset to stop the servo motor if it Automatic VC offset does not come to a stop at the analog speed command VC Section 6 3 or analog speed limit VLA of OV OG ation itioning operation motor less operation Test operation mode See Geen paras P S T Section 6 8 DO forced output Analog monitor output Servo status is output in terms of voltage in real time P S T Parameter No 17 MR Configurator Using a personal computer parameter setting P S T Section 13 1 9 Servo configuration software operation status display etc can be performed Restart after instantaneous power failure Servo motor torque can be limited to any value If an alarm has occurred the corresponding alarm number Alarm code output Section 10 2 1 is output in 3 bit code Note P Position control mode S Speed control mode T Torque control mode P S Position speed control change mode S T Speed torque control change mode T P Torque position control change mode 1 5 Model code definition 1 Rating plate MITSUBISHI AC SERVO
183. To be continued 15 52 15 ABSOLUTE POSITION DETECTION SYSTEM a Continued from preceding page 11 Reading checksum 6bits 2 bits x3 times D 15 53 Reading ABS data 32 bits 2 bits x16 times Detecting ABS checksum error A O E me ee E PTA A T Mov san D5 Reading 4 bits Read ABS data enabled counter e S gt e WAND H0003 D5 Masking 2 bits wor pe AO Adding 2 bits ROR K2 Right rotation of AO 2 bits den Counting the number of checksum data Completion of reading PLS M10 d k checksum 2 bits mo oew po o A AS HH Ebbe OS O 8 Reading 4 bits Read ABS data enabled counter a F E e E E ES E 8 XK AND Ho003 DS Masking 2 bits 11 c woR 5 AO Adding 2 bits FY ror Right rotation of AO 2 bits pe o D2 Adding checksum les Counting the number of ABS LU data bes iii Completion of reading ABS g 2 bits data c1 7 RORP on Right rotation of AO 10 bits Checksum counter WAND Hoo3F A0 Masking sum check pe ao us Sum check OK lt gt D2 Ao m7 Sum check NG mov Ao D6 Sum check memory c2 K 22 H ABS checksum error Retry counter 15 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page M11 RST Y32 bh ABS request reset ABS 2 bits completion M10 H Checksum 2 bits completion Y31 X22 PLS M12 ABS 2 bits re
184. UBISHI MR TB20 EAS OPP Seen ar _ CEs 2 4 5 0 18 50 1 97 60 2 36 Terminal screw M3 5 Applicable cable Max 2mm Crimping terminal width 7 2mm 0 283 in max 13 26 13 OPTIONS AND AUXILIARY EQUIPMENT 4 Junction terminal block cable MR J2TBLOM Model MR J2TBLO M Cable length m ft 0 5 1 64 1 3 28 Junction terminal block side connector Hirose Electric Servo amplifier side CN1A CN1B connector 3M HIF3BA 20D 2 54R connector 10120 6000EL connector 10320 3210 000 shell kit Note Symbol Position control mode Speed control mode Torque control mode For CN1A For CN1B For CN1A For CN1B For CN1A For CN1B Junction terminal block terminal No Plate Note The labels supplied to the junction terminal block are designed for the position control mode When using the junction terminal block in the speed or torque control mode change the signal abbreviations using the accessory signal seals 13 27 13 OPTIONS AND AUXILIARY EQUIPMENT 13 1 7 Maintenance junction card MR J2CN3TM POINT Cannot be used with the MR 2S 11KA to MR 25 22KA 1 Usage The maintenance junction card
185. VL 22K 13 32 13 OPTIONS AND AUXILIARY EQUIPMENT 2 Connection diagram FR CVL Servo amplifier Servo motor NFB o BI pm BZ Lu U U Three phase BEE La VO OV 200 to 230VAC Pi WO ow Thermel O relay OHS2 RES SG Note 1 Note 2 Note 1 Raz Raz RA4 EMG off ON oo OO MC Note 1 Configure a sequence that will shut off main circuit power in the following cases Alarm occurred in the FR CV or the servo amplifier Emergency stop is activated 2 For the servo motor with thermal relay configure a sequence that will shut off main circuit power when the thermal relay operates 3 For the servo amplifier configure a sequence that will switch the servo on after the FR CV is ready 4 For 7kW or less servo amplifier always remove the wiring 3 5kW or less across P D bk 7kW across PC of built in regenerative brake resistor 5 For the amplifiers of 11k to 22kW make sure to connect across P P1 Wiring is factory connected 3 Wires used for wiring a Wire sizes 1 Across P P N N The following table indicates the connection wire sizes of the DC power supply P N terminals between the FR CV and servo amplifier The used wires are based on the 600V vinyl wires Oooo 7 7 8 k 13 33 13 OPTIONS AND AUXILIARY EQUIPMENT _ _ _ gt gt _ _ _ _ __ _ _
186. WINGS 8 CALCULATION METHODS FOR DESIGNING 1 FUNCTIONS AND CONFIGURATION 1 FUNCTIONS AND CONFIGURATION 1 1 Introduction The Mitsubishi MELSERVO 2 Super series general purpose AC servo is based on the MELSERVO 2 series and has further higher performance and higher functions It has position control speed control and torque control modes Further it can perform operation with the control modes changed eg position speed control speed torque control and torque position control Hence it is applicable to a wide range of fields not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control As this new series has the RS 232C or RS 422 serial communication function a MR Configurator Servo configuration software installed personal computer or the like can be used to perform parameter setting test operation status display monitoring gain adjustment etc With real time auto tuning you can automatically adjust the servo gains according to the machine The MELSERVO 2 Super series servo motor is equipped with an absolute position encoder which has the resolution of 131072 pulses rev to ensure more accurate control as compared to the MELSERVO 2 series Simply adding a battery to the servo amplifier makes up an absolute position detection system This makes home position return unnecessary at power on or alarm occurrence by setting a home position once
187. Without Fans Fans with Fans Fans MR 25 11KA PX MR RB65 8 500 om MR 2S 15KA PX MR RB66 1300 MR J 25 22K A PX MR RB67 4 850 1300 When using fans install them using the mounting holes provided in the bottom of the regenerative brake option In this case set OE OD in parameter No 0 Top MR RB65 66 67 Bottom 2 cooling fans 1 0m minQ 92 de TE Mounting screw G4 G63 C P 4 M3 0 118 13 7 13 OPTIONS AND AUXILIARY EQUIPMENT 5 Outline drawing a MR RB032 MR RB12 Unit mm in FAW H LA Ap 0 24 mounting hole Zi Zi 0 47 12 TE1 Terminal block as G4 144 5 67 TE1 Terminal screw M3 Tightening torque 0 5 to 0 6 N m 4 to 5 Ib in Mounting screw Screw size M5 Tightening torque 3 2 N m 28 32 Ib in Regenerative brake option LA LB LC LD kai fib 12 0 47 30 15 119 99 MR RBO32 1 13 1 0 59 4 69 3 9 40 15 169 149 MR RB12 Lu 57 1 0 59 6 69 5 87 b MR RB30 MR RB31 MR RB32 Unit mm in Terminal block 8 5 0 34 Te C Terminal screw M4 T G3 Tightening torque 1 2 N m 10 6 lb in G4 aC 2 125 4 92 Mounting screw Screw M6 Tightening torque 5 4 N m 47 79 Ib in
188. X Y02F with FROM TO instruction Therefore the I O number to be set with the FROM TO instruction is head I O number allocated tothe A1SD71 O10H 3 By setting 0 point of vacant slot for the first slot of the A15D71 in the I O allocation of the GPP function the 16 points in the first slot can be saved In this case the O number to be set with the FROM TO instruction is the same number as the head I O number allocated to the A15D71 A1S CPU X Y000 to UO numbers to be set with FROM TO instruction X YOOF 15 23 15 ABSOLUTE POSITION DETECTION SYSTEM 2 Connection diagram General purpose Servo amplifier programmable controller A1S62P LG Power INPUT supPlyy T 4c 100 200 A ABS bit 0 Completion of positioning h M ABS bit 1 Zero speed A cb Send data ready Torque limit control A ch Trouble Alarm reset O h als Emergency stop Home position return Operation mode Operation mode II Position start Position stop A Servo on 1 ABS transfer mode ABS request Alarm reset ee ett A AR pa A L e electromagnetic 1 brake output I Note 4 T A1SD71 S2 DOG 6B MW STOP Power supply DA WA RDY Te peo SEH
189. _ _ _ _ __ _ _ _ _ _ _ __ _ __ _ _ _ __ ___ ____ ____z__ 2 2 Grounding For grounding use the wire of the size equal to or greater than that indicated in the following table and make it as short as possible Power regeneration common converter Grounding wire size mm FR CV 7 5K TO FR CV 15K FR CV 22K FR CV 30K FR CV 37K FR CV 55K b Example of selecting the wire sizes When connecting multiple servo amplifiers always use junction terminals for wiring the servo amplifier terminals P N Also connect the servo amplifiers in the order of larger to smaller capacities Wire as short as possible FR CV 55K 50mm 22mm Servo amplifier 15kW OP First unit 50mm assuming that the total of servo amplifier ON capacities is 27 5kW since 15kW 7kW 3 5kW 2 0kW 27 5kW 22mm Servo amplifier 7kW P Second unit Note 22mm assuming that the total of servo amplifier 0 N capacities is 15kW since 7kW 3 5kW 2 0kW 12 5kW Servo amplifier 3 5kW Third unit Note 8mm assuming that the total of servo amplifier capacities is 7kW since 3 5kW 2 0kW 5 5kW Servo amplifier 2kW oP Fourth unit Note 3 5mm assuming that the total of servo amplifier oN capacities is 2kW since 2 0kW 2 0kW Junction terminals Overall wiring length 5m or less Note For 7kW or less servo amplifier always remove the wiring 3 5kW or less across
190. a Electric Industry LJ HR Encoder Connector 10120 3000VE Connector MS3106B 20 295 connector set Shell kit 10320 52F 0 008 Cable clamp MS3057 12A 3M or equivalent DDK IR OT Encoder Connector 10120 3000VE Connector MS3106A 20 295 D190 connector set Shell kit 10320 52F 0 008 Cable clamp CE3057 12A 3 D265 3M or equivalent Back shell CE 02 20B S S DDK in al 13 19 Control signal connector set J unction terminal block cable 11 J unction MR TB20 Refer to Section 13 1 6 terminal block Connector 10120 6000E L Shell kit 10320 3210 000 1 MR 2CN1 MR 2TBLOM Refer to Section13 1 6 MR J 2HBUSI Refer to section13 1 7 13 OPTIONS AND AUXILIARY EQUIPMENT 3M or equivalent Connector HIE 3BA 20D 2 54R Hirose Electric 3M or A 7 Connector 10120 6000E L Shell kit 10320 3210 000 3M or equivalent Qty 2 each Connector 10120 6000EL Shell kit 10320 3210 000 3M or equivalent Application Connector 10120 3000VE Shell kit 10320 52F 0 008 For junction terminal block connection connection Maintenance MR J 2CN3TM Refer to Section 13 1 7 giver card Communication cable Power supply connector set Power supply connector set Power supply connector set Brake connector set Power supply connector set Power supply connector set Monitor cable MR CPCATCBL3M Connector 10120 6000E L S
191. aN en E A 4 D100Z K1 Setting motion distance SET 108 1PG start DINC H DINC H Index pri sin i dex processing Position K6 M121 command control DMov ko 2 INDX 6 X12 m101 H 1PG stop command MO Error flag X16 m100 1PG error reset 1PG error reset To be continued 6 Note Program example for the dog type home position return For the data set type home position return refer to the program example in 2 d in this section 15 44 15 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page M8000 TO KO K25 K4M100 ki Normally ON FROM KO K28 K3M200 ki DFROMKO K26 D106 K1 M108 END d Data set type home position return After jogging the machine to the position where the home position e g 500 is to be set choose the home position return mode set the home position with the home position return start PBON After switching power on rotate the servo motor more than 1 revolution before starting home position return Do not turn ON the clear CR Y5 for an operation other than home position return Turning it ON in other circumstances will cause position shift X0 van ABS transfer Positioning Home position completion return start PB mode M70 K10 T210 Clear signal ON timer request M71 m71 4 SET Date set type home position return request T210 vi RST Clear signal 100ms ON timer M71 r d T vs Data set typ
192. ached SA SA turns on when the servo motor speed has nearly reached the speed set to the internal speed command or analog speed command Internal speed Set speed selection command I Start ST1 8T2 ON OFF Servo motor speed N Speed reached SA a 3 Torque limit As in Section 3 4 1 5 3 SIGNALS AND WIRING 3 4 3 Torque control mode 1 Torque control a Torque command and torque A relationship between the applied voltage of the analog torque command TC and the torque by the servo motor is shown below The maximum torque is generated at 8V Note that the torque at 8V input can be changed with parameter No 26 CCW direction Max torque gt Generated torque Be 8 0 05 0 05 8 Ve TC applied voltage V Vir Max torque Note ad CW direction Reverse rotation CW Generated torque limit values will vary about 5 relative to the voltage depending on products Also the torque may vary if the voltage is low 0 05 to 0 05V and the actual speed is close to the limit value In such a case increase the speed limit value The following table indicates the torque generation directions determined by the forward rotation selection RS1 and reverse rotation selection RS2 when the analog torque command TC is used Note External input signals Rotation direction Torque control command TC RS2 RS1 7 f Polarity Polarity o o Torque is not generated Torq
193. ady to send TLC has been turned OFF which implies that 2 bits of the ABS data have been transmitted the programmable controller reads the lower 2 bits of the ABS data and then turns OFF the ABS request ABSR 6 The servo turns ON the ready to send TLC so that it can respond to the next request Steps 3 to 6 are repeated until 32 bit data and the 6 bit check sum have been transmitted 7 After receiving of the check sum the programmable controller turns the ABS transfer mode ABSM OFF If the ABS transfer mode ABSM is turned OFF during data transmission the ABS transfer mode ABSM is interrupted 15 10 15 ABSOLUTE POSITION DETECTION SYSTEM c Checksum The check sum is the code which is used by the programmable controller to check for errors in the received ABS data The 6 bit check sum is transmitted following the 32 bit ABS data At the programmable controller calculate the sum of the received ABS data using the ladder program and compare it with the check sum code sent from the servo The method of calculating the check sum is shown Every time the programmable controller receives 2 bits of ABS data it adds the data to obtain the sum of the received data The check sum is 6 bit data Negative data is available for the FX 1PG and unavailable for the A15D71 Example ABS data 10 FFFFFFF6H 10 A 1 01 lt Appendix gt 115 Decimal 10 112 11 Hexadecimal FFFF FFF6 11 110 Binary 1111 1111 1111 mm 11
194. akage of built in regenerative brake resistor or regenerative brake resistor change regenerative brake option servo amplifier 2 For wire breakage of regenerative brake option change regenerative brake option 6 Capacity of built in regenerative Add regenerative brake option or increase brake resistor or regenerative capacity brake option is insufficient 7 Power supply voltage high 8 Ground fault occurred in servo Correct the wiring SES output phases U V and Input pulse 1 TE frequency of the command Change the command pulse frequency to a pulse frequency frequency of the pulse is too high proper value error Parameter error command pulse is 2 Noise entered command pulses Take action against noise too high 3 Command device failure Change the command device Parameter setting is 1 Servo amplifier fault caused the Change the servo amplifier wrong parameter setting to be rewritten 2 Regenerative brake option not Set parameter No 0 correctly used with servo amplifier was selected in parameter No 0 3 The number of write times to EEP Change the servo amplifier ROM exceeded 100 000 due to parameter write etc 4 The alarm code output parameter The absolute position detection system No 49 was set by the absolute and the alarm code output function are position detection system exclusive Set as either one of the two is used 5 The alarm code output parameter The signal assignment funct
195. al block signal arrangement Bu BV BW OHS10HS2 Encoder connector MS3102A20 29P Moter power supply terminal block U V W M8 screw U V W Earth terminal M6 screw Power supply connection screw size Servo motor Power supply connection screw size HA LFS15K2 M8 HA LFS22K2 Signal Name Abbreviation Description Power supply U V W Connect tothe motor output terminals U V W of the servo amplifier Supply power which satisfies the following specifications HA LFS11K2 single phase 200 to 220VAC 50Hz Voltage frequen ge frequency single phase 200 to 230VAC 60Hz Power consumption W 42 50H z 54 60H z Note Rated voltage V 0 12 50H z 0 25 60H z Cooling fan BU BV BW HA LFS15K 2 22K 2 Three phase 200 to 220VAC 50Hz Three phase 200 to 230VAC 60Hz Power consumption W 32 50H z 40 60H z Rated voltage V 0 30 50H z 0 25 60H z Voltage frequency Motor thermal relay OHS1 OHS2 OHS1 OHS2 are opened when heat is generated to an abnormal temperature E For grounding connect to the earth of the control box via the earth terminal of the servo amplifier Earth terminal Note There is no BW when the HA LFS11K2 is used 3 SIGNALS AND WIRING MEMO 66 4 OPERATION 4 OPERATION 4 1 When switching power on for the first time Before starting operation check the following 1 Wiring a A correct po
196. al input signal for gain changing The gain changing CDP can be assigned to the pins using parameters No 43 to 48 Parameter No 65 dE Gain changing selection Gains are changed in accordance with the settings of parameters No 61 to 64 under any of the following conditions 0 Invalid 1 Gain changing CDP input is ON 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 speed is equal to higher than parameter No 66 setting 5 Gain changing condition parameter No 66 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 is as follows Gain changing condition Command frequency Droop pulses Servo motor speed 6 Gain changing time constant parameter No 67 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 8 7 8 SPECIAL ADJUSTMENT FUNCTIONS 8 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 Abbreviation Setting s a Position control gain 1 so rads VG1 Speed control gain 1 1000 rad s Ratio of load inertia moment to 0 1 times servo motor ine
197. alog speed command maximum speed ls Tee leien 25 VCM Analog speed limit maximum speed Note1 0 r min 26 TLC Analog torque command maximum ong T o f ulse eee ore ae sack A rev 28 TLi Internal torquetimita se too 29 veo Araog speed command offset LS Note mv Analog speed limit offset T Note2 mV TLO Analog torque command offset t o mw Analog torque limit offset s o mw 31 MO1 Analog monitor ioffset gt Pes ofw PETE DEI B St 34 Ratio of load inertia moment to servo motor inertia moment P S ES ti 35 Position loop gain 2 da o E B o n 7kW or less 177 11kW or more 96 7kW or less 817 11kW or more 45 7kW or less 48 11kW or 36 Speed loop gain 1 Expansion parameters 1 3 o o o Ws NES ICON JUL TT VDC Speed differential compensation 42 42 ES i i i ce Input signal selection 6 CN1B 8 Ss 0883 Input signal selection 7 CN1B 9 P S T 0994 49 Output signal selection 1 ISCH 0000 RE MNN For notes refer to next page 5 PARAMETERS HA EEE mode value setting 50 For manufacturer setting PAS o PJ 51 OP6 Function selections i se oo DN k 52 For manufacturer setting 000 SS 53 OP8 Function selection 8 0000 56 SIC Serial communication time out selection PsP o 57 gt For manufacturer setting EA 60 LPF Lowpass filter adaptive vibration
198. amic brake is operated to bring the servo motor to a sudden stop c Emergency stop EMG OFF The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop Alarm AL E6 occurs d Forward rotation stroke end LSP reverse rotation stroke end LSN OFF The droop pulse value is erased and the servo motor is stopped and servo locked It can be run in the opposite direction 4 OPERATION 4 2 3 Speed control mode 1 Power on 1 Switch off the servo on SON 2 When main circuit power control circuit power is switched on the display shows r servo motor speed and in two second later shows data 2 Test operation Using jog operation in the test operation mode operate at the lowest speed to confirm that the servo motor operates Refer to Section 6 8 2 3 Parameter setting Set the parameters according to the structure and specifications of the machine Refer to Chapter 5 for the parameter definitions and to Sections 6 5 for the setting method Setting o002 ee ey brake s control mod H Regenerative brake option is not used Function selection 1 Input filter 3 555ms initial value Electromagnetic brake interlock MBR is used 0105 2 Auto tuning Middle response initial value is selected Auto tuning mode 1 s selected 8 internalspeedcommand1_ 1000 Set1000r min o 9 internalspeedcommand2__ 1500 Set1500r min o S pattern acceleration decel
199. amplifier MITSUBISHI Mi Command device To CN1A F Junction terminal block Magnetic contactor MC To CN1B To CN3 MR Configurator Personal Servo configuration computer software MRZJW3 SETUP151E KI Protective earth PE terminal Note Encoder cable Note Power supply lead Control circuit terminal block La Regenerative brake option Servo motor C Note The HC SFS HC RFS series have cannon connectors 1 20 1 FUNCTIONS AND CONFIGURATION 2 MR J2S 200A MR J2S 350A or more 3 phase 200V to 230VAC power supply No fuse breaker NFB or fuse Magnetic contactor MC Power factor improving reactor Options and auxiliary equipment Reference Options and auxiliary equipment Reference No fuse breaker Section 13 2 2 Regenerative brake option Section 13 1 1 Magnetic contactor Section 13 2 2 Cables Section 13 2 1 MR Configurator Section 13 1 9 Power factor improving reactor Section 13 2 3 Servo configuration software Servo amplifier MITSUBISHI AED A 1 21 Personal computer Junction terminal block MR Configurator Servo configuration software MRZJW3 SETUP151E E 1 FUNCTIONS AND CONFIGURATION 3 MR J2S 500A 3
200. an aGten COMES ENEE 14 7 TADEO eS o de ee ee te eh td atten be Ale era 14 8 E NET oi A A ed 14 8 14 7 Timeout operation mico 14 9 Ee e Ee N E 14 9 a EE 14 10 14 10 Communication procedure example s ssssssssssssssrsrsrsisrsrststststntntntntnnutnntnnnnunnnnnnnnnnnnnnnnn anann nn nnne 14 10 14 11 Command and data No Jet 14 11 14 11 1 Read commands cion c 14 11 14 11 22 Write ommna Nd EE 14 12 14 12 Detailed explanations of Commande 14 14 14 121 Data PON EE 14 14 14 12 2 Status diSplay ooococcicnnincnininonnn aaa adnan naa drean aha daoin iwar dah hadian anarai edana 14 16 Uu unit dardo 14 17 14 12 4 External I O pin statuses DIO dagomnoeisl 14 19 14 12 5 Disable enable of external 1 O signals DiO 14 20 14 12 6 External input signal ON OFF test operation eeeecseeeseeseeeeeeeeceeeeeeseeeaesaseeseessesaeeateeees 14 21 14 12 7 Test operation le TEE 14 22 14 12 8 Output signal pin ON OFF output signal DO forced output eee eee eteeeeeeeteetetteeeeeeees 14 24 14129 Alarm hi S O Yi e olin deg dee oben a 14 25 1412 10 Current ala Msi ea 14 26 14 12 11 Other ee ul EEN 14 27 15 7 O 15 1 SA SA AO 15 1 15 1 2 e ele EE 15 1 e elle EE 15 2 15 3 Battery installation procedure ooconnccicnnnnncccnonccrccrrncnc cerrar 15 3 15 4 Standard connection dar am 15 4 Re WEI EIER EE 15 5 15 6 Startup proced re is irnia aeaa ci 15 6 15 7 Absolute position data transfer protocol A 15 7 15 7 1 Data transfer procedures i
201. an be increased by directly connecting the cable to an earth plate as shown below Install the earth plate near the servo amplifier for the encoder cable Peel part of the cable sheath to expose the external conductor and press that part against the earth plate with the cable clamp If the cable is thin clamp several cables in a bunch Theclamp comes as a set with the earth plate J Cable CS Cable camp l H Earth plate Strip the cable sheath of the clamped area cutter 40 1 57 External conductor Clamp section diagram 13 47 13 OPTIONS AND AUXILIARY EQUIPMENT Outline drawing Unit mm Unit ml Earth plate Clamp section diagram 2 5 0 20 hole 17 5 0 69 installation hole gt l 1 i i I Lor less 10 0 39 gt a B 0 3 0 01 7 0 28 2403 Note M4 screw Note Screw hole for grounding Connect it to the earth plate of the control box type a B c Accessory fittings Clamp fitting AERSBAN DSET 100 SE 39 clamp A 2pcs A 79 3 94 3 39 1 18 Pei epc 2 76 AERSBAN ESET clamp B 1pc 13 2 76 2 20 pape 1 77 13 48 30 1 18 13 OPTIONS AND AUXILIARY EQUIPMENT d Line noise filter FR BLF FR BSFO1 This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing h
202. and the I O cables of the servo amplifier 3 Avoid laying the power lines I O cables of the servo amplifier and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits When the power supply of peripheral devices is connected to the power supply of the servo amplifier system noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction The following techniques are required 1 Insert the radio noise filter FR BIF on the power cables Input cables of the servo amplifier 2 Insert the line noise filter F R BSF 01 FR BLF on the power cables of the servo amplifier When the cables of peripheral devices are connected to the servo amplifier to make a closed loop circuit leakage current may flow to malfunction the peripheral devices If so malfunction may be prevented by disconnecting the grounding cable of the peripheral device 2 Noise reduction products a Data line filter Noise can be prevented by installing a data line filter onto the encoder cable etc For example the ZCAT 3035 1330 of TDK and the ESD SR 25 of NEC Tokin make are available as data line filters As a reference example the impedance specifications of the ZCAT 3035 1330 TDK are indicated below This impedances are reference values and not guaranteed values Unit mm Unit in 39 1 1 54 0
203. ansion Status display Lo de Je Jr yA 4 E E al a mr a7 CI cn L Note ozar CL es r uu H do IP au Cumulative feedback Sequence Current alarm Parameter No 0 Parameter No 20 Parameter No 50 pulses pulse Mn mM o i Z I A AL ere ee im A LI e p uot IT g H ez e Motor speed External WO Last alarm Parameter No 1 Parameter No 21 Parameter No 51 r min signal display i l l f E do on E MES i e Droop pulses Output signal Second alarm in past i I l pulse orced output l t UP O reer OS H EE Jt H c Ce e Cumulative command Test operation Third alarm in past 1 l pulses pulse Jog feed 1 1 DOWN PEEFI al ra I im ad n resfe AJ P iB P up BAL Command pulse Test operation Fourth alarm in past Parameter No 18 Parameter No 48 Parameter No 83 requency kpps Positioning operation C FEEC CL O IO UO O H CJI J HH TJ H E H 43 H Bn Speed command voltage Test operation Fifth alarm in past Parameter No 19 Parameter No 49 Parameter No 84 Speed limit voltage mV Motor less operation v4 vA vA pl PEEFL ar es LI rEJI rio Torque limit voltage Test operation Sixth alarm in past Torque command voltage Machi
204. arameter No 38 within Decrease the time constant of the speed the vibration free range and return slightly if vibration takes place integral compensation Increase the position control gain 1 parameter No 6 Increase the position control gain If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance the like and the desired response cannot be achieved response may be Refer to Section 8 1 increased by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 3 to 5 7 While checking the settling characteristic and rotational status fine Fine adjustment adjust each gain 7 GENERAL GAIN ADJUSTMENT c Adjustment description 1 Position control gain 1 parameter No 6 This parameter determines the response level of the position control loop Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling Position control _ Speed control gain 2 setting Be gain 1 guideline 1 ratio of load inertia moment to servo motor inertia moment 35 2 Speed control gain 2 VG2 parameter No 37 This parameter determines the response level of the speed control loop Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate The actual response freq
205. are replaced by CN4 CN4 A e or less 3 SIGNALS AND WIRING 3 2 Internal connection diagram of servo amplifier The following is the internal connection diagram where the signal assignment has been made in the initial status in each control mode Servo amplifier S Approx 4 7kQ pprox 4 7kQ pprox 4 Approx ER Approx 1 2kQ Lei Approx SE Approx 1 2kQ R L L Lon gt 4 SS AY gt E gt 2 RXD DC HV lt p 12 TXD iy SDP E SDN lt t RDP as RDN Note1 P Position control mode S Speed control mode T Torque control mode 2 For the 11kW or more servo amplifier MOT is replaced by CN4 1 and MO2 by CN4 2 3 10 3 SIGNALS AND WIRING 3 3 I O signals 3 3 1 Connectors and signal arrangements The pin configurations of the connectors are as viewed from the cable connector wiring section Refer to the next page for CN1A and CN 1B signal assignment 1 MR J2S 700A or less CN1A MITSUBISHI MELSERVO J2 CN3 The connector frames are connected with the PE ea
206. ata Checksum error occurred in the transmitted data Character not existing in the specifications was transmitted Character error Negative response Command not existing in the specifications was Command error transmitted Data No not existing in the specifications was F f Data No error transmitted 14 6 Checksum The check sum is a ASCII coded hexadecimal representing the lower two digits of the sum of ASCII coded hexadecimal numbers up to ETX with the exception of the first control code STX or SOH Example Station number E 2 5 F T 5 2 eege X 02H 30H 41H 31H 32H 35H 46H 03H 4 STX or ETX Check SOH 30H 41H 31H 32H 35H 46H 03H 152H Checksum range gt Lower 2 digits 52 is sent after conversion into ASCII code 5 2 14 8 14 COMMUNICATION FUNCTIONS 14 7 Time out operation The master station transmits EOT when the slave station does not start reply operation STX is not received 300 ms after the master station has ended communication operation 100 ms after that the master station retransmits the message Time out occurs if the slave station does not answer after the master station has performed the above operation three times Communication error 100ms 100ms 100ms Time out 300ms 300ms 300ms 300ms 3 E gt E 3 E 2 Controller P O P O P O vi Master station D 9 o a gt T gt d gt D gt Servo Slave
207. ata Chapter14 Encoder connector CN 2 Section3 3 Used to connect the servo motor encoder Section13 1 5 Charge lamp Lit to indicate that the main circuit is charged Whilethis lamp is lit do not reconnect the cables Control circuit terminal block TE2 Section3 7 Used to connect the control circuit power supply and g e Section11 1 1 regenerative brake option Main circuit terminal block TE 1 Section3 7 Used to connect the input power supply and servo Section11 1 motor Section13 1 1 Name plate Section1 5 Protective earth PE terminal Section3 10 Ground terminal Section11 1 1 12 1 FUNCTIONS AND CONFIGURATION 4 MR J2S 700A The servo amplifier is shown without the front cover For removal of the front cover refer to next page Name Application Reference 0 fl 0 Battery connector CON 1 Used to connect the battery for absolute position data Section15 3 backup Battery holder d Section15 3 Contains the battery for absolute position data backup H Display The 5 digit seven segment LED shows the servo Chapter6 status and alarm number Operation section Used to perform status display diagnostic alarm and para
208. ate SD SDP SDN RDP RDN TRE Note 2 LG RS 422 LG output unit RoP RDN Leg son CND IGND Note 1 Connector set MR J2CN1 3M Connector 10120 3000VE Shell kit 10320 52F0 008 2 In the last axis connect TRE and RDN 3 30m 98 4ft or less in environment of little noise 14 1 14 COMMUNICATION FUNCTIONS 14 1 2 RS 232C configuration 1 Outline A single axis of servo amplifier is operated Servo amplifier MITSUBISHI RS 232C Controller such as personal computer 2 Cable connection diagram Wire as shown below The communication cable for connection with the personal computer MR CPCATCBL3M is available Refer to Section 13 1 4 Note 1 Servo amplifier CN3 connector Personal computer Note 2 15m 49 2ft or less connector D SUB9 socket 1 Plate FG TXD 2 RXD 1 GND RXD 12 TXD GND 11 GND RTS CTS DSR DTR Note 1 Connector set MR J2CN1 3M Connector 10120 6000EL Shell kit 10320 3210 000 2 15m 49 2ft or less in environment of little noise However this distance should be 3m 9 84ft or less for use at 38400bps or more baudrate 14 2 14 COMMUNICATION FUNCTIONS 14 2 Communication specifications 14 2 1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction The d
209. ates that the data to be sent is being prepared in Send data ready TLC CN1B 6 the ABS transfer mode At the completion of the ready state TLC turns on ih When CR is turned on the position control counter is Home position SCH aa CR CN1A 8 cleared and the home position data is stored into the settin 8 3 non volatile memory backup memory Note When Used in absolute position detection system is selected in parameter No 1 pin CN1B 8 acts as the ABS transfer mode DI 1 DI 1 Indicates the lower bit of the ABS data 2 bits which is sent from the servo to the programmable controller in ABS bit 0 DO1 CN1B 4 PS DO 1 the ABS transfer mode If thereis a signal DO1 turns on P If there is a signal ZSP turns on DO 1 DI 1 ABSM and pin CN1B 9 as the ABS request ABSR They do not return to the original signals if data transfer ends 15 ABSOLUTE POSITION DETECTION SYSTEM 15 6 Startup procedure 1 Battery installation Refer to Section 15 3 installation of absolute position backup battery 2 Parameter setting Set 1 000 in parameter No 1 of the servo amplifier and switch power off then on 3 Resetting of absolute position erase AL 25 After connecting the encoder cable the absolute position erase AL 25 occurs at first power on Leave the alarm as it is for a few minutes then switch power off then on to reset the alarm 4 Confirmation of absolute position data transfer When the servo on SON is turned on t
210. ax 1mA Max output current Resolution 10bit Servo amplifier MO1 10kQ MO2 both directions de Reading in one o LG 1mA meter 3 SIGNALS AND WIRING 7 Source input interface When using the input interface of source type all DI 1 input signals are of source type Source output cannot be provided For use of internal power supply For use of external power supply Servo amplifier Servo amplifier SG SG R Approx 4 70 Note COM R Approx 4 7Q o For a transistor COM SON Approx 5mA gt ete Switch 4 24VDC SS E s VDD 24VDC Vces lt 1 0V 200mA or more IcEo lt 100u A Note This also applies to the use of the external power supply When using the input interface of source type all DI 1 input signals are of source type Source output cannot be provided For 11kW or more the source input interface cannot be used with the internal power supply Always use the external power supply coh d CON2 CON2 pes CG E VEN Re CON2 JP11 M Note JP11 j Note gt a Jumper PPP GE JP11 For sink input factory setting For source input Note The jumper which is shown black for the convenience of explanation is actually white 3 SIGNALS AND WIRING 3 7 Input power supply circuit When the servo amplifier has become faulty switch power off on the servo amp
211. ble or changed cable warning detection system battery 2 Battery voltage supplied from the servo Change battery voltage is low amplifier to the encoder fell to about 3 2V or less Detected with the encoder setting warning could not be made than the in position range setting occurrence dl droop pulses after cl TEE TA of droop pulses 3 Creep speed high Reduce creep Reduce creep speed AL 9F Battery warning Voltage of battery for Battery voltage fell to 3 2V or less Change the battery absol ute position Detected with the servo amplifier detection system reduced AL EO Excessive There is a possibility that Regenerative power increased to 85 or 1 Reduce frequency of regenerative regenerative power may more of permissible regenerative power of positioning warning exceed permissible built in regenerative brake resistor or 2 Change regenerative brake regenerative power of regenerative brake option option for the one with larger built in regenerative Checking method capacity brake resistor or Call the status display and check 3 Reduce load g regenerative load ratio regenerative brake option may occur m Cause checking method Refer to AL 50 51 AL E3 Absolute position Absolute position encoder 1 Noise entered the encoder Take noise suppression counter warning pulses faulty measures AL E1 Overload There is a possibility that L oad increased to 85 or more of overload Refer to AL 50 AL
212. box The servo amplifier switches the power transistor on off to supply power to the servo motor Depending on the wiring and ground cablerouting the servo amplifier may be affected by the switching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines I B NA 67310 Control box BCEE Servo motor M SS C Servo amplifier CN2 Note oe Li L Power supply 5 3 phase 2 200 to 230VAC oTo L 1 phase E 230VAC or E Sol La 1 phase l i ASE DENGER Sc 100 to 120VAC Uo tt i U V W Ensure to connect it to PE terminal of the servo amplifier Do not connect it directly to the protective earth of the control panel Programmable controller Protective earth PE Note For 1 phase 230VAC connect the power supply to L1 L2 and leave Ls open There is no Ls for 1 phase 100 to 120VAC power supply 3 SIGNALS AND WIRING 3 11 Servo amplifier terminal block TE2 wiring method S Refer to Table 13 1 2 and 4 in Section 13 2 1 for the wire sizes used for wiring 3 11 1 For the servo amplifier produced later than Jan 2006 1 Termination of the cables a Solid wire After the sheath has been stripped the cable can be used as it is Sheath Core A Approx 10mm b Twisted wire 1 When the wire is inserted directly
213. brake option 00 Regenerative brake option or regenerative brake option is not used with 7kW or less servo amplifier The built in regenerative brake resistor is used Supplied regenerative brake resistors or regenerative brake option is used with 11kW or more servo amplifier 01 FR RC FR BU FR CV 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 08 MR RB31 09 MR RB51 OE When regenerative brake resistors supplied to 11kW or more are cooled by fans to increase capability The MR RB65 66 and 67 are regenerative brake options that have encased the GRZG400 2Q GRZG400 14 and GRZG400 0 80 respectively When using any of these regenerative brake options make the same parameter setting as when using the GRZG400 2Q GRZG400 19 or GRZG400 0 80 supplied regenerative brake resistors or regenerative brake option is used with 11kW or more servo amplifier Wrong setting may cause the regenerative brake option to burn If the regenerative brake option selected is not for use with the servo amplifier parameter error AL 37 occurs D Ei Q E o 8 3 EI 3 a o 2 Ka E D 5 PARAMETERS Initial Setting Control Class No Symbol Name and function Unit g value range mode 1 OP1 Function selection 1 0002 Refer to Used to select the input signal filter pin CN1B 19 function and Name absolute position detection system and ETA function L Input signal filter If external input signal causes cha
214. can be moved at any multiplication factor to input pulses Y Deviation counter CMX _ Parameter No 3 CDV Parameter No 4 Feedback pulse Electronic gear POTONE OSE Encoder The following setting examples are used to explain how to calculate the electronic gear The following specification symbols are required to calculate the electronic gear Pb Ballscrew lead mm n Reduction ratio Pt Servo motor resolution pulses rev Travel per command pulse mm pulsel AS Travel per servo motor revolution mm rev A6 Angle per pulse pulse A9 Angle per revolution rev a For motion in increments of 10um per pulse Machine specifications 1 2 Sp Pb 10 mm 2 NM Servo motor Ballscrew lead Pb 10 mm Reduction ratio n 1 2 Servo motor resolution Pt 131072 pulses rev 131072 pulse rev CMX ago PEZ ayo PE roy iq 8 181072 _ 262144 _ 32768 CDV te Pb Oo ae 1000 105 Hence set 32768 to CMX and 125 to CDV 5 PARAMETERS b Conveyor setting example For rotation in increments of 0 01 per pulse Servo motor 131072 pulse rev Machine specifications Table Table 360 rev Reduction ratio n 4 64 Servo motor resolution Pt 131072 pulses rev Timing belt 4 64 CMX o Pt 131072 65536 ay A0 _ O 2 coy A ag Dt ei 360 1125 Se Since CMX is not within the setting range in this status it must be reduced to t
215. 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 parameter No 60 0 20D tofix the characteristics of the adaptive vibration suppression control filter 8 SPECIAL ADJUSTMENT FUNCTIONS 2 Parameters The operation of adaptive vibration suppression control selection parameter N 0 60 Parameter No 60 IIT NEE Adaptive vibration suppression control selection Choosing valid or held in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 parameter No 58 invalid 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
216. ce for these values 1x108 a 5x107 1x107 5x106 Long flexing life encoder cable MR JCCBLOM H MR JHSCBLOM H 1108 MR ENCBLOM H 5x105 Standard encoder cable MR JCCBLOM L MR JHSCBLOM L DO 1x105 o 5x104 D E x lt eg 1x10 5x10 1x103 4 Flexing radius mm 12 7 12 CHARACTERISTICS 12 5 Inrush currents at power on of main circuit and control circuit The following table indicates the inrush currents reference value that will flow when the maximum permissible voltage 253VAC is applied at the power supply capacity of 2500kVA and the wiring length of 1m Inrush Currents Ao Servo Amplifier Asp Main circuit power supply Li Le La Control circuit power supply L411 L21 MR J 2S 10A 20A 30A Attenuated to approx 5A in 10ms 70 to 100A MR J 2S 40A 60A 30A Attenuated to approx 5A in 10ms 7 Attenuated to approx 0A in 0 5 to 1ms MR J 2S 70A 100A 54A Attenuated to approx 12A in 10ms 100 to 130A MR 2S 200A 350A 120A Attenuated to approx 12A in 20ms Attenuated to approx OA in 0 5 to 1ms MR J 25 500A 44A Attenuated to approx 20A in 20ms MR J 2S 700A 88A Attenuated to approx 20A in 20ms 304 MR 2S 11KA i Attenuated to approx OA in several ms MR J 2S 15KA 235A Attenuated to approx 20A in 20ms MR J 25 22KA MR J 2S 10A1 20A1 59A Attenuated to approx 5A in 4ms 100 to 130A MR J 2S 40A1 72A Attenuated to
217. cifications of the machine Refer to Chapter 5 for the parameter definitions and to Sections 6 5 for the EE method 0004 Conta Geo ES brake Torque control mode H Regenerative brake option is not used 02 1 Function selection 1 Input filter 3 555ms initial value Electromagnetic brake interlock MBR is not used 8 Internal speed limit 1 1000 Set 1000r min A nternal speed limit 2 1500 Set 1500r min Internal speed limit 3 2000 Set 2000r min 11 Acceleration time constant 1000 Set 1000ms Deceleration time constant Set 500ms S pattern acceleration deceleration time ESTA ee Torque command time constant 2000 Set 2000ms Internal torque limit 1 Controlled to 50 output After setting the above parameters switch power off once Then switch power on again to make the set parameter values valid 4 5 4 OPERATION 4 Servo on Switch the servo on in the following procedure 1 Switch on main circuit control circuit power supply 2 Switch on the servo on SON When placed in the servo on status the servo amplifier is ready to operate 5 Start Using speed selection 1 SP1 and speed selection 2 SP2 choose the servo motor speed Turn on forward rotation select DI4 to run the motor in the forward rotation CCW direction or reverse rotation select DI 3 to run it in the reverse rotation CW direction generating torque At first set a low speed and check the rotation direction etc If
218. ck the internal speed Set value is 0 1 Section commands 1 to 7 5 1 2 parameters No 8 to 10 72 to 75 Check the internal torque limit 1 parameter No 28 compared to the load torque When the analog torque Torque limit level is too low as limit TLA is usable check compared to the load torque the input voltage on the status display Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7 speed fluctuations following procedure are large at low 1 Increase the auto tuning speed response level 2 Repeat acceleration and deceleration several times to complete auto tuning Large load inertia If the servo motor may be Gain adjustment fault Chapter 7 moment causes the run with safety repeat servo motor shaft to acceleration and oscillate side to side deceleration several times to complete auto tuning 10 4 10 TROUBLESHOOTING 10 1 3 Torque control mode Start up sequence Investigation 2 Power on LED is not lit Not improved if connectors 1 Power supply voltage fault LED flickers CN1A CN1B CN2 and CN3 2 Servo amplifier is faulty are disconnected Improved when connectors Power supply of CN1 cabling is CN1A and CN1B are shorted disconnected Improved when connector 1 Power supply of encoder CN2 is disconnected cabling is shorted 2 Encoder is faulty CN3 is disconnected shorted Refer to Section 10 2 and remove cause Section 10
219. cked To prevent this continue communication without a break e g monitor the status display a Execution of test operation 1 Turn off all external input signals 2 Disable the external input signals 9 0 0 0 1EA5 3 Choose the test operation mode Selection of test operation mode 8 B O 0 0000 Test operation mode cancel 811B O 10 J og operation 818 og 8118 og 818 oct 4 Set the data needed for test operation 5 Start 6 Continue communication using the status display or other command b Termination of test operation To terminate the test operation mode complete the corresponding operation and 1 Clear the test operation acceleration deceleration time constant Command Data No Data A1 0 1112 1EA5 2 Cancel the test operation mode Data 8118 oo 0000 3 Enable the disabled external input signals foo fito 14 22 14 COMMUNICATION FUNCTIONS 2 Jog operation Transmit the following communication commands a Setting of jog operation data A 0 1110 Write the speed r min in hexadecimal Soe eration Ceca erati A 0 1111 Write the acceleration deceleration time constant on time constant ms in hexadecimal b Start Turn on the input devices SON LSP LSN by using command 9 2 data No 0 0 9112 O 0 00000807 Turns on SON LSP LSN ST1 91121 0 0 00001007 Turns on SON LSP LSN ST2 9 2 0110 00000
220. ction a Devices used Since the A1SD75 is a one slot module which occupies 32 I O points the I O devices are different as indicated by 1 and 2 from those of the two slot A1SD71 which occupies 48 point The A1SD75 uses the devices indicated in the following table and its D registers and M contacts are different as indicated by 3 and 4 Device name Application deg E ER Data register Stored data A1SD75 ready Not reach WDT error Se pe BUSY BUSY running Error detection Error detection ap i Va eninge ad gt vis via vic axisstop Stop beingrequested Sii BEE Programmable controller CPU ao Irene e controller ready Seet Parameter setting completion flag Setting complete Flash ROM registration processin LC oe E ds i i PO m2 m3 ma Axis error reset requestingfiag Requesting SS D104 D105 D106 Axis warning code Warning code D107 D108 D109 Axis error reset results Axis error reset results b ABS sequence program example 1 Initial setting To reset the error of the A1SD75 the program 5 is added to reset all output signals at start up The axis error reset buffer memory address is changed from 201 to 1154 axis 1 and the slot number from H 0001 slot number 1 to H0000 slot number 2 6 2 Absolute position polarity A1SD75 rotation direction setting detection The slot number and buffer memory of the X axis rotation direction parameter reading area are changed from FROMP H0001 K 7
221. ction parameter d Rotation direction parameter mask H ABS data sign mask H PLS processing command d Reversing polarity of upper 16 bits H Subtraction for upper 16 bits d Reversing polarity of lower 16 bits 1 Lower 16 bits 0 gt D4 1 D4 H Reading 4 bits H Masking 2 bits H Adding 2 bits H Right rotation of AO 2 bits d Counting check sum data reception frequency Completion of reading 2 bits of check sum LA To be continued 3 Detecting absolute position polarity and A1SD71 rotating direction Reversing polarity of absolute position Reading checksum 6 bits 2 bit x3 times 15 ABSOLUTE POSITION DETECTION SYSTEM 3 Continued from preceding page 3 4 M4 co HAHAHA MOV oan De H Read ABS data enabled counter WAND H0003 pel wor D5 Ao H A J DROR Ke H J D D2 D2 H DO LED H nl PLS M6 H C1 pC DOE un H Check sum ee WAND HoosF AO D2 AQ At H Lf lt gt D2 Ao m2 H mov Ao De J c2 Yan k Retry counter M6 E RST Y42 J ABS 2 bits read completion M5 Check sum 2 bits read completion Y41 X32 S PLS M7 ABS transfer Send data mode ready M7 3 SET Ya2 ABS 2 bits request Y42 X32 K1 y T200 ABS Send data ready request Y42 X32 T200 M4 A 10ms delay timer Reading 4 bits Masking 2 bits Adding 2 bits Reading ABS data Right rotation of AO 2 bits 32 bits 2 bi
222. ctives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety guaranteed products In the EU countries the machinery directive effective in January 1995 EMC directive effective in J anuary 1996 and low voltage directive effective in J anuary 1997 of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks CE marking CE marking applies to machines and equipment into which servo amplifiers have been installed 1 EMC directive The EMC directive applies not to the servo units alone but to servo incorporated machines and equipment This requires the EMC filters to be used with the servo incorporated machines and equipment to comply with the EMC directive For specific EMC directive conforming methods refer to the EMC Installation Guidelines I B NA 67310 2 Low voltage directive The low voltage directive applies also to servo units alone Hence they are designed to comply with the low voltage directive This servo is certified by TUV third party assessment organization to comply with the low voltage directive 3 Machine directive Not being machines the servo amplifiers need not comply with this directive 2 PRECAUTIONS FOR COMPLIANCE 1 Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model Servo amplifier MR 2S 10A to MR 25 22KA MR J 2S 1
223. d CN1A CN1B CN2 and CN3 have the same shape Wrong connection of the connectors will lead to a fault The sum of currents that flow in the external relays should be 80mA max If it exceeds 80mA externally supply 24VDC 10 200mA power for the interface 200mA is a value applicable when all I O signals are used Reducing the number of I O points decreases the current capacity Refer to the current necessary for the interface described in Section 3 6 2 Connect the external 24VDC power supply if the output signals are not used When starting operation always turn on emergency stop EMG and forward reverse rotation stroke end LSP LSN Normally closed contacts Trouble ALM turns on in normal alarm free condition When connecting the personal computer together with Analog monitor 1 MO1 and analog monitor 2 MO2 on the 7kW or less servo amplifier use the maintenance junction card MR J2CN3TM Refer to Section 13 1 5 The pins with the same signal name are connected in the servo amplifier 10 By setting parameters No 43 to 48 to make TL available TLA can be used 11 Use MRZJW3 SETUP 151E 12 When using the internal power supply VDD always connect VDD COM Do not connect them when supplying external power Refer to Section 3 6 2 13 Use an external power supply when inputting a negative voltage 14 For the 11kW or more servo amplifier analog monitor 1 MO1 and analog monitor 2 MO2 are replaced by CN4
224. d Refer to Section 5 2 3 0 Sudden stop 1 Slow stop VC VLA voltage averaging Used to set the filtering time when the ri Nn EI Q 2 o 3 3 a g o SE n g 3 a z E analog speed command VC voltage or analog speed limit VLA is imported Set 0 to vary the speed to voltage fluctua tion in real time Increase the set value to vary the speed slower to voltage flu ctuation Set value Filtering time ms 0 0 0 444 1 2 0 888 3 1 777 4 3 555 5 14 5 PARAMETERS re n Em o 8 o 8 g Em Es a g o iS n g a a El Set the feed forward gain When the setting is 100 the droop pulses during operation at constant speed are nearly zero However sudden acceleration deceleration will increase the overshoot As a guideline when the feed forward gain setting is 100 set 1s or more as the acceleration deceleration time constant up to the rated speed Zero speed Used to set the output range of the zero speed ZSP Analog speed command maximum speed Used to set the speed at the maximum input voltage 10V of the analog speed command VC Set 0 to select the rated speed of the servo motor connected Analog speed limit maximum speed Used to set the speed at the maximum input voltage 10V of the analog speed limit VLA Set 0 to select the rated speed of the servo motor connected Analog torque command maximum output Used to set the output torque at
225. d M3 HA Ready to send the ABS date e Dog type home position return For an example of a program for the dog type home positi e M3 ready to send the ABS data is When M3 ready to send the ABS data is turned ON the X axis start command executes the X axis start program on return operation refer tothe home position return program presented in the User s Manual for A15D71 f Data set type home position return After jogging the machine to the position where the home position e g 500 is to be set choose the home position return mode set the home position with the home position return start PB ON After switching power on rotate the servo motor more than 1 revolution before starting home position return Donot turn ON the clear CR Y 45 for an operation other than home position return Turningit ON in other circumstances will cause position shift M9039 Home position return mode deal vo A A O Home position return mode Y41 X30 X37 PLS van J ABS Positioning Home position transfer completion return start PB M20 mode K1 T10 H Clear CR ON timer request M21 SET M21 H Data set type home position return request T10 Y s S M21 H Clear signal 100ms ON timer M21 iH Data set type home position return request eee DMOVP K500 D9 a DTOP H0001 K7912 D9 Ki A A A AA PS SIRS Mea E E a a E eS o iets Be E DFROP H0001 K7912 D9 K AAA ENEE ET AEE AEE AR A A
226. d a ad ek eles dts See 6 8 6 6 External I O signal GiSpl ay ee a aE aa a ea ae a aA A RAA aaa S aaea iai 6 9 Sb eiftelfiditsiiigtaikts ees Die IEN 6 12 G g TeS Operat vn ue A in 6 13 G lle viele GE 6 13 HP O EE E 6 14 6 8 3 Positioning operation rn 6 15 6 8 4 Motor less operation ccoococcicnnnincnno ne 6 16 7 1 Different adjustment Methods AAA 7 1 7 1 1 Adjustment on a single servo amplifier ococccicncidininicninnonncnncnancnncnccrccn cnn rra 7 1 7 1 2 Adjustment using MR Configurator servo configuration sOftwarel 7 2 72 AUtO TUNING WEE 7 3 CEO Leen fellt e EE 7 3 7 2 2 Auto TUNING mode OPEL Cl VE 7 4 7 2 3 Adjustment procedure by auto CUMING cceeccecteeseeeeeeeeeeseeeeeaeeaeeaseeesesaesaseessesaesaseeseessetaetaseetaeseeas 7 5 7 2 4 Response level setting in auto TUNING mole 7 6 7 3 Manual mode 1 simple manual adiustrment E 7 7 7 3 1 Operation of manual mode 1 7 7 7 3 2 Adjustment by manual Mode 1 7 7 7 4 Interpolation MO ooococcicnnnonionnononnn mennun nenene tenana 7 10 7 5 Differences in auto tuning between MELSERVO 2 and MELSERVO J 2 Supef sses 7 11 1 31 Response level Set aii a 7 11 1 32 AUtOtUNINg sele ici tas 7 11 p malo 3 EN wesch o 8 SPECIAL ADJUSTMENT FUNCTIONS 8 1 Function block Ci AGE AM cui o o te decent dense dente Peace ede need EE 81 8 2 Machine resonance suppression filter oo cece eeeeseeeeseeteeeeeeceeeseeaeeeesaeeaeeessessesaeeaseessesaesaseeseessesaseanaeeateeas 8 1 8 3
227. d the flat blade bit for torque screwdriver When managing torque with a Phillips bit please consult us Maker Representative N6L TDK Nakamura Seisakusho Bit for torque screwdriver B 30 flat blade H3 5 X 73L Shiro Sangyo 3 SIGNALS AND WIRING 3 12 Instructions for the 3M connector When fabricating an encoder cable or the like securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell External conductor Sheath Core Sheath External conductor Pull back the external conductor to cover the sheath Strip the sheath Cable Ground plate 3 61 3 SIGNALS AND WIRING 3 13 Power line circuit of the MR J2S 11KA to MR J2S 22KA When the servo amplifier has become faulty switch power off on the amplifier power side Continuous flow of a large current may cause a fire J N CAUTION Use the trouble ALM to switch power off Otherwise a regenerative brake transistor fault or the like may overheat the regenerative brake resistor causing a fire The power on sequence is the same as in Section 5 7 3 3 13 1 Connection example Wire the power supply main circuit as shown below so that power is shut off and the servo on signal turned off as soon as an alarm occurs a servo emergency stop is made valid a controller emergency stop or a servo motor thermal relay alarm is made valid A no fuse breaker NFB must be used with the
228. ddition Section 12 1 Change of Note Section 12 3 HC LFS series of graph is addition Section 13 1 1 b b Partial table value of reexamination Section 13 1 1 4 Addition of POINT Section 13 1 1 4 b Note sentence addition Section 13 1 1 4 4 d Partial text change Section 13 1 1 5 c Change of diagram Section 13 1 1 4 c Partial diagram change Section 13 1 2 2 Partial change of Note2 Section 13 1 3 2 Addition of Note2 Section 13 1 4 1 Partial sentence delection Section 13 1 9 2 Partial reexamination Section 13 1 9 2 a Partial addition of Note Section 13 1 10 2 Addition of Note4 Section 13 1 10 3 d Addition of Note Section 13 1 11 Addition Section 13 2 3 Partial diagram dimensions reexamination Section 13 2 7 2 d Partial diagram change Section 13 2 7 2 e Partial diagram change Section 13 2 9 2 Partial Note deletion Section 13 2 9 3 Partial diagram change Section 15 7 4 Partial diagram reexamination Dec 2005 SH NA 030006 H Safety Instructions Sentence addition FOR MAXIMUM SAFETY Addition of sentence Section 1 5 Change of Note for power supply Section 1 8 Change of Note2 Chapter 2 Addition of CAUTION Section 3 1 1 1 Partial change of connection diagram Change of Note5 Section 3 1 1 2 Partial change of connection diagram Change of Note5 and 13 Section 3 1 2 Partial change of connection diagram Change of
229. dels provided with harmonic and surge reduction techniques General models Igl Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier Found from Fig 13 1 92 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 13 1 Ign Leakage current when a filter is connected to the input side 4 4mA per one FR BIF Iga Leakage current of the servo amplifier Found from Table 13 6 Igm Leakage current of the servo motor Found from Table 13 5 120 Table 13 5 Servo motor s Table 13 6 Servo amplifier s leakage current leakage current 100 example om example lga 3 output KW current mA capacity KW current mA amp 60 S 40 mA 20 2 35_ 8 1422 38 Table 13 7 Leakage circuit breaker selection example 5 5 306 o Rated sensitivity Servo amplifier current of leakage circuit breaker mA Cable size mm Fig 13 1 Leakage current example Ig1 lg2 for CV cable run in metal conduit MRJ 2S 10A to MR 2S 350A MRJ 25 10A1 to MR 25 40A1 MR J 25 500A MR J 2S 700A MRJ 25 11KA to MRJ 25 22KA 13 50 13 OPTIONS AND AUXILIARY EQUIPMENT 2 Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions 2mm x5m 2mm 2x5m oO SC amplifier MR J2S
230. detection of machine resonance is stopped Expansion parameters 2 Adaptive vibration suppression control sensitivity selection Used to set the sensitivity of machine resonance detection 0 Normal 1 Large sensitivity Ratio of load inertia moment to servo motor inertia moment 2 Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid Position control gain 2 changing ratio Used to set the ratio of changing the position control gain 2 when gain changing is valid Made valid when auto tuning is invalid Speed control gain 2 changing ratio Used to set the ratio of changing the speed control gain 2 when gain changing is valid Made valid when auto tuning is invalid Speed integral compensation changing ratio Used to set the ratio of changing the speed integral compensation when gain changing is valid Made valid when auto tuning is invalid 5 PARAMETERS Initial Setting Control Class No Symbol Name and function g value range mode Expansion parameters 2 Al 65 CDP Gain changing selection Refer to Used to select the gain changing condition Refer to Section 8 3 Name and ojojoj Ss column d Gain changing selection Gains are changed in accordance with the settings of parameters No 61 to 64 under any of the following conditions 0 Invalid 1 Gain changing CDP signal is ON 2 Command frequency is equal to higher than parameter N
231. e SS eS e ms 1 The segment above CN1A pin 18 is lit ES Za YA EN Si al UT Press UP once lt y CS 7 We Ke WN Ke J ry a CN1A pin 18 is switched on VN YN PV Y CN1A pin 18 SG conduct a NA Press DOWN once 4 A N N Dd beg Ded De be race lt gt _ aD A iat CN1A pin 18 is switched off N N uv Y Press SET for more than 2 seconds 6 12 6 DISPLAY AND OPERATION 6 8 Test operation mode The test operation mode is designed to confirm servo operation and not to confirm machine operation In this mode do not use the servo motor with the machine Always use the servo motor alone If any operational fault has occurred stop operation using the emergency stop EMG signal POINT The test operation mode cannot be used in the absolute position detection system Use it after choosing Incremental system in parameter No 1 The MR Configurator servo configuration software is required to perform positioning operation Test operation cannot be performed if the servo on SON is not turned OFF 6 8 1 Mode change Call the display screen shown after power on Choose jog operation motor less operation in the following procedure Using the MODE button show the diagnostic screen D Dal Li Press UP three times reer i NED he 2 A E ie 3 ae Press SET for more Bee y than 2s VT d i i een When this scr
232. e UP or DOWN button Every time you press the MODE button the next status display screen appears and on completion of a screen cyde pressing that button returns to the jog operation ready status screen For full information of the status display refer to Section 6 2 In the test operation mode you cannot use the UP and DOWN buttons to change the status display screen from one to another 3 Termination of jog operation To end the jog operation switch power off once or press the MODE button to switch to the next screen and then hold down the SET button for 2 or more seconds 6 14 6 DISPLAY AND OPERATION 6 8 3 Positioning operation The MR Configurator servo configuration software is required to perform positioning operation Positioning operation can be performed once when there is no command from the external command device 1 Operation Connect EMG SG to start positioning operation and connect VDD COM to use the internal power supply Pressing the Forward or Reverse click on the MR Configurator servo configuration software starts the servo motor which will then stop after moving the preset travel distance You can change the operation conditions on the MR Configurator servo configuration software The initial conditions and setting ranges for operation are listed below How to use the buttons is explained below Click to start positioning operation CCW Click to start positioning operati
233. e home position return request bmovr kenn D24 DTOP ko K3 Dou nn DTOP ko k26 Da4 K if 15 45 FX2 1PG Transmission of control signals 1PG gt FX2 Transmission of status 1PG gt FX2 Transmission of present position D106 D107 1PG Resetting start command Clear CR ON timer request Clear CR 100ms ON timer Setting data set type home position return request Resetting data set type home position return request Clear CR ON Setting X axis home position address 500 in the data register Changing X axis home position address Changing X axis present position data 15 ABSOLUTE POSITION DETECTION SYSTEM e Electromagnetic brake output During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Set 1010 in parameter No 1 of the servo amplifier to choose the electromagnetic brake interlock MBR Y1 X1 Y4 Electromagnetic brake output ABS transfer Brake MBR mode f Positioning completion To create the status information for servo positioning completion During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y X0 HH m H Completion of servo positioning ABS transfer Positioning mode completion Y ABS transfer mode g Zero speed To create the status information for servo zero speed During ABS data transfer
234. e EE EE Unit Unitsetting 0 0001 0 001 erer 0 001 Unit of Unit of travel wmpis na a PLS Constant K for conversion into unit of travel Reference For lum PLS set constant K to 10 For 5um PLS set constant K to 50 When the unit setting is pulse the additional program is not required M9038 TOP H0001 K201 Ki K1 A1SD71 error reset Initial pulse ON MOV K3 D7 Setting retry count 3 times Initial setting M9039 HH DO V Di00 20 Loading received shift data PC RUN X36 Kl SET M8 Servo on request Servo on PB X36 HA pst M3 Resetting ready to send Servo on PB HL DST M8 Resetting servo on request Resetting ABS transfer HL DST co 9 Servo on control counter at servo OFF RST zi Resetting checksum transfer counter at servo OFF M8 M9 M11 y he 40 H Servo on output Servo on Error Retry flag request flag setting PLS MO ABS I F start To be continued 15 26 15 ABSOLUTE POSITION DETECTION SYSTEM D M8 Servo on request Continued from preceding page HH Pi M12 Error reset Error flag Y43 PA Alarm reset X35 Emergency stop PB X33 M12 RST c2 Retry flag reset request X34 M9 43 M9 AA aes M3 Servo alarm r RST M8 e Yas MO HA MOV ki DO ABS data transfer sat iio K D1 mov Ko D2 s MOV KO D5 Hg DMOV KO D9 DMOV ko AO _ RST Y4B P rst co
235. e 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 elecromagnetic 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 is used 1 Set 0010 in parameter No 1 to make the electromagnetic brake interlock MBR valid Note that this will make the zero speed signal ZSP unavailable 2 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 3 The brake will operate when the power 24VDC switches off 4 While the reset RES is on the base circuit is shut off When using the servo motor with a vertical shaft use the electromagnetic brake interlock MBR 5 Switch off the servo on SON after the servo motor has stopped 1 Connection diagram Servo amplifier Servo motor YT Emergency RA stop B1 VDD O O O COM 24VDC T X MBR r B2 2 Setting 1 Se 0010 in parameter No 1 to make the electromagnetic brake interlock MBR valid 2 Using parameter No 33 electromagnetic brake sequence output set a time delay Tb at servo off from electromagnetic brake operation to base circuit
236. e is not produced Note SECH Torque limit O Internal torque limit 1 Parameter No 28 1 Analog torque limit lt internal torque limit 1 Analog torque limit Analog torque limit gt internal torque limit 1 Internal torque limit 1 Note 0 off 1 on When torque is output in analog monitor output this set value is the maximum output voltage 8V Refer to Section 3 4 1 5 5 15 5 PARAMETERS Class No Symbol Name and function tel Unit Setting Control value range mode S VCO Analog speed command offset Depends mV 999 Used to set the offset voltage of the analog speed command VO on servo to For example if CCW rotation is provided by switching on forward amplifier 999 rotation start ST1 with OV applied to VC set a negative value When automatic VC offset is used the automatically offset value is The initial value is the value provided by the automatic VC offset set to this parameter Refer to Section6 3 function before shipment at the VC LG voltage of OV Analog speed limit offset Used to set the offset voltage of the analog speed limit VLA For example if CCW rotation is provided by switching on forward rotation selection RS1 with OV applied to VLA set a negative value When automatic VC offset is used the automatically offset value is set to this parameter Refer to Section6 3 The initial value is the value provided by the automatic VC offset function before shipment at
237. e specified number of resistors 4 or 5 resistors must be connected in series If they are connected in parallel or in less than the specified number the servo amplifier may become faulty and or the regenerative brake resistors burn Install the resistors at intervals of about 70mm Cooling the resistors with fans 1 0m3 min O 92 about two fans improves the regeneration capability In this case set OE OD in parameter No 0 5m or less Do not remove ea amplifier the short bar Note The number of resistors connected in series depends on the resistor type Install a thermal sensor o r like to configure a circuit that will shut off the main circuit power at abnormal overheat The supplied regenerative brake resistor does not have a built in thermal sensor If the regenerative brake circuit fails abnormal overheat of the resistor is expected to occur On the customer side please also install a thermal sensor for the resistor and provide a protective circuit that will shut off the main circuit power supply at abnormal overheat The detection level of the thermal sensor changes depending on the resistor installation method Please install the thermal sensor in the optimum position according to the customer s design standards or use our regenerative brake option having built in thermal sensor MR RB65 66 67 oa Regenerative Regenerative Power W Resistance Number of Servo Amplifier Brake Resistor 0 Resistors
238. e status display data at alarm occurrence When the data No corresponding to the status display item is transmitted the data value and data processing information are sent back a Transmission Send command 3 5 and any of data No 8 0 to 8 E corresponding to the status display item to be read Refer to Section 14 11 1 b Reply The slave station sends back the requested status display data at alarm occurrence GERRRSRRRRRR Data 32 bits long represented in hexadecimal Data conversion into display type is required Display type 0 Conversion into decimal required 1 Used unchanged in hexadecimal Decimal point position No decimal point Lower first digit usually not used Lower second digit Lower third digit Lower fourth digit Lower fifth digit Lower sixth digit DUIRADON O0 3 Current alarm clear As by the entry of the reset RES reset the servo amplifier alarm to make the servo amplifier ready to operate After removing the cause of the alarm reset the alarm with no command entered 8112 0 0 14 26 14 COMMUNICATION FUNCTIONS 14 12 11 Other commands 1 Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit Note that overflow will occur in the position of 16384 or more revolutions from the home position a Transmission Send command 0 2 and data No 9 0 OI oo b Reply The slave station
239. ection curve shown in any of Figs 12 1 Overload 2 alarm AL 51 occurs if the maximum current flew 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 recommended to use the machine so that the unbalanced torque is 70 or less of the rated torque 1000 1000 During rotation During rotation 100 100 w E E 2 5 During sto s 10 c 10 2 Ke w E E z O During stop 1 1 0 1 0 1 0 50 100 150 200 250 300 0 50 100 150 200 250 300 Note Load ratio Note Load ratio a MR J2S 10A to MR J2S 100A b MR J2S 200A to MR J2S 350A Fe 10000 Kg 1000 a During rotation T E D During servo lock gt During rotation amp 100 5 100 g E g 5 During servo lock 10 10 d 1 0 50 100 150 200 250 300 0 100 200 300 Note Load ratio Note Load ratio c MR J2S 500A MR J2S 700A d MR J2S 11KA to MR J2S 22KA 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
240. ection system o jojo AS to be performed when the reset RES switches on 0 Base circuit shut off 1 Base circuit not shut off 0000 il 50 For manufacturer setting 0000 Do not change this value by any means Refer to Name and function column For manufacturer setting 0000 Do not change this value by any means OP8 Function selection 8 Used to select the protocol of serial communication E Protocol checksum selection 0 Yes checksum added 1 No checksum not added Protocol checksum selection 0 With station numbers 1 No station numbers OP9 Function selection 9 Use to select the command pulse rotation direction encoder output pulse direction and encoder pulse output setting esa motor rotation direction changing Changes the servo motor rotation direction for the input pulse train Servo motor rotation direction Servo motor rotation direction rotation direction Set value At forward rotation At reverse rotation 7 _ Note pulse E Note Note Refer to Section 3 4 1 1 a Encoder pulse output phase changing Changes the phases of A B phase encoder pulses output Servo motor rotation direction Set value _ _ _ aaa N Ka EI Q E o S 3 3 a g o 2 Ka g 3 a 4 CCW CW Aphase f f J Aphase f f fq B phase f l f 1 f B phase f H f y Fl Aphase f f JjAphase f f fq B phasef y f D fl B phase f 4 f 1 f Encoder
241. ed to 50000 Mechanical limit SRR If revolution direction parameter Pr 14 0 15 22 15 ABSOLUTE POSITION DETECTION SYSTEM d Slot arrangement The sequence programs presented in this section show I O numbers X Y assuming the arrangement of modules on the main base unit is as illustrated below A1SD71 is mounted at I O slots O and 1 a 16 point input module at slot 2 and 16 point output module at slot 3 If the actual arrangement of the modules differs from this arrangement change the X and Y numbers accordingly The numbers of the devices M D T etc used in the program can be changed as required 16 point output module 16 point input module Numbers used X X0 X Y2F Example arrangement of modules e Points 1 The A15D71 has 48 I O points and occupies 2 slots For LO allocation using the GPP function follow the instructions given below First slot Vacant slot 16 points Second slot Special function module 32 points 2 To execute the FROM TO instruction for the A1SD71 use the head I O number of the second slot X30 to X3F E The sera examples a oe 7 Y40 to Y4F Note The program example given i in 3 in this section is for 1 axis control Slot allocations are as illustrated to the left To use the system for 2 axis control increase the number of I O points module 16 point output module 5 ER E A1SD71 E Oo X Y000 X Y010 EE EE to to SS I O numbers to be set X YOOF
242. een d e Lem Lem w appears jog feed can am TE A 1 be performed Flickers in the test operation mode 6 13 Press UP five times Press SET for more than 2s When this screen is displayed motor less operation can be performed 6 DISPLAY AND OPERATION 6 8 2 Jog operation J og operation can be performed when there is no command from the external command device 1 Operation Connect EMG SG to start jog operation and connect VDD COM to use the internal power supply Hold down the UP or DOWN button to run the servo motor Release it to stop When using the MR Configurator servo configuration software you can change the operation conditions The initial conditions and setting ranges for operation are listed below initial setting Setting range Speed r min 0 to instantaneous permissible speed Acceleration deceleration time constant ms 1000 0 to 50000 How to use the buttons is explained below Press to start CCW rotation UP Release to stop Release to stop If the communication cable is disconnected during jog operation performed by using the MR Configurator servo configuration software the servo motor will be decelerated to a stop 2 Status display You can confirm the servo status during jog operation Pressing the MODE button in the jog operation ready status calls the status display screen With this screen being shown perform jog operation with th
243. een switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown below Position Speed Position control mode control mode control mode Zero speed Servo motor speed level SS ON Zero speed ZSP OFF ON Control change LOP Note Note ge LOP OFF Note Note Note When ZSP is not on control cannot be changed if LOP is switched on off If ZSP switches on after that control cannot not be changed 2 Torque limit in position control mode As in Section 3 4 1 5 3 SIGNALS AND WIRING 3 Speed setting in speed control mode a Speed command and speed The servo motor is run at the speed set in parameter No 8 internal speed command 1 or at the speed set in the applied voltage of the analog speed command VC A relationship between analog speed command VC applied voltage and servo motor speed and the rotation directions determined by the forward rotation start ST1 and reverse rotation start ST2 are as in a 1 in section 3 4 2 Generally make connection as shown below Servo amplifier a e 2ko 2kQ Japan resistor SE RRS10 or equivalent b Speed selection 1 SP 1 and speed command value Use speed selection 1 SP1 to select between the speed set by the internal speed command 1 and the speed set by the analog speed command VC as indicated in the foll
244. effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10MHz and lower radio frequency bands The FR BIF is designed for the input only Connection diagram Outline drawing Unit mm Unit in Make the connection cables as short as possible Leakage current 4mA Grounding is always required Red White Blue Green When using the FR BIF with a single phase wire always insulate the wires that are not used for wiring MC Servo amplifier o OO Power supply About 300 11 81 o GO 5 0 20 hole A oo Radio noise filter FR BIF 13 49 13 OPTIONS AND AUXILIARY EQUIPMENT 13 2 8 Leakage current breaker 1 Selection method High frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply Select a leakage current breaker according to the following formula and ground the servo amplifier servo motor etc securely Make the input and output cables as short as possible and also make the grounding cable as long as possible about 30cm 11 8 in to minimize leakage currents Rated sensitivity current gt 10 g1 l gn l ga K 1g2 Ilgm mA 13 2 K Constant considering the harmonic contents Leakage current breaker Mitsubishi products Servo amplifier Mo
245. em 8 1 Function block diagram Speed Parameter Parameter Parameter Parameter Current control No 58 No 60 No 59 ae 0 Low pass 1110 filter Machine resonance suppression filter 1 except Adaptive vibration suppression control 8 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 i response Sr l Frequency Notch depth Y Zas Frequenc Notch frequency q y 8 SPECIAL ADJUSTMENT FUNCTIONS Y ou can use the machine resonance suppression filter 1 parameter No 58 and machine resonance suppression filter 2 parameter No 59 to suppress the vibration of two resonance frequencies Note that if adaptive vibration suppression control is made valid the machine resonance suppression filter 1 parameter No 58 is made invalid Machine resonance point Mechanical system response level Frequency 4 l Frequency Parameter No 58 Parameter No 59 The machine resonance suppression filter is a delay factor for the servo system Hence vibration may increase if you set a wrong re
246. ence O O O Write EE E 5 PARAMETERS 5 1 2 Lists For any parameter whose symbol is preceded by set the parameter value and switch power off once then switch it on again to make that parameter setting valid The symbols in the control mode column of the table indicate the following modes P Position control mode S Speed control mode T Torque control mode 1 Item list ntrol Initial Customer No Symbol Name Contro ua Unit e mode value setting o STY Control mode regenerative brake option selection 0000 NI O Function selection 1 less 0105 11kW or Position command acceleration deceleration time constant PG1 less 35 11kW or Smoothing SC1 Basic parameters 1 5 3 00 Internal speed limit 1 00 00 r 00 r T o Internal speed command 2 min Be Internal speed limit 2 500 r min Internal speed command 3 Internal speed limit 3 o WE STC o o 0000 G PS C C 14 DOC Torque command time constant T 0 ms 16 BPS Serial communication function selection alarm history clear P S T 0000 MOD SN 5 PARAMETERS Control Initial Customer No Symbol Name Unit mode value setting 20 op2 Function selection2 Ps po PO 21 OP3 Function selection 3 Command pulse selection P Lag D 22 OP4 Function selection4 0000 SJ 23 FFC Feed forward gain P 0 Psr 50 r min An
247. encoder SS Absolute position detection Merely setting a home position once makes home position Chapter 15 system return unnecessary at every power on H You can switch between gains during rotation and gains during stop or use an external signal to change gains during operation Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration S resses high frequency resonance which occurs as servo Low pass filter SE 9 S E s A 2 P S T Section 8 4 system response is increased Analyzes the frequency characteristic of the mechanical system by simply connecting a MR Configurator servo configuration software installed personal computer and servo amplifier e Can simulate machine motions on a personal computer Machine simulation A e screen on the basis of the machine analyzer results Personal computer changes gains automatically and searches for overshoot free gains in a short time Slight vibration suppression Suppresses vibration of 1 pulse produced at a servo motor control stop lectronic gear Input pulses can be multiplied by 1 50 to 50 Automatically adjusts the gain to optimum value if load Auto tuning applied to the servo motor shaft varies Higher in PS Chapter 7 performance than MR J 2 series servo amplifier Adaptive vibration suppression control Machine analyzer function Gain search function Section 7 5 Parameters No 3 4 osition smoothi
248. er failure If the power supply voltage has returned to normal after an undervoltage status caused by the reduction of the input power supply voltage in the speed control mode the servo motor can be restarted by merely turning on the start signal without resetting the alarm 0 Invalid Undervoltage alarm AL 10 occurs 1 Valid t Stop time servo lock selection The shaft can be servo locked to remain still at a stop in the speed control mode 0 Valid 1 Invalid Slight vibration suppression control Made valid when auto tuning selection is set to 0400 in parameter No 2 Used to suppress vibration at a stop 0 Invalid 1 Valid 5 13 5 PARAMETERS Initial Setting Control Class No Symbol Name and function g value range mode OP3 Function selection 3 Command pulse selection Refer to Used to select the input form of the pulse train input signal Name Refer to Section 3 4 1 and OUENS function column Command pulse train input form 0 Forward reverse rotation pulse train 1 Signed pulse train 2 A B phase pulse train Pulse train logic selection 0 Positive logic 1 Negative logic OP4 Function selection 4 Refer to Used to select stop processing at forward rotation stroke end LSP Name reverse rotation stroke end LSN off and choose VC VLA voltage and averaging function EE How to make a stop when forward rotation stroke end LSP reverse rotation stroke end LSN is vali
249. er imit S Ces 16 COM o_o LSN 17 gt AN 8 Operation mode So Lower limit Lo i Fo Operation mode II Sw E x Position start SC Operation Operating Lo i B Position stop So status 1 JOG Il IS e foc E D So JOG Jl E Home s WF position CoM return NC Positioning NC A1SY40 Ke A Servo on N e t d 0 SON 5 Dt ABS transfer mode des i ABS request a ee de i 2 be gues Mr JABSR 9 Pal Alarm reset S DES 14 I 4 Sy DAG A NO Electromagnetic i 5 brake output Legd l 6 Note 4 LZ EE 4 COM1 a en 8 Servo alarm i 9 H49 M ABS communication error l A H49 M ABS checksum error mi M B Gei COM2 A AN Se SS lan Lt x TI EEN e E ei Note 1 A1SD75 P Proximity signal Note 2 D DOG 11 o PLS 12 dk RLS 13 STOP 14 CHG 15 gt START 16 COMMON 35 1 L komot N RDY 7 ch Servo ready c MEE INPS 8 Positioning completion A A ia D CLEAR 5 COMMON 23 reo H Q PULSE 21 ps PUSE zu po Q PULSE 22 ESTA A Ee PLS COM 19 N PLS COM 20 Note 6 15 47 15 ABSOLUTE POSITION DETECTION SYSTEM Note 1 For the dog type home position return Need not be connected for the data set type home position return 2 If the servo motor provided with the zero point signal is started the A1SD75 will output the deviation counter clear CR Therefore do not connect the clear CR of the MR J2 A to the A1SD75 but connect it to the output module of the programmable controller 3 This ci
250. eration time constant 0 Not used 13 After setting the above parameters switch power off once Then switch power on again to make the set parameter values valid 4 Servo on Switch the servo on in the following procedure 1 Switch on main circuit control circuit power supply 2 Switch on the servo on SON When placed in the servo on status the servo amplifier is ready to operate and the servo motor is locked 5 Start Using speed selection 1 SP1 and speed selection 2 SP 2 choose the servo motor speed Turn on forward rotation start ST1 to run the motor in the forward rotation CCW direction or reverse rotation start ST2 to run it in the reverse rotation CW direction At first set a low speed and check the rotation direction etc If it does not run in the intended direction check the input signal On the status display check the speed load factor etc of the servo motor When machine operation check is over check automatic operation with the host controller or the like This servo amplifier has a real time auto tuning function under model adaptive control Performing operation automatically adjusts gains The optimum tuning results are provided by setting the response level appropriate for the machine in parameter No 2 Refer to chapter 7 4 OPERATION 6 Stop In any of the following statuses the servo amplifier interrupts and stops the operation of the servo motor Refer to Section 3 9 2 for the servo m
251. eration section Used to perform status display diagnostic alarm and parameter setting operations Chapter6 MODE UP DOWN SET A Chapter6 iA HO D a L Used to set data Used to change the display or data in each mode Used to change the mode Battery connector CON 1 Used to connect the battery for absolute position data backup Monitor output terminal CN 4 Used to output monitor values as anal og signals for two channels Section15 3 Cooling fan Section3 3 Section11 1 Communication connector CN 3 Section3 3 Used to connect a command device RS232C 1 0 signal connector CN1A Used to connect digital I O signals SES 1 0 signal connector CN1B Section3 3 Used to connect digital I O signals a Charge lamp Lit toindicate that the main circuit is charged Whilethis lamp is lit do not reconnect the cables 3 Control circuit terminal block TE 2 ned aye Used to connect the control circuit power supply Section13 1 Encoder connector CN2 Section3 3 Used to connect the servo motor encoder Section13 1 5 Maker adjusting connector CON 2 Keep this connector open Name plate Section1 5 WA Main droit terminal block TE 1 Section3 7 Used to connect the input power supply regenerative Section11 1 4 places brake option and servo motor Section13 1 1 Fixed
252. es and the models with reduction gears Servo motors HC RFSI Servo amplifier 2 E Notet Notet A A MRJ 25 aa y 23 GE 12590 gt A EE oes MR 25 1008 AO A A A A AO E l M MRJ25 3504 a A E a EE EE EE Servo amplifier HA LFSO Note1 Hir RTE ON A ES MR 25 1008 AAA 102 MRy2s 2000 AS 1 MRJ 25 3508 202 MR 25 500A Bee ee Note1 502 Note2 601 Note2 701M Note1 702 7 MRy25 11kA_ 801 12k1 em 12 MRy2515kA ei Im 15k2 mRj2s 22K 20K1 25k1 zw 22 gt Note1 These servo motors may not be connected depending on the production time of the servo amplifier Please refer to app3 2 Consult us since the servo amplifier to be used with any of these servo motors is optional 1 FUNCTIONS AND CONFIGURATION 1 7 Structure 1 7 1 Parts identification 1 MR J2S 100A or less The servo amplifier is shown without the front cover For removal of the front cover refer to Section 1 7 2 Name Application Reference Battery holder Contains the battery for absolute position data backup Section15 3 Battery connector CON1 Used to connect the battery for absolute position data backup Section15 3 Display The 5 digit seven segment LED shows the servo status and alarm number Chapter6 Operation section Used to perform sta
253. evice which gives this instruction e g personal computer is called a master station and the device which sends a reply in response to the instruction servo amplifier is called a slave station When fetching data successively the master station repeatedly commands the slave station to send data Item Description 9600 19200 38400 57600 asynchronous system Start bit 1 bit Data bit 8 bits Parity bit 1 bit even Transfer protocol Character system half duplex communication system Transfer code Next Parity Stop start 14 COMMUNICATION FUNCTIONS 14 2 2 Parameter setting When the RS 422 RS 232C communication function is used to operate the servo set the communication specifications of the servo amplifier in the corresponding parameters After setting the values of these parameters they are made valid by switching power off once then on again 1 Serial communication baudrate Choose the communication speed Match this value to the communication speed of the sending end master station Parameter No 16 ITT KSE Communication baudrate 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps 2 Serial communication selection Select the RS 422 or RS 232C communication standard RS 422 and RS 232C cannot be used together Parameter No 16 ATA Serial communication standard selection 0 RS 232C used 1 RS 422 used 3 Serial communication response delay time Set the time from when the
254. fied the operating environment electrical equipment specifications For the other EMC directive guidelines on the servo amplifier refer to the EMC Installation Guidelines IB NA 67310 CONFORMANCE WITH UL C UL STANDARD 1 Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model Servo amplifier MR 2S 10A to MR 25 22KA MR J 2S 10A1 to MR 2S 40A1 Servo motor HC KFS O HC MFSO HC SFSO HC RFSO HC UFSO HA LFSO HC LFSO 2 Installation Install a fan of 100CFM 2 8m3 min air flow 4 in 10 16 cm above the servo amplifier or provide cooling of at least equivalent capability 3 Short circuit rating This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less Having been subjected to the short circuit tests of the UL in the alternating current circuit the servo amplifier conforms to the above circuit 4 Capacitor discharge time The capacitor discharge time is as listed below To ensure safety do not touch the charging section for 15 minutes after power off Servo amplifier min MR J 2S 10A 1 20A 1 MR 25 40A 1 60A MRJ2S 11KA 4 MRJ2515KkA 6 MRJ2S 22KA__ 8 5 Options and auxiliary equipment UseUL C UL standard compliant products 6 Attachment of a servo motor For the flange size of the machine side where the servo motor is installed refer to CONFORMANCE WITH UL C UL STANDARD
255. for several seconds after the servo on SON is turned on the servo motor must be at a stop Y1 x1 H M Servo zero speed ABS transfer Zero speed mode Y1 ABS transfer mode h Torque limiting To create the status information for the servo torque limiting mode During ABS data transfer for several seconds after the servo on SON is turned on the torque limiting must be off M Servo torque limiting mode ABS transfer Torque limiting mode mode 15 46 15 ABSOLUTE POSITION DETECTION SYSTEM 15 8 3 MELSEC A1SD75 1 Connection diagram Servo amplifier CN1B VDD 3 EE Al S62P 600mA 24 t COM 13 L 24G dk SG 10 LG FG Power INPUT supply 7 AC100 200 A1SCPU A1SX40 E s bed e 0 ABS data bit 0 Positioning completion DOT a 7 l EE i 1 ABS data bit 1 zero speed ZSP 19 i EENG CS Readying to send data Torque limiting e TLC 6 i 1 3 Trouble ALM 18 es A 4 a S sto T als 5 gency Sop A EMG 15 Lo 1 6 Servo on SS Ki 2 i ATI Home position returns g Upp
256. g Parameter No Abbreviation Ratio of load nertia moment to servo motor nertia moment Position control gain 2 Speed control gain 2 Speed integral compensation b Manually adjusted parameters Thefollowing parameters are adjustable manually Abbreviation pra Position control gain 1 Speed control gain 1 2 Adjustment procedure Operation Description Set 15Hz parameter No 2 0100 as the machine resonance frequency of response in the auto tuning mode 1 During operation increase the response level setting parameter No 2 and Adjustment in auto tuning mode return the setting if vibration occurs 1 Check the values of position control gain 1 parameter No 6 and speed control gain 1 parameter No 36 Set the interpolation mode parameter No 2 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 PG1 the value identical to the position loop gain of the axis to Set position control gain 1 be interpolated Using the speed control gain 1 value checked in step 3 as the guideline of the upper limit look at the rotation status and set in speed control gain 1 the value Set speed control gain 1 three or more times greater than the position control gain 1 setting Looking at the interpolation characteristic and rotation status fine adjust the gains and response level setting Select the auto tuning mode 1
257. ge mode Internal speed command 5 Used to set speed 5 of internal speed commands neous Internal speed limit 5 permi ssible Used to set speed 5 of internal speed limits speed Internal speed command 6 0 to in stanta neous Used to set speed 6 of internal speed commands Internal speed limit 6 permi ssible Used to set speed 6 of internal speed limits speed Internal speed command 7 0 to in Used to set speed 7 of internal speed commands stanta neous Internal speed limit 7 permi ssible speed Used to set speed 7 of internal speed limits Internal torque limit 2 N Ka EI Q E o S 3 3 a g o 2 Ka d 3 a 4 E Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100 When 0 is set torque is not produced For manufacturer setting Do not change this value by any means 5 PARAMETERS 5 2 Detailed description 5 2 1 Electronic gear N CAUTION Wrong setting can lead to unexpected fast rotation causing injury OMX 590 If the set value is outside this range noise may be generated during acceleration deceleration or operation may not be performed at the preset speed and or acceleration deceleration time constants The following specification symbols are required to calculate the electronic gear ee y 1 The guideline of the electronic gear setting range is 50 lt 1 Concept of electronic gear The machine
258. ging condition O cT Gain changing time constant b Changing operation Command pulse Droop pulses Droop pulses pulses 0 Before changing gain 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 control gain 2 120 SC 84 Speed control gain 2 3000 SES 4000 gt 3000 gt 4000 Speed integral compensation 20 Se 50 y d d l 8 SPECIAL ADJUSTMENT FUNCTIONS MEMO 10 9 INSPECTION 9 INSPECTION Before starting maintenance and or inspection make sure that the 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 N WARNING Do not test the servo amplifier 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 fo
259. gnal differ according to the column control mode TA Position control mode Input signals of Speed control CN1B pin 5 mode selected Torque control mode Signals that may be assigned in each control mode are indicated below by their symbols Setting of any other signal will be invalid aa Set value VETA EA AN AA A MS 1 f son son SN 5 o SP sm EST 21 Ma 1 Note P Position control mode S Speed control mode T Torque control mode Expansion parameters 1 44 DI3 Input signal selection 3 CN1B 14 0222 Refer to Allows any input signal to be assigned to CN1B pin 14 Name The assignable signals and setting method are the same as in input and signal selection 2 parameter No 43 function HETE column Position control mode Input signals of Speed control CN1B pin 14 mode selected Torque control mode This parameter is unavailable when parameter No 42 is set to assign the control change LOP to CN1B pin 14 5 18 5 PARAMETERS Class No Symbol Name and function tel Setting Control value range mode Input signal selection 4 CN1A 8 0665 Refer to Allows any input signal to be assigned to CN1A pin 8 Name The assignable signals and setting method are the same as in input and signal selection 2 parameter No 43 function E column HA Position control mode Input signals of Speed control CN1A pin 8 mode selected Torque control mode This parameter is unavailable when pa
260. gram turned off and set the load inertia moment ratio parameter No 34 manually From the preset load inertia moment ratio parameter No 34 value and response level The first digit of parameter No 2 the optimum control gains are automatically set on the basis of the internal gain tale The auto tuning results are saved in the EEP ROM of the servo amplifier every 60 minutes since power on At power on auto tuning is performed with the value of each control gain saved in the EEP ROM being used as an initial value If sudden disturbance torque is imposed during operation the estimation of the inertia moment ratio may malfunction temporarily In such a case choose the auto tuning mode 2 parameter No 2 0200 and set the correct load inertia moment ratio in parameter No 34 When any of the auto tuning mode 1 auto tuning mode 2 and manual mode 1 settings is changed to the manual mode 2 setting the current control gains and load inertia moment ratio estimation value are saved in the EEP ROM 7 GENERAL GAIN ADJUSTMENT 7 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 ne d Y Acceleration deceleration repeated
261. he absolute position data is transferred to the programmable controller When the ABS data is transferred properly a The ready output RD turns on b The programmable controller ABS data ready contact M3 for A1SD71 M99 for 1PG turns on c The MR Configurator servo configuration software ABS data display window refer to Section 15 9 and programmable controller side ABS data registers D3 D4 for A1SD71 D106 D107 for 1PG show the same value at the home position address of 0 If any warning such as ABS time out warning AL E5 or programmable controller side transfer error occurs refer to Section 15 10 or Chapter 10 and take corrective action 5 Home position setting The home position must be set if a System setup is performed b The servo amplifier has been changed c The servo motor has been changed or d The absolute position erase AL 25 occurred In the absolute position system the absolute position coordinates are made up by making home position setting at the time of system setup The motor shaft may misoperate if positioning operation is performed without home position setting Always make home position setting before starting operation For the home position setting method and types refer to Section 15 7 3 15 ABSOLUTE POSITION DETECTION SYSTEM 15 7 Absolute position data transfer protocol After switching on the ABS transfer mode ABSM turn on the servo on signal SON When the ABS
262. he clear CR Y 35 for an operation other than home position return Turningit on in other circumstances will cause position shift M9039 v1D Programmable controller ready PC RUN Home position return mode Y31 X20 X27 PLS Man H Clear CR ON timer request ABS transfer Positioning Home position mode completion return start PB M20 K1 1 rro Clear signal ON timer request M21 Clear CR 100ms ON timer SET M21 Setting data set type home position return request Data set type home position return request T10 Resetting data set type home position return request RST M21 Clear signal 100ms ON timer M21 Y35 Switch clear CR on Data set type home position return request Setting X axis home position address 500 1 DMOVP K500 D9 i in data register i 7 4 Core H0000 K72 D9 K 1 Changing X axis home position address Note3 pa DFROP H0000 K72 D9 K 1 Writing positioning data No 9003 SET Y10 Starting positioning Y10 X1 X4 Switching BUSY signal off to switch start F r rst vio H gt Positioning Start BUSY signal off start completion 1 XA Error detection Note 1 If the data of the home position address parameter is not written from the A7PHP programming tool or the like before starting the data set type home position return program this sequence circuit Note 1 is required and the seque
263. he lowest term When CMX has been reduced to a value within the setting range round off the value to the nearest unit CMX _ 65536 _ 26214 4 26214 CDV 1125 450 450 Hence set 26214 to CMX and 450 to CDV When 0 is set to parameter No 3 CMX CMX is automatically set to the servo motor resolution Therefore in the case of Expression 5 2 setting 0 to CMX and 2250 to CDX concludes in the following expression CMX CDV 131072 2250 and electric gear can be set without the necessity to reduce the fraction to the lowest term For unlimited one way rotation e g an index table indexing positions will be missed due to cumulative error produced by rounding off For example entering a command of 36000 pulses in the above example causes the table to rotate only 4 e 3 SE 360 359 995 Therefore indexing cannot be done in the same position on the table 2 Instructions for reduction The calculated value before reduction must be as near as possible to the calculated value after reduction In the case of 1 b in this section an error will be smaller if reduction is made to provide no fraction for CDV The fraction of Expression 5 1 before reduction is calculated as follows CMX _ 65536 EE Ee EE EEN 2 CDV 1195 58 25422 5 2 The result of reduction to provide no fraction for CMX is as follows CMX _ 65536 _ 32768 _ 32768 _ CDV 1125 5625 563 A A rakes aliens 5 3 The result of reduction
264. he preset in position range parameter No 5 INP SG may remain connected when low speed operation is performed with a large value set as the in position range ON Servo on SON OFF Yes Alarm No IAS In position range Droop pulses Ir po iti IN sition P OFF 3 Ready RD ON Servo on SON OFF Yes i i Alarm i No ER ON 80ms or less 10ms or less 10ms or less Ready RD y RD OFF 4 Electronic gear switching The combination of CM 1 and CM2 gives you a choice of four different electronic gear numerators set in the parameters As soon as CM1 CM2 is turned ON or OFF the molecule of the electronic gear changes Therefore if any shock occurs at this change use position smoothing parameter No 7 to relieve shock Note External input signal Geet S DL o Parameter No 3 a a Parameter No 69 AA Parameter No 70 Parameter No 71 Note 0 off 1 on 3 SIGNALS AND WIRING 5 Torque limit a Torque limit and torque By setting parameter No 28 internal torque limit 1 torque is always limited to the maximum value during operation A relationship between the limit value and servo motor torque is shown below Max torque torque 100 Torque limit value A relationship between the applied voltage of the analog torque limit TLA and the torque limit value of the servo motor is shown below Torque limit values will vary about 5 relative to the
265. he servo on in the following procedure 1 Switch on main circuit control circuit power supply 2 Switch on the servo on SON When placed in the servo on status the servo amplifier is ready to operate and the servo motor is locked 5 Command pulse input Entry of a pulse train from the positioning device rotates the servo motor At first run it at low speed and check the rotation direction etc If it does not run in the intended direction check the input signal On the status display check the speed command pulse frequency load factor etc of the servo motor When machine operation check is over check automatic operation with the program of the positioning device This servo amplifier has a real time auto tuning function under model adaptive control Performing operation automatically adjusts gains The optimum tuning results are provided by setting the response level appropriate for the machine in parameter No 2 Refer to chapter 7 6 Home position return Make home position return as required 7 Stop In any of the following statuses the servo amplifier interrupts and stops the operation of the servo motor Refer to Section 3 9 2 for the servo motor equipped with electromagnetic brake Note that the stop pattern of stroke end LSP LSN OFF is as described below a Servo on SON OFF The base circuit is shut off and the servo motor coasts b Alarm occurrence When an alarm occurs the base circuit is shut off and the dyn
266. he vertical direction If they are installed in the horizontal direction or on a horizontal surface a heat dissipation effect reduces The temperature of the resistor unit casing rises to higher than 100 C 212 F Do not cause cables and combustibles to make contact with the casing The brake unit is the integration of the regenerative control and resistor and is connected to the bus across P N of the servo amplifier As compared to the MR RB regenerative brake option the brake unit can return larger power Hence use the this brake unit when the MR RB cannot provide sufficient regenerative brake capability When using the brake unit set 0100 in parameter No 0 1 Selection Permissible Continuous Max Instantaneous Brake unit Resistor unit Applicable Servo Amplifier Power a Power mera FR FR BU I5K 15K FR BR FRBRISK nen MR J 2S 500A MR J 2S 700A MR J 2S 15KA 2 Connection example Servo amplifer No fuse breaker p Note3 I Note2 S PR 5 Power supply Oli ei PR 3 phase is ae eee eS Note1 Note1 200 to O HA La N A o HE Se THI E o 0 0 HC output e Lg TH2 FR BU brake unit FR BR resistor unit Note 1 Make up the external sequence to switch the power off when an alarm occurs or when the thermal relay is actuated 2 When using servo amplifiers of 5kW and 7kW always remove the lead of built in regenerative brake resistor c
267. heat Servo motor overheat Overload 1 Overload 2 Main circuit Overcurrent Overspeed Command pulse frequency error Error excessive Encoder error 1 Motor combination error Encoder error 2 Absolute position erase Note 0 off 1 on Setting of warning WNG output Select the connector pin to output warning The old signal before selection will be unavailable A parameter error AL 27 will occur if the connector pin setting is the same as that in the third digit Set value Connector pin No Not output CN1A 19 CN1B 18 CN1A 18 CN1B 19 CN1B 6 Setting of battery warning BWNG output Select the connector pin to output battery warning The old signal before selection will be unavailable Set this function as in the second digit of this parameter Parameter No 1 setting has priority A parameter error AL 37 will occur if the connector pin setting is the same as that in the second digit Sai D Ei D gt D g g En kl a g BI nD g g a gt a 5 PARAMETERS Initial Setting Control Class No Symbol Name and function Unit g value range mode 51 OP6 Function selection 6 Used to select the operation to be performed when the reset RES switches on This parameter is invalid base circuit is shut off in the absolute position det
268. hell kit 10320 3210 000 Refer to 3 in this section MR PWCNS1 Refer to the Servo Motor Instruction Manual MR PWCNS2 Refer to the Servo Motor Instruction Manual MR PWCNS2 Refer to the Servo Motor Instruction Manual MR BKCN Refer to the Servo Motor Instruction Manual MR PWCNK1 Refer to the Servo Motor Instruction Manual MR PWCNK2 MR H3CBL1M 3M or equivalent Connector DE 9SF N Case DE C1 6 S6 U apan Aviation Electronics Connector CE 05 6A22 23SD B BSS Cable clamp CE 3057 12A 2 D265 DDK Connector CE 05 6A24 10SD B BSS Cable clamp CE3057 16A 2 D265 DDK Plug CE05 6A24 10SD B BSS Cable clamp CE 3057 16A 2 D265 DDK Plug MS3106A10SL 4S D190 DDK Cable connector Y SO10 5 8 Daiwa Dengyo Plug 5559 04P 210 Terminal 5558PBT3L For AWG16 6 pcs Molex Plug 5559 06P 210 Terminal 5558PBT3L For AWG16 8 pcs Molex Servo amplifier side connector Tyco Electronics Housing 171822 4 13 20 For connection with PC AT compatible personal computer EN Standard compliant IP65 IP67 For motor with brake IP20 13 OPTIONS AND AUXILIARY EQUIPMENT 2 Encoder cable The encoder cable is not oil resistant Refer to Section 12 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 w
269. hine connected with the servo motor can be operated 4 OPERATION 4 2 Startup A WARNING Do not operate the switches with wet hands You may get an electric shock Before starting operation check the parameters Some machines may perform unexpected operation Take safety measures e g provide covers to prevent accidental contact of hands and parts cables etc with the servo amplifier heat sink regenerative brake A CAUTION 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 4 2 1 Selection of control mode Use parameter No O to choose the control mode used After setting this parameter is made valid by switching power off then on 4 2 2 Position control mode 1 Power on 1 Switch off the servo on SON 2 When main circuit power control circuit power is switched on the display shows C Cumulative feedback pulses and in two second later shows data In the absolute position detection system first power on results in the absolute position lost AL 25 alarm and the servo system cannot be switched on This is not a failure and takes place due to the uncharged capacitor in the encoder The
270. i dc 15 7 15 7 2 1 STE MEA ecc irritan ta de 15 8 15 7 3 Home position SettiNdO oconiniinnicnncninnnnnnm aaa a aa aa aaa aaia niania 15 17 15 7 4 Use of servo motor with electromagnetic brake AA 15 19 15 7 5 How to process the absolute position data at detection of strokeend An 15 20 15 8 Examples Of USO icono 15 21 15 8 LMELSEG AI1S AISD 71 ii cia eee ia dea ae ea eae pen ra aes 15 21 15 8 2 MELSEC FX 2N 32MT ESONTIL UD 15 35 15 8 3IMELSECE AISD75A D75 ihe tee ied i ee ei ee 15 47 15 9 Confirmation of absolute position detection data 15 62 15 10 Absolute position data transfer errors cccccccseseeseseseseeeeeeeeecseeaeeeceeessecaeeaseessesaesaseeseetetaseaseetaes 15 63 Ta ee ee Ee ge NEE 15 63 15 10 2 Error resetting CONAItIONS ommmcicninnncncncnnc 15 65 App 1 Signal arrangement recording heeten App 1 App 2 Status display block diagram ercer App 2 App 3 Combination of servo amplifier and Servo MOtOF coooccccconniccccnccnnonccccnnonncnnn cnc ran rrnnr nan cncrnn anna App 3 Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual 1 INTRODUCTION 2 INSTALLATION 3 CONNECTORS USED FOR SERVO MOTOR WIRING 4 INSPECTION 5 SPECIFICATIONS 6 CHARACTERISTICS 7 OUTLINE DIMENSION DRA
271. ial communication tion Always set one station to one axis of servo amplifier If one station number is set to two or more stations normal communication cannot be made 16 Basic parameters 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 column 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 standard selection 0 RS 232C used 1 RS 422 used _ Serial communication response delay time 0 Invalid 1 Valid reply sent after delay time of 8001s or more 5 10 5 PARAMETERS 17 MOD Analog monitor output 0100 Refer to Used to selection the signal provided to the analog monitor MO1 Name analog monitor MO2 output and Refer to Section 5 2 2 function fo lol column Setting Analog monitor MO2 Analog monitor MO1 Servo motor speed 8V max speed Torque 8V max torque Note Motor speed 8V max speed Torque 8V max torque Note Current command 8V max current command Command pulse frequency 10V 500kpulse s Droop pul
272. ifier Refer to Section 11 1 Connection Target Symbol Description Application Li L2 L3 Main circuit power supply Supply Li L2 and L3 with the following power For 1 phase 230VAC connect the power supply to L L2 and leave L3 open Power supply 70A to 22kA to 40A1 3 phase 200 to 230VAC ASE 50 60Hz nd A SS 50 60Hz a 50 60H z Servo motor output Connect to the servo motor power supply terminals U V W Control circuit power supply Regenerative brake option Return converter Brake unit Protective earth PE Supply Lu and L12 with the following power Servo amplifier Vie 28 104 to 700A MR J2S 10A1 to 40A1 Power supply 1 phase 200 to 230VAC L11 L21 50 60Hz 1 phase 100 to 120VAC Lia Lor 50 60HZ 1 MR J 2S 350A or less Wiring is factory connected across P D servo amplifier built in regenerative brake resistor When using the regenerative brake option always remove the wiring from across P D and connect the regenerative brake option across P C 2 MR J 2S 500A 700A Wiring is factory connected across P C servo amplifier built in regenerative brake resistor When using the regenerative brake option always remove the wiring from across P C and connect the regenerative brake option across P C Refer to Section 13 1 1 for details When using the return converter or brake unit connect it across P N Do not connect it to the servo amplifier of MR 2S 350A or less Refer to Sections 13 1
273. igh frequency leakage current zero phase current especially within 0 5MHz to 5MHz band Outline drawing Unit mm Unit in Wind the 3 phase wires by the equal number of times in the FR BSF01 for MR J2S 200A or less same direction and connect the filter to the power supply side Approx 110 4 33 and output side of the servo amplifier The effect of the filter on the power supply side is higher as the number of winds is larger The number of turns is generally four If the wires are too thick to be wound use two or more filters and make the total number of turns as mentioned above On the output side the number of turns must be four or less Do not wind the grounding wire together with the 3 phase wires The filter effect will decrease Use a separate wire for grounding Example 1 NFB MC o Power SCH G supply SCH Be o o L2 Line noise FCI La filter gt pecs eae 2 5 0 20 I fe Ge 0 44 0 02 Approx 22 5 0 89 Approx 65 2 56 Mp 33 1 30 11 25 0 5 Servo amplifier Approx 65 2 56 Number of turns 4 Example 2 NFB MC 5 Servo amplifier o o o Power A Li supply o bo Le Line noise L filter O g Two filters are used Total number of turns 4 e Radio noise filter F R BIF for the input side only This filter is
274. in ERZ C10DK221 13 5 0 53 4 7 1 0 0 19 0 04 Vinyl tube 20003 X OOO Crimping terminal for M4 screw KX 60 8 0 03 30 0 1 18 or more 13 2 7 Noise reduction techniques Noises are dassified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction Since the servo amplifier is an electronic device which handles small signals the following general noise reduction techniques are required Also the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies If peripheral devices malfunction due to noises produced by the servo amplifier noise suppression measures must be taken The measures will vary slightly with the routes of noise transmission 1 Noise reduction techniques a General reduction techniques Avoid laying power lines input and output cables and signal cables side by side or do not bundle them together Separate power lines from signal cables Use shielded twisted pair cables for connection with the encoder and for control signal transmission and connect the shield to the SD terminal Ground the servo amplifier servo motor etc together at one point refer to Section 3 10 13 44 13 OPTIONS AND AUXILIARY EQUIPMENT b Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise s
275. in the correct direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop EMG and other protective circuits The emergency stop switch normally closed contact must be installed CN1A CN1B CN2 and CN3 have the same shape Wrong connection of the connectors will lead to a fault The sum of currents that flow in the external relays should be 80mA max If it exceeds 80mA externally supply 24VDC 10 200mA power for the interface 200mA is a value applicable when all I O signals are used Reducing the number of UO points decreases the current capacity Refer to the current necessary for the interface described in Section 3 6 2 Connect the external 24VDC power supply if the output signals are not used Trouble ALM turns on in normal alarm free condition When connecting the personal computer together with analog monitor 1 MO1 and analog monitor 2 MO2 on the 7kW or less servo amplifier use the maintenance junction card MR J2CN3TM Refer to Section 13 1 5 The pins with the same signal name are connected in the servo amplifier Use MRZJW3 SETUP 121E 10 When using the internal power supply VDD always connect VDD COM Do not connect them when supplying external power Refer to Section 3 6 2 11 Use an external power supply when inputting a negative voltage 12 For the 11kW or more servo amplifier analog monitor 1 MO1 and analog monitor 2 MO2
276. inal screw M4 Tightening torque 1 2 N m 10 6 Ibwin G3 G4 Mounting screw Screw M6 Tightening torque 5 4 N m 47 79 lb in Regenerative MR RB50 5 6 12 3 MR RB51 Terminal block G4 a3 C P 82 5 82 5 gt gt 3 24 3 24 Regenerative brake option Terminal screw M5 Tightening torque 2 0 N m 17 lb in Mounting screw Screw size M8 Tightening torque 13 2 N m 116 83 lb in e GRZG400 2Q GRZG400 19 GRZG400 0 8Q standard accessories Approx 24 0 09 Approx 10 Approx 10 0 39 5 5 0 22 ny Approx 330 13 0 385 Unit mm in 40 Approx 39 1 54 W KE Approx 047 1 85 13 9 Mounting screw Screw size M8 Tightening torque 13 2 N m 116 83 Ib in 13 OPTIONS AND AUXILIARY EQUIPMENT 13 1 2 Brake unit The brake unit and resistor unit of other than 200V class are not applicable to the servo amplifier The brake unit and resistor unit of the same capacity must be combined The units of different capacities may result in damage The brake unit and resistor unit must be installed on a vertical surface in t
277. ination of POINT Section 15 1 1 Reexamination of diagram Section 15 7 3 2 Addition of POINT Section 15 7 4 Partial reexamination of diagram Section 15 8 3 2 c d Addition of Note2 2 2 MR J2S A GIJUTU SIRYOU MODEL MODEL ES 1CW501 De MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 This Instruction Manual uses recycled paper SH NA 030006 H 0512 MEE Printed in Japan Specifications subject to change without notice
278. ing DC terminai Mass Used ie i i a a o o e r i o SAEN Sie re Ge AUR l reactors MRJ25 11KA_ FR BEL 15k 170 6 69 93 3 66 170 6 69 2 0 09 155 6 10 60 24 1a 0 55 wg 56221 ms 3 8 838 22 0wG4 MRy25 15KA__ FR BEL 22k_ 185 7 28 119 4 69 182 7 17 2 6 0 10 165 6 49 7 0 28 150 59 m8 Tut m6 aa aaen 5 RJ 2S 22KA___ FR BEL 30K_ 185 7 28 119 4 69 201 7 91 2 6 0 10 f 65 6 49 70 28 i5059 wg ol wg 671477 60 awG10 13 43 13 OPTIONS AND AUXILIARY EQUIPMENT 13 2 5 Relays The following relays should be used with the interfaces Interface Selection example Relay used for digital input command signals interface 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 13 2 6 Surge absorbers A surge absorber is required for the electromagnetic brake Use the following surge absorber or equivalent Insulate the wiring as shown in the diagram Maximum rating Static SCH SE Maximum capacity Varistor voltage Permissible circuit Surge Energy ae f f limit voltage reference rating range VimA voltage immunity immunity valia GEES GE ivi GE Note 25 360 500 ti me 198 to Gem Note 1 time 8 X 20us Example ERZV10D221 Matsushita Electric Industry TNR 10V221K Nippon chemi con Outline drawing mm
279. ing table lists display examples Displayed data Item Status TAR Servo amplifier display Forward rotation at 3000r min Servo motor speed Reverse rotation at 3000r min Reverse rotation is indicat Load inertia moment 11252pulse Multi revolution counter 12566pulse Negative value is indicated by the lit decimal points in the upper four digits 6 DISPLAY AND OPERATION 6 2 2 Status display list Thefollowing table lists the servo statuses that may be shown Refer to Appendix 2 for the measurement point range Cumulative feedback pulses Servo motor speed Droop pulses Cumulative command pulses Command pulse frequency Analog speed command voltage Analog speed limit voltage Analog torque command voltage Analog torque limit voltage Regenerative load ratio Effective load ratio Peak load ratio Instantaneous torque Within onerevolution position low Feedback pulses from the servo motor encoder are counted and displayed The value in excess of 99999 is counted bus since the servo amplifier display is five digits it shows the lower five digits of the actual value Press the SET button to reset the display value to zero Reverse rotation is indicated by the lit decimal points in the upper four digits The servo motor speed is displayed The value rounded off is displayed in x 0 1r min The number of droop pulses
280. input cables of the power supply Servo motor thermal relay Alarm RA2 RA1 emergency stop OFF ON so sg 70 To olo FAA E me oo Sk Note1 Dynamic Servo amplifier Servo motor HA LFS series NFB o 3 phase 200 to 230VAC Oe O O MR JHSCBL P Note3 VDD Pi COM ALM Note2 EMG Emergency stop OHS2 Servo motor servo on SON thermal relay SG Note 1 When using the external dynamic break refer to section 13 1 4 2 There is no BW when the HA LFS11K2 is used 3 Always connect P P1 Factory wired When using the power factor improving DC reactor refer to Section 13 2 4 3 SIGNALS AND WIRING 3 13 2 Servo amplifier terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier Refer to Section 11 1 Connection Target Symbol Description Application Main circuit power supply Supply Li L2 and L3 with three phase 200 to 230VAC 50 60Hz power Servo motor output Connect to the servo motor power supply terminals U V W Control circuit power supply Supply Lu and L21 with single phase 200 to 230VAC power The servo amplifier built in regenerative brake resistor is not connected at the time of shipment When using the regenerative brake option wire it across P C Refer to Section 13 1 1 for details Return converter When using the return conver
281. ion of the No 49 was set with the electromagnetic interlock MBR to pin electromagnetic brake interlock CN1B 19 and the alarm code output MBR assigned to pin CN1B 19 function are exclusive Set as either one of the two is used 10 10 10 TROUBLESHOOTING Main circuit Main circuit device device overheat foverheat 2 The power supply was turnedon The drive method is reviewed and off continuously by overloaded status 3 Air cooling fan of servo amplifier 1 Exchange the cooling fan or the servo stops amplifier 2 Reduce ambient temperature Servo motor Servo motor 1 Ambient temperature of servo Review environment so that ambient overheat temperature rise motor is over 40 C 104 F temperature is 0 to 40 C 104 F actuated the 2 Servo motor is overloaded 1 Reduce load thermal sensor 2 Review operation pattern 3 Use servo motor that provides larger output 3 Thermal sensor in encoder is Change servo motor faulty AL DO Overload 1 Load exceeded 1 Servo amplifier is used in excess 1 Reduce load overload protection of its continuous output current 2 Review operation pattern characteristic of 3 Use servo motor that provides larger servo amplifier output 2 Servo system is instable and 1 Repeat acceleration hunting deceleration to execute auto tuning 2 Change auto tuning response setting 3 Set auto tuning to OFF and make gain adjustment manually 2 Install limit switches 4 Wrong con
282. ire to the connector pin insulate and protect the connection portion using heat shrinkable tubing Generally use the encoder cable available as our options If the required length is not found in the options fabricate the cable on the customer side a MRY CCBLOM L MR CCBLOM H These encoder cables are used with the HC KFS HC MFS HC UF S3000r min series servo motors 1 Model explanation Model MR JCCBLOM O Specifications L Standard flexing life H Long flexing life Symbol Note Cable length m ft 2 2 6 56 5 5 16 4 10 10 32 8 20 20 65 6 30 30 98 4 40 40 131 2 Note MR JCCBLOM H has 50 50 164 0 no 40 131 2 and 50m 164 0ft sizes 2 Connection diagram For the pin assignment on the servo amplifier side refer to Section 3 3 1 Encoder cable EE supplied to servo motor Encoder connector 172161 9 Tyco Electronics Encoder connector Servo motor Encoder cable FH option or fabricated 1 2 3 CN2 MR MRR BAT 4 5 6 50m 164 0ft max MD MDR 0 98ft 7 8 9 P5 LG SHD 13 21 13 OPTIONS AND AUXILIARY EQUIPMENT Drive unit side P5 LG P5 LG P5 LG MR MRR MD MDR BAT LG SD MR JCCBL2M L MR JCCBL5M L MR JCCBL2M H MR JCCBL5M H Encoder side 19 11 20 12 18 2 Plate 7 oor YO 9 Drive unit side MR JC
283. it does not run in the intended direction check the input signal On the status display check the speed load factor etc of the servo motor When machine operation check is over check automatic operation with the host controller or the like 6 Stop In any of the following statuses the servo amplifier interrupts and stops the operation of the servo motor Refer to Section 3 9 2 for the servo motor equipped with electromagnetic brake a Servo on SON OFF The base circuit is shut off and the servo motor coasts b Alarm occurrence When an alarm occurs the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop c Emergency stop EMG OFF The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop Alarm AL E6 occurs d Simultaneous ON or simultaneous OFF of forward rotation selection RS1 and reverse rotation selection RS2 The servo motor coasts A sudden stop indicates deceleration to a stop at the deceleration time constant of zero 4 3 Multidrop communication You can use the RS 422 communication function parameter No 16 to operate two or more servo amplifiers on the same bus In this case set station numbers to the servo amplifiers to recognize the servo amplifier to which the current data is being sent Use parameter No 15 to set the station numbers Always set one station number to one servo amplifier Normal com
284. ition control change mode 0 Toque Note 0 off 1 on Analog torque TLA CN1B To use this signal in the speed control mode set any ol Analog limit 12 parameters No 43 to 48 to make TL available When the analog torque limit TLA is valid torque is limited in the full servo motor output torque range Apply 0 to 10VDC across TLA LG Connect the positive terminal of the power supply to TLA Maximum torque is generated at 10V Refer to 5 in Section 3 4 1 Resolution 10bit Analog torque TC Used to control torque in the full servo motor output torque Analog command range Apply 0 to 8VDC across TC LG Maximum torque is generated at 8V Refer to 1 in Section 3 4 3 The torque at 8V input can be changed using parameter No 26 VC CN1B Apply O to 10VDC across VC LG Speed set in parameter No 25 Analog 2 is provided at 10V Refer to 1 in Section 3 4 2 input Resolution 14bit or equivalent Analog speed VLA Apply O to 10VDC across VLA LG Speed set in parameter No Analog AN limit 25 is provided at 10V Refer to 3 in Section 3 4 3 input PP Forward rotation Used to enter a command pulse train DI 2 pulse train In the open collector system max input frequency 200kpps Reverse rotation NP Forward rotation pulse train across PP SG pulse train Reverse rotation pulse train across NP SG PG In the differential receiver system max input frequency 500kpps NG Forward rotation pulse train across PG P
285. ke option overheats abnormall y Servo amplifier Always remove the lead from across P D DO x ES Regenerative brake option pO P cO OF G3 Q Q Notera 4 5m 16 4 ft max TER o Fan Note 1 Note 1 When using the MR RB50 forcibly cool it with a cooling fan 1 0m min 82 or so 2 Make up a sequence which will switch off the magnetic contactor MC when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4VA For the MR RB5O0 install the cooling fan as shown Unit mm in Fan installation screw hole dimensions 2 M3 screw hole Top for fan installation Fan Terminal block Depth 10 or less Screw hole already y machined Thermal relay amp ag 3 25 i i i Installati f Recommended fan Vertical Horizontal installation nstallation surface EE installation 13 OPTIONS AND AUXILIARY EQUIPMENT b MR 2S 500A MR J 2S 700A Always remove the wiring across P C of the servo amplifier built in regenerative brake resistor and fit the regenerative brake option across P C The G3 and G4 terminals act as a thermal sensor G3 G4 are opened when the regenerative brake option overheats abnormally Always remove wiring across P C of servo Servo amplifier amplifier built in regenerative brake resistor Regenerative brake option 5m 16 4ft or
286. ke The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated and is built in the 7kW or less servo amplifier Since it is not built in the 11kW or more servo amplifier purchase it separately if required Set 1100 in the parameter No 1 Servo amplifier Dynamic brake MR 2S 11KA DBU 11K MR 2S 15KA DBU 15K MR 2S 22KA DBU 22K 2 Connection example Servo amplifier Operation ready Notet EMG ofp ON O POS Servo motor NFB Power supply 3 phase 200 to O 230VAC RA UU Eee ee E oe ee ee el Dynamic brake Note1 Configure up the circuit so that power is switched off in the external sequence at servo alarm occurrence 2 When using servo ampliflers of 11kw to 22kw always connect P P1 Factory wired When using the power factor improving DC reactor refer to Section 13 2 4 13 15 13 OPTIONS AND AUXILIARY EQUIPMENT Coasting Coasting Servo motor rotation Dynamic brake i Present i Alarm i Absent ON Base i OFF t t ON i RA1 i OFF 1 ae ME Dynamic brake valid 1 Ne Valid l l emergency stop Short EMG Open a Timing chart at alarm occurrence b Timing chart at emergency stop EMG validity 13 16 13 OPTIONS AND AUXILIARY EQUIPMENT 3 Outline dimension drawing
287. l contact Relationships between LOP and control modes are indicated below Note LOP Servo control mode 0 Speedcontrolmode Note 0 off 1 on The control mode may be changed at any time A change timing chart is shown below Speed Torque Speed control mode control mode control mode gt lt gt lt ON Control change LOP A ll OFF Servo motor speed N Note Load torque Analog torque GA i command TC 0 Forward rotation in driving mode Note When the start ST1 ST2 is switched off as soon as the mode is changed to speed control the servo motor comes to a stop according to the deceleration time constant 2 Speed setting in speed control mode As in Section 3 4 2 1 3 Torque limit in speed control mode As in Section 3 4 1 5 3 SIGNALS AND WIRING 4 Speed limit in torque control mode a Speed limit value and speed The speed is limited to the limit value set in parameter No 8 internal speed limit 1 or the value set in the applied voltage of the analog speed limit VLA A relationship between the analog speed limit VLA applied voltage and the servo motor speed is as in a 3 in section 3 4 3 Generally make connection as shown below Servo amplifier Japan resistor RRS10 or equivalent b Speed selection 1 SP1 and speed limit value Use speed selection 1 SP1 to select between the speed set by the internal speed command 1 and the speed set by the ana
288. less 444 a e Fan Note 1 Note 1 When using the MR RB50 MR RB51 forcibly cool it with a cooling fan 1 0m min 192 or so 2 Make up a sequence which will switch off the magnetic contactor MC when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4VA When using the regenerative brake resistor option remove the servo amplifier s built in regenerative brake resistor terminals across P C fit them back to back and secure them to the frame with the accessory screw as shown below Mounting method Accessory screw N e On iat gt Le For MR J2S 700A AO Accessory screw 13 OPTIONS AND AUXILIARY EQUIPMENT For the MR RB50 MR RB51 install the cooling fan as shown Unit mm in rew hole dimensions 2 M3 screw hole for fan installation Depth 10 or less Screw hole already machined Toyo Denki s TL396A or equivalent amp Fan installation sc Top Fan Terminal block fi y eeng Thermal relay J SCH al Tia SCDE 40 1 58 3 25 y Recommended fan Vertical Horizontal installation nstallation surface installation c MR J 25 11KA to MR J 2S 22KA when using the supplied regenerative brake resistor When using the regenerative brake resistors supplied to the servo amplifier th
289. lifier power side Continuous flow of a large current may cause a fire ZN CAUTION Use the trouble signal to switch power off Otherwise a regenerative brake transistor fault or the like may overheat the regenerative brake resistor causing a fire POINT For the power line circuit of the MR 25 11KA to MR 25 22KA refer to Section 3 13 where the power line circuit is shown together with the servo motor connection diagram 3 7 1 Connection example Wire the power supply and main circuit as shown below so that the servo on SON turns off as soon as alarm occurrence is detected and power is shut off 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 Emergency RA stop OFF Li Servo amplifier o 3 Phase 200 to 230 VAC E el Emergency oYo stop os Servo on Trouble 3 SIGNALS AND WIRING 2 For 1 phase 100 to 120VAC or 1 phase 230VAC power supply Emergency RA stop ON MC o O SK Power supply NFB MC H 1 phase 100 to L Servo amplifier 120VAC or 6 0 5 bi 1 phase 230VAC bg 3 O Lit gt Let Emergency stop EMG Servo on xe SON SG Aa Trouble Note Not provided for 1 phase 100 to 120VAC 3 SIGNALS AND WIRING 3 7 2 Terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo ampl
290. llowing parts must be changed periodically as listed below If any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please contact your sales representative Part name Life guideline Smoothing capacitor Rela Number of power on and number of Servo amplifier S emergency stop times 100 000 times Cooling fan 10 000 to 30 000hours 2 to 3 years Absolute position battery Refer to Section 15 2 a Smoothing capacitor Affected by ripple currents etc and deteriorates in characteristic The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of ts lifein 10 years of continuous operation in normal air conditioned environment b Relays Their contacts will wear due to switching currents and contact faults occur Relays reach the end of their life when the cumulative number of power on and emergency stop times is 100 000 which depends on the power supply capacity c Servo amplifier cooling fan The cooling fan bearings reach the end of their life in 10 000 to 30 000 hours Normally therefore thefan must be changed in a few years of continuous operation as a guideline It must also be changed if unusual noise or vibration is found during inspection 9 INSPECTION MEMO 10 TROUBLESHOOTING 10 TROUBLESHOOTING
291. log speed limit VLA as indicated in the following table Note External signals Speed command value ES Analog speed limit VLA Internal speed limit 1 parameter No 8 Note 0 off 1 on When the internal speed limit 1 is used to command the speed the speed does not vary with the ambient temperature c Limiting speed VLC As in c 3 in section 3 4 3 5 Torque control in torque control mode As in Section 3 4 3 1 6 Torque limit in torque control mode As in Section 3 4 3 2 3 SIGNALS AND WIRING 3 4 6 Torque position control change mode Set 0005 in parameter No O to switch to the torque position control change mode 1 Control change LOP Use control change LOP to switch between the torque control mode and the position control mode from an external contact Relationships between LOP and control modes are indicated below Note LOP Servo control mode o Torquecontrolmode Note 0 off 1 on The control mode may be changed in the zero speed status To ensure safety change control after the servo motor has stopped When position control mode is changed to torque control mode droop pulses are reset If the signal has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown below Speed Torque Speed control mode control mode control mode OO Kg
292. maximum output pulse command of the A1SD75P Use the electronic gear of the servo amplifier to run the servo motor under the maximum output pulse command of the A1SD75P 5 PARAMETERS To rotate the servo motor at 3000r min in the open collector system 200kpulse s set the electronic gear as follows _CMX No CDV 60 f Input pulses pulse s No Servo motor speed r min Pt Servo motor resolution pulse rev a CMX _ 3000 200 10 CDV 60 gt 131072 CMX _ 3000 181072 _ 3000 131072 4096 CDV 60 200 60 200000 125 The following table indicates the electronic gear setting example ballscrew lead 10mm when the A1SD75P is used in this way Rated servo motor speed 3000r min 2000r min pad Open Differential Open Differential E EE EC driver a a aa driver Max input pulse frequency Max input pulse frequency kpulse s Feedback pulse revolution pulse rev A _ Electronic gear CMX CDV 4096 125 2048 125 8192 375 4096 375 Command pulse frequency kpulse s Note 400 Number of pulses per servo motor revolution as 4000 8000 6000 12000 viewed from A18D75Plpulse rev A RE A SE Ge EE Minimum command unit 1pulse Minimum command unit 0 lum Gi GE AP 000 arfa Am 100 eem 100 aa 100 a 100 a Note Command pulse frequency at rated speed 5 PARAMETERS _ ____ _ o RR rro mRR oR RQpmERRpppQopooOoQ gt oRQQp gt RooQ oRooQoQQoQQrrnrnVpnVm n _ _ro gt rrop g
293. meter setting operations MODE UP DOWN SET z Used to set data Chapter6 Used to change the display or data in each mode Used to change the mode 1 0 signal connector CN1A 3 Used to connect digital 1 O signals eae 1 O signal connector CN1B e Section3 Used to connect digital I O signals EE Communication connector CN 3 Section3 3 Used to connect a command device RS 422 RS232C Section13 1 5 and output analog monitor data Chapter14 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Control circuit terminal block TE 2 Section3 7 Used to connect the control circuit power supply Section11 1 1 Encoder connector CN 2 Section3 3 Used to connect the servo motor encoder Section13 1 5 Name plate Section1 5 Main circuit terminal block TE1 Section3 7 Used to connect the input power supply regenerative Section11 1 brake option and servo motor Section13 1 1 Protective earth PE terminal Section3 10 Fixed part Ground terminal Section11 1 4 places 1 13 1 FUNCTIONS AND CONFIGURATION 5 MR J2S 11KA or more The servo amplifier is shown without the front cover For removal of the front cover refer to section 1 7 2 Reference un R 3 S LA Battery holder Contains the battery for absolute position data backup Display The 5 digit seven segment LED shows the servo status and alarm number Op
294. minal screw M3 5 Tightening torque 0 8 N m 7 Ib in 21 11 5 11 OUTLINE DIMENSION DRAWINGS 6 MR J2S 11KA 15KA Unit mm SE Unit ml 2 412 60 47 3 Approx Fan air orientation mounting hole N 75 Ty 2 95 di 376 14 8 400 15 75 Al 12 0 a de 0 47 12 Hie 12 0 47 236 9 29 ge 260 10 24 Dam gt Mass S lifi 15 33 1 MR J 25 15KA 16 35 3 e Terminal signal layout N S Mounting Screw pa Screw Size M10 Tightening torque ufe o u v w r P c n hl eee A Bak Terminal screw M6 234 545 lb in Tightening torque 3 0 N m 26 Ib in Terminali screw M6 Tightening torque GOIN m 52 Ib in TE2 Terminal screw M4 Tightening torque 1 2 N m 10 6 Ib in 11 6 11 OUTLINE DIMENSION DRAWINGS 7 MR J2S 22KA Unit mm Unit in
295. mm in 12 5 0 49 13 54 14 COMMUNICATION FUNCTIONS 14 COMMUNICATION FUNCTIONS This servo amplifier has the RS 422 and RS 232C serial communication functions These functions can be used to perform servo operation parameter changing monitor function etc However the RS 422 and RS 232C communication functions cannot be used together Select between RS 422 and RS 232C with parameter No 16 Refer to Section 14 2 2 14 1 Configuration 14 1 1 RS 422 configuration 1 Outline Upto 32 axes of servo amplifiers from stations O to 31 can be operated on the same bus Servo amplifier Servo amplifier Servo amplifier MITSUBISHI MITSUBISHI MITSUBISHI Controller such as personal computer e y C JO DE O DOLO Axis 32 Station RS 232C RS 422 converter 31 SN Unavailable as option To be prepared by customer 2 Cable connection diagram Wire as shown below Note 3 30m 98 4ft or less Note 1 Note 1 Axis 1 servo amplifier CN3 connector Note 1 Axis 2 servo amplifier CN3 connector Axis 32 last axis servo amplifier CN3 connector Pl
296. mmable controller or the servo amplifier the servo on pushbutton switch or the PC RESET switch ON OFF If any of these operations are attempted the ABS coordinate error Y 4B is output since the absolute position cannot be detected Machine home position Home position toot Programmable controller coordinate 0 10000 50000 meee ina et Fata ABS 20000 D 4 50000 coordinate ABS E Direction in which gt system cooroinate address increases value error occurs if power is turned on within this range 4 Absolute position data can be detected a If revolution direction parameter Pr 14 0 Machine Home position home position e Programmable controller coordinate 50000 10000 O aysen i TI ABS 50000 a 0 20000 coordinate Direction in which AS coordinate system address increases valie amor occurs if power is turned Absolute position data can be on within this range detected b If revolution direction parameter Pr 14 1 15 21 15 ABSOLUTE POSITION DETECTION SYSTEM If the address of the machine home position is changed to any coordinate value other than 0 the programmable controller coordinate system will be as illustrated below The power should be turned ON OFF in the rangein which the address increases on moving away from the home position Machine home position Home position Machine home position Home position Programmable Programmable controller coordinate
297. mode Parameter Abbrevi D i Name Unit Description No ation 6 Pai 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 34 GD Ratio of load inertia moment to 0 1 Control parameters before changing servo motor inertia moment times Position control gain 2 8 vic spees integral compensation ms _ ENANA servo motor nertia moment 2 times inertia moment after changing e Les AA Used to set the ratio of the after changing position ratio control gain 2 to position control gain 2 Used to set the ratio of the after changing speed control ratio gain 2 to speed control gain 2 MENTES Speed integral compensation ES Used to set the ratio of the after changing speed integral changing ratio compensation to speed integral compensation e co Gain changing selection on Used to select the changing condition Used to set the changing condition values CDS Gain changing condition You can set the filter time constant for a gain change at 67 CDT Gain changing time constant ms changing 8 SPECIAL ADJUSTMENT FUNCTIONS 1 Parameters No 6 34 to 38 These parameters are the same as in ordinary manual adjustment Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment position control gain 2 speed control gain 2 and speed integral compensation to be changed 2 Ratio of load inertia
298. moment to servo motor inertia moment 2 GD2B parameter No 61 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 parameter No 62 speed control gain 2 changing ratio parameter No 63 speed integral compensation changing ratio parameter No 64 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 180 speed control gain 2 changing ratio 150 and speed integral compensation changing ratio 80 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 L00 16ms 4 Gain changing selection parameter No 65 Used to set the gain changing condition Choose the changing condition in the first digit If you set 1 here you can use the gain changing CDP extern
299. mov Ks o7 H Setting the number of retries 9 to 3 times SESAN M101 Error reset completion flag M9039 pMov D110 Ao H Loading received shift data PC RUN D To be continued D 15 50 15 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page X26 SET M13 Servo on request 7 Servo on PB AAA PE A E A FROM H0000 K816 D11 K1 Reading A1SD75 1 axis DU signal WAND H0001 D11 Masking RDY signal m s Current position change processing instruction Ee D11 Ki RR PLS M24 Processing instruction RDY signal ON judgment Current position change flag X26 RST M8 Servo on PB RST M13 RST co RST ct Y30 Servo on Error Retry flag request flag set PLs M5 M13 PLS M17 Servo on request M17 RsT c2 Retry flag reset request X24 M14 Ae Error reset Error flag PB Y33 Alarm reset X25 WwW M14 Emergency stop PB X23 RsT M8 Servo alarm RST M13 Y38 To be continued 15 51 Servo on Resetting ready control Resetting servo on request Resetting ABS transmission counter at servo OFF Resetting checksum transmission counter at servo OFF Servo on output ABS interface start Setting retry flag ABS transfer retry control Resetting retry counter Alarm reset output Error flag output Servo alarm detection alarm reset Resetting ready control Resetting servo on request Servo alarm
300. munication cannot be made if the same station number is set to two or more servo amplifiers For details refer to Chapter 14 5 PARAMETERS 5 PARAMETERS Never adjust or change the parameter values extremely as it will make operation cAUTION i ai d instable 5 1 Parameter list 5 1 1 Parameter write inhibit After setting the parameter No 19 value switch power off then on to make that setting valid In the MR J2S A servo amplifier its parameters are classified into the basic parameters No 0 to 19 expansion parameters 1 No 20 to 49 and expansion parameters 2 No 50 to 84 according to their safety aspects and frequencies of use In the factory setting condition the customer can change the basic parameter values but cannot change the expansion parameter values When fine adjustment e g gain adjustment is required change the parameter No 19 setting to make the expansion parameters write enabled The following table indicates the parameters which are enabled for reference and write by the setting of parameter No 19 Operation can be eee for the parameters marked O No Oto No 19 No 20 to No 49 No 50 to No 84 0000 Reference OT _ initial value Write ff eference No 19only Sd 000A Write No 19only eference oO 000B Write AS erence O ESE E See eterence 000E Write eterence 100B Write No 19omly AAA eference IA EE 100C Write No 19 only MEN Refer
301. n after disconnection of all cables but the control circuit power supply cables 2 The number of write times to EEP AL 16 Encoder error 1 Communication 1 Encoder connector CN 2 Connect correctly error occurred disconnected between encoder 2 Encoder fault Change the servo motor and servo amplifier 3 Encoder cable faulty Repair or change cable Wire breakage or shorted AL 17 Board error 2 CPU parts fault 1 Faulty parts in the servo amplifier Change the servo amplifier Checking method Alarm AL 17 occurs if power is switched on after disconnection of all cable but the control circuit power supply cable The output 2 The wiring of U V Wis Correctly connect the output terminals U terminals U V WO disconnected or not connected V W of the servo amplifier and the input the servo amplifier terminals U V W of the servo motor and the input terminals U V W of the servo motor are not connected of all cable but the control drcuit AL 19 Memory error 3 ROM memory fault F aulty parts in the servo amplifier Change the servo amplifier Checking method Alarm AL 19 occurs if power is switched on after disconnection power supply cable combination of servo anplifier Jand servo motor connected AL LA Motor Wrong combination Wrong combination of servo amplifier U se correct combination error and servo motor AL 20 Encoder error 2 Communication 1 Encoder connector CN
302. n the past Indicates no occurrence of parameter error AL 37 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 methods for clearable alarms refer to Section 10 2 1 a Switch power OFF then ON b Press the SET button on the current alarm screen c Turn on the alarm reset RES 4 Use parameter No 16 to clear the alarm history 5 Pressing SET on the alarm history display screen for 2s or longer shows the following detailed information display screen Note that this is provided for maintenance by the manufacturer 6 Press UP or DOWN to move to the next history 6 7 6 DISPLAY AND OPERATION 6 5 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 1 2 1 Operation example Thefollowing example shows the operation procedure performed after power on to change the control mode parameter No 0 to the speed control mode Using the MODE button show the basic parameter screen NA
303. n time amplifier version info motor information tuning data absolute encoder data automatic voltage control Axis name setting Parameter list turning change list detailed information Test operation J og operation positioning operation motor less operation Do forced output program operation Advanced function Machine analyzer gain search machine simulation File operation Data read save print Automatic demo help display 2 System configuration a Components To use this software the following components are required in addition to the servo amplifier and servo motor Note 2 Personal computer Display Note 1 Description IBM PC AT compatible where the English version of Windows 95 Windows 98 Windows Me Windows NT Workstation 4 0 or Windows 2000 Professional operates Processor Pentium 133MHz or more Windows 95 Windows 98 Windows NT Workstation 4 0 Windows 2000 Professional Pentium 150MHz or more Windows Me Memory 16MB or more Windows 95 24MB or more Windows 98 32MB or more Windows Me Windows NT Workstation 4 0 Windows 2000 Professional Free hard disk space 30MB or more Serial port used Windows 95 Windows 98 Windows Me Windows NT Workstation 4 0 Windows 2000 Professional English version One whose resolution is 800 lt 600 or more and that can provide a high color 16 bit display Connectable with the above personal computer
304. nB og MR J 2S 15KA parais 20 on s rB 10 a Lesi5kim 220 on s nB 1390 Hates i m oo oso o oss f ass HA LFS25K1 37 6 19 4 208 8 Haex mo s s 170 o Note 1 Note that the power supply capacity will vary according to the power supply impedance This value assumes that the power factor improving reactor is not used 2 Heat generated during regeneration is not included in the servo amplifier generated heat To calculate heat generated by the regenerative brake option use Equation 13 1 in Section 13 1 1 MR J 25 22KA 12 3 12 CHARACTERISTICS 2 Heat dissipation area for enclosed servo amplifier The enclosed control box hereafter called the control box which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 C at the ambient temperature of 40 C With a 5 C 41 F safety margin the system should operate within a maximum 55 C 131 limit The necessary enclosure heat dissipation area can be calculated by Equation 12 1 where A Heat dissipation area m P Loss generated in the control box W AT Difference between internal and ambient temperatures C K Heat dissipation coefficient 5 to 6 When calculating the heat dissipation area with Equation 12 1 assume that P is the sum of all losses generated in the enclosure Refer to Table 12 1 for heat generated by the servo amplifier A indicates the effective area
305. nal and each segment at bottom indicates the output signal Thesignals corresponding to the pins in the respective control modes are indicated below 6 DISPLAY AND OPERATION a Control modes and I O signals Signal Note 2 Symbols of I O signals in control modes Related Connector Pin No input output malas Note 1 VO S Aaa EN A A E A EN A pts o mp messi sa sa gt me Nos Pp Y o roo roo ro ro rD rD no aesja o Loo pos por por po oor T po soy so son son son son SON No43to48 l o tic me tic frecv vic vicmic Nos9 A e e iP s2 Lor Noestodo PC ST1 STI RS2 RS2 PC_ No 43 to 48 SA risa sr sra esa sure Iesel a es Res Res mes res RES Nod3to4s 15 Note 1 l Input signal O Output signal 2 P Position control mode S Speed control mode T Torque control mode P S Position speed control change mode S T Speed torque control change mode T P Torque position control change mode 3 CN1B 4 and CN1A 18 output signals are the same b Symbol and signal names Esn Reverserctationstrokeend UC Limiimgtowe Clear Limiting speed paa A EE Pc Leroaga omg LE Imposition RS1 Forwardrotationseletion__ WNG Warning E op Encoder Z phase pulse open colector Torque limit BWNG Battery warning A As 6 10 6 DISPLAY AND OPERATION 3 Default signal indications a Position control mode EMG CN 1 B 1
306. nce circuit Note 2 is not required 2 Contrary to above 2 if the home position address is written in the home position address parameter the sequence circuit Note1 is not required but this sequence circuit Note 1 is required 3 Changes are stored temporarily to buffer memory at this time An additional processing is required when changes should be reflected to memory for OS or flash ROM For details refer to the positioningmodule user s manual 15 57 15 ABSOLUTE POSITION DETECTION SYSTEM g Electromagnetic brake output During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Set 1010 in parameter No 1 of the servo amplifier to choose the electromagnetic brake interlock MBR X21 4 Electromagnetic brake output ABS transfer Brake MBR mode h Positioning completion To create the status information for servo positioning completion During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X20 E m H Servo positioning completion ABS transfer Positioning mode completion Y31 ABS transfer mode i Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X21 M H Servo zero speed ABS transfer Zero mode speed Y31
307. nd brake wiring cables within the flexing life of the cables 3 Avoid any probability that the cable sheath might be cut by sharp chips rubbed by a machine corner or stamped by workers or vehicles 4 For installation on a machine where the servo motor will move the flexing radius should be made as large as possible Refer to section 12 4 for the flexing life 3 SIGNALS AND WIRING 3 SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work Before starting wiring switch power off then wait for more than 15 minutes and after the charge lamp has gone off make sure that the voltage is safe in the tester or like Otherwise you may get an electric shock Ground the servo amplifier and the servo motor securely Do not attempt to wire the servo amplifier and servo motor until they have been installed Otherwise you may get an electric shock The cables should not be damaged stressed excessively loaded heavily 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 o
308. ne analyzer operation mv A C is z H LI E Regenerative load Software version L Parameter error No ratio 2 nn Ll uud Effective load ratio Software version H m b HI D e load ratio Automatic VC offset e LI A 4 LI Instantaneous torque Motor series ID K rut LI A Lai mo LI Within one revolution Motor type ID position low pulse TU IL ri Loe H I LI Within one revolution Encoder ID position high 100 pulses A DE LJ ABS counter rev SEE OL Load inertia moment ratio times q rer Bus voltage V A Note The initial status display at power on depends on the control mode Position control mode Cumulative feedback pulses C Speed control mode Motor speed r Torque control mode Torque command voltage U Also parameter No 18 can be used to change the initial indication of the status display at power on 6 1 6 DISPLAY AND OPERATION 6 2 Status display The servo status during operation is shown on the 5 digit 7 segment LED display Press the UP or DOWN button to change display data as desired When the required data is selected the corresponding symbol appears Press the SET button to display its data At only power on however data appears after the symbol of the status display selected in parameter No 18 has been shown for 2 s The servo amplifier display shows the lower five digits of 16 data items such as the servo motor speed 6 2 1 Display examples Thefollow
309. nection of servo motor Connect correctly Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W 5 Encoder faulty Change the servo motor Checking method When the servo motor shaft is rotated with the servo off the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway AL DI Overload 2 Machine collision or 1 Machine struck something 1 Review operation pattern the like caused max 2 Install limit switches output current to 2 Wrong connection of servo motor Connect correctly flow successively for Servo amplifier s output terminals several seconds U V W do not match servo Servo motor locked motor s input terminals U V W 1s or morel3_ Servo system is instable and 1 Repeat acceleration deceleration to During rotation hunting execute auto tuning 2 55 or more 2 Change auto tuning response setting 3 Set auto tuning to OFF and make gain adjustment manually 4 Encoder faulty Change the servo motor Checking method When the servo motor shaft is rotated with the servo off the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway 10 11 10 TROUBLESHOOTING Display Serial communication time out error Serial communication error 88888 Watchdog between the model posi
310. nfiguration software model name change Compliance with EC Directives 1 Review of sentence Section 1 2 Review of function block diagram Section 1 3 Moving of servo amplifier standard specifications Review of torque limit description in position control mode Review of torque limit description in speed control mode Deletion of torque linearity in torque limit mode Addition of speed limit in torque control mode Section 3 1 1 1 Addition of encoder Z phase pulse connection Addition of Note for use of junction terminal block Section 3 1 1 2 Addition of Note for increased noise immunity Section 3 1 2 Addition of Note for input of negative voltage Section 3 1 3 Addition of Note for input of negative voltage Section 3 3 1 2 Review of Note Section 3 4 1 4 Addition of description about electronic gear switching Section 3 4 3 1 a Review of description for low voltage Section 3 5 Change in timing chart Section 3 5 3 Review of description Section 3 6 2 7 Review of connection Section 3 9 Review of POINT Section 3 9 3 b c Change in timing chart Section 3 9 3 d e Addition Section 5 1 2 2 Deletion of description as to parameter No 22 TC TLA Addition of parameter No 27 setting example Correction of parameter No 35 setting range Review of parameter No 47 48 sentences Section 5 2 5 Correction of operation pattern diagram Section 6 2 2 Review of within one revolution position sentence Section 6 3 Review of automatic VC
311. ng At this time do not connect the portions marked Note 1 3 The electromagnetic brake interlock MBR should be controlled by connecting the programmable controller output to a relay 15 35 15 ABSOLUTE POSITION DETECTION SYSTEM b FX2N 32MT FX2N 1PG Servo amplifier SD FXan 32MT L T Power supply 24V N H COM gt Dw 1x0 ABS bit 0 Completion of positioning bet i 3 3kQ Xx ABS bit 1 Zero speed E A X2 Send data ready Torque limit control ECT d E f X3 LZ X4 Alarm reset Sw l Servo ready ETA X5 Emergency stop FE SM AT JOG i X10 an K O Em X12 SIS start o X13 Postion stop xa 1 gt D er X15 G error reset So 4 Com1 alo EMG 15 VV x EE ara E ro 5 wa vi ABS transfer mode assm 8 Y2 Mm ABS request Leen 9 Y3 Alarm reset DEST 14 A aes 4 Ou D Y4 RAZ Electromagneti EE Wee gnetic Ty Sis da ines i al CAS 1 L gy 4 brake output f La i d Y6 EEES Kl Note 3 Y7 a oa f govs E Servo alarm L 3 i atts Y10 oO ABS communication Note 2 i wan error GH SE Ka ABS check sum error i SE Y13 Ea 24 a e 13 1 i S FXen 1PG AL S S PiU lt 4 3 3k SD Ha DOG oo DOG cry 24 OS STOP ae F VIN 3 J Note 1 CNIA OPO 11 3 3kQ i ada Keat H EP Pulse train for forward rotation l EE X a BS COM
312. ng CR OFF 20 ms or more Home position ABS data Y punto 15 17 15 ABSOLUTE POSITION DETECTION SYSTEM 2 Data set type home position return Never make home position setting during command operation or servo motor rotation It may cause home position sift It is possible to execute data set type home position return when the servo off Move the machine to the position where the home position is to be set by performing manual operation such as jog operation to turn the motor shaft more than one revolution When the home position setting CR is on for longer than 20ms the stop position is stored into the non volatile memory as the home position ABS data The home position setting CR should be turned on after it has been confirmed that the in position DO1 or INP is on If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to 1 000 000 times Manual feed JOG etc more than 1 revolution of the motor shaft Servo Motor Completion of ON j i positioning D01 or INP OFF Home position ON setting CR OFF t 20 ms or more i gt D Home position l ABS data X pads 15 18 15 ABSOLUTE POSITION DETECTION SYSTEM 15 7 4 Use of servo motor with electromagnetic brake Thetiming charts at powe
313. ng Speed can be increased smoothl y in response to input pulse Parameter No 7 S pattern acceleration i deceleration tima netan Speed can be increased and decreased smoothly Used when the built in regenerative brake resistor of thel Parameter No 13 Section 13 1 1 Regenerative brake option servo amplifier does not have sufficient regenerative capability for the regenerative power generated Used when the regenerative brake option cannot provide Brake unit enough regenerative power Can be used with the MR J 2S 500A to MR 2S 22KA Section 13 1 2 1 FUNCTIONS AND CONFIGURATION Control mode Used when the regenerative brake option cannot provide Return converter enough regenerative power P S T Section 13 1 3 Can be used with the MR J 2S 500A to MR 2S 22KA Alarm history clear Alarm history is cleared Parameter No 16 If the input power supply voltage had reduced to cause an alarm but has returned to normal the servo motor can be Parameter No 20 restarted by merely switching on the start signal Command pulse train form can be selected from among four Command pulse selection Parameter No 21 different types GE TA Forward rotation start reverse rotation start servo on Parameters ut si i H 9 SON and other input signals can be assigned to any pins No 43 to 48 Section 3 4 1 5 Parameter No de Section 3 4 3 3 Speed limit Servo motor speed can be limited to any value Parameter No 8 to 10 72 to 75
314. ng in CW direction 8 V A CCW direction 4 Max torque Max command current Max torque command ky ck D Max command current Max torque command Lan CW direction a CCW direction 10 V 7 i 500kpps al gt D 500kpps y 10 V CW direction at the torque highly limited Droop pulses Note1 10V 128pulse Droop pulses Note 1 10V 2048pulse Droop pulses Note1 10V 8192pulse Droop pulses Note1 10V 32768pulse Droop pulses Note1 10V 131072pulse Bus voltage 1011 CCW direction 128 pulse 0 128 pulse 10 V 101 CCW direction CW direction 2048 pulse 0 2048 pulse 10 V CW direction M 101 A CCW direction l 8192 pulse I ad 0 a 92 pulse y 10 V CW direction en 1011 CCW direction 32768 pulse CW direction 10 V 131072 pulse 0 131072 pulse 10 V CW direction NI 400 V 76 are set to limit torgue 8V is outputted 5 PARAMETERS 3 Analog monitor block diagram anbioL 10 0 OMIS yoegpas VO ISO dy eue 18 HIQ J98posuy yoeqpse eum 10 U09 OJJUOD 101 U09 asind JOJO OAIBS Opa WMd queuing paeds puewwoo UONISod DUSuUUOH JuaJIno eae eBeyjoA sng eww Aoueanba asind Plains esind doo puewwo9 5 32 5 PARAMETERS 5 2 3 Using forward
315. nput signals are recognized as follows Among the external input signals EMG LSP and LSN cannot be disabled External input signals DI External analog input signals Pulse train inputs 1 Disabling enabling the external input signals DI external analog input signals and pulse train inputs with the exception of EMG LSP and LSN Transmit the following communication commands a Disable 9110 0110 b Enable Command Data No Data oxo taol 2 Disabling enabling the external output signals DO Transmit the following communication commands a Disable Data 9 0 0 3 1EA5 b Enable Data 9110 1113 1EA5 14 20 14 COMMUNICATION FUNCTIONS 14 12 6 External input signal ON OFF test operation Each input signal can be turned on off for test operation Turn off the external input signals Send command 9 2 data No 0 0 and data 9112 og A EE b1 bO 1 ON 0 OFF Command of each bit is transmitted to the slave station as hexadecimal data Signal abbreviation 14 21 14 COMMUNICATION FUNCTIONS 14 12 7 Test operation mode 1 Instructions for test operation mode The test operation mode must be executed in the following procedure If communication is interrupted for longer than 0 5s during test operation the servo amplifier causes the motor to be decelerated to a stop and servo lo
316. nstable to cause 1 Reset servo gain to proper value overshoot 2 If servo gain cannot be set to proper value 1 Reduce load inertia moment ratio or 2 Reexamine acceleration deceleration time constant parameters No 3 4 10 9 10 TROUBLESHOOTING Display Overcurrent Overvoltage Command higher than the output phases U V and W permissible current 2 Transistor IPM of the servo Change the servo amplifier of the servo amplifier faulty amplifier Checking method Alarm AL 32 occurs if power is switched on after U V and W are disconnected 3 Ground fault occurred in servo Correct the wiring amplifier output phases U V and W 4 External noise caused the Take noise suppression measures overcurrent detection circuit to misoperate Current higher than 5 Improper wiring of the Wire the regenerative brake option the permissible regenerative brake option correctly current flew in the regenerative brake transistor MR J 2S 500A only Converter bus 1 Regenerative brake option is not Usethe regenerative brake option used 2 Though the regenerative brake Make correct setting option is used the parameter No 0 setting is 00010 not used 3 Lead of built in regenerative brake 1 Change lead resistor or regenerative brake 2 Connect correctly option is open or disconnected 4 Regenerative transistor faulty 5 Wire breakage of built in 1 For wire bre
317. o 66 setting Droop pulse value is equal to higher than parameter No 66 setting Servo motor speed is equal to higher than parameter No 66 setting act YN pid id Ye CDS Gain changing condition Used to set the value of gain changing condition command frequency droop pulses servo motor speed selected in parameter No 65 The set value unit changes with the changing condition item Refer to Section 8 5 CDT Gain changing time constant ac Used to set the time constant at which the gains will change in response to the conditions set in parameters No 65 and 66 Refer to Section 8 5 For manufacturer setting a Do not change this value by any means MX2 Command pulse multiplying factor numerator 2 0 1 sed to set the multiplier for the command pulse to etting 0 automatically sets the connected motor resolution 6553 CMX3 Command pulse multiplying factor numerator 3 1 Dr Used to set the multiplier for the command pulse to Setting 0 automatically sets the connected motor resolution 65535 mmand pulse multiplying factor numerator 4 sed to set the multiplier for the command pulse etting 0 automatically sets the connected motor resolution Internal speed command 4 Used to set speed 4 of internal speed commands Internal speed limit 4 Used to set speed 4 of internal speed limits 5 PARAMETERS Initial Setting Control Class No Symbol Name and function g value ran
318. o 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 servo amplifier Connect the output terminals U V W correctly Otherwise the servo motor will operate improperly Servo Amplifier Servo Motor U O OU V O OV w O OW 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 emergency stop EMG and other protective circuits may not operate Servo Servo Amplifier Amplifier COM COM 24VDC 24VDC Control Control output output signal signal 3 Test run adjustment N CAUTION Before operation check the parameter settings Improper settings may cause some machines to perform unexpected operation The parameter settings must not be changed excessively Operation will be insatiable 4 Usage N CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately Any person who is involved in disassembly and repai
319. o the main circuit power supply terminals L1 L2 L3 of the servo amplifier Doing so will fail the servo amplifier and FR CV Connect the DC power supply between the FR CV and servo amplifier with correct polarity Connection with incorrect polarity will fail the FR CV and servo amplifier Two or more FR CV s cannot be installed to improve regeneration capability Two or more F R CV s cannot be connected to the same DC power supply line When using the power regeneration common converter set parameter No 0 to 0100 1 Selection The power regeneration common converter FR CV can be used with 750W to 22kW servo amplifiers There are the following restrictions on use of the FR CV a Up to six servo amplifiers can be connected to one FR CV b FR CV capacity W gt Total of rated capacities W of servo amplifiers connected toFR CV x 2 c The total of used servo motor rated currents should be equal to or less than the applicable current A of the FR CV d Among the servo amplifiers connected to the FR CV the servo amplifier of the maximum capacity should be equal to or less than the maximum connectable capacity W The following table lists the restrictions Maximum number of connected servo amplifiers 622 Total of connectable servo motor rated currents A _ 33 46 61 90 ms 145 25 When using the FR CV always install the dedicated stand alone reactor FR CVL FR CV 22K AT FR C
320. offset description Section 6 6 2 a Review of Note Section 6 8 Review of PL sentence Chapter 7 Addition of POINT Section 7 3 2 1 2 Review of sentence makeup Section 7 4 Addition Section 8 1 1 Addition Section 8 3 2 Addition Section 10 1 1 1 Addition of Investigation item at power on Section 10 1 2 Addition of Investigation item at power on Addition of Investigation item at on of ST1 or ST2 Section 10 1 3 Addition of Investigation item at power on Addition of Investigation item at on of ST1 or ST2 Section 10 2 Addition of POINT Section 10 2 2 Review of Cause of AL 10 Deletion of Cause 4 of AL 16 Review of Cause and Action of AL 24 Addition of description to AL 25 Print data Sep 2000 SH NA 030006 B Section 10 2 2 Addition of description to AL 30 Addition of Cause to AL 33 Chapter 11 Changed to only outline dimensional drawing Section 11 2 2 Addition Section 12 2 1 Review of Note for Table 12 1 Section 12 3 Correction of dynamic brake time constant graph Chapter 13 Deletion of MR CPC98CBL3M communication cable Section 13 1 1 4 c Review of outline drawing Section 13 1 2 1 Deletion of MR PWCNF power supply connector set Section 13 1 2 1 1 6 Change of encoder side connector models Section 13 1 2 1 19 20 Change of terminal models Section 13 1 2 2 a 2 Addition of description for fabrication Section 13 1 3 Addition of POINT Section 13 1 3 4 Addition of cable length Change in connection
321. on CW Click during operation to make a temporary stop Click the Pause button again erases the remaining distance To resume operation press the click that was pressed to start the operation If the communication cable is disconnected during positioning operation the servo motor will come to a sudden stop 2 Status display You can monitor the status display even during positioning operation 6 15 6 DISPLAY AND OPERATION 6 8 4 Motor less operation Without connecting the servo motor you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals This operation can be used to check the sequence of a host programmable controller or the like 1 Operation After turning off the signal across SON SG choose motor less operation After that perform external operation as in ordinary operation 2 Status display You can confirm the servo status during motor less operation Pressing the MODE button in the motor less operation ready status calls the status display screen With this screen being shown perform motor less operation Every time you press the MODE button the next status display screen appears and on completion of a screen cycle pressing that button returns to the motor less operation ready status screen For full information of the status display refer to Section 6 2 In the test operation mode you cannot use the UP and DOWN buttons
322. one revolution counter High speed serial communication Position detector 15 1 2 Restrictions The absolute position detection system cannot be configured under the following conditions Test operation cannot be performed in the absolute position detection system either To perform test operation choose incremental in parameter No 1 1 Speed control mode torque control mode 2 Control switch over mode position speed speed torque torque position 3 Stroke less coordinate system e g rotary shaft infinitely long positioning 4 Changing of electronic gear after home position setting 5 Use of alarm code output 15 1 15 ABSOLUTE POSITION DETECTION SYSTEM 15 2 Specifications 1 Specification list Electronic battery backup system Bata 1 piece of lithium battery primary battery nominal 3 6V y ee ee MR BAT or A6BAT Maximum Maximum revolution range 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 batter E SS g E X 2 hours at delivery 1 hour in 5 years after delivery replacement Battery storage period 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
323. onnected to P terminal and C terminal 3 When using servo ampliflers of 11kw to 22kw always connect P P1 Factory wired When using the power factor improving DC reactor refer to Section 13 2 4 13 10 13 OPTIONS AND AUXILIARY EQUIPMENT The cables between the servo amplifier and brake unit and between the resistor unit and brake unit should be as short as possible The cables longer than 5m 16 404ft should be twisted If twisted the cables must not be longer than 10m 32 808ft The cable size should be equal to or larger than the recommended size See the brake unit instruction manual You cannot connect one set of brake unit to two servo amplifiers or two sets of brake units to one servo amplifier Servo amplifier Servo amplifier Brake unit Resistor unit Brake unit Resistor unit P P P P p Twist p p Twist P N N PR PR N N PRES APR gt gt 5m 16 404ft 5m 16 404ft 10m 32 808ft 10m 32 808ft or less or less or less or less 3 Outside dimensions a Brake unit FR BU Unit mm in Note Control circuit Operation i lt terminals display mA Main circuit terminals es AR Li AAA Note Ventilation ports are provided in both side faces and top face The bottom face is open Approx E A e E Mass kg Ib 18 5 48 5 7 5 2 4 FR BU 15K gt an 2 se E Se de om 5 2 0 a 0 72
324. onnection diagram a FX 32MT FX 1PG Servo amplifier SD FX 32MT LH SS Power supply N CN1B 24V J Co RUN o SG 2 o A k ABS bit 0 Completion of positioning _ p 717 EC ABS bit 1 Z d Dot i XI ch SEET ZSP 4 i X2 A Sand ata ready Torque limit control mol E X3 arm ALM 18 xa Alarm reset Servo ready r Wat ZZ X5 Emergency stop ch cb ch RD 19 X6 Servo on So 4 XT JOG T X10 On l ES xa o f Position start xie Position stop S d A Home position return start X15 1PG error reset do l Kou E olo EMG 15 KI YO A ervo on SON 5 mE l ABS transfer mode GER A ABS request Y2 Al g wel 9 amp T R Y3 arm rese RES KI lcom2 a Se e Y4 bie Electromagnetic Y5 2 gy brake output Y6 1 l Note 3 af Y7 Za D 1 1 l coms mo i EPT y a Samoa uy FREN uP ct Note 2 D Yi Ge AA ABS communication V12 a error y Co e 13 ABS check sum error d 24 ch com 13 el g oi Gate SG it S S e K 3 3kQ Ha DOG o DOG A 24V mr y STOP yl R E Pa ra DF VH E AD VDD 3 VL Note 1 ge CN1A i i Sg WW Ea wy Li way oes SE a ae R p Poo SE A E OP y SD Note 1 To be connected for the dog type home position setting At this time do not connect the portions marked Note 2 2 To be connected for the data set type home position setti
325. or by turning on the reset RES For details refer to Section 10 2 1 When an alarm occurs the trouble ALM switches off and 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 Display AL 10 Undervoltage Power supply Review the power supply voltage dropped 2 There was an instantaneous MR 2S DA control power failure of 60ms or 160VAC or less longer MR J 2S DA1 3 Shortage of power supply capacity 83VAC or less caused the power supply voltage to drop at start etc 200VDC 5 Faulty parts in the servo amplifier Change the servo amplifier Checking method Alarm AL LO occurs if power is switched on after disconnection of all cables but the control circuit power supply cables AL 12 RAM memory fault Faulty parts in the servo amplifier Change the servo amplifier AL 13 Clock error Printed board fault Checking method Alarm any of AL 11 and AL 13 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables 10 7 10 TROUBLESHOOTING Display AL 15 Memory error 2 EEP ROM fault 1 Faulty parts in the servo amplifier Change the servo amplifier Checking method Alarm AL 15 occurs if power is switched o
326. otor equipped with electromagnetic brake Note that simultaneous ON or simultaneous OFF of stroke end LSP LSN OFF and forward rotation start ST1 or reverse rotation start ST2 has the same stop pattern as described below a Servo on SON OFF The base circuit is shut off and the servo motor coasts b Alarm occurrence When an alarm occurs the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop c Emergency stop EMG OFF The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop Alarm AL E6 occurs d Stroke end LSP LSN OFF The servo motor is brought to a sudden stop and servo locked The motor may be run in the opposite direction e Simultaneous ON or simultaneous OFF of forward rotation start ST1 and reverse rotation start ST2 The servo motor is decelerated to a stop A sudden stop indicates deceleration to a stop at the deceleration time constant of zero 4 2 4 Torque control mode 1 Power on 1 Switch off the servo on SON 2 When main circuit power control circuit power is switched on the display shows U torque command voltage and in two second later shows data 2 Test operation Using jog operation in the test operation mode operate at the lowest speed to confirm that the servo motor operates Refer to Section 6 8 2 3 Parameter setting Set the parameters according to the structure and spe
327. ources such as a magnetic contactor an electromagnetic brake and many relays which make a large amount of noise near the servo amplifier and the servo amplifier may malfunction the following countermeasures are required Provide surge absorbers on the noise sources to suppress noises Attach data line filters to the signal cables Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings c Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits input and output circuits those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables and those transmitted through the power supply cables Noises produced Noises transmitted Noise radiated directly by servo amplifier in the air from servo amplifier Route 1 Noise radiated from the power supply cable Route 2 Noise radiated from servo motor cable Route 3 Magnetic induction Y noise J Routes 4 and 5 Ra N Static induction noise Route 6 ON a Ss EE Noise transmitted through Route 7 Route channel power supply cable Noise sneaking from grounding cable due to Route 8 leakage current
328. ower supply directly to the servo motor Otherwise a fault may occur Do not apply the test lead bars or like of a tester directly to the pins of the connectors supplied with the servo motor Doing so will deform the pins causing poor contact The connection method differs according to the series and capacity of the servo motor and whether or not the servo motor has the electromagnetic brake Perform wiring in accordance with this section 1 For grounding connect the earth cable of the servo motor to the protective earth PE terminal of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box Do not connect them directly to the protective earth of the control panel Control box Servo Servo motor amplifier d PE terminal 2 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 3 8 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 13 2 1 For encoder cable connection refer to Section 13 1 5 For the signal layouts of the connectors refer to Section 3 8 3 For the servo motor connector refer to Chapter 3 of the Servo Motor Instruction Manual POINT
329. owing table Note External a ae a signals Speed command value EE Analog speed command VC Internal speed command 1 parameter No 8 Note 0 off 1 on By making speed selection 2 SP 2 speed selection 3 SP 3 usable by setting of parameter No 43 to 48 you can choose the speed command values of analog speed command VC and internal speed commands 1 to 7 Note External input signals o eee E o o o Analogspeedcommand VC o o 1 interna speed command 1 parameter No 8 2 1 0 internal speed command parameter No 9 1 Internal speed command 3 parameter No L EERME Internal speed command 4 parameter No 72 p o 1i Internal speed command 5 parameter No 73 p o Internal speed command 6 parameter No 74 AAN Internal speed command 7 parameter No 75 Note 0 off 1 on The speed may also be changed during rotation In this case it is increased or decreased according to the value set in parameter No 11 or 12 When the internal speed command 1 is used to command the speed the speed does not vary with the ambient temperature c Speed reached SA As in Section 3 4 2 2 3 SIGNALS AND WIRING 3 4 5 Speed torque control change mode Set 0003 in parameter No O to switch to the speed torque control change mode 1 Control change LOP Use control change LOP to switch between the speed control mode and the torque control mode from an externa
330. parentheses The servo amplifiers whose software versions are not indicated can be used regardless of the versions Servo amplifier Servo amplifier Servo motor A Servo motor Software version Software version MR 25 104 HC RFS103 MR 2S 200A HC KFS053 MR J 2S 10A1 HC RFS153 MR 2S 200A MR 2S 10A HC RFS203 MR J 2S 350A Version BO or later HC KFS13 g MR J 2S 10A1 HC RFS353 MR 2S 500A Version BO or later HC KFS23 MR 25 20A HC RFS503 MR J 25 500A Version BO or later MR 2S 20A1 HC UFS72 MR 2S 70A HC UFS152 MR J 2S 200A HC KFS43 MR 25 40A1 HC UF S202 MR J 2S 350A Version BO or later MRJ 25 500A Version BO or later ewe MBA MRJ 25 500A Version BO or later HC MFS053 MR J 25 40A MR J 2S 40A1 MRJ 25 60A Version B3 or later HC SFS81 MR J 2S 100A Version Al or later HC LFS102 MR J 2S 100A Version B3 or later MRJ 25 a Version A1 or later HC SFS103 MR J 2S aa Version Al or or HA LF S702 MR J 2S 700A o BO or HC SFS153 MR J 2S 200A Version A1 or later HA LFS11K2 MR J 2S 11KA HC SFS203 MR J 2S 200A Version Al or later HA LFS15K2 MR J 2S 15KA MR J 25 40A HC SF S353 MR J 2S 350A Version Al or later HA LF S22K2 MR J 2S 22KA App 3 Appendix MEMO App 4 REVISIONS T he manual number is given on the bottom left of the back cover Print data Manual number Revision SH NA 030006 A Sep 2000 SH NA 030006 B Addition of single phase 100VAC specifications Compatible Servo Co
331. part Protective earth PE terminal O Section3 10 Ground terminal Section11 1 1 14 1 FUNCTIONS AND CONFIGURATION 1 7 2 Removal and reinstallation of the front cover To avoid the risk of an electric shock do not open the front cover while power is Z caution P p 1 For MR J2S 350A or less Removal of the front cover Reinstallation of the front cover Front cover hook 2 places Front cover Front cover socket 2 places 1 Hold down the removing knob 1 Insert the front cover hooks into the front cover sockets of the servo amplifier 2 Pull the front cover toward you 2 Press the front cover against the servo amplifier until the removing knob clicks 2 For MR J2S 500A Removal of the front cover Reinstallation of the front cover Front cover hook 2 places Front cover Front cover socket 2 places 1 Hold down the removing knob 1 Insert the front cover hooks into the front cover sockets of the servo amplifier 2 Pull the front cover toward you 2 Press the front cover against the servo amplifier until the removing knob clicks 1 15 1 FUNCTIONS AND CONFIGURATION 3 For MR J2S 700A Removal of the front cover Reinstallation of the front cover Front cover hook 2 places
332. peed 1 of internal speed commands instan taneous Internal speed limit 1 permi Used to set speed 1 of internal speed limits ssible speed 5 8 1 1 1 P i 5 PARAMETERS Class No Symbol Name and function init Unit Setting Control wae range mes Internal speed command 2 i 0 to Used to set speed 2 of internal speed commands instan taneous Internal speed limit 2 permi Used to set speed 2 of internal speed limits ssible speed 10 SC3 Internal speed command 3 1000 r min Oto S Used to set speed 3 of internal speed commands instan taneous Internal speed limit 3 permi T Used to set speed 3 of internal speed limits ssible speed Acceleration time constant S T Used to set the acceleration time required to reach the rated speed from Or min in response to the analog speed command and internal speed commands 1 to 7 If the preset speed command is lower than the rated speed acceleration deceleration time will be shorter Speed speed Parameter Parameter No 11 setting No 12 setting For example for the servo motor of 3000r min rated speed set 3000 3s to increase speed from Or min to 1000r min in 1 second Deceleration time constant Used to set the deceleration time required to reach Or min from the rated speed in response to the analog speed command and internal speed commands 1 to 7 S pattern acceleration deceleration time constant S T Used to smooth start stop of the
333. peed control CN1B pin 9 mode selected Torque control mode This parameter is unavailable when parameter No 42 is set to assign the control change LOP to CN1B pin 9 When Used in absolute position detection system is selected in parameter No 1 CN1B pin 9 is in the ABS request mode ABSR Refer to Section 15 5 5 19 5 PARAMETERS Class No Symbol Name and function mitia Unit Setting Control value range mode 49 DO1 Output signal selection 1 0000 Refer to Used to select the connector pins to output the alarm code warning Name WNG and battery warning BWNG SEET 0 function column Setting of alarm code output The alarm code output and the following functions are exclusive so the simultaneous use is not possible If set the parameter error alarm AL 37 occurs Absolute position detection system Signal assignment function of the electromagnetic interlock MBR to pin CN1B 19 Connector pins Set value CN1B 19 CN1A 18 CN1A 19 0 ZSP INP or SA RD 1 Alarm code is output at alarm occurrence Note Alarm code CN1A CN1A oe Name pin 18 pin 19 display 88888 Watchdog AL 12 Memory error 1 AL 13 Clock error AL 15 Memory error 2 AL 17 Board error 2 AL 19 Memory error 3 AL 37 Parameter error AL 8A Serial communication time out error AL 8E Serial communication error AL 30 Regenerative error AL 33 Overvoltage AL 10 Undervoltage Main circuit device over
334. pened during and when an electromagnetic brake emergency stop EMG interlock MBR Servo motor RA EMG 0 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 ZN CAUTION With age the electrolytic capacitor of the servo amplifier will deteriorate To prevent a secondary accident due to a fault it is recommended to replace the electrolytic capacitor every 10 years when used in general environment Please consult our sales representative 7 General instruction To illustrate details the equipment in the diagrams of this Specifications and 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 Specifications and 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 DA FOR MAXIMUM SAFETY These products have been manufactured as a general purpose part for general industrie
335. pulses on its leading edge The pulse width should be 10ms or more When the parameter No 42 setting is 0 010 the pulses are always cleared while CR is on When using CM1 and CM2 make them usable by the setting of parameters No 43 to 48 The combination of CM1 and CM2 gives you a choice of four differ ent electronic gear numerators set in the parameters CM1 and CM2 cannot be used in the absolute position detection system Note Input signals Electronic gear molecule ji poo o ParameterNo3 Parameter No 69 0 1 1 o ParameterNo7o Note 0 off 1 on When using this signal make it usable by the setting of parameter No 43 to 48 Turn CDP on to change the load inertia moment ratio into the parameter No 61 setting and the gain values into the values multiplied by the parameter No 62 to 64 settings 3 18 Control 1 0 mode division PIs T 3 SIGNALS AND WIRING Connec uo Control tor pin Functions Applications mode No division Pst Control change LOP CN1B lt Position speed control change mode gt Refer to 7 Used to select the control mode in the position speed control Functions change mode Appli cations Positin Note 0 off 1 on lt Speed torque control change mode gt U sed to select the control mode in the speed torque control change mode o Speed Note 0 off 1 on lt Torque position control mode gt Used to select the control mode in the torque pos
336. put the same signals To enter the positioning completion signal into INPS of the A1SD75 connect CN1A 18 15 ABSOLUTE POSITION DETECTION SYSTEM b Detailed description of absolute position data transfer Servo on ON WV programmable controller OFF Servo on SON 1 7 ON a n ABS transfer mode During transfer of ABS ABSM OFF ABS request ON Y CH ABSR OFF Send data ready TLC OFF y Check sum Transmission ABS data Upper 2 bits Note If the servo on SON is not turned ON within 1 second after the ABS transfer mode ABSM is turned ON an SON time out warning AL EA occurs This warning however does not interrupt data transmission It is automatically cleared when the servo on SON is turned ON 1 The programmable controller turns ON the ABS transfer mode ABSM and servo on SON at the leading edge of the internal servo on SON 2 In response to the ABS transfer mode ABSM the servo detects and calculates the absolute position and turns ON the send data ready TLC to notify the programmable controller that the servo is ready for data transmission 3 After acknowledging that the ready to send TLC has been turned ON the programmable controller turns ABS request ABSR ON 4 In response to ABS request ABSR the servo outputs the lower 2 bits of the ABS data and the ready to send TLC in the OFF state 5 After acknowledging that the re
337. quest im ABS transfer Ready to send ABS request mode ABS data Ku control SET ys2 ABS request set ABS 2 bits request Y32 X22 K1 1200 H 10ms delay timer ABS request Ready to send ABS data Y32 x22 T200 H me H Transmitted data read enabled 10ms delay timer 12 r ee A IS Me E 1 Reading A1SD75 home r DFROPH0000 K0072 D9 Ki F Na Checksum position address Note2 OK rt E EE EE i i Kf ion Restoring absolute Note1 Cor Ko D3 D3 Inserting constant or conversion ee g i into the unit of feed per pulse position data Pra AAA AE AAA AAA d E ee EEN dl D P Da Ge oe H Adding home position address to absolute position yy 3 M6 M24 Ht SET Ms bh ABS data ready Checksum Change 14 OK flag ei 2 as S e e ei S Ce e 5 Y 1 Changing X axis current F DTOP H0000 K1154 D3 Ki position a L an Me pos ps Se es Zo De ay bag z pira e e ay Wri in 1 Writing No 9003 data for l f g absolute To Hoo00 K1150 K9003 ki changing current value position data to A1SD75 SET vio bh Positioning start Y10 x1 X4 aahi y raat vio Y Switching start signal off on Positioning Start com BUSY z completion of positioning start pletion XA Error detection 5 To be continued 1 5 Note1 When the unit setting parameter value of the A1SD75 positioning module i
338. r Resetting all data reception counter 15 ABSOLUTE POSITION DETECTION SYSTEM c J MOV K2M52 SET RST 15 42 Continued from preceding page Y1 X2 PLS M3 ABS Send data ready transfer mode M3 HA ST Y2 ABS data read Y2 X2 K1 r T204 ABS Send data request ready T204 WANDP K1X0 H0003 K1M10 ABS data waiting timer SFTR M10 M20 K38 K2 c2 y ADDP KiM10D2 D2 K16 c2 K19 co SRT Y2 co KT frst Yi All data reception counter WANDP H003F D2 D2 Tour K2M52 D2 M62 C1 v12 Retry counter M62 C1 PLS M2 counter M64 K10 J 7200 D3 M6 M5 Resetting ABS data ABS data 32 bits AB N S request O 2 bits x16 times Check sum 6 bits ABS data waiting timer 10ms 2 bits x3 times Masking ABS data 2 bits Right shift 2 bits of ABS data Check sum addition Updating ABS data reception counter Updating all data reception counter Resetting ABS request Resetting ABS transfer mode Masking check sum 6 bits Comparison of check sum Detection of ABS check sum error ABS data check sum error retry control Retry command Setting retry wait timer 100ms Storing check sum value in the case of check sum error Retry flag ON Resetting servo on request To be continued 15 ABSOLUTE POSITION DETECTION SYSTEM M63 Check sum match Continued from preceding page DMOVP K8M20 DADDPDO D24 DTOP KO K26 DO
339. r forth digit Lower fifth digit AUN al Write mode 0 Write to EEP ROM 3 Write to RAM When the parameter data is changed frequently through communication set 3 to the write mode to change only the RAM data in the servo amplifier When changing data frequently once or more within one hour do not write it to the EEP ROM 14 18 14 COMMUNICATION FUNCTIONS 14 12 4 External I O pin statuses DIO diagnosis 1 External input pin status read Read the ON OFF statuses of the external input pins a Transmission Transmit command 1 2 and data No 4 0 DL tato b Reply The ON OFF statuses of the input pins are sent back Command of each bit is transmitted to the master station as hexadecimal data bit External input gn _ o cN1B16 gt AAA A LA 2 External output pin status read Read the ON OFF statuses of the external output pins a Transmission Transmit command 1 2 and data No C 0 1112 C 0 b Reply The slave station sends back the ON OFF statuses of the output pins Command of each bit is transmitted to the master station as hexadecimal data bit External output pin External output pin o CN1A 19 1 Ea 6 Ou E ee 14 COMMUNICATION FUNCTIONS 14 12 5 Disable enable of external I O signals DIO Inputs can be disabled independently of the external I O signal ON OFF When inputs are disabled the i
340. r mode OFF ON ABS request OFF Signal is not turned OFF ON Send data ready j OFF Yes AL E5 warning No 15 12 15 ABSOLUTE POSITION DETECTION SYSTEM 3 ABS transfer mode finish ti me time out check Ifthe ABS transfer mode ABSR is not turned OFF within 5s after the last ready to send signal 19th signal for ABS data transmission is turned ON it is regarded as the transmission error and the ABS time out warning AL E5 is output KEE ON NAAA EE ABS transfer mode OFF we pe Signal is not turned OFF 1 2 3 4 18 19 ON ABS request OFF d ON j Send data ready l OFF 1 2 3 4 18 19 Yes i AL E5 warning No b Check sum error If the check sum error occurs the programmable controller should retry transmission of the ABS data Using the ladder check program turn OFF the ABS transfer mode ABSM and servo on SON once Turn them ON again after an OFF time of longer than 20 ms Ifthe ABS data transmission fails to end normally even after retry regard this situation as an ABS check sum error and execute error processing The start command should be interlocked with the ABS data ready signal to disable positioning operation when an check sum error occurs 20ms 20ms 20ms or more or more or more i i I i f e o I 1 i I i f 1 H I 1 ON Servo on Retry 1 Retry 2 Retry 3 OFF I i 1 i 1 ON ABS transfer mode OF
341. r more 10mm 0 4 in Servo or more amplifier 30mm Yy 1 2 in or more 30mm 1 2 in or more Ue 3 Others When using heat generating equipment such as the regenerative brake option install them with full consideration of heat generation so that the servo amplifier is not affected Install the servo amplifier on a perpendicular wall in the correct vertical direction 2 3 Keep out foreign materials 1 When installing the unit in a control box prevent drill chips and wire fragments from entering the servo amplifier 2 Prevent oil water metallic dust etc from entering the servo amplifier through openings in the control box or a fan installed on the ceiling 3 When installing the control box in a place where there are much toxic gas dirt and dust conduct an air purge force clean air into the control box from outside to make the internal pressure higher than the external pressure to prevent such materials from entering the control box 2 INSTALLATION 2 4 Cable stress 1 The way of damping 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 a
342. r of the A15D71 oupi coil Description Cause Action E Pesos eso The ABS data transfer mode 1 Wiring for ABS transfer mode Correct the wiring signal Y 41 is not completed signal ABS data request within 5s signal or ready to send signal The ready to send signal is disconnected or connected to X32 is not turned OF F the SG terminal within 1s after the ABS data 2 PC ladder program wrong __ Correct the ladder ON module module 032 remains OFF for longer servo amplifier amplifier is OFF amplifier ABS data sumcheck resulted 1 Wiring for the ABS data Correct the wiring in mismatch four times signal ABS bit 0 PF bit 1 consecutively ZSP is disconnected or connected to the SG terminal 2 PC ladder program wrong Correct the ladder 3 Faulty PLC input module Change the input module 4 Faulty printed board in the Change the amplifier servo amplifier The motor position isin the 1 The servo is turned ON or bel Reconsider the position negative coordinate value power supply is turned ON where the servo is turned range when the servo is near the machine home ON turned ON or when power position or in the zonein 2 Set the home position for supply is turned ON which addresses decrease positioning apart from the machine home position 2 The machine falls on a Change the electromagnetic vertical axis when the servo brake operation sequence on SON is turned ON OFF Servo alarm Y48 Y10
343. r on off and servo on SON on off are given below Preset 0 0 10 in parameter No 1 to make the electromagnetic brake interlock MBR usable When the ABS transfer mode is ON the electromagnetic brake interlock MBR is used as the ABS data bit 1 Hence make up an external sequence which will cause the electromagnetic brake torque to be generated by the ABS mode ABSM and electromagnetic brake interlock MBR Power ON i SUPPIY OFF Servo on ON SON OFF ON ABS transfer mode During transmission During transmission ABSM OFF of ABS of ABS ABS request AN ABSR OFF ABS transmission ON data ready ABST OFF Send ABS data ABS data ABS data e A A A A 80 ms i 80 ms i as iar EE ON we 3 r Base circuit i OFF 1 d i I i 20 ms d 20 ms l i or i pe f Ready ON S RD OFF i Tb Tb br l Fw Electromagnetic ON brake interlock MBR OFF Electromagnetic EN brake torque OFF 15 19 15 ABSOLUTE POSITION DETECTION SYSTEM 15 7 5 How to process the absolute position data at detection of stroke end The servo amplifier stops the acceptance of the command pulse when stroke end LSP LSN is detected clears the droop pulses to 0 at the same time and stops the servo motor rapidly At this time the programmable controller keeps outputting the command pulse Since this causes a discrepancy between the ab
344. r 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 the servo amplifier Use the servo amplifier with the specified servo motor Burning or breaking a servo amplifier may cause a toxic gas Do not burn or break a servo amplifier 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 servo amplifier signals but also by an external emergency stop EMG Contacts must be open when Circuit must be servo off when an trouble ALM o
345. r speed reaches the speed limit value torque control may become unstable Make the set value more than 100r min greater than the desired speed limit value Ra led S peed Forward rotation CCW Speed r min CCW direction 10 0 10 VLA applied voltage V ace Rated speed as Reverse rotation CW The following table indicates the limit direction according to forward rotation selection RS1 and reverse rotation selection RS2 combination CW direction Note External input signals Speed limit direction Analog speed limit VLA Internal speed Polarity Polarity commands Pw CW Note 0 off 1 on Generally make connection as shown below Servo amplifier oa RES uz 3 ko 2kQ Japan resistor q RRS10 or equivalent 3 32 3 SIGNALS AND WIRING b Speed selection 1 SP 1 speed selection 2 SP2 speed selection 3 SP 3 and speed limit values Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection 1 SP1 speed selection 2 SP 2 and speed selection 3 SP 3 or the speed setting made by the speed limit command VLA as indicated below Setting of parameter EA a a SE No 43to48 sP3 sp2 spt P Wh EE AA Analog speed limit VLA We wee S dd Internal speed limit 1 parameter No 8 1 o Internal speed limit 2 parameterNo9 Po 1 Internal speed limit 3 parameter No 10 o o o Lamae ua o o
346. rameter No 42 is set to assign the control change LOP to CN1 A pin 8 Input signal selection 5 CN1B 7 0770 Refer to Allows any input signal to be assigned to CN1B pin 7 Name The assignable signals and setting method are the same as in input and signal selection 2 parameter No 43 Action column Position control mode Input signals of Speed control CN1B pin 7 mode selected Torque control mode This parameter is unavailable when parameter No 42 is set to assign the control change LOP to CN1 B pin 7 Expansion parameters 1 Input signal selection 6 CN1B 8 0883 Refer to Allows any input signal to be assigned to CN1B pin 8 Name The assignable signals and setting method are the same as in input nd signal selection 2 parameter No 43 Steeg 0 column Position control mode Input signals of Speed control CN1B pin 8 mode selected Torque control mode This parameter is unavailable when parameter No 42 is set to assign the control change LOP to CN1B pin 8 When Used in absolute position detection system is selected in parameter No 1 CN1B pin 8 is in the ABS transfer mode ABSM Refer to Section 15 5 Input signal selection 7 CN1B 9 0994 Refer to Allows any input signal to be assigned to CN1B pin 9 Name The assignable signals and setting method are the same as in input and signal selection 2 parameter No 43 function 0 column L Position control mode Input signals of S
347. ransmission Send command 3 3 and data No 1 0 to 1115 Refer to Section 14 11 1 b Reply The alarm No corresponding to the data No is provided 010 Alarm No is transferred in decimal For example 0032 means AL 32 and OOFF means AL _ no alarm 2 Alarm occurrence time read Read the occurrence time of alarm which occurred in the past The alarm occurrence time corresponding to the data No is provided in terms of the total time beginning with operation start with the minute unit omitted a Transmission Send command 3 3 and data No 2 0 to 2 5 Refer to Section 14 11 1 b Reply ETT TTT I The alarm occurrence time is transferred in decimal Hexadecimal must be converted into decimal For example data O1F 5 means that the alarm occurred in 501 hours after start of operation 3 Alarm history clear Erase the alarm history Send command 8 2 and data No 2 0 8 2 2110 14 25 14 COMMUNICATION FUNCTIONS 14 12 10 Current alarm 1 Current alarm read Read the alarm No which is occurring currently a Transmission Send command 0 2 and data No O 0 OI Te b Reply The slave station sends back the alarm currently occurring S Alarm No is transferred in decimal For example 0032 means AL 32 and OOFF means AL _ no alarm 2 Read of the status display at alarm occurrence Read th
348. ration RD OFF enabled enabled Note For details refer to 1 b in this section 15 ABSOLUTE POSITION DETECTION SYSTEM 1 The ready RD is turned ON when the ABS transfer mode ABSM is turned OFF after transmission of the ABS data While the ready RD is ON the ABS transfer mode ABSM input is not accepted 2 Even if the servo on SON is turned ON before the ABS transfer mode ABSM is turned ON the base circuit is not turned ON until the ABS transfer mode ABSM is turned ON If a servo alarm has occurred the ABS transfer mode ABSM is not received The ABS transfer mode ABSM allows data transmission even while a servo warning is occurring 3 If the ABS transfer mode ABSM is turned OFF during the ABS transfer mode the ABS transfer mode is interrupted and the ABS time out warning AL E 5 occurs 4 The functions of output signals such as ZSP TLC DO1 and INP change depending on the ON OFF state of the ABS transfer mode ABSM Note that if the ABS transfer mode ABSM is turned ON for a purpose other than ABS data transmission the output signals will be assigned the functions of ABS data transmission Output signal Symbol Pin No ABS transfer mode ABSM OFF ABS transfer mode ABSM Note Ed CN1B 4 Positioning completion ABS data bit 0 CN18 19 ABS data bit 1 CN1B 6 During torque limit control Send data ready Note i N S CN 1A 18 Positioning completion ABS data bit 0 Note CN1B 4 and CN1A 18 out
349. rcuit is provided for your reference 4 The electromagnetic brake output should be controlled via a relay connected to the programmable controller output 5 Use the differential line driver system for pulse input Do not use the open collector system 6 To reinforce noise suppression connect LG and pulse output COM 15 48 15 ABSOLUTE POSITION DETECTION SYSTEM 2 Sequence program example a Conditions 1 When the servo on signal and power supply GND are shorted the ABS data is transmitted at power on of the servo amplifier or on the leading edge of the RUN signal after a PC reset operation PC RESET The ABS data is also transmitted when an alarm is reset or when an emergency stop is reset 2 If a checksum mismatch is detected in the transmitted data data transmission is retried up to three times If the checksum mismatch still persists after the retries the ABS checksum error occurs Y3A ON 3 The following time periods are measured If the ON OFF state does not change within the specified time the ABS communication error occurs change within the specified time the ABS communication error occurs Y 39 ON ON period of ABS transfer mode Y 31 ON period of ABS request Y 32 OFF period of reading to send ABS data X22 b Device list X input contact Y output contact BS bit 0 positioning completion Y30 ABS bit 1 zero speed Y31 Reading to send ABS data limiting torque Y 32 Servo alarm Y33 Alarm reset
350. rease the input filter setting parameter No 1 3 WhenC A2 M Mechanical slip occurred between the servo motor and machine Cause B 10 TROUBLESHOOTING 10 1 2 Speed control mode Start up sequence Investigation 2 Power on LED is not lit Not improved if connectors 1 Power supply voltage fault LED flickers CN1A CN1B CN2 and CN3 2 Servo amplifier is faulty are disconnected Improved when connectors Power supply of CN1 cabling is CN1A and CN1B are shorted disconnected Improved when connector 1 Power supply of encoder CN2 is disconnected cabling is shorted 2 Encoder is faulty CN3 is disconnected shorted Refer to Section 10 2 and remove cause Section 10 2 Switch on servo on Refer to Section 10 2 and remove cause Section 10 2 SON Servo motor shaft is 1 Check the display to see if 1 Servo on SON is not input Section 6 6 not servo locked the servo amplifier is Wiring mistake is free ready to operate 2 24VDC power is not 2 Check the external 1 O supplied to COM signal indication to see if theservo on SON is ON Switch on forward Servo motor does Call the status display and Analog speed command is OV Section 6 2 rotation start ST1 not rotate check the input voltage of or reverse rotation the analog speed command start ST2 VC Call the external I O signal LSP LSN ST1 or ST2 is off Section 6 6 display and check the ON OFF status of the input signal Che
351. regenerative power 2 Built in regenerative brake Connect correctly of the built in resistor or regenerative brake regenerative brake option is not connected resistor or 3 High duty operation or continuous 1 Reduce the frequency of positioning regenerative brake regenerative operation caused the 2 Use the regenerative brake option of option is exceeded permissible regenerative power of larger capacity the regenerative brake option to 13 Reduce the load be exceeded Checking method Call the status display and check the regenerative load ratio 4 Power supply voltage is abnormal Review power supply MR J 25 0DA 260VAC or more MR J 25 DA1 135VAC or more 5 Built in regenerative brake Change servo amplifier or regenerative resistor or regenerative brake brake option option faulty Regenerative 6 Regenerative transistor faulty Change the servo amplifier transistor fault Checking method 1 The regenerative brake option has overheated abnormally 2 The alarm occurs even after removal of the built in regenerative brake resistor or regenerative brake option AL 21 Overspeed Speed has exceeded 1 Input command pulse frequency Get command pulses correctly the instantaneous exceeded the permissible permissible speed instantaneous speed frequency 2 Small acceleration deceleration Increase acceleration deceleration time time constant caused overshoot to constant be large 3 Servo system is i
352. response to a position command when you have set the position command acceleration deceleration time constant Choose the primary delay or linear acceleration deceleration in parameter No 55 according to the machine used 1 For step input vA Input position command filtering for primary delay N Position command after filtering da for linear acceleration deceleration t Position command acceleration f x deceleration time constant parameter No 7 Command gt Position command after y Time 2 For trapezoidal input 81 Input position command Position command after filtering for linear acceleration deceleration Position command after filtering for primary delay Command t Position command acceleration deceleration time constant parameter No 7 5 34 6 DISPLAY AND OPERATION 6 DISPLAY AND OPERATION 6 1 Display flowchart Use the display 5 digit 7 segment LED on the front panel of the servo amplifier for status display parameter setting etc Set the parameters before operation diagnose an alarm confirm external sequences and or confirm the operation status Press the MODE UP or DOWN button once to move to the next screen To refer to or set the expansion parameters make them valid with parameter No 19 parameter write disable button MODE j i Basic Expansion Exp
353. rmal alarm free condition When this signal is switched off at occurrence of an alarm the output of the controller should be stopped by the sequence program When connecting the personal computer together with analog monitor 1 MO1 and analog monitor 2 MO2 on the 7kW or less servo amplifier use the maintenance junction card MR J2CN3TM Refer to Section 13 1 5 The pins with the same signal name are connected in the servo amplifier This length applies to the command pulse train input in the differential line driver system It is 2m 6 5ft or less in the opencollector system Use MRZJW3 SETUP 151E When using the internal power supply VDD always connect VDD COM Do not connect them when supplying external power Refer to Section 3 6 2 This connection is not required for the AD75P Depending on the used positioning module however it is recommended to connect the LG and control common terminals of the servo amplifier to enhance noise immunity For the 11kW or more servo amplifier Analog monitor 1 MO1 and Analog monitor 2 MO2 are replaced by CN4 3 SIGNALS AND WIRING 3 1 2 Speed control mode Speed selection 1 O SP1 8 SG 10 Servo amplifier Note 4 CN1B Note 4 9 ICN1A ALM Note 12 Note 7 Meee Trouble ZSP Zero speed Ca Limiting torque 10m 32ft max R 6 Note 4 9 Note 4 9
354. rth terminal inside the servo amplifier 3 11 3 SIGNALS AND WIRING 2 MR J2S 11KA or more CN3 CN1A Same as the one of the MR J2S 700A or less CN1B Same as the one of the MR J2S 700A or less A CON2 For maker adjustment Keep this open The connector frames are connected with the PE earth terminal inside the servo amplifier 3 12 3 SIGNALS AND WIRING 3 CN1A and CN1B signal assignment The signal assignment of connector changes with the control mode as indicated below For the pins which are given parameter Nos in the related parameter column their signals can be changed using those parameters wn Note21 0 Signals in control modes eso is A one CA TO E E ETA E EA EEN leben ht se E EE AA e T 4 gt rr pres PISA PISR pis Pir cia g aa SA dal o o o o o bf o x ix ir ir ir a 7 o o f en ise f er e er CT s o f inp nesa sa sa inp noss AA A e Roa A AA EROE E RD INES mo _s _ sc IE AE FE FE T leck toa 16 tea iG AAA e een a gt vo vo vo voo voo voo T Note 44 ST son son son son son son remos C e o ome nc nc meme vc veme nos 7 pj o s2 Lop sp2 LoP No43tods slo f Pc pesn sr srursz se Rs2Pc og Ke e ue
355. rtia moment gt Position control gain 2 po ro as EH 2 Speed control gain 2 3000 Speed integral compensation SE Ratio of load inertia moment to GD2B 0 1 times servo motor inertia moment 2 Position control gain 2 62 PG2B d S 70 changing ratio Speed control gain 2 changin ratio Speed integral compensation changing ratio 0001 Changed by ON OFF of pin CN1A 8 b Changing operation Gain changing OFF ON E uo CDP After changing gain Change of Before changing gain each gain CDT 100ms Position control gain 1 Speed control gain 1 1000 Ratio of load nertia moment i 4 0 10 0 4 0 to servo motor inertia moment Position control gain 2 120 Speed control gain 2 3000 Speed integral compensation 20 8 SPECIAL ADJUSTMENT FUNCTIONS 2 When you choose changing by droop pulses a Setting Abbreviation Setting E 2 2 Position control gain 1 so rads Speed control gain 1 1000 Ratio of load nertia moment to 0 1 times e e motor inertia moment pGz Position control Position control gain2 2 rads EE Speed control gain 2 GE rad s Speed integral compensation a Ratio of load inertia moment to GD2B 0 1 times servo motor inertia moment 2 PG2B Position control gain 2 changing ratio ratio Speed int ti VICB p in egra compensation 250 changing ratio 65 CDP Gain changing selection 0993 i i i ging Changed Y woe pulses A os Gain chan
356. rvo amplifier The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains parameter No 21 has been set to 0010 The waveforms in the table in a 1 of this section are voltage waveforms of PP and NP based on SG Their relationships with transistor ON OFF areas follows Forward rotation pulse train OFF WON OFF ON OFF transistor Reverse rotation pulse train OFF ON OFF ON OFF ON transistor Forward rotation command Reverse rotation command 3 SIGNALS AND WIRING 2 Differential line driver system Connect as shown below Servo amplifier PP ra NP EAN A SD The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains parameter No 21 has been set to 0010 For the differential line driver the waveforms in the table in a 1 of this section are as follows The waveforms of PP PG NP and NG are based on that of the ground of the differential line driver Forward rotation pulse train e LIL EC e d o Reverse rotation pulse train NP g R A A EE hs Forward rotation command a Reverse rotation command 3 SIGNALS AND WIRING 2 In position INP PF SG are connected when the number of droop pulses in the deviation counter falls within t
357. s 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 settings etc is limited to 100 000 If the total number of the following operations exceeds 100 000 the servo amplifier and or converter unit may fail when the EEP ROM reaches the end of its useful life Write to the EEP ROM due to parameter setting changes Home position setting in the absolute position detection system Write to the EEP ROM due to device 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 dire
358. s changed from 3 pulse to 0 mm the unit is x 0 1um for the input value To set the unit to x 1um add this program to multiple the feed value by 10 2 The home position address loaded from flash ROM of normal positioning module can be obtained For updating the home position address by the home position setting refer to 2 f Data set type home position return in this Section 15 54 15 ABSOLUTE POSITION DETECTION SYSTEM 5 Continued from preceding page 5 Y39 X26 ya RT rat H ABS communi Servo on PB cation error Y31 K50 CO ABS transfer mode Y31 Y32 K10 Hee N ABS transfer ABS request mode Y31 X22 K10 m ett ABS transfer Ready to send mode ABS data TO D Deag Y ABS transfer NG T1 ABS request NG T3 Readying to send ABS data NG M7 PLS mis Sum check NG M15 c2 H SET mis Retry start Retry counter D7 c2 H M16 ae D gt Retry flag set T2 RST Mie Retry waiting timer M9039 omov Ao D110 H PC RUN r EnD 15 55 Resetting ABS transfer mode ABS transfer mode 5s timer ABS request response 1s timer Detecting ABS ABS data send ready Sie 9 8 communication response 1s timer error ABS communication error ABS transfer retry start pulse Setting retry flag Retry counter ABS transfer retry control Retry waiting timer 100ms Resetting retry flag Saving received shift data 15 ABSOLUTE POSITION DETECTIO
359. s off when servo on SON turns off TLC turns on when the torque generated reaches the value set to the internal torque limit 1 parameter No 28 or analog torque limit TLA ZSP turns on when the servo motor speed is zero speed 50r min or less Zero speed can be changed using parameter No 24 Get OO 10 in parameter No 1 to use this parameter Note that ZSP will be unusable MBR turns off when the servo is switched off or an alarm occurs To use this signal assign the connector pin for output using parameter No 49 The old signal before assignment will be unusable When warning has occurred WNG turns on When there is no warning WNG turns off within about 1s after power on To use this signal assign the connector pin for output using parameter No 49 The old signal before assignment will be unusable BWNG turns on when battery cable breakage warning AL 92 ol battery warning AL 9F has occurred When there is no battery warning BWNG turns off within about 1s after power on 3 20 Control mode KE 3 SIGNALS AND WIRING 1 0 tor pin Functions Applications EN mode division No H Alarm code ACDO CN1A Tousethis signal set 0001 in parameter No 49 DO 1 19 This signal is output when an alarm occurs When there is no ACD1 CN1A alarm respective ordinary signals RD INP SA ZSP are output 18 Alarm codes and alarm names are listed below ACD 2 CN1B Note Alarm code Alarm 19 C
360. sends back the requested servo motor end pulses MA ARE Absolute value is sent back in hexadecimal in the servo motor end pulse unit Must be converted into decimal For example data 000186A0 is 100000 pulse in the motor end pulse unit 2 Command unit absolute position Read the absolute position in the command unit a Transmission Send command 0 2 and data No 9 1 o Te b Reply The slave station sends back the requested command pulses EK E Absolute value is sent back in hexadecimal in the command unit Must be converted into decimal For example data 000186A0 is 100000 pulse in the command unit 3 Software version Reads the software version of the servo amplifier a Transmission Send command 0 2 and data No 7 0 o 710 b Reply The slave station returns the software version requested rra Software version 15 digits re 14 27 14 COMMUNICATION FUNCTIONS MEMO 14 28 15 ABSOLUTE POSITION DETECTION SYSTEM 15 ABSOLUTE POSITION DETECTION SYSTEM If an absolute position erase alarm AL 25 or an absoluto position counter marning Ab CAUTION AL E3 has occurred always perform home position setting again Not doing so can cause runaway When configuring an absolute position detection system using the QD75P D PLC refer tothe Type QD75P QD75D Positioning Module User s Manual QD75P1 Q0D75P2 QD75P4 QD75D1 QD75D2 QD75D4 SH NA 080058
361. ses 10V 128 pulses Droop pulses 10V 2048 pulses Droop pulses 10V 8192 pulses Lo prop pues gent B Bus voltage 8V 400V Note 8V is outputted at the maximum torque However when parameter No 28 76 are set to limit torque 8V is outputted at the torque highly limited 5 11 o Ka EI Q 2 o g 3 EI 3 a o Ki Ka 3 aa oJI oaJ an AJ N e 5 PARAMETERS Initial Setting Control Class No Symbol Name and function Unit g value range mode 18 DMD Status display selection Refer to P S T Used to select the status display shown at power on Name ojoj __ function E Selection of status display at column power on 0 Cumulative feedback pulses Servo motor speed Droop pulses Cumulative command pulses Command pulse frequency Analog speed command voltage Note 1 Analog torque command voltage Note 2 Regenerative load ratio Effective load ratio Peak load ratio Instantaneous torque Within one revolution position low Within one revolution position high ABS counter Load inertia moment ratio Bus voltage In speed control mode Analog 7 mM OOOWDYO ON Basic parameters speed limit voltage in torque control mode In torque control mode Analog torque limit voltage in speed or position control mode Status display at power on in corresponding control mode 0 Depends on the control mode Con
362. sition LB tol 911 Commandunit absolute position LB 14 11 2 Write commands 1 Status display Command 8 1 Setting range Frame length 811 00 Status display data clear 1EA5 ca 2 Parameter Command 8 4 Setting range Frame length 0 0 to Each parameter write Depends on the The decimal equivalent of the data No value parameter hexadecimal corresponds to the parameter number 3 Alarm history Command 8 2 Frame length 8112 210 Alarm history clear 1EA5 aaa 4 Current alarm Command 8 2 Frame length 812 oo Alarmreset CLES a aa 14 12 14 COMMUNICATION FUNCTIONS 5 Operation mode selection Command 8 B Setting range Frame length 8118 Operation mode changing 0000 to 0004 0000 Exit from test operation mode 0001 J og operation 0002 Positioning operation 0003 Motor less operation 0004 Output signal DO forced output 6 External input signal disable Command 9 0 Setting range Frame length Turns off the external input signals DI external analog 1EA5 input signals and pulse train inputs with the exception of EMG LSP andLSN independently of the external ON OFF statuses ES Changes the external output signals DO into the value of O ly command 8 B or command A 0 data No 0 1 1110 Enables the disabled external input signals DI external 1EA5 analog input signals and pulse train inputs with the exception of EMG LS
363. solute position data of the servo amplifier and the programmable controller a difference will occur between the position data of the servo amplifier and that of the programmable controller To prevent this difference in position data from occurring do as described below When the servo amplifier has detected the stroke end perform jog operation or the like to clear the stroke end After that switch the servo on SON off once then on again or switch the power off once then on again This causes the absolute position data of the servo amplifier to be transferred to the programmable controller restoring the normal data 15 20 15 ABSOLUTE POSITION DETECTION SYSTEM 15 8 Examples of use 15 8 1 MELSEC A1S A1SD71 1 Instructions The absolute coordinate system programmable controller coordinate system of the A1SD71 AD71 only covers the range in which the address increases positive coordinate values on moving away from the machine home position the position reached in the home position return operation Therefore if the motor enters the range where the coordinate value is negative due to the load torque or a fall on a vertical axis when the power is turned ON OFF at a point near the machine home position the system fails to detect the absolute position To prevent this problem it is necessary to set the home position operation home position for positioning in addition to the machine home position a The home position should be
364. sonance frequency or a too deep notch 2 Parameters a Machine resonance suppression filter 1 parameter No 58 Set the notch frequency and notch depth of the machine resonance suppression filter 1 parameter No 58 When you have made adaptive vibration suppression control selection parameter No 60 valid or held make the machine resonance suppression filter 1 invalid parameter No 58 0000 Parameter No 58 S Notch frequency value value value value o imaia 06 seas 10 r ERR ox o f o f so fu ar 9 100 o aso f o r 208 18 1067 Cam oc as fu ms fa Pos so o 3463 a5 mas i gt 152 Pos mo oe ama a6 as ie 150 Notch depth Settin 0 Depth Deep 40dB T 14dB y 8dB 1 2 Shallow 4dB 8 SPECIAL ADJUSTMENT FUNCTIONS If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower ones in order The optimum notch frequency is set at the point where vibration is minimal A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration The machine characteristic can be grasped beforehand by the machine analyzer on the MR Configurator servo configuration software This allows the required notch frequency and depth to be determined Resonance may occur if parameter No 58 59 is used to select a close notch frequency and set a deep notch b
365. station 14 8 Retry operation When a fault occurs in communication between the master and slave stations the error code in the response data from the slave station is a negative response code B to F b to f In this case the master station retransmits the message which was sent at the occurrence of the fault Retry operation A communication error occurs if the above operation is repeated and results in the error three or more consecutive times Communication error Controller Master station Servo Slave station Station number Station number Station number Similarly when the master station detects a fault eg checksum parity in the response data from the slave station the master station retransmits the message which was sent at the occurrence of the fault A communication error occurs if the retry operation is performed three times 14 COMMUNICATION FUNCTIONS 14 9 Initialization After the slave station is switched on it cannot reply to communication until the internal initialization processing terminates Hence at power on ordinary communication should be started after 1 1s or more time has elapsed after the slave station is switched on and 2 Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems 14 10 Communication procedure example The following example reads the set value of parameter No 2 function selection
366. t cover refer to Section 1 7 2 Cooling fan Name Application Reference Battery holder Contains the battery for absolute position data backup OS Battery connector CON 1 Used to connect the battery for absolute position data Section15 3 backup Display The 5 digit seven segment LED shows the servo status and alarm number Operation section Used to perform status display diagnostic alarm and parameter setting operations Gi MODE UP DOWN SET LUsed to set data Used to change the display or data in each mode Used to change the mode Chapter6 Chapter6 IO signal connector CN1A Used to connect digital I O signals Section3 3 1 0 signal connector CN1B Used to connect digital 1 O signals Section3 3 Communication connector CN 3 Used to connect a command device RS 422 RS232C and output analog monitor data Section3 3 Section13 1 5 Chapter14 Name plate Section1 5 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN 2 Used to connect the servo motor encoder Section3 3 Section13 1 5 Main circuit terminal block TE 1 Used to connect the input power supply and servo motor Control circuit terminal block TE 2 Used to connect the control circuit power supply and Section3 7
367. t ee 90 RH or less non condensing 80 RH or less non condensing umd In ewe JE 90 RH or less non condensing Ambience Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Altitude Max 1000m 3280 ft above sea level HC KFS Series HC MFS Series X Y 49 HC UFS13 to 73 HC SFS81 HC SFS52 to 152 HC SFS53 to 153 HC RFS Series HC UFS 72 152 HC SFS121 201 HC SFS202 352 HC SFS203 353 HC UFS202 to 502 HC SFS301 X 24 5 HC SFS502 to 702 Y 29 4 X 11 7 HA LFS11K2 to 22K2 Y 29 4 HC KFS Series HC MFS Series HC UFS 13 to 73 HC SFS81 HC SFS52 to 152 HC SFS53 to 153 HC RFS Series HC UFS 72 152 HC SFS121 201 HC SFS202 352 HC SFS203 353 HC UFS202 to 502 HC SFS301 X 80 HC SFS502 to 702 Y 96 HA LFS11K2 to 22K2 5 9 or less Note Vibration ft s 19 4 or less Note Except the servo motor with reduction gear N CAUTION Securely attach the servo motor to the machine If attach insecurely the servo motor may come off during operation The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage Take safety measures e g provide covers to prevent accidental access to the rotating parts of the servo motor during operation Never hit the servo motor or shaft especially when coupling the servo motor to the machine The encoder may become faulty Do not subject the serv
368. t install the servo amplifier servo motor and regenerative brake resistor on or near combustibles Otherwise a fire may cause When the servo amplifier has become faulty switch off the main servo amplifier power side Continuous flow of a large current may cause a fire When a regenerative brake resistor is used use an alarm signal to switch main power off Otherwise a regenerative brake transistor fault or the like may overheat the regenerative brake resistor causing a fire 3 To prevent injury note the follow N CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal Otherwise a burst damage etc may occur Connect the terminals correctly to prevent a burst damage etc Ensure that polarity is correct Otherwise a burst damage etc may occur Take safety measures e g provide covers to prevent accidental contact of hands and parts cables etc with the servo amplifier heat sink regenerative brake resistor servo motor etc since they may be hot while power is on or for some time after power off Their temperatures may be high and you may get burnt or a parts may damaged During operation never touch the rotating parts of the servo motor Doing so can cause injury 4 Additional instructions The following instructions should also be fully noted Incorrect handling may cause a fault injury electric shock etc 1 Transportation and installation
369. t pulse frequency 500kpps for differential receiver 200kpps for open collector Command pulse multiplying factor Electronic gear A 1 to 65535 131072 B 1 to 65535 1 50 lt A B lt 500 In position range setting 0 to 10000 pulse command pulse unit Torque limit Set by parameter setting or external analog input 0 to 10VDC maximum torque Speed control range Analog speed command 1 2000 internal speed command 1 5000 Analog speed command input O to 10VDC Rated speed 0 01 or less load fluctuation 0 to 100 Speed fluctuation ratio 0 or less power fluctuation 10 0 2 max ambient temperature 25 10 C for external speed setting only Torque limit Set by parameter setting or external analog input 0 to 10VDC maximum torque Torque a torque command input 0 to 8VDC Maximum torque input impedance 10 to 12kQ control ode Set by parameter setting or external analog input 0 to 10VDC Rated speed Structure Self cooled open I P00 Force coolin en IP00 self cooled uctu op ing op open I P 00 O to 55 non freezing En 32 to 131 non freezing 20 to 65 non freezing 4 to 149 non freezing storage TT or less non condensing Storage Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Max 1000m 3280ft above sea level 5 9 m s or less 19 4 ft s or less po Ikgloz oz 11 11 17 17 20 20 49 15 16 16 20 07 07 11 o fas fas 2 4 241375375 44 44 1
370. t roR A 5 2 2 Analog monitor The servo status can be output to two channels in terms of voltage The servo status can be monitored using an ammeter 1 Setting Change the following digits of parameter No 17 Parameter No 17 d Analog monitor MO1 output selection Signal output to across MO1 LG Analog monitor MO2 output selection Signal output to across MO2 LG Parameters No 31 and 32 can be used to set the offset voltages to the analog output voltages The setting range is between 999 and 999mV Description Setting range mV range mV a Usa to set the offset voltage for the analog monitor 1 MO1 Used to set the offset voltage for the analog monitor 2 MO2 999 to 999 output 5 PARAMETERS 2 Set content The servo amplifier is factory set to output the servo motor speed to analog monitor 1 MO1 and the torque to analog monitor MO2 The setting can be changed as listed below by changing the parameter No 17 value Refer to Appendix 2 for the measurement point Setting Output item Setting Output item Servo motor speed j Torque Note2 1 2 Servo motor speed 3 j Torque Note2 Current command 5 Command pulse frequency Note Encoder pulse unit 2 8V is outputted at the maximum torque However when parameter No 28 CW direction A Driving in CCW direction sv Max torque ai gt 0 Max torque direc D 4 Max speed Driving in Drivi
371. t the regenerative brake option out of the combinations in 1 in this section 13 1 13 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 a Regenerative energy calculation Use the following table to calculate the regenerative energy 3 tf 1 cycle a v No 3 Up O I i E Re 3 2 Down Time A SS wy 2 O t t2 B H Friction Z g Tpsat Tpsat Tpsa2 Tpso2 torque E 1 g ov pains riving TF 5 3 2 8 Oo d 3 S 6 o C O Regenerative 7 l Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor N m LtJM No 1 0 1047 Tu 4 E1 No T1 9 55 x 10 Tpsal Pese 2 0 T1 Tpsal ES 01047 No Th n Sn a 0 1047 E SO We E0 No regeneration T5 HOI MANG S 1 Tu TF Es EE 1047 No T5 Tpsa2 9 55 x10 Tpsa2 Ee EE H BOESEN LEIN No anr Tu TF E7 AT No T7 Tpsd2 9 55 x 10 Tpsd2 From the calculation results in 1 to 8 find the absolute value Es of the sum total of negative energies b Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the eebe mode O ee PRE JOR
372. t used Lower second digit Lower third digit Lower fourth digit Lower fifth digit Lower sixth digit DOR OPTED 2 Status display data clear The cumulative feedback pulse data of the status display is cleared Send this command immediately after reading the status display item The data of the status display item transmitted is cleared to zero 8 1 0110 1EA5 For example after sending command 01 1 and data No 8 0 and receiving the status display data send command 8 1 data No 0 0 and data 1EA5 to clear the cumulative feedback pulse value to zero 14 16 14 COMMUNICATION FUNCTIONS 14 12 3 Parameter 1 Parameter read Read the parameter setting 1 Transmission Transmit command 0 5 and the data No corresponding to the parameter No The data No is expressed in hexadecimal equivalent of the data No value corresponds to the parameter number 0115 0 0 to 5114 2 Reply The slave station sends back the data and processing information of the requested parameter No UA Data is transferred in hexadecimal Decimal point position No decimal point Lower first digit Lower second digit Lower third digit Lower fourth digit Lower fifth digit OP GO hM 0 il Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Parameter write type 0 Valid after write 1 Valid when power is switched on again after write Read enable
373. tHL lt 0 2us PP 0 9 tc gt 2us 0 1 d tF gt 3us tc tLH SES tF ee 3 42 3 SIGNALS AND WIRING b Differential line driver system 1 Interface Servo amplifier Max input pulse frequency 500kpps p 10m 393 70in or less gt PP NP About 1000 aw PG NG 2 Conditions of the input pulse te tHL GAEREN tLH tHL lt 0 1us PP PG 0 9 V tc gt 1us 0 1 tF gt 3us tc tLH lt tF NP NG A SEA UE 4 Encoder pulse output DO 2 a Open collector system Interface Max output current 35mA Servo amplifier Servo amplifier 5 to 24VDC eee MED CC bag Photocoupler LG T D v SD 3 SIGNALS AND WIRING b Differential line driver system 1 Interface Max output current 35mA Servo amplifier Servo amplifier 2 Output pulse LA f Am26LS32 or equivalent LB Gol EEN 1000 High speed photocoupler conf GL ED LAR LBR LZR SD Servo motor CCW rotation LA The time cycle T is determined by the setting of the parameter No 27 and 54 Gs es ee iggy eS ie sec at A apen LJ Ly UE L LZR Ce 5 Analog input Input impedance 10 to 12kQ Servo amplifier E Le Leen Upper limit setting 2kQ yc etc oo p a E vo LG Approx SE 10kQ 6 Analog output Output voltage 10V M
374. ter No 0 Section 13 1 3 Addition of When using the power regeneration converter set 01 OO in parameter No 0 Section 13 1 3 2 Partial connection diagram change Print data J un 2003 SH NA 030006 E Section 13 1 4 2 Partial connection diagram change Section 13 1 10 Addition Section 13 2 1 1 Correction of the AWG of the recommended wire 60mm to 2 0 Section 13 2 10 2 3 Correction of the position meter model name to RRS10M 202 Section 14 12 7 2 b Addition of ST1 to the Forward rotation start data Addition of ST1 to the Reverse rotation start data Section 14 12 7 3 b Servo on Stroke end changed to ON Section 15 4 Correction of the Command pulses of the positioning module to differential line driver type SH NA 030006 F Reexamination of Servo Configuration software representation Safety Instructions 3 To prevent injury Reexamination of some sentences COMPLIANCE WITH EC DIRECTIVES 3 4 Change to I E C60664 1 Section 3 6 2 7 Addition of explanation on J P11 in the case of 11kW or more Section 5 1 2 2 Reexamination of part of parameter No 20 Classification of automatic setting in Low pass filter selection of parameter No 60 Reexamination of part of parameter No 76 sentences Section 5 2 1 3 Addition of 103 to expression Section 10 2 2 Addition of Definition Cause and Action to AL 32 Section 12 5 Change of wiring length to 1m Section 13 1 1 4 Sentence reexamination Section 13 1 1
375. ter or brake unit connect it across P N Brake unit Refer to Sections 13 1 2 and 13 1 3 for details Connect this terminal to the protective earth PE terminals of the servo motor Protective earth PE H PE SE and control box for grounding Pap Power factor improving DC P1 P are connected before shipment When connecting a power factor improving x reactors DC reactor remove the short bar across Pi P Refer to Section 13 2 4 for details Regenerative brake option 3 SIGNALS AND WIRING 3 13 3 Servo motor terminals Terminal box Encoder connector Y MS3102A20 29P Encoder connector signal arrangement MS3102A20 29P Signal al HERE ESA Terminal box inside HA LFS11K2 Thermal sensor terminal block OHS1 OHS2 M4 screw Motor power supply terminal block U V W M6 screw Cooling fan terminal block BU BV M4screw Earth terminal M6 screw Terminal block signal arrangement O OHS1 0HS2 o JA JO Encoder commector MS3102A20 29P Power supply connection screw size Power supply connection screw size HA LFS11K2 E CA 3 SIGNALS AND WIRING Terminal box inside HA LFS15K2 HA LFS 22K2 Thermal sensor terminal block OHS1 OHS2 M4 screw A ea li Cooling fan terminal block BU BV BW M4 screw Termin
376. the analog torque command voltage TC 8V of 8V on the assumption that the maximum torque is 100 For example set 50 to output maximum torque x 50 100 at the TC of 8V Encoder output pulses Used to set the encoder pulses A phase B phase output by the servo amplifier Set the value 4 times greater than the A phase or B phase pulses You can use parameter No 54 to choose the output pulse setting or output division ratio setting The number of A B phase pulses actually output is 1 4 times greater than the preset number of pulses The maximum output frequency is 1 3Mpps after multiplication by 4 Use this parameter within this range For output pulse designation Set 0000 Gnitial value in parameter No 54 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 B phase pulses are as indicated below A B phase output pulses zeno 1400 pulse For output division ratio setting Set 1 in parameter No 54 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 B phase pulses are as indicated below 158 Internal torque limit 1 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100 When 0 is set torqu
377. tio 12 effectiveload ratio R Io f 8119 instantaneous torque 12 TT onerevolution position aa EE o Lei load inertia moment ratio 12 foul 81E 2 Parameter Command 0 5 Frame length 0 5 0 0 to Current value of each parameter 5114 The decimal equivalent of the data No value hexadecimal corresponds tothe parameter number 3 External I O signals Command 1 2 Frame length 11121 4J10 External input pin statuses a ae 1112 C 0 External output pin statuses BA 4 Alarm history Command 3 3 313 1O most recentalarm 4 DI DU first alarminpast 4 DI DI i i second alarmin past 4 1316 DS Alarm number in alarm history thira darain pact i DI Dal fourth alarmin past 4 ET alarm in past Een first alarminpast Alarm occurrence timein alarm second alarmin pes LS history third alarminpast 8 fourthalarminpast 8 fifth alarminpast_ _8 14 11 14 COMMUNICATION FUNCTIONS 5 Current alarm Command 0 2 3 5 Frame length 01121 0M0 Current alarm number NA B15 18110 Status display data value and processing information at alarm Ge DIS sia analog speed command voltage analog torque command voltage mm Le effective load ratio DIS elo 12 3115 8 C ABS counter L O 3105 euni Bus voltage 6 Others tol21 9M0 Servo motor end pulse unit absolutepo
378. tion 4 Machine characteristic Response level settin Machine resonance p 9 Machine rigidity frequency guideline Guideline of corresponding machine Large conveyor Arm robot General machine Middle tool conveyor Precision working machine Inserter Mounter Bonder 7 GENERAL GAIN ADJUSTMENT _ _ _ _ __ _ _ zz _ _ _ gt _ ___ KK _______ 7 3 Manual mode 1 simple manual adjustment If you are not satisfied with the adjustment of auto tuning you can make simple manual adjustment with three parameters 7 3 1 Operation of manual mode 1 In this mode setting the three gains of position control gain 1 PG1 speed control gain 2 VG2 and speed integral compensation VIC automatically sets the other gains to the optimum values according to these gains User setting E a des PG2 VG1 VIC Automatic setting Therefore you can adjust the model adaptive control system in the same image as the general Pl control system position gain speed gain speed integral time constant Here the position gain corresponds to PG1 the speed gain to VG2 and the speed integral time constant to VIC When making gain adjustment in this mode set the load inertia moment ratio parameter No 34 correctly 7 3 2 Adjustment by manual mode 1 If machine resonance occurs adaptive vibration suppression control parameter No 60 or machine resonance suppression filter parameter No 58 59 may be
379. tion 3 6 2 In the control mode field of the table P Position control mode S Speed control mode T Torque control mode O Denotes that the signal may be used in the initial setting status A Denotes that the signal may be used by setting the corresponding parameter among parameters 43 to 49 The pin No s in the connector pin No column are those in the initial status 1 Input signals 1 0 tor pin Functions Applications mode Servo on SON Turn SON on to power on the base circuit and make the servo amplifier ready to operate servo on Turn it off to shut off the base circuit and coast the servo motor servo off Set 1 in parameter No 41 to switch this signal on keep terminals connected automatically in the servo amplifier Reset RES Turn RES on for more than 50ms to reset the alarm Some alarms cannot be deactivated by the reset signal Refer to Section 10 2 Turning RES on in an alarm free status shuts off the base circuit The base circuit is not shut off when 11 100 is set in parameter No 51 Forward rotation To start operation turn LSP LSN on Turn it off to bring the stroke end motor to a sudden stop and make it servo locked division Set 0001 in parameter No 22 to make a slow stop Refer to Section 5 2 3 Note Input signals Operation LSP LSN GES SE direction direction Reverse rotation stroke end Note 0 off 1 on Set parameter No 41 as indicated
380. tion and the actual servomotor position exceeds 2 5 rotations Refer to the function block diagram in Section 1 2 RS 232C or RS 422 communication stopped for longer than the time set in parameter No 56 Serial communication error occurred between servo amplifier and communication device e g personal computer CPU parts faulty constant is too small time constant 2 Torque limit value parameter No 28 is too small 3 Motor cannot be started due to 1 Review the power supply capacity torque shortage caused by power 2 Use servo motor which provides larger supply voltage drop output No 6 value is small proper operation 5 Servo motor shaft was rotated by 1 When torque is limited increase the external force limit value 2 Reduce load 3 Use servo motor that provides larger output 6 Machine struck something 1 Review operation pattern 2 Install limit switches 7 Encoder faulty Change the servo motor 8 Wrong connection of servo motor Connect correctly Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W parameter No 56 setting 1 eae saves ign Repair or change the cable A AAA 2 Communication device e g Change the communication device e g personal computer faulty personal computer Fault of parts in servo amplifier Change servo amplifier Checking method Alarm 88888 occurs if power is switched on after disconnection
381. to change the status display screen from one to another 3 Termination of motor less operation To terminate the motor less operation switch power off 6 16 7 GENERAL GAIN ADJUSTMENT 7 GENERAL GAIN ADJUSTMENT For use in the torque control mode you need not make gain adjustment 7 1 Different adjustment methods 7 1 1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier For gain adjustment first execute auto tuning mode 1 If you are not satisfied with the results execute auto tuning mode 2 manual mode 1 and manual mode 2 in this order 1 Gain adjustment mode explanation Parameter No 2 Estimation of load inertia Automatically set Gain adjustment mode Manually set parameters setting moment ratio parameters Auto tuning mode 1 0100 Always estimated PG1 parameter No 6 Response level setting of GD2 parameter No 34 parameter No 2 PG2 parameter No 35 initial value VG1 parameter No 36 VG2 parameter No 37 VIC parameter No 38 Fixed to parameter No PG1 parameter No 6 GD2 parameter No 34 34 value PG2 parameter No 35 Response level setting of VG1 parameter No 36 parameter No 2 VG2 parameter No 37 VIC parameter No 38 Manual mode 1 0300 PG2 parameter No 35 PG1 parameter No 6 VG1 parameter No 36 GD2 parameter No 34 VG2 parameter No 37 Auto tuning mode 2 0200 VIC parameter No 38
382. to resume operation To stop positioning operation after a temporary stop retransmit the temporary stop communication command The remaining moving distance is then cleared 14 23 14 COMMUNICATION FUNCTIONS 14 12 8 Output signal pin ON OFF output signal DO forced output In the test operation mode the output signal pins can be turned on off independently of the servo status Using command 9 0 disable the output signals in advance 1 Choosing DO forced output in test operation mode Transmit command 8 B data No O 0 data 0004 to choose DO forced output Se Selection of test operation mode 4 DO forced output output signal forced output 2 External output signal ON OFF Transmit the following communication commands 9112 Alto Command of each bit is sent to the slave station in hexadecimal External output pin wg Il SECH 9 _ cnag 19 ao CN1B 6 E ere eal AT hia 20 om Il SECH MECH GE bit External output pin o oam il oam 2 cN 3 ous a cnip a 5 ous Po oan AAA 14 24 a E ES Paes a EN ES Ea 14 COMMUNICATION FUNCTIONS 14 12 9 Alarm history 1 Alarm No read Read the alarm No which occurred in the past The alarm numbers and occurrence times of No O last alarm to No 5 sixth alarm in the past are read a T
383. to the same protective earth PE terminal Always connect the cables to the terminals one to one QQ o uo o be E PE terminals PE terminals c If a leakage current breaker is used to prevent an electric shock the protective earth PE terminals of the servo amplifier must be connected to the corresponding earth terminals 6 Wiring a The cables to be connected to the terminal block of the servo amplifier must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals lt Cable b Use the servo motor side power connector which complies with the EN Standard The EN Standard compliant power connector sets are available from us as options 7 Auxiliary equipment and 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 13 2 2 b The sizes of the cables described in Section 13 2 1 meet the following requirements To meet the other requirements follow Table 5 and Appendix C in EN60204 1 Ambient temperature 40 104 C F Sheath PVC polyvinyl chloride Installed on wall surface or open table tray c Usethe EMC filter for noise reduction 8 Performing EMC tests When EMC tests are run on a machine device into which the servo amplifier has been installed it must conform to the electromagnetic compatibility immunity emission standards after it has satis
384. tor inertia moment x2x 2 Speed integral compensation VIC parameter No 38 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 compensation s 2000 to 3000 setting ms Speed control gain 2 setting 1 ratio of load inertia moment to servo motor inertia moment setting 0 1 2 For position control a Parameters The following parameters are used for gain adjustment Abbreviation e GJ Position control gain 1 Ratio of load inertia moment to servo motor inertia moment Speed control gain 2 Speed integral compensation b Adjustment procedure Set an estimated value to the ratio of load inertia moment to servo C motor inertia moment parameter No 34 za Set a slightly smaller value to the position control gain 1 parameter ARSS No 6 Increase the speed control gain 2 parameter No 37 within the ncrease the speed control gain vibration and unusual noise free range and return slightly if vibration takes place Decrease the speed integral compensation p
385. tor pulse Test operation train input 24VDC power is not supplied to OPC b LSP and LSN are not on 2 No pulses is input Servo motor run in 1 Mistakein wiring to Chapter 5 reverse direction controller 2 Mistake in setting of parameter No 54 10 1 10 TROUBLESHOOTING Start up sequence Investigation Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7 speed fluctuations following procedure are large at low 1 Increase the auto tuning speed response level 2 Repeat acceleration and deceleration several times to compl ete auto tuning Large load nertia If the servo motor may be Gain adjustment fault Chapter 7 moment causes the run with safety repeat servo motor shaft to acceleration and oscillate side to side deceleration several times to complete auto tuning Cyclic operation Position shift occurs Confirm the cumulative Pulse counting error etc 2 in this command pulses cumulative due to noise section feedback pulses and actual servo motor position 10 2 10 TROUBLESHOOTING 2 How to find the cause of position shift Positioning unit Servo amplifier a Output pulse counter E Electronic gear parameters No 3 4 Machine Servo motor d Machine stop S 1 position M A b Cumulative command B C Servo on SON pulses stroke end LSP LSN input c D c Cumulative feedback pulses
386. trol Mode Status display at power on Position Cumulative feedback pulses Position speed Cumulative feedback pulses servo motor speed Speed Servo motor speed Speed torque Servo motor speed analog torque command voltage Torque Analog torque command voltage Torque position Analog torque command voltage cumulative feedback pulses 1 Depends on the first digit setting of this parameter 5 12 5 PARAMETERS Class No Symbol Name and function HE Unit Setting Control value range mode 19 BLK Parameter write inhibit 0000 Refer to P S T Used to select the reference and write ranges of the parameters Name Operation can be performed for the parameters marked and Basic Expansion Expansion function column Set f parameters parameters 1 parameters 2 Operation value No 0 No 50 to No 19 to No 49 to No 84 0000 Reference CG Initial Write p value El No 19 only E E No 19 only g S 3 S GE a Reference E Reference E GE GE SH No 19 only Reference OG 2 No 19 only Reference O es 20 OP2 Function selection 2 0000 Refer to Used to select restart after instantaneous power failure servo lock at a stop in speed control mode and slight vibration suppression control Name and function m Ka EI Q 2 o 3 E 3 a o o a n g 3 a 4 E 0 column EE Restart after instantaneous pow
387. ts x16 times Adding check sum Counting frequency of ABS data reception Completion of reading 2 bits of ABS data Right rotation of AO 10 bits Masking check sum Sum check OK Detecting ABS data check sum error Sum check NG Sum check memory ABS check sum error Resetting ABS request ABS 2 bits request ABS request control Setting ABS request 10ms delay timer Transmission data read enabled To be continued 4 15 29 15 ABSOLUTE POSITION DETECTION SYSTEM 4 M1 HH DFROP H0001 K7912 D9 Check sum OK e Note DP ko vs D gt ko D3 SET M1 Y4B DTOP H0001 K41 D3 Check ABS coordinate error sum OK SET Y49 X36 RST ABS commu Servo on PB nication error Y41 ABS transfer mode AA A EE AEE E EE IA EE AOA E E E E 10 Kt H Yai H K50 Continued from preceding page 4 1 A1SD71 reading home position address Inserting constant K for conversion Restoring absolute into the unit of feed per pulse position data mi Adding home position address to absolute position Detecting ABS Setting ABS coordinate error i coordinate error 1 X axis Present position change ABS data ready Writing ABS data to A1SD71 ABS data ready Resetting ABS transfer mode ABS transfer mode timer 5s Ka GC SE d ABS request response timer L ABS transfer ABS request 1s mode e SC sa A Ready to send response ABS communication ABS transfer Send
388. ttering due to noise etc input filter is used to suppress it 0 None 1 1 777 ms 2 3 555 ms 3 5 333 ms CN1B pin 19 s function selection 0 Zero Speed detection ZSP 1 Electromagnetic brake interlock MBR T CN1B pin 18 s function selection 0 Alarm ALM 1 Dynamic brake interlock DB When using the external dynamic brake with 11kW or more make dynamic brake interlock DB valid Selection of absolute position detection system Refer to Chapter 15 0 Used in incremental system 1 Used in absolute position detection system D Ei Q 8 o E E EI 3 E o 2 Ka 3 aa 5 PARAMETERS Initial Setting Control Class No Symbol Name and function Unit g value range mode P S 2 ATU Auto tuning 7kW or Refer to Used to selection the response level etc for execution of auto tuning less 0105 Name Refer to Chapter 7 11kW or and ol Jol eis hee column Response level setting Set Response Machine resonance value level frequency guideline 1 Low 15Hz 2 response 20Hz 4 25Hz 30Hz 35Hz 45Hz 55Hz 85Hz 105Hz 130Hz 160Hz 4 200Hz High 240Hz response 300Hz If the machine hunts or generates large gear sound decrease the set value To improve performance e g shorten the settling time increase the set value Gain adjustment mode selection For more information refer to Section 7 1 1 Gain adjustment mode Description
389. tus display diagnostic alarm and parameter setting operations Gi MODE UP DOWN SET LUsed to set data Chapter6 Used to change the display or data in each mode Used to change the mode 1 0 signal connector CN 1A Used to connect digital 1 O signals 1 0 signal connector CN 1B Used to connect digital I O signals Section3 3 Section3 3 Communication connector CN 3 Section3 3 Used to connect a command device RS 422 RS 232C Chapter14 and output analog monitor data Section13 1 5 Name plate Section1 5 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN 2 Used to connect the servo motor encoder Section3 3 Section13 1 5 Main circuit terminal block TE 1 Used to connect the input power supply and servo motor Section3 7 Section11 1 Control circuit terminal block TE 2 Section3 7 Used to connect the control circuit power supply and Section11 1 regenerative brake option Section13 1 1 Fixed part 2places Protective earth PE terminal Ground terminal Section3 10 Section11 1 For MR J2S 70A 100A 3 places 1 10 1 FUNCTIONS AND CONFIGURATION 2 MR J2S 200A MR J2S 350A The servo amplifier is shown without the front cover For removal of the fron
390. ue is not generated CCW reverse rotation in CW forward rotation in driving mode forward driving mode reverse rotation in regenerative rotation in regenerative mode Torque is not mode CW forward rotation in generated CCW reverse rotation in driving mode reverse driving mode forward rotation in regenerative rotation in regenerative mode mode Note 0 off 1 on Generally make connection as shown below Servo amplifier o H D I gt o Rs2 H SG 8 0 8t0 8V_ Lie E 3 SIGNALS AND WIRING b Analog torque command offset Using parameter No 30 the offset voltage of 999 to 999mV can be added to the TC applied voltage as shown below Max torque E Parameter No 30 offset range 999 to 999mV Generated torque TC applied voltage V 2 Torque limit By setting parameter No 28 internal torque limit 1 torque is always limited to the maximum value during operation A relationship between limit value and servo motor torque is as in 5 in section 3 4 1 Note that the analog torque limit TLA is unavailable 3 Speed limit a Speed limit value and speed The speed is limited to the values set in parameters No 8 to 10 72 to 75 internal speed limits 1 to 7 or the value set in the applied voltage of the analog speed limit VLA A relationship between the analog speed limit VLA applied voltage and the servo motor speed is shown below When the servo moto
391. uency of the speed loop is as indicated in the following expression Speed loop response _ Speed control gain 2 setting frequency H z 1 ratio of load inertia moment to servo motor inertia moment 2r 3 Speed integral compensation parameter No 38 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 load inertia moment to servo motor inertia moment 2 setting x 0 1 7 GENERAL GAIN ADJUSTMENT 7 4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X Y table or the like In this mode the position control gain 2 and speed control gain 2 which determine command trackability are set manually and the other parameter for gain adjustment are set automatically 1 Parameter a Automatically adjusted parameters Thefollowing parameters are automatically adjusted by auto tunin
392. used to suppress machine resonance Refer to Section 8 1 1 For speed control a Parameters The following parameters are used for gain adjustment b Adjustment procedure Set an estimated value to the ratio of load inertia moment to servo i ee motor inertia moment parameter No 34 Increase the speed control gain 2 parameter No 37 within the Increase the speed control gain vibration and unusual noise free range and return slightly if vibration takes place Decrease the speed integral compensation parameter No 38 within Decrease the time constant of the speed the vibration free range and return slightly if vibration takes place integral compensation increased by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 2 and 3 7 GENERAL GAIN ADJUSTMENT _ _ _ _ ___ _ ___ _ _ _ _ _ _ _ gt _ ____ _ _ _ _ _ _ __ _ _ ___ _ _ _ _ __ _ _ _______ gt gt E gt gt ExAE E EAS c Adjustment description 1 Speed control gain 2 parameter No 37 This parameter determines the response level of the speed control loop Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate The actual response frequency of the speed loop is as indicated in the following expression Speed loop response _ Speed control gain 2 setting frequency Hz 1 ratio of load inertia moment to servo mo
393. utput due to a fault disabling the emergency stop EMG and other protective circuits Servo Amplifier Servo amplifier COM oe oe DC24V Control Control output output signal Use a noise filter etc to minimize the influence of electromagnetic interference which may be given to electronic equipment used near the servo amplifier Do not install a power capacitor surge suppressor or radio noise filter FR BIF option with the power line of the servo motor When using the regenerative brake resistor switch power off with the alarm signal Otherwise a transistor fault or the like may overheat the regenerative brake resistor causing a fire Do not modify the equipment CN1A CN1B CN2 and CN3 have the same shape Wrong connection of the connectors will lead to a failure Connect them correctly 3 SIGNALS AND WIRING 3 1 Standard connection example Refer to Section 3 7 1 for the connection of the power supply system and to Section 3 8 for connection with the servo motor 3 1 1 Position control mode 1 FX 10GM Positioning module FX 10GM Servo amplifier Note 4 9 Note 4 CN1A CN1B Note 12 Note 7 Trouble Zero speed meca Limiting torque COM3 Note 13 Note 4 9 CN1A 10m 32ft or less Encoder A phase pulse
394. w to process send and receive data when reading and writing data 1 Processing the read data When the display type is 0 the eight character data is converted from hexadecimal to decimal and a decimal point is placed according to the decimal point position information When the display type is 1 the eight character data is used unchanged The following example indicates how to process the receive data 003000000929 given to show The receive data is as follows 0 0 3 0 0 0 0 0 0 9 2 9 Data 32 bit length hexadecimal representation Data conversion is required as indicated in the display type Display type 0 Data must be converted into decimal 1 Data is used unchanged in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit normally not used 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit 6 Sixth least significant digit Since the display type is 0 in this case the hexadecimal data is converted into decimal 00000929H 2345 As the decimal point position is 3 a decimal point is placed in the third least significant digit Hence 23 45 is displayed 14 14 14 COMMUNICATION FUNCTIONS 2 Writing the processed data When the data to be written is handled as decimal the decimal point position must be specified If it is not specified the data cannot be written When the data is
395. wer supply is connected to the power input terminals L1 L2 L3 L11 L21 of the servo amplifier b The servo motor power supply terminals U V W of the servo amplifier match in phase with the power input terminals U V W of the servo motor c The servo motor power supply terminals U V W of the servo amplifier are not shorted to the power input terminals L1 L2 L3 of the servo motor d The earth terminal of the servo motor is connected tothe PE terminal of the servo amplifier e Note the following when using the regenerative brake option brake unit or power regeneration converter 1 For the MR 2S 350A or less the lead has been removed from across D P of the control circuit terminal block and twisted cables are used for its wiring 2 For the MR 2S 500A or more the lead has been removed from across P C of the servo amplifier built in regenerative brake resistor and twisted cables are used for its wiring f When stroke end limit switches are used LSP and LSN are on during operation g 24VDC or higher voltages are not applied to the pins of connectors CN1A and CN1B h SD and SG of connectors CN1A and CN1B are not shorted i The wiring cables are free from excessive force 2 Environment Signal cables and power cables are not shorted by wire offcuts metallic dust or the like 3 Machine a The screws in the servo motor installation part and shaft to machine connection are tight b The servo motor and the mac
396. wing it in the direction of arrow 1 17 1 FUNCTIONS AND CONFIGURATION Reinstallation of the front cover a o e e e gt E 8 Mounting screws 2 places Gh a al 1 Insert the front cover in the direction of arrow 2 Fix it with the mounting screws 2 places y Im ile l i 0 Mounting screws 2 places AAA AAA g o f r 3 Fit the front cover and fix it with the mounting screws 2 places 1 18 1 FUNCTIONS AND CONFIGURATION 1 8 Servo system with auxiliary equipment To prevent an electric shock always connect the protective earth PE terminal WARNING terminal marked of the servo amplifier to the protective earth PE of the control box 1 MR J2S 100A or less a For 3 phase 200V to 230VAC or 1 phase 230VAC Note2 3 phase 200V to 230VAC power supply or 1 phase 230VAC power supply No fuse breaker NFB or fuse Magnetic contactor
397. wing 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 13 25 13 OPTIONS AND AUXILIARY EQUIPMENT 13 1 6 Junction terminal block MR TB20 When using the junction terminal block you cannot use SG of CN1A 20 and CN 1B 20 Use SG of CN1A 10 and CN 1B 10 1 How to use the junction terminal block Always use the junction terminal block MR TB20 with the junction terminal block cable MR J 2TBL OM as a set A connection example is shown below Servo amplifier Junction terminal block Cable clamp MR TB20 AERSBAN ESET Junction terminal block cable MR J2TBLO5M Ground the junction terminal block cable on the junction terminal block side with the standard accessory cable clamp fitting AERSBAN ESET For the use of the cable clamp fitting refer to Section 13 2 6 2 c 2 Terminal labels Among the terminal block labels for the junction terminal block use the two for the MR J 2S A MR 2 A When changing the input signals in parameters No 43 to 48 refer to 4 in this section and Section 3 3 and apply the accessory signal seals to the labels 1 For CN1A 2 For CN1B Unit mm 126 4 96 gt Unit in MITS
398. write the Y axis i program Lesen st i snes a is is see e le b Data set type home position return Arrange the data set type home position return programs given in Section 15 8 3 2 f in series to control two axes Refer to the X axis data set type home position return program and create the Y axis program Assign the X inputs Y outputs D registers M contacts and T timers of the Y axis so that they do not overlap those of the X axis The buffer memory addresses of the A15D75 differ between the X and Y axes The instructions marked 1 in the program of Section 15 8 3 2 f should be changed as indicated below for use with the Y axis DTOP H0000 K72 D9 K1 gt DTOP H0000 K222 D9 K1 DTOP H0000 K1154 D9 K1 gt DTOP H0000 K1204 D3 Ki TO H0000 K1150 K9003 K1 gt TO H0000 K1200 K9003 K1 Program configuration ER a ra oe TOE X axis data set type home position return program Program in Section 15 8 3 2 f PRERA E si EE is E ey Y axis data set type home position return program Refer to the X axis program and write the Y axis program EA ON A es se Rent as Me Me hk Ee NaN IE A 15 59 15 ABSOLUTE POSITION DETECTION SYSTEM 4 Differences between A1SD75 and A1SD71 The sequence programs shown in 2 of this section differ from those for the A1SD71 in the following portions 1 to 20 in the following sentences indicate the numbers in the programs given in 2 of this se

Mitsubishi Electronics MR-J2S- A Car Amplifier User Manual

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