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Mitsubishi Electronics MR-J2M-P8A Car Amplifier User Manual

1. Unit mm Unit in J EE tk tE R 2006 ES EES res e e Y fe ee ee Ca S e cs os a ns Y ns ns Y Y Y Y Y A ID COL IT AT IT oT ToT att atta CAJE IAE EN AEE EN a APprox 80 3 15 u 138 5 5 45 25 F A 130 4 72 z 0 89 5 6 5 0 26 S 249 20 2 44 5 60 18 N mounting hole 4 7 Sy 4 Tl po ES F x Fo cae Mounting screw M4 2 She Tightening torque 1 5 N m 13 3 lb in K poan i me A a a ASUN de Sas lo Le y IES az g Oya HOZ E E i Fone NAME PLATE E NS SY Lo ney AA J li gt y Io y Y LO W JU Mass 0 2kg 1 10lb 10 2 5 Battery unit MR J2M BT Unit mm Unit in N gt eee gt 25 0 89 3 Approx 70 2 76 130 5 45 S 6 5 0 26 S 29 20 2 64 5 0 18 mounting hole A aL fe lo E a Mounting screw M4 Tightening torque 1 5 N m Baa 13 3 lb in o Uta opa JA cla oa fie NI aa JI z E s 3 US q 8 NAME PLATE S N s Y y Ty of PJE Mass 0 3kg 0 66lb 10 4 10 OUTLINE DRAWINGS 10 3 Connectors 1 CN1A CN1B CN4A CN4B connector lt 3M gt a Soldere
2. 6 0 24 mounting hole oO e T e a N S TE1 Sl o E a y 5 0 20 Terminal block Lo O vt G3 G4 TE1 Mp C T Terminal screw M3 Y z e b Tightening torque a 0 5 to 0 6 N m 4 to 5 Ib in 1 6 0 06 Mounting screw Screw size M5 Tightening torque 3 2 N m 28 32 Ib in Regenerative Variable dimensions brake option kg iio MR RB032 30 1 18 15 0 59 119 4 69 99 3 9 MR RB14 40 1 57 15 0 59 169 6 69 149 5 87 b MR RB34 3 Unit mm in 2 2 e Ade gagga n S Terminal block N Eei E me la gt o E 5 gt EEE f E e 6 gt gt gt P A id a 3 SS gt gt C Terminal screw M4 3 A G3 Tightening torque 1 2 N m 10 6 Ib in uit 42 G4 03 7 0 28 318 12 52 ols gt O 17 10 0 39 90 3 54 0 67 335 13 19 Mounting screw 100 3 94 Screw M6 o _ Tightening torque 5 4 N m 47 79 Ib in E E O N Regenerative Brake Option Mass kg Ib MR RB34 2 9 6 393 12 6 12 OPTIONS AND AUXILIARY EQUIPMENT c MR R
3. 12 20 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 5 Maintenance junction card MR J2CN3TM 1 Usage The maintenance junction card MR J2CN3TM is designed for use when a personal computer and analog monitor are used at the same time Maintenance junction card MR J2CN3TM Interface unit 2 Connection diagram SDN P5 3 Outline drawing 2 5 3 0 21 mounting hole Bus cable MR J2HBUSOM Communication cable A1 A2 A3 A4 B4 B3 B2 B1 Not used B5 B6 A5 A6 O cnac pt 0000 Shell Shell ETRE 100 3 94 12 21 LG LG MO1 MO2 TRE RDP P5 SDN Not used LG LG PE Unit mm Unit in 41 5 1 63 Mass 110g 0 24Ib Analog monitor 2 Analog monitor 1 12 OPTIONS AND AUXILIARY EQUIPMENT 4 Bus cable MR J2HBUS OM a Model explanation Model MR J2HBUSOM Symbol Cable length m ft 0 5 1 64 b Connection diagram MR J2HBUSO5M MR J2HBUS1M MR J2HBUS5M 10120 6000EL connector 10120 6000EL connector 10320 3210 000 shell kit 10320 3210 000 shell kit 12 22 12 OPTIONS AND AUXILIARY EQUIPMENT
4. 33 92 1 33 10 8 10 OUTLINE DRAWINGS 6 Connectors for CNP2 lt molex gt Unit mm Unit in 3 0 118 E 4 2 Circuit number 5 4 0 213 0 047 Layout diagrams classified by the number of poles 5 4 0 213 tieda Variable Dimensions oqe em la f e 5557 04R 4 2 0 165 9 6 0 378 2 5 0 098 i 9 6 0 378 4 2 0 165 al 2 7 0 106 2 7 0 106 Terminal Unit mm Model 5556 Unit in 14 7 0 579 E 5 5 0 217 6 6 0 26 26 1 2 0 047 OMIN Applicable wire Core size AWG 18 to 24 5556 PBTL g JS AWG28 5556 PBT2L z al Sheath OD 3 1mm 40 122 in max Strip length 3 0 to 3 5 mm 0 118 to 0 138 in Exclusive tools Wire specifications Terminal 3 Tool number Sheath OD mm inch 1 5 to 2 2 0 06 to 0 09 57026 5000 5556 PBL AWG18 to AWG24 2 3 to 3 1 0 06 to 0 12 57027 5000 5556 PBT2L AWG28 570645000 5556 PBT3L AWG16 lA 57022 5300 10 9 10 OUTLINE DRAWINGS MEMO 10 10 11 CHARACTERISTICS 11 CHARACTERISTICS 11 1 Overload protection characteristics An electronic thermal relay is built in the drive unit to protect the servo motor and drive unit from overloads Overload 1 alarm A 50 occurs if overload operation performed is above the electron
5. 14 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 DRU parameter No 1 1 Stroke less coordinate system e g rotary shaft infinitely long positioning 2 Changing of electronic gear after home position setting 14 1 14 ABSOLUTE POSITION DETECTION SYSTEM 14 2 Specifications 1 Specification of battery unit MR J2M BT The revision Edition 44 of the Dangerous Goods Rule of the International Air Transport Association IATA went into effect on January 1 2003 and was enforced immediately In this rule provisions of the lithium and lithium ion batteries were revised to tighten the restrictions on the air transportation of batteries However since this battery is dangerous goods Class 9 requires packing compliant with the Packing Standard 903 When a self certificate is necessary for battery safety tests contact our branch or representative For more information consult our branch or representative As of October 2005 Note 3 Data holding time during battery g 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
6. Pulse train position command Pulse train position command LLCN5 Input signal Stroke end Forced stop I O signals for slots 1 to 4 e g servo on CN1B CN1A aos I O signals for slots 5 to 8 e g servo on Personal computer or RS 232C Le D A Current CN3 other servo amplifier P Analog monitor 3 channels CON3A 3H detector Overcurrent protection Current Base amplifier Current control Model Actual speed control Actual position control Model position F Pulse counter Model position control Model speed control Virtual Virtual Pulse train position command servo encoder brake Dynamic zala O 4 Current detection Current detection as CNP2 LCN2 Note For 1 phase 200 to 230VAC connect the power supply to L1 L2 and leave L3 open 1 2 1 FUNCTIONS AND CONFIGURATION 1 3 Unit standard specifications 1 Base unit Voltage frequency 3 phase 200 to 230VAC or 1 phase 200 to 230VAC 50 60 Hz Permissible voltage fluctuation 3 phase 170 to 253VAC or 1 phase 170 to 253VAC 50 60 Hz Permissible frequency fluctuation Within 5 Maximum servo motor connectio
7. Positioning module QD70 CON1 PULSE COM O PULSE F O PULSE RO PG O COM PG O B18 Plate Note 13 CN1B Note 4 Symbol RDO Note 13 Slot 7 Slot 8 CLEAR COM CLEAR O PULSE COM PULSE F O PULSE RO PG O COM PG O 3 SIGNALS AND WIRING Note 9 MR Configurator servo configuration software Personal computer Note 13 CN3 Communication cable Note 5 CN3 Symbol Note 6 Note tL Now iene SG Note 13 CN5 Slot 5 Slot 6 Slot 7 Slot 8 Note 6 ae 17 o 18 CN5 Symbol Slot 1 to 8 Note 3 6 he EMPRA 20 LO o EMG B MR J2M P8A Note 11 Battery unit MR J2M BT MR J2MBTCBL OM Note 5 CN2 Note 12 Monitor output Max 1mA meter Zero center Drive unit Drive unit CON3B Slot 2 Note 5 CN i CON3H Slot 8 Note 5 CNA Drive unit l Note 10 MR J2M D01 3 SIGNALS AND WIRING Note 1 To prevent an electric shock always connect the protective earth PE terminal terminal marked O of the base u
8. LSP Fwd rot strk end LSN Rys rot strk end Assignment checkfauto a ON setting b In the DIDO function display window choose the slot numbers where you want to assign the functions Move the pointer to the place of the function to be assigned Drag and drop it as is to the pin you want to assign in the DIDO device setting window 1 Assignment check auto ON setting a Press this button to display the screen that shows the slot by slot assignment list and enables auto ON setting Refer to this section 4 for more information 2 Quitting Click Close button to exit from the window b 3 SIGNALS AND WIRING C Function device assignment check auto ON setting display Click the Function device assignment check auto ON setting button in the DIDO function display window displays the following window assignment check auto ON setting Input device functiong Output device function Slot Number Function Slot Number Name 1 2 3 4 5 6 7 8 Name 1 2 3 a 5 6 7 8 areasyassignea O Not yet assigned MBR np OOOO Aron SA Already O OOOO ZSP assigned auto ON Auto ON read Auto ON write Auto ON verify Auto ON initial setting The assigned functions are indicated by O The functions assigned by auto ON are g
9. Te MO31 INPO etc EN RA sl AA ae LI M02 _ Analog monitor output e i gt Differential line driver output Base unit TD se O Q a RXD RS 232C O Q Drive unit Servo motor encoder MRI oot gt eh MRR A O Ea 7 It sof gt y Servo motor E Q Extension lO unit LA etc E Tol sl Li 35mA max LGA F C gt Q o V O Ground SG MBR RA OS Bi O KI Q EM1 ov VIN 24VDC Note Assumes a differential line driver pulse train input 3 16 3 SIGNALS AND WIRING 2 Detailed description of the interfaces This section gives the details of the I O signal interfaces refer to I O Division in the table indicated in Sections 3 2 2 Refer to this section and connect the interfaces with the external equipment a Digital input interface DI 1 Give a signal with a relay or open collector transistor Interface unit R Approx 4 7kQ For transistor Approx 5mA TR Vces lt 1 0V l ceo lt 100 nA b Digital output interface DO 1 A lamp relay or photocoupler can be driven Provide a diode D for an inductive load or an inrush current suppressing resister R for a lamp load Permissible current 40mA or less inrush current 100mA or less 1 Inductive load Interface unit VIN 24VDC ALM_O T 10 etc Opposite polarity of diode will fail interface unit 2 Lamp load Int
10. 41 Encoder A phase pulse 4 16 Differential line driver system J 40 Encoder B phase pulse 4 15 Differential line driver system J 39 Encoder Z phase pulse 4 14 Differential line driver system pl plate V 3 SIGNALS AND WIRING Note 2 CN4A 11 Note 2 ENS CN4B oo hA 13 38 LG oo 2 f Approx 6 8k S24 50 Las op 2 Sof 3 4 ls ee Sof fat A ia oh as oa a a E A SD 7 A co e 4 24 Lers J Sac a eae A a 4g Lz5 gt I poa o s 4 re A ae o feH i 4 a R z S et aT PS Li i o fa 4 22 aR O O 29 l i pa 29 46 180 gt oso 3 be aliere 31 l pig Li S fat a ANT oo fah 4 pa mE o 20 aro sc h2 37 Approx 6 8k Q VES a lar Ka JUE poa VIN 11 36 bal 19 LAR7 a pS 43 LB7 gt 18 LBR7 4 L pa 42 LZ7 gt 17 LZR7 4 L pa 41 LA8 m Pik A 16 LAR8 i PE 40 LB8 KH in LY pa 15 LBR8 4 L PE 39 Lz8 m lo E poa 14 LZR8 gt 1088 SD J Note 2 N ote 1 CN4B S 9 7 35 MR J2M D01 Encoder A phase pulse 5 Differential line driver system Encoder B phase pulse 5 Differential line driver system Encoder Z phase pulse 5 Differential line driver system Encoder A phase pulse 6 Differential line driver system Encoder B phase pulse 6 Differential line driver system Encoder Z phase pulse 6 Differential line driver
11. 12 1 6 MR Configurator servo configurations software Required to assign devices to the pins of CN4A and CN4B of the MR J2M D01 extension IO unit The MR Configurator servo configuration software uses the communication function of the interface unit to perform parameter setting changes graph display test operation etc on a personal computer 1 Specifications Communication signal Conforms to RS 232C Baudrate bps 57600 38400 19200 9600 System Station selection automatic demo Monitor Display high speed monitor trend graph Minimum resolution changes with the processing speed of the personal computer Display history amplifier data Digital I O function device display no motor rotation total power on time amplifier version info motor information tuning data absolute encoder data Axis name setting unit composition listing 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 MELSERVO J2M and servo motor Model 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 16
12. 2 D g 3 3 2 D A A o DQ 3 an 5 PARAMETERS as Customer Symbol Name Initial value Unit setting 20 Op2 Function selection2 tts P O 21 OP3 Function selection 3 Command pulse selection 000 22 OP4 Function selection 4 SE 23 FFC Feedforwardgain_ Cir o da 24 zsp Zerospeed min For manufacturer setting ae 26 pulse bo O 27 ENR Encoder output pulses rev TL1 Internal torque limit 1 100 For manufacturer setting wN sw jo A Electromagnetic brake sequence output Ratio of load inertia moment to servo motor inertia moment Position loop gain 2 Speed loop gain 1 Speed loop gain 2 Speed integral compensation baal Y 2 2 D g 3 3 2 D A A g 2 Ma g 3 2 4 E w w yw lw w jj OlOINIRDs o fu a a0 Mnn For manufacturer setting 43 For manufacturer setting 44 45 46 47 48 49 A A 5 PARAMETERS mm Customer Symbol Name Initial value Unit setting 50 For manufacturer setting 0000 51 OP6 Function selection 6 0000 52 For manufacturer setting 0000 0000 54 OP9 Function selection9 Io PA E 55 OPA Function selectiona PA For manufacturer setting o 58 NH1 Machine resonance suppression filtera 59 NH2 Machine resonance suppression filter2 o DN 60 LPF Low pass filter adaptive vibration suppression control 0000 0
13. 3 4 4 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 Li L2 Ls 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 SONO about 3s after the main circuit power supply is switched on Therefore when SONO is switched on simultaneously with the main circuit power supply the base circuit will switch on in about 1 to 2s and the ready RDO 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 RESO is switched on the base circuit is shut off and the servo motor shaft coasts 2 Timing chart SON accepted 1 3s I Main circuit ON T control circuit Royer OFF lo Base circuit ON OFF i Ooms toms 100ms Servo on ON I I He I gt H e I SON Oo f 1 i i or a Reset ON l I I I RESO OFF l 20ms 11 10ms 20ms 11 10
14. 6 Maintenance inspection and parts replacement AN CAUTION With age the electrolytic capacitor of the drive unit will deteriorate To prevent a secondary accident due to a fault it is recommended to replace the electrolytic capacitor every 10 years when used in general environment Please consult our sales representative 7 General instruction To illustrate details the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards When the equipment is operated the covers and safety guards must be installed as specified Operation must be performed in accordance with this Instruction Manual e About processing of waste e When you discard servo amplifier a battery primary battery and other option articles please follow the law of each country area DA FOR MAXIMUM SAFETY These products have been manufactured as a general purpose part for general industries and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life Before using the products for special purposes such as nuclear power electric power aerospace medicine passenger movement vehicles or under water relays contact Mitsubishi These products have been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsaf
15. For manufacturer setting Do not change this value any means sed to set the multiplier for the command pulse 7 etting 0 automatically sets the connected motor resolution PR o E ommand pulse multiplying factor numerator 3 sed to set the multiplier for the command pulse etting 0 automatically sets the connected motor resolution aja lalal ja 00 moja ma foo fre ommand pulse multiplying factor numerator 4 sed to set the multiplier for the command pulse Setting 0 automatically sets the connected motor resolution For manufacturer setting Do not change this value any means AAA N n Q Q 8 g 4 ic a ae Aa S o 5 n S ic a gt a x Internal torque limit 2 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 When torque is output in analog monitor this set value is the maximum output voltage 4V Refer to Section 3 3 5 2 For manufacturer setting Do not change this value any means 00 R co o Ble 5 13 5 PARAMETERS 5 2 Interface unit 5 2 1 IFU parameter write inhibit Use the unit operation section pushbutton switches or MR Configurator servo configuration software to set the IFU parameters of the interface unit Use the unit pushbutton switches or MR Configurator servo configuration software to set the
16. Ground the base unit servo motor etc together at one point refer to Section 3 8 12 28 12 OPTIONS AND AUXILIARY EQUIPMENT b Reduction techniques for external noises that cause MELSERVO J2M to malfunction If there are noise sources such as a magnetic contactor an electromagnetic brake and many relays which make a large amount of noise near MELSERVO J2M and MELSERVO J2M may malfunction the following countermeasures are required Provide surge absorbers on the noise sources to suppress noises Attach data line filters to the signal cables Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings c Techniques for noises radiated by MELSERVO J2M that cause peripheral devices to malfunction Noises produced by MELSERVO J2M are classified into those radiated from the cables connected to MELSERVO J2M and its main circuits input and output circuits those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables and those transmitted through the power supply cables Noises produced Noises transmitted Noise radiated directly by MELSERVO J2M in the air from MELSERVO J2M Route 1 Noise radiated from the power supply cable Route 2 Noise radiated from servo motor cable Route 3 4 E N Magnetic induction
17. Start 0 1 2 3 4 E 5 6 7 l Parity Stop start 1 frame 11bits 13 4 13 COMMUNICATION FUNCTIONS 13 2 2 Parameter setting When the RS 422 RS 232C communication function is used to operate the servo set the communication specifications of the servo 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 IFU parameter No 0 MON ji Communication baudrate selection 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 IFU parameter No 0 Serial communication standard selection 0 RS 232C used 1 RS 422 used 3 Serial communication response delay time Set the time from when the 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 IFU parameter No 0 feels ele as Serial communication response delay time selection 0 Invalid 1 Valid reply sent in 800us or more 4 Station number setting In IFU parameter No 10 to 18 set the station numbers of the units connected to the slots Do not use the stat
18. 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 9 TROUBLESHOOTING 2 How to find the cause of position shift Positioning unit MELSERVO J2M a Output pulse Electronic gear DRU parameters No 3 4 Machine counter Servo motor d Machine stop position M A C Servo on SOND forward rotation stroke end LSP O reverse rotation stroke end LSDO input b Cumulative command B pulses c Cumulative feedback pulses 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 9 P CMX 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 se
19. Error code ay Error name Description Remarks Servo normal Servo alarm Normal operation Data transmitted was processed properly Parity error occurred in the transmitted data Checksum error occurred in the transmitted data Character not existing in the specifications was Character error transmitted F OE TEO Negative response Command not existing in the specifications was Command error transmitted Data No not existing in the specifications was Data No error o transmitted 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 13 6 Checksum Station number Example 7 Checksum range S E T A 14 2 5 IF T 151 2 X X 02H 30H 41H 31H 32H 35H 46H 03H 30H 41H 31H 32H 35H 46H 03H 152H E Lower 2 digits 52 is sent after conversion into ASCII code 5 2 13 8 13 COMMUNICATION FUNCTIONS 13 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 100m
20. ROM exceeded 100 000 due to parameter write program write etc A 45 Main circuit Main circuit device 1 Drive unit faulty Change the drive unit device overheat overheat 2 The power supply was turned on The drive method is reviewed and off continuously by overloaded status 3 Air cooling fan of drive unit stops 1 Change the drive unit or cooling fan 2 Reduce ambient temperature A 46 Servo motor Servo motor 1 Ambient temperature of servo motor Review environment so that overheat temperature rise is over 40 C ambient temperature is 0 to actuated the thermal 40 C sensor 2 Servo motor is overloaded 1 Reduce load 2 Review operation pattern 3 Use servo motor that provides larger output ea 50 Overload 1 Load exceeded 1 Drive unit is used in excess of its 1 Reduce load overload protection continuous output current 2 Review operation pattern characteristic of servo 3 Use servo motor that provides amplifier larger output 2 Servo system is instable and 1 Repeat acceleration hunting deceleration to execute auto tuning 2 Change auto tuning response level setting 3 Set auto tuning to OFF and make gain adjustment manually 2 Install limit switches 4 Wrong connection of servo motor Connect correctly Drive unit s output U V W do not match servo motor s input U V W 5 Encoder faulty Change the servo motor m Checking method When the servo motor shaft is ro
21. Wire the power supply and main circuit as shown below so that the servo on SOND turns off as soon as alarm occurrence or a servo forced stop is made valid 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 Forced Forced Trouble A Trouble B ON stopA stop B RAt RA2 p p OFF id MC o ol Hsk NFB MELSERVO J2M MC CNP3 Power supply a 200 to 230VAC ae a a CNP1B CN1A ca E 97 Trouble A La 2 CN5 aYo EMG_A 20 Forced stop A eral as Forced stop B Trouble B SG 8 a lle TA 3 SIGNALS AND WIRING 2 For 1 phase 200 to 230 VAC power supply Forced Forced Trouble A Trouble B stopA stopB OFF ON RA1 RA2 A SL O O o oTo oTo o Je o o SK NFB MELSERVO J2M MC CNP3 Note Power supply To 1 phase o 200 to 230VAC Trouble A Forced stop A Forced stop B Trouble B Note Connect a 1 phase 200 to 230VAC power supply to L1 L2 and keep L3 open 3 SIGNALS AND WIRING 3 4 2 Connectors and signal configurations The pin configurations of the connectors are as viewed from the cable connector wiring section CNP1A CNP1B X type Y type 1 1 Base unit N La 2 2 P L21 3 3 C CNP3 3 Ls 2 L2 1 Li The connector frames are connected to the PE eart
22. ceecccessceessccessceessecessssceesecesssecessecessecesseceessecesaecessecesseceeseeees 4 7 4 2 4 Alarm mode of interface UN rita iii tala ale ai ceskestivedeotshdedees 4 8 4 2 5 Interface unit parameter mode cccccssccessscesssceeseceeseccesssccessecsseecessecesssceeseceessecessecesseceeseeesseeees 4 9 4 2 6 Interface unit output signal DO forced Oti dina 4 10 ALY Deiv e init SPAN A A O ion 4 11 4 3 1 Drive unit display SeQUeNCe ccccccssccssscessscesssceescscessscsssceecessscsssscessecessesensasceesscsesecessesessascssaees 4 11 4 3 2 Status display of drive UNIt ccc cccscccessceessceessccessecessscecessccesecessscesseecessecesecesseceeseseeseeesseessaees 4 12 4 3 3 Diagnostic mode Of drive UNIb cc ccccccessceessccessccesecessscesseccesssecessecceseecessecessecesseceeseeeesseeesseesaees 4 14 4 3 4 Alarm mode of drive Ud ida dni 4 15 4 3 5 Drive unit parameter mode ccscccessscesssceeseceessccessseceessccessecesecesseceeseccessecessecesseceeseceesseeesseeenaees 4 16 4 3 6 Drive unit external input signal display oooononoconuccnonanononaconanonnnnconanacnnnnnnnnonoonnnncnnnnnonnnconanconnnoos 4 16 4 3 7 Drive unit external output signal display oooonococinuccnoonnnoonaconanonnnnnonanacnnnaconnnononana corran nnnnconancrnnnnos 4 17 4 3 8 Drive unit output signal DO forced OUtpUt ooonoonooonononononncnononnononononananacnononananiononononananicnononeneso 4 18 OL DRUparameterlistiai iaa v 5 1 5
23. 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 26214 1 4 450 131072 64 Therefore indexing cannot be done in the same position on the table 36000 360 359 995 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 CDV gt 1195 e TR COST TEMPE tor er ARE EMER LORI AGH AT EA 5 2 The result of reduction to provide no fraction for CMX is as follows CMX _ 65536 _ 32768 _ 32768 CDV 1125 562 5 563 A ati ce tes a 5 3 The result of reduction to provide no fraction for CDV is as follows CMX _ 65536 _ 26214 4_ 26214 _ CDV 1195 450 450 RS A tite et Aa 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
24. 30A frame 10A 10 More than 1100W to 1650W max 30A frame 15A s More than 1650W to 2200W max 30A frame 20A More than 2200W to 3300W max 30A frame 30A 2 Fuse A 3 Magnetic contactor Servo motor output total Magnetic contactor 1700W max S N10 More than 1700W to 2800W max S N18 More than 2800W to 3300W max S N20 12 26 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 3 Power factor improving reactors The input power factor is improved to be about 90 Make selection as described below according to the sum of the outputs of the servo motors connected to one base unit Unit mm lt Unit in O Base unit A NFB MR J2M BU O N o D 3 phase I 200 to 230VAC SSS we Installation screw w D1 Base unit lt gt Pee NFB MR J2M BU O U za Note JE R X o iD i Q 1 plase 200 to 230VAC O 0 A gt lt n e N Note Connect a 1 phase 200 to 230VAC power supply to L1 L2 and keep L3 open Servo motor Dimensions mm in Mounting Terminal Mass output tota Cw m a ot 6 screw ica screw size 1 A 300W max FR BAL 0 4K 135 5 31 120 4 72 115 4 53 59 2 32 45_9 5 1 77_ 0008 7 5 0 29 M4 M3 5 2 0 4 4 More than 300W to rp BaL 0 75K 135 5 31 120 4 72 115 4 58 69 2 72 57_2 2 24 200s 7 5 0 29 Ma M3 5 2 8 6 17 450W max More than 450W t zie an 450W to ER BAL 1
25. A 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 14 6 3 14 4 14 ABSOLUTE POSITION DETECTION SYSTEM 14 6 Absolute position data transfer protocol 14 6 1 Data transfer procedure Every time the servo on SOND turns on at power on or like the controller must read the current position data in the drive unit Not performing this operation will cause a position shift Time out monitoring is performed by the controller MELSERVO J2M Controller SON O ON Absolute position data command transmission Command 0 2 data No 9 1 Absolute position data acquisition Absolute position data return Current position acquisition Current value change Position command start 14 5 14 ABSOLUTE POSITION DETECTION SYSTEM 14 6 2 Transfer method The sequence in which the base circuit is turned ON servo on when it is in the OFF state due to the servo on SOND going OFF a forced stop or alarm is explained below In the absolute position detection system always give the serial communication command to read the current position in the drive unit to the
26. CDP3 Gain switching device for slot 3 CDP4 Gain switching device for slot 4 CDP5 Gain switching device for slot 5 Gain switching 6 Gain switching device for slot 6 Gain switching 7 Gain switching device for slot 7 Gain switching device for slot 8 Connect CDPO SG to change the load inertia moment ratio into the DRU parameter No 61 setting and the gain values into the values multiplied by the DRU parameter No 62 to 64 settings Gain switching 8 3 SIGNALS AND WIRING 2 Output device RD1 Ready device for slot 1 RD2 Ready device for slot 2 RD3 RD3 Ready device for slot 3 RD4 Ready device for slot 4 RD5 Ready device for slot 5 Ready 6 RD6 RD6 Ready device for slot 6 RD7 Ready device for slot 7 Ready 8 RD8 RD8 Ready device for slot 8 RDO SG are connected when the servo is switched on and the servo amplifier INP1 In position device for slot 1 In position 2 INP2 In position device for slot 2 INP23 In position device for slot 3 INP4 In position device for slot 4 INP5 In position device for slot 5 INP6 In position device for slot 6 INP7 In position device for slot 7 E INP8 In position device for slot 8 In position 8 INP8 o INPO SG are connected when the number of droop pulses is in the preset in position range The in position range can be changed using DRU parameter No 5 When the in position range is increased INPO SG may be kept connected during low speed rotation Limiting torqu
27. IP54 4 Power supply a Operate MELSERVO J2M to meet the requirements of the overvoltage category II set forth in IEC60664 1 For this purpose a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section b When supplying interface power from external use a 24VDC power supply which has been insulation reinforced in I O 5 Grounding a To prevent an electric shock always connect the protective earth PE terminals marked of the base unit to the protective earth PE of the control box b Do not connect two ground cables to the same protective earth PE terminal Always connect the cables to the terminals one to one c If a leakage current breaker is used to prevent an electric shock the protective earth PE terminals of the base unit must be connected to the corresponding earth terminals d The protective earth PE of the servo motor is connected to the protective earth of the base unit via the screw which fastens the drive unit to the base unit When fixing the drive unit to the base unit therefore tighten the accessory screw securely 6 Auxiliary equipment and options a The no fuse breaker and magnetic contactor used should be the EN or IEC standard compliant products of the models described in Section 12 2 2 b The sizes of the cables described in Section 12 2 1 meet the following requirements To meet the other requirements follow Table 5 and App
28. Ready 8 RDS CNiB 28 RD 8 Ready signal for slot 8 amplifier is ready to operate 1 2 RDO SG are connected when the servo is switched on and the servo INP 4 INP 4 In position signal for slot 4 INP 5 INP 5 In position signal for slot 5 INP 6 INP 6 In position signal for slot 6 INP 7 INP 7 In position signal for slot 7 Ta postion INP 8 CN1B 3 INP 8 In position signal for slot 8 INPO SG are connected when the number of droop pulses is in the preset in position range The in position range can be changed using DRU parameter No 5 When the in position range is increased INPO SG may be kept connected during low speed rotation OP 1 Encoder Z phase pulse signal for slot 1 D pulse 1 OP 2 Encoder Z phase pulse signal for slot 2 Encoder Z phase OP 2 CN1A 24 OP 3 Encoder Z phase pulse signal for slot 3 fee es a oe aes OP 4 Encoder Z phase pulse signal for slot 4 INP 1 CN1A 35 INP 1 In position signal for slot 1 INP 2 CN1A 8 INP 2 In position signal for slot 2 INP 3 CN1A 30 INP 3 In position signal for slot 3 DO DO DO O Encoder Z phase OP 3 CN1A 23 OP 5 Encoder Z phase pulse signal for slot 5 cal lead lesa OP 6 Encoder Z phase pulse signal for slot 6 OP 7 Encoder Z phase pulse signal for slot 7 pulse 4 OP 8 Encoder Z phase pulse signal for slot 8 foe als pulse 5 rad dl Ea position is reached Negative logic pulse 6 The minimum
29. Refer to Chapter 6 and function ol jo column C Auto tuning response level setting Response Machine resonance level frequency guideline Low 15Hz response 20Hz 25Hz 30Hz 35Hz 45Hz Middle epee response 70Hz A 85Hz 105Hz 130Hz 160Hz y 200Hz High 240 Hz 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 6 1 1 Set R value Gain adjustment mode Description o Interpolation mode Fixes position control gain 1 DRU parameter No 6 Auto tuning mode 1 Ordinary auto tuning Auto tuning mode 2 Fixes the load inertia moment ratio set in DRU parameter No 34 Response level setting can be changed Manual mode 1 Simple manual adjustment 4 Manual mode 2 Manual adjustment of all gains 5 PARAMETERS e TE value e CMX Electronic gear numerator Command pulse multiplying factor numerator Used to set the electronic gear numerator value For the setting refer to Section 5 2 1 Setting 0 automatically sets the resolution of the servo motor connected For the HC MFS series 131072 pulses are set for example Electronic gear denominator Command pulse multiplying factor denominator Used to set the electronic gear denominator value For the setting refer to Section 5 2 1 In position range Set the in position NPO outp
30. c Connection diagram Base unit side Battery unit side Housing 51030 0230 Connector 10120 3000VE 12 16 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 3 Junction terminal block MR TB50 1 How to use the junction terminal block Always use the junction terminal block MR TB50 with the junction terminal block cable MR J2M CNITBL OM as a set A connection example is shown below Interface unit Junction terminal block MR TB50 CN1A or CN1B Junction terminal block cable MR J2M CN1TBLOM 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 12 2 6 2 c 2 Terminal labels Use the following junction terminal block labels a For CN1A SG INP4SON4 CR3 RES2 RD1 PP4 PP3 PP2 PP1 LG OP3 OP1 AM CR4 RES3 RD2 INP1 SON1 NG4 NG3 NG2 NG1 ice PS b For CN1B SG INP8 SON8 CR7 RES6 RDS5 PP8 PP7 PP6 PP5 LG OP7 OP5 CR8 RES7 RD6 INP5 SON5 NG8 NG7 NG6 NG5 ony Unit mm 235 9 25 gt j Unit in 2 4 5 0 18 Ny 244 9 61 46 5 1 83 i be E O Te
31. etc This operation must be performed in the servo off state SOND off Call the display screen shown after power on Using the MODE button show the diagnostic screen Press UP button twice Press SET button for more than 2s LS een Turns on off the signal under the lit LED Always lit eee Indicates whether the output signal is ON or OFF The signals are the same as the external output signals On ON Off OFF Pressing MODE button once moves the lit LED to the left Ln Press UP button once een The ALM_A turns on There will be continuity across ALM_A SG Press DOWN button once een The ALM_A turns off Press SET button for more than 2s 4 10 4 OPERATION AND DISPLAY 4 3 Drive unit display 4 3 1 Drive unit display sequence Use the display 5 digit 7 segment LED on the front panel of the servo amplifier for status display parameter setting etc Set the parameters before operation diagnose an alarm confirm external sequences and or confirm the operation status The automatic scroll mode is selected at power on Before starting use therefore press the UP or DOWN button to change the fifth digit to the necessary slot number 1 to 8 and press the MODE button for 2s or more to change the indication Press the MODE UP or DOWN button once to move to the next screen To refer to or set the ex
32. in OO a o a oa SER e l 27 4 j Logo etc are indicated here 10 OUTLINE DRAWINGS c Insulation displacement type Model Connector 10120 6000EL Shell kit 10320 3210 000 Unit mm Unit in 6 7 0 26 EGE y2 Logo etc are 2 60 5 20 9 0 82 indicated here 0 02 42 0 1 65 1 17 3 CN5 connector lt 3M gt Unit mm Unit in 12 0 0 47 A Logo etc are 22 0 0 87 14 0 0 55 ai ated hare PGs zel 4000 16 1111 CT Tl 4 0 ltl 0 16 0 16 10 7 0 2 23 35 0 92 12 7 0 42 0 08 33 3 1 31 0 50 38 0 1 5 pee 4 13 0 0 12 10 7 10 OUTLINE DRAWINGS 4 CNP1A CNP1B connector lt Tyco Electronics gt Model CNP1A housing CNP1B housing Contact Applicable tool 1 178128 3 2 178128 3 917511 2 max sheath OD 6 2 8 mm 6 0 11 in 353717 2 max sheath OD 3 4 mm 0 13 in 91560 1 for 917511 2 937315 1 for 353717 2 Unit mm 5 08 0 2 Unit in gt 29 7 0 12 7 15 0 28 ad ds Al anv so Is vi ps S br pl o ice le A N u y id 19 24 0 76 6 55 0 26 5 CNP3 connector lt AMP gt Model Housing 1 179958 3 Contact 316041 2 Applicable tool 234171 1 Unit mm 10 16 0 4 Unit in tt
33. in this section are CMX 26214 CDV 450 5 22 5 PARAMETERS 3 Setting for use of AD75P The AD75P also has the following electronic gear parameters Normally the servo amplifier side electronic gear must also be set due to the restriction on the command pulse frequency differential 400kpulse s open collector 200kpulse s AP Number of pulses per motor revolution AL Moving distance per motor revolution AM Unit scale factor AP75P Servo amplifier Command A AP JUUL CMX h Deviation gt value Control AL XAM command CDV f gounter pulse 4 Electronic gear Feedback pulse Servo motor unit Electronic gear 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 x2000 60 4369066 pulse s 3000 131072 x3000 60 6553600 pulse s For the AD75P 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 maximum output pulse command of the AD75P Use the electronic gear of the servo amplifier to run the servo motor under the maximum output pulse command of the AD75P 5 PARAMETERS To rotate the servo motor at 3000r min in the open collector system 200kpulse s set the electronic gea
34. r coeegeeeeggggo 1 QooooOoOoOoOoOoOoOoOoOD Sas SO ee IS Sssssesssses8S 5 0 2 mounting hole Y Approx 80 3 15 139 5 47 30 1 97 S APP An 130 5 12 t 25 S g 6 5 0 26 0 98 8 ho a etm foe gt RR j Display setting i Ae px MI e JUVU JU ll Ernie Wi m e tia T A O o NAME PLATE El gom NAME PLATE Alel LU q L g o ia el MI 0 JOE A j E J EG L E i a EE Mounting screw M4 Tightening torque 1 5 N m 13 3 Ib in Mass 0 5kg 1 10Ib 10 2 10 OUTLINE DRAWINGS 10 2 3 Drive unit MR J2M ODU 1 MR J2M 10DU to MR J2M 40DU Unit mm Unit in gA Bocoamnoooooo Jl OSADO QZ AMOO O O O O O o wa DODODODDDONa F Approx 70 2 76 4 138 5 5 45
35. 1 GD2B Ratio of load inertia moment to Servo motor inertia moment 2 Le ee imes 63 VG2B Speed control gain 2 changingratio 100 ICB Speed integral compensation changingratio 100 CDP DS 10 DT Gain changing time constant 4 El 2 For manufacturer setting 2 Command pulse multiplying factor numerator 2 MX3 Command pulse multiplying factor numerator 3 MX4 Command pulse multiplying factor numerator 4 a For manufacturer setting 200 300 500 800 L2_ Internal torque limit 2 ar a For manufacturer setting z Z A Expansion DRU parameters 2 o o o a falalalalalalalala o o DID Apo ja olofatoja a jo a jo wo oul Note Depends on the parameter No 65 setting 5 PARAMETERS Details list 2 Initial Setting Class No Symbol Name and function Unit value range For manufacturer setting 0000 Do not change this value any means Function selection 1 0000 Refer to Used to select the absolute position detection system Name and _lo ofo function L Selection of absolute position detection system column Refer to Chapter 15 0 Used in incremental system 1 Used in absolute position detection system Serial communication Basic DRU parameters 2 ATU Auto tuning 0105 Refer to Used to selection the response level etc for execution of auto tuning Name
36. 1 to 10 10 10 1 MELSERVO J2M configuration example cccccccccccssccessccsssccessscessscessecceseccsssecesssecesseecessecesseeesaeeens 10 1 10 2 Unit 0utlMe dra Win 983s iced sissies ested bs bedeaai deen vaa 10 2 10 2 1 Base unit R OMB UIE Ducado ds teca sos 10 2 10 2 2 Interface unit MR J2M P8A a A a ad 10 2 1023 Driye nit MRE LAIA 10 3 10 2 4 Extension IO unit MR J2M DO1 uooceecccccccccsccccscsscscsccscscsscscsscscscsssscsscscsussscsssecsusevsesesaesases 10 4 10 25 Battery it MRSTOMEB DIU 10 4 LOLS Connector AE A E A A ia iba eds 10 5 11 CHARACTERISTICS 11 1 to 11 6 11 1 Overload protection Characteristics c cccccccsssccessccessceessecessecessecessececessecessecesseceessecesseceesecesseceeseeees 11 1 11 2 Power supply equipment capacity and generated 1OSS ooooccnnococcnonananononannnonannnonononanocnnnnnnccnn anno 11 2 11 3 Dynamic brake characteristics 11 4 11 4 Encoder cable flexing life ooconnccononuninnnnnonanonanaconnnononanonnononanacnnnaronanconnn conan ECEE E EEAO onnn ron na rnnnaons 11 6 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 to 12 36 IT OPEIOVS a 12 1 12 1 1 Regenerative brake options ccccccsscccssscesssccessccessecessecessseccesecsssecesseceeseecessecessecesseceeseeeeeeeesas 12 1 12 1 2 Cables anid CONNECT Suomi ica diia 12 8 12 1 3 Junction terminal block MR TB50 o c ccccccccecssescescscescscsscscsscsssecssscsssscsscecseestacssscsueecsseeaes 12 17 12 1 4 Junction term
37. 2 Analog monitor Servo status is output in terms of voltage in real time Section 5 3 2 3 Base unit Abbreviation BU Used when the built in regenerative brake resistor of the unit does not have F Regenerative brake option E Section 12 1 1 sufficient regenerative capability for the regenerative power generated 4 MR Configurator servo configuration software Machine analyzer function Analyzes the frequency characteristic of the mechanical system ea 3 F Can simulate machine motions on a personal computer screen on the basis of the Machine simulation machine analyzer results Gain search function Can simulate machine motions on the basis of the machine analyzer results Ps eel Ext 1 T O signal Section 4 3 7 o ga Quiera ON OFF statuses of external I O signals are shown on the display Ses ispiay Output signal DO Output signal can be forced on off independently of the servo status Section 4 2 6 forced output Use this function for output signal wiring check etc Section 4 3 8 Test operation mode JOG operation and positioning operation are possible PR 3 k 1 FUNCTIONS AND CONFIGURATION 5 Option unit Merely setting a home position once makes home position return unnecessary at Absolute position i every power on detection system yp Battery unit MR J2M BT shortly correspondence schedule is necessary The encoder feedback is output from extension IO unit MR J2M D01 shortly corre
38. 2 INSTALLATION AND START UP 2 INSTALLATION AND START UP Stacking in excess of the limited number of products is not allowed Install the equipment to incombustibles Installing them directly or close to combustibles will led to a fire Install the equipment in a load bearing place in accordance with this Instruction Manual Do not get on or put heavy load on the equipment to prevent injury Use the equipment within the specified environmental condition range Provide an adequate protection to prevent screws metallic detritus and other conductive matter or oil and other combustible matter from entering each unit Do not block the intake exhaust ports of each unit Otherwise a fault may occur Do not subject each unit to drop impact or shock loads as they are precision equipment Do not install or operate a faulty unit When the product has been stored for an extended period of time consult Mitsubishi When treating the servo amplifier be careful about the edged parts such as the corners of the servo amplifier 2 1 Environmental conditions The following environmental conditions are common to the drive unit interface unit and base unit During 0 to 55 non freezing Ambient operation 32 to 131 non freezing temperature 20 to 65 non freezing 4 to 149 non freezing 90 RH or less non condensing Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and
39. 3 Lower third digit 4 Lower forth digit 5 Lower fifth digit 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 13 19 13 COMMUNICATION FUNCTIONS 13 12 4 External I O pin statuses DIO diagnosis 1 External input pin status read CN1A CN1B Read the ON OFF statuses of the external input pins a Transmission Transmit command 1 2 and data No 4 0 U Command Data No DRU E O E b Reply The ON OFF statuses of the input pins are sent back 1 ON 0 OFF Command of each bit is transmitted to the master station as hexadecimal data e CNiA29 2 External input pin status read CN5 Read the ON OFF statuses of the external output pins a Transmission Transmit command 1 2 and data No 4 1 Command Data No pRU 1121 Ji AAA ES b Reply The slave station sends back the ON OFF statuses of the output pins pe O DL ET eens ost ede ease b1 bO Command of each bit is transmitted to the master station as hexadecimal data External input pin CN5 1 CN5 1 CN5 1 CN5 1 External input pin CN5 1 CN5 1 CN5 1 ii 13 COMMUNICATION FUNCTIONS 3 External input pin status read C
40. AGO 0 XINO dN dd Jes6 2110119913 esjnd puewwos esind puewwod AouanbaJ nyenwng s nd puewwod App 1 APPENDIX MEMO App 2 REVISIONS The manual number is given on the bottom left of the back cover Print Data_ Manual Number Jan 2002 SH NA 030014 A Sep 2002 SH NA 030014 B Safety Instructions Addition of Note to 4 1 Deletion of 7 in 4 Additional instructions Addition of About processing of waste Addition of EEP ROM life Section 1 5 2 a Partial change of rating plate Section 2 7 Partial change of CAUTION sentences Section 2 7 8 Change of POINT Section 3 1 Partial change of drawing Section 3 2 1 Partial change of drawing Section 3 2 2 Addition of forced stop B text Section 3 2 4 Partial change of drawing Section 3 3 1 Partial change of drawing Section 3 4 2 Change of table Section 3 5 1 Addition of POINT Section 3 6 Addition of NOTE Section 5 1 2 Partial change of DRU parameter No 20 data Section 5 2 1 Partial addition of text change of table Section 6 2 2 Addition of POINT sentences Section 6 4 3 a Change of expression Section 9 2 Deletion of A 7A Section 9 3 Deletion of 4 in A 16A Deletion of A 7A Section 10 3 4 Partial addition of contacts and applicable tools Section 11 1 Reexamination Section 11 2 Partial addition of NOTE sentences Section 11 4 Addition of MR JC4CBLOM H Section 12 1 1 1 Addition of text Section 12 1 2 Additi
41. Add r Ot XWO dN dd Jes6 21u01 99 3 ouenba esind puewwos ame nun aesind puewwog asind puewwod 5 27 5 PARAMETERS 5 3 3 Using forward rotation stroke end LSP O reverse rotation stroke end LSND to change the stopping pattern The stopping pattern is factory set to make a sudden stop when the forward rotation stroke end LSPO reverse rotation stroke end LSND is made valid A slow stop can be made by changing the DRU parameter No 22 Function selection 2 value DRU parameter No 22 Setting Stopping method dqdoo Sudden stop initial value Motor stops with droop pulses cleared Slow stop The motor is decelerated to a stop in accordance with the DRU parameter No 7 value Position command acceleration deceleration time constant 5 3 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 DRU parameter No 16 or IFU parameter No 0 before starting operation These parameters are made valid when you switch power off then on after setting their values DRU parameter No 16 and IFU parameter No 0 return to 000 O automatically when the alarm history is cleared DRU parameter No 16 It Alarm history clear 0 Invalid 1 Valid IFU parameter No 0 Alarm history clear O Invalid 1 Valid 5 PARAMETERS 5 3 5 Position
42. COMMUNICATION FUNCTIONS 13 12 6 External input signal ON OFF test operation Each input signal can be turned ar for test operation Turn off the external input signals Send command 9 2 data No 0 0 and data Command Data No Data total follo See below pon Command of each bit is transmitted to the slave station as hexadecimal data Signal abbreviation Signal abbreviation lo sono 1 13 24 13 COMMUNICATION FUNCTIONS 13 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 locked 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 112 3 Choose the test operation mode EN Unit Command Data No Transmission data Selection of test operation mode 8I B ollo 0000 Test operation mode cancel O O lo 01 Jogoperation gt O is oo 0002 Positioningoperation O ise toto 0003 Motorlessoperatiom___ O 8I B pla 0004 DO forced output EEA 4 Set the data needed for test operation 5 Start 6 Continue communication using the status display or other comma
43. Fourth slot HC KFS13 Fifth slot HC MFS13 Sixth slot HC MFS23 Seventh slot HC KFS13 Eighth slot HC KFS43 3000r min equivalent total inertia moment kg cm Simultaneous deceleration total inertia moment maximum value 12 2 12 OPTIONS AND AUXILIARY EQUIPMENT b To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in depth selection of the regenerative brake option 1 Regenerative energy calculation Use the following table to calculate the regenerative energy Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor N m Energy J LE _ 1 yaya Ty o m No Ti Tpsaz 04 Tpsal 3 T3 JA JM No_ o Tu TF E3 0 pi No T3 Tpsd1 9 55 x10 Tpsd1 En 5 T ss SEEMING E5 1047 No T5 Tpsa2 955x104 Tpsa2 E Es 0 1047 No To to 7 T TORINO _ y Tr r CHET No Tr Tpsaz 104 Tpsd2 From the calculation alte in 1 to 8 find the absolute value Es of the sum total of negative energies 2 Losses of servo motor and drive unit in regenerative mode The following table lists the efficiencies and other data of the servo motor and drive unit in the regenerative mode Inverse efficiency C charging J MR J2M 10DU MR J2M 20DU 55 MR J2M 40DU MR J2M 70DU 80 _ 18 Using the following exp
44. Instantaneous torque Encoder ID Parameter error No e a vA pe oia er low pulse Within one revolution position high 100 pulses ABS counter rev Load inertia moment ratio times yA Note 1 indicates the slot number 2 The parameter display range varies with the parameter write inhibit 4 11 4 OPERATION AND DISPLAY 4 3 2 Status display of drive unit The servo status during operation is shown on the 5 digit 7 segment LED display Press the UP or DOWN button to change display data as desired When the required data is selected the corresponding symbol appears Press the SET button to display its data 1 Display examples The following table lists display examples Displayed data Item Status TEREE Servo amplifier display Forward rotation at 3000r min Motor speed Reverse rotation at 3000r min Reverse rotation is indicat 11252pulse Multi ww y j revolution al L Lo L counter JEN ml JN JM 12566pulse 1 t t oe i Negative value is indicated by the lit decimal points in the upper four digits Load inertia 15 5 times moment 4 12 4 OPERATION AND DISPLAY 2 Drive unit status display list The following table lists the servo statuses that may be shown Refer to Appendix 2 for the measurement point Cumulative feedback pulses Servo motor speed Droop pulses Cumulati
45. Laig number De Drive unit status Slot number Second slot Fourth slot 5 Servo on Switch the servo on in the following procedure 1 Switch on main circuit control power supply 2 Turn on the servo on SOND When the servo on status is established operation is enabled and the servo motor is locked At this time the interface unit displays 0 Od represents the slot number 6 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 DRU parameter No 2 Refer to chapter 7 7 Home position return Make home position return as required 2 INSTALLATION AND START UP 8 Stop In any of the following statuses the servo amplifier interrupts and stops the operation of the servo motor Refer to Section 3 8 2 for the servo motor equipped with electromagnetic brake Note that the stop pattern of forward
46. OPERATION AND DISPLAY 4 3 3 Diagnostic mode of drive unit Name Drive unit external input signal Drive unit external output signal Drive unit output signal DO forced output Software version Low Software version High Motor series ID Motor type ID Encoder ID Note indicates the slot number Note Display Refer to section 4 3 6 Refer to section 4 3 6 Shows the ON OFF statuses of the external input signals Each signal corresponds to the function assignment The corresponding segment is lit when the function assigned signal turns on Shows the ON OFF statuses of the external output signals When the corresponding segment is lit the output is provided to the assigned signal The digital output signal can be forced on off For more information refer to section 4 3 8 Indicates the version of the drive unit software Indicates the system number of the drive unit software 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 opt
47. RDO LEY 35 8 30 3 INPO oP Approx 6 8k Q 25 24 23 22 oPoO peo 44 38 21 46 50 LG Approx 100 Q Approx 1 2k Q 5V 5VDC PPO 19 13 Eds ended 49 P5 47 OP_VIN NGE 45 39 Approx 100 Approx 1 2kQ 48 OP COM NPQ 20 14 f SD Plate faal SD Note CN1B CN1B Note symbol slot 5 slot 6 slot 7 slot 8 slot 5 slot 6 slot 7 slot 8 symbol OPC 2 _ _ _ _ 47 OP_VIN PGO 44 42 40 38 LME 48 OP_COM Approx 100Q Approx 1 2k Q 49 P5 PPO 19 17 15 13 ps da 25 24 23 22 oPpoO NG Oo 4 43 41 39 Approx 100Q Approx 1 2k Q 21 46 50 LG NPO 20 18 16 14 le Fie y 27 AM B VIN 26 Se A Y 11 33 6 28 RDO YY 35 8 30 3 inpo Es Areas Plate SD he sy SD Plate Approx 6 8k Q CN5 CN3 symbol slot 1 to 8 LI 4 MO1 EMG 20 Approx 6 8k Q EMG_B 19 Approx 6 8kQ o 14 MO2 Note CNS lt symbol slot 1 slot 2 slot 3 slot 4 uN es LSP 1 3 5 7 CH Approx 6 8k 11 LG LSNO 2 4 6 10 FEIA ss A Plate SD 12 TXD Note CN5 2 RXD symbol slot 5 slot 6 slot 7 slot 8 ae 9 SDP LSP O 11 13 15 17 Eo ea Approx 6 8k Q 5 RDP LSNOJ 12 14 16 18 ata 15 RDN V Note O in Symbol indicates the slot number 3 15 3 SIGNALS AND WIRING 3 2 5 Interface 1 Common line The following diagram shows the power supply and its common line Interface unit 24VDC 1 VIN q a Y SONO etc DI 1 SG OPC Note TE J PGO NGO a PGO NPO I Ga
48. WIRING Connector eee bt os Signal Symbol Functions Applications I O division CR 1 1A Clear signal for slot 1 DI 1 CR 2 1A Clear signal for slot 2 CR 3 Clear signal for slot 3 CR4 CN1A Clear signal for slot 4 CR5 CNIB Clear signal for slot 5 CR 6 IR Clear signal for slot 6 CR7 2 Clear signal for slot 7 Clear 8 CR 8 CNI1B Clear signal for slot 8 E l Connect CRO SG to clear the position control counter droop pulses on its leading edge The pulse width should be 10ms or more When the DRU parameter No 42 Input signal selection 1 settingis O O 1 O the pulses are always cleared while CRO SG are connected Forward rotation 1 PP1 NP 1 PG1 NG 1 Forward reverse rotation pulse train for slot 1 pulse train 1 1 PP 2 NP 2 PG 2 NG 2 Forward reverse rotation pulse train for slot 2 Reverse rotation 1 PP 3 NP 3 PG 3 NG 3 Forward reverse rotation pulse train for slot 3 pulse train 1 1 PP 4 NP 4 PG 4 NG 4 Forward reverse rotation pulse train for slot 4 Forward rotation 1A 17 PP 5 NP 5 PG 5 NG 5 Forward reverse rotation pulse train for slot 5 pulse train 2 1A 18 PP 6 NP 6 PG 6 NG 6 Forward reverse rotation pulse train for slot 6 Reverse rotation 1A PP 7 NP 7 PG7 NG 7 Forward reverse rotation pulse train for slot 7 pulse train 2 1A PP 8 NP 8 PG8 NG 8 Forward reverse rotation pulse train for slot 8 Forward rotation 1A 15 Used to enter a command pulse train In the open collector system max input frequency
49. With time Servo motor constant setting speed gt ON t 5 PARAMETERS Initial Setting Class No Symbol Name and function ECA range For manufacturer setting EN Do not change this value any means 10 1000 14 EN 0000 Refer to Name 0 and function i column 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 Y 17 For manufacturer setting ea E 18 Do not change this value any means 0000 z 19 BLK DRU parameter write inhibit 0000 Refer to gt Used to select the reference and write ranges of the parameters Name z Operation can be performed for the parameters marked O and o function E Basic DRU Expansion DRU o A a parameters parameters 1 parameters 2 No 50 to No 84 0000 Initial value e m ee eee No 19 only ma A O ae Se Reference w aS A Reference if O O J O oe Ne wie 00 av ee o Reference O TA IA 1908 Write No 19 only Reference O o AAA 1000 FE Write No 19 only TA Refermee O _O9 _9 7 100E U write No 19 only 5 20 OP2 Function selection 2 Used to select slight vibration suppression control L Slight vibration suppression control Made valid when auto tuning selection is set to 0400 in DRU parameter No 2 Used to
50. a n Gs an When making selection avoid setting the station number used by any other unit 4 slot serial communication station number selection Choose the station number of the drive unit connected to the fourth slot of the base unit When making selection avoid setting the station number used by any other unit 5 slot serial communication station number selection Choose the station number of the drive unit connected to the fifth slot of the base unit When making selection avoid setting the station number used by any other unit 5 19 5 PARAMETERS er EEE O O E Saar Symbol Name and Function cation Value e SL6 6 slot serial communication station number selection Choose the station number of the drive unit connected to the sixth to slot of the base unit 31 When making selection avoid setting the station number used by any other unit 17 SL7 7 slot serial communication station number selection Choose the station number of the drive unit connected to the seventh to slot of the base unit 31 When making selection avoid setting the station number used by any other unit o 18 SL8 8 slot serial communication station number selection 8 0 Choose the station number of the drive unit connected to the eighth to slot of the base unit 31 When making selection avoid setting the station number used by any other unit n Em E 19 BLK Parameter write inhibit 0000 Refer to E Used to select referen
51. any safety problems 13 10 Communication procedure example The following example reads the set value of DRU parameter No 2 function selection 1 from the drive unit of station 0 Station number oo Interface unit station 0 DRU parameter No 2 Axis No Command Data No Data 00 8 STX 0 2 ETX 0 0 5 0 2 pon Checksum 30H 30H 35H 02H 30H 32H 03H FC Data make up Checksum calculation and addition Addition of SOH to make up transmission data Transmission data SOH 0 STX OPHEF E 46H 43H Master station gt slave station Data transmission Data receive No Is there receive data No Hom elapsed Yes No 3 consecutive times Other than error code No A a 3 consecutive times Yes Receive data analysis Error processing End Master station slave station Master station gt slave station Yes 100ms after EOT transmission Y Error processing 13 10 13 COMMUNICATION FUNCTIONS 13 11 Command and data No list If the command data No is the same its data may be different from the interface and drive units and other servo amplifiers The commands data No of the respective interface unit and drive units are those marked O in the Unit field 13 11 1 Read commands Status display Command 0 1 pan Frame Command Data No Description Display item leng
52. be changed as desired using the parameter The interface unit has an RS 232C or RS 422 serial communication function to allow the parameter setting test operation status indication monitoring gain adjustment and others of all units to be performed using a personal computer or like where the MR Configurator servo configuration software is installed By choosing the station number of the drive unit using the MR Configurator servo configuration software you can select the unit to communicate with without changing the cabling The real time auto tuning function automatically adjusts the servo gains according to a machine A maximum 500kpps high speed pulse train is used to control the speed and direction of a motor and execute accurate positioning of 131072 pulses rev resolution The position smoothing function has two different systems to allow you to select the appropriate system for a machine achieving a smoother start stop in response to an abrupt position command The MELSERVO J2M series supports as standard the absolute position encoders which have 131072 pulses rev resolution ensuring control as accurate as that of the MELSERVO J2 Super series Simply adding the optional battery unit configures an absolute position detection system Hence merely setting a home position once makes it unnecessary to perform a home position return at power on alarm occurrence or like The MELSERVO J2M series has a control circuit power supply in the interfa
53. column When an alarm warning occurs the interface unit display shows the corresponding unit and alarm number Interface unit display PARE Es number Alarm warning number PA First slot Second slot a Third slot__ a Fourth stot o Fifth stot e Sixth stot Ts gt slot 9 TROUBLESHOOTING Alarm deactivation Power Press SET on OFF gt ON current alarm screen PESOS Undervoltage Memory error 1 Encoder error 1 Regenerative error Oversee TO Overcurrent O Overvoltage Oo Error excessive ETA WEI ee i EA Gl i eo S A 8E Serial communication error O O O 88888 Watchdog CE O AR Es Home position setting warning Removing the cause of occurrence deactivates the alarm automatically Main circuit off warning Note 1 Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence 2 Automatically deactivated when the alarm of the drive unit is reset 9 TROUBLESHOOTING 9 3 Remedies for alarms When any alarm has occurred eliminate its cause ensure safety then reset the alarm and restart operation Otherwise injury may occur If an absolute position erase A 25 occurred always make home position setting again Otherwise misoperation may occur As soon as an alarm occurs turn off Servo on SOND and power off the main circuit When any of the following alarms has occu
54. command pulse when forward rotation stroke end LSP O reverse rotation stroke end LSND is detected clears the droop pulses to 0 at the same time and stops the servo motor rapidly At this time the controller keeps outputting the command pulse Since this causes a discrepancy between the absolute position data of the servo amplifier and the controller a difference will occur between the position data of the servo amplifier and that of the controller When the stroke end is detected therefore perform JOG operation or like to return to the position where stroke end detection can be deactivated and read the current position data in the drive unit again 14 10 14 ABSOLUTE POSITION DETECTION SYSTEM 14 7 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator servo configuration software MRZJW3 SETUP151E Clicking Diagnostics on the menu bar and click Absolute encoder data in the menu 1 Parameters Digital 1 0 Function device display No motor rotation Total power on time Amplifier version info Motor information Tuning data Axis name setting Unit composition listing Test Advance 2 By clicking Absolute encoder data in the sub menu the absolute encoder data display window appears Absolute position data Value of each motor edge pulse 13433164 13433164 Value of each command pulse CDVICMX X Value of each motor edge p
55. dirt Max 1000m 3280 ft above sea level 5 9 m s or less 19 4 ft s7 or less 2 INSTALLATION AND START UP 2 2 Installation direction and clearances The equipment must be installed in the specified direction Otherwise a fault may occur ZNCAUTION Leave specified clearances between each unit and control box inside walls or other equipment 1 Installation of one MELSERVO J2M g 40mm 1 57inch or more Q fe E E 5 5 E 2 5 5 E LS E E Q le 9 SN 40mm 1 57inch or more 2 Installation of two or more MELSERVO J2M When installing two units vertically heat generated by the lower unit influences the ambient temperature of the upper unit Suppress temperature rises in the control box so that the temperature between the upper and lower units satisfies the environmental conditions Also provide adequate clearances between the units or install a fan 40mm 1 57inch or more Mo 40mm 1 57inch or more 40mm 1 57inch or more nl Leave 100mm 3 94inch or more clearance or install fan for forced air cooling E 2 INSTALLATION AND START UP 3 Others When using heat generating equipment such as the regenerative brake option install them with full conside
56. e 5 PECES p 130 4 72 7 0 20 4 5 40 18 pConnector layout 1 18 6 5 0 26 Mounting hole S 4 EN Laan 4 ot I En 1 i 0 i NAME PLATE pan N l a msj To N LO 3 Mounting screw M4 Lo o NAME PLATE Tightening torque 1 5 N m A 2 Ss oe na 13 3 lb in 2 te a ie eer on zl LJ A o EE Go e 2 ar I E J H S i i D a Y y dE Mass 0 4kg 0 88lb 2 MR J2M 70DU Unit mm Unit in A I PM te SS a YN H E JO OD ODODO OOOO G a Ya G a l H OOOOOOOOOOOO E H aoo j E p E p R p E p E p E p E G A G aog EFECTO E aona ASIE CAEN A aog j ES p ED f a f E E a a o pes H qno po nd og ooo oo H OEIC CECEN CHAN qno ja ee a 0 Pe ea U OLI je Y mes ns Y e pa a nal as Y A ce 2 5 0 2 3 Approx 70 27 138 5 5 47 R mounting hole 60 2 36 So e 130 4 72 5 0 20 rConnector layout 4 6 5 0 26 CNP2 d a gt 2 4 o Hess 12 z ai g MITSUBISHI e uenservo AA 1 to 1 3 NAME el U WwW PLATE a lt A s A musa z Q PAS screw M4 LO A ightening 2 o Y SN NAME PLATE torque 1 5 N m Il a oll Aan 13 3 lb in l ea H B 5 HE UGE A A l Do HiH 10 3 Mass 0 7kg 1 54Ib 10 OUTLINE DRAWINGS 10 2 4 Extension lO unit MR J2M D01
57. gain vibration and unusual noise free range and return slightly if vibration takes Decrease the speed integral compensation DRU parameter No 38 within the vibration free range and return slightly if vibration takes place speed integral compensation If the gains cannot be increased due to mechanical system resonance or the Suppression of machine resonance like and the desired response cannot be achieved response may be increased Refer to Section 7 1 by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 3 to 5 While checking the settling characteristic and rotational status fine adjust Fine adjustment each gain 6 GENERAL GAIN ADJUSTMENT 3 Adjustment description a Position control gain 1 DRU parameter No 6 This parameter determines the response level of the position control loop Increasing position control gain 1 improves trackability to a 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 S ue gain 1 guideline 1 ratio of load inertia moment to servo motor inertia moment 3 b Speed control gain 2 VG2 DRU 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 respons
58. i response i level i level Frequency Frequency KOA l Notch Notch depth Y depth RA 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 can respond to is about 150 to 500Hz Adaptive vibration suppression control has no effect on the resonance frequency outside this range Use the machine resonance suppression filter for the machine resonance of such frequency Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics or which has too large resonance Under operating conditions in which sudden disturbance torque is imposed during operation the detection of the resonance frequency may malfunction temporarily causing machine vibration In such a case set adaptive vibration suppression control to be held DRU parameter No 60 0200 to fix the characteristics of the adaptive vibration suppression control filter 7 SPECIAL ADJUSTMENT FUNCTIONS 2 Parameters The operation of adaptive vibration suppression control selection DRU parameter No 60 DRU parameter No 60 IIT EE vibration suppression control selection Choosing valid or held in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 DRU par
59. make the expansion parameters write enabled The following table indicates the parameters which are enabled for reference and write by the setting of DRU parameter No 19 Operation can be performed for the DRU parameters marked O DRU parameter ion DRU basic parameters DRU expansion parameters 1 DRU expansion parameters 2 i No 19 setting P No 0 to 19 No 20 to 49 No 50 to 84 oaia Want ee AA Reference ___No 19only a ITA 000A Write Notgomy 000B Reference O SA E O O a AS pO E ZA AAA AAA l 000E 100B Write No1g9omty SS Reference O 100C f Wie No1g9omty o Reference O OO O 100E Wie No1tg8omty o HN 5 PARAMETERS 5 1 2 Lists For any DRU parameter whose symbol is preceded by set the DRU parameter value and switch power off once then switch it on again to make that DRU parameter setting valid 1 Item list ae Customer Symbol Name Initial value Unit setting 0 For manufacturer setting o ow S 1 opi Function selection ow DN 2 ATU Autotunins 3 3 3 3 3 O ow S Electronic gear numerator 3 CMX aa 1 Command pulse multiplying factor numerator Electronic gear denominator 4 CDV i Command pulse multiplying factor denominator In position range Position loop gain 1 T PS Position command acceleration deceleration time constant Position smoothing For manufacturer setting nN
60. phase pulses are as indicated below 131072 1 8 4 A B phase output pulses 4096 pulse rev 5 8 5 PARAMETERS Symbol Name and function vo Ot Setting value range 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 torque is not produced When torque is output in analog monitor this set value is the maximum output voltage 4V Refer to Section 3 3 5 2 For manufacturer setting Do not change this value any means Electromagnetic brake sequence output Used to set the delay time Tb between electronic brake interlock MBRO and the base drive circuit is shut off oo A Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment When auto tuning mode 1 and interpolation mode is selected the result of auto tuning is automatically used Refer to section 6 2 1 In this case it varies between 0 and 1000 du or Position loop gain 2 Used to set the gain of the position loop Set this parameter to increase the position response to level 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 ww O SS wo wo go a lo 00 Q oy Speed loop gain 1 Normall
61. rotation stroke end LSPD reverse rotation stroke end LSND OFF is as described below a Servo on SOND 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 Forced stop EMG_O OFF The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop Servo forced stop warning A E6 occurs d Forward rotation stroke end LSPO reverse rotation stroke end LSNO OFF The droop pulse value is erased and the servo motor is stopped and servo locked It can be run in the opposite direction A sudden stop indicates deceleration to a stop at the deceleration time constant of zero 2 10 3 SIGNALS AND WIRING 3 SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work Before starting wiring make sure that the voltage is safe in the tester more than 10 minutes after power off Otherwise you may get an electric shock Ground the base unit and the servo motor securely Do not attempt to wire each unit 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 m
62. 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 CMX CDV The continuous effective load torque is displayed The effective value 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 The within one revolution position is displayed in 100 pulse increments of the encoder The value returns to 0 when it exceeds the maximum number of pulses The value is incremented in the CCW direction of rotation Travel value from the home position in the absolute position detection systems is displayed in terms of the absolute position detectors counter value The estimated ratio of the load inertia moment to the servo motor shaft inertia moment is displayed 4 13 Display range 99999 to 99999 tg 00 ao 5 gt o 4
63. specific to each servo amplifier Controller such as Station StationStation Station Station Station Station Station Station 0 1 2 3 4 5 6 7 8 personal computer ff MELSERVO J2M Unavailable as option General purpose interface type To be prepared by customer Station 9 MELSERVO J2S A ion StationStation Station Station Station Station 12 13 14 15 MELSERVO J2M General purpose interface type 13 1 13 COMMUNICATION FUNCTIONS 2 Cable connection diagram Wire as shown below Note 3 30m 98 4ft max Note 1 4 Note 1 Note 1 Interface unit or Servo amplifier Interface unit or Servo amplifier Interface unit or Servo amplifier CN3 connector CN3 connector CN3 connector Plate SD SDP SDN RDP RDN TRE Note 2 LG LG RS 422 output unit RDP RDN SDP SDN GND GND Note 1 Connector set MR J2CN1 3M or equivalent Connector 10120 3000VE Shell kit 10320 52F0 008 2 In the last axis connect TRE and RDN 3 30m 98 4ft max in environment of little noise 13 2 13 COMMUNICATION FUNCTIONS 13 1 2 RS 232C configuration 1 Outline Example Run operate MELSERVO J2M Controller such as Station Station Station Station Station Station Station Station Station personal com
64. system Encoder A phase pulse 7 Differential line driver system Encoder B phase pulse 7 Differential line driver system Encoder Z phase pulse 7 Differential line driver system Encoder A phase pulse 8 Differential line driver system Encoder B phase pulse 8 Differential line driver system Encoder Z phase pulse 8 Differential line driver system Note 1 Connect the diodes in the correct orientation Opposite connection may cause the servo amplifier to be faulty and disable the signals from being output making the forced stop and other protective circuits inoperative 2 The signals having the same name are connected to the inside of the servo amplifier 3 Always connect 24VDC 200mA 3 SIGNALS AND WIRING 3 3 2 Connectors and signal configurations 1 Signal configurations The pin configurations of the connectors are as viewed from the cable connector wiring section The pins without symbols can be assigned any devices using the MR Configurator servo configuration software CN4B 50 25 N al N W N D al 46_ LAR6 727 3 LB6 1 20 LBR6 M 44 1ZR6 a LA7 LAR7 U 42 LBR7 77 z Lz7 16 _ LzR7 2 40 LAR8 75 LB8 LBR8 38 LZR8 13 2 LG o TI VIN O 2 N N w oo oo S a O N AZ
65. voltage reference rating range VimA voltage immunity immunity value a ES y 5 v Note 220 140 180 0 4 25 360 300 500 time 198 to 242 Note 1 time 8 X 20us Example ERZV10D221 Matsushita Electric Industry TNR 10V221K Nippon Chemi con Outline drawing mm in ERZ C10DK221 13 5 0 53 4 7 1 0 0 19 0 04 Vinyl tube XXXXXXKI xX Crimping terminal for M4 screw KXX 0 8 0 03 30 0 1 18 or more 12 2 6 Noise reduction techniques Noises are classified into external noises which enter MELSERVO J2M to cause it to malfunction and those radiated by MELSERVO J2M to cause peripheral devices to malfunction Since MELSERVO J2M is an electronic device which handles small signals the following general noise reduction techniques are required Also the drive unit can be a source of noise as its outputs are chopped by high carrier frequencies If peripheral devices malfunction due to noises produced by the drive unit noise suppression measures must be taken The measures will vary slightly with the routes of noise transmission 1 Noise reduction techniques a General reduction techniques Avoid laying power lines input cables and signal cables side by side or do not bundle them together Separate power lines from signal cables Use shielded twisted pair cables for connection with the encoder and for control signal transmission and connect the shield to the SD terminal
66. 1 M1 C c Electronic gear selection 13 C c gt e gt a C C C C C C T d m Q B Electronic gear selection 1 device for slot 2 Electronic gear selection 1 device for slot 3 Electronic gear selection 1 device for slot 4 ala 5 Qi fp ow pp E Electronic gear selection 1 device for slot 6 ajg jals Electronic gear selection 1 device for slot 7 1 2 3 4 15 Electronic gear selection 1 device for slot 5 6 7 8 Electronic gear selection 1 device for slot 8 21 Electronic gear selection 2 device for slot 1 22 Electronic gear selection 2 device for slot 2 23 Electronic gear selection 2 device for slot 3 M24 Electronic gear selection 2 device for slot 4 25 Electronic gear selection 2 device for slot 5 26 Electronic gear selection 2 device for slot 6 27 Electronic gear selection 2 device for slot 7 28 Electronic gear selection 2 device for slot 8 he combination of CM10 SG and CM20 SG gives you a choice of four ifferent electronic gear numerators set in the DRU parameters CM10 and CM2O cannot be used in the absolute position detection system Note Input signal ai i ectronic gear numerator cMm20 cm1a E 0 0 DRUparameterNos DRU parameter No 69 0 1 ERRE DRU parameter No 71 Note 0 Off across terminal SG open 1 On across terminal SG shorted CDP1 Gain switching device for slot 1 CDP2 Gain switching device for slot 2
67. 1 SON3 SON7 32 32 RD2 RD6 33 bh E 33 CR2 CR6 34 34 INP1 INP5 35 HH 35 RES1 RES5 36 Ha 3 36 SON1 SON5 37 37 PG4 PG8 38 38 NG4 NG8 39 HL 39 PG3 PG7 40 gt ut 40 NG3 NG7 41 k 41 PG2 PG6 42 Ha gt u 42 NG2 NG6 43 hn f m 43 PG1 PG5 44 44 NG1 NG5 45 4 E 45 LG LG 46 46 OP_VIN OP_VIN 47 HH a 47 OP_COM OP_COM 48 gt 48 P5 P5 49 bh 49 LG LG 50 e se 50 SD SD_ plate 12 18 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 4 Junction terminal block MR TB20 1 How to use the junction terminal block Always use the junction terminal block MR TB20 with the junction terminal block cable MR J2TBL O M 14 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 J2TBL OM 1A 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 Use the following junction terminal block label designed for CN5 When changing the input signals in parameters No 43 to 48 refer to 4 in this section and Section 3 2 1 and apply the accessory signal seals to the labels LSN8 EMG Al o LSN5 LSN6 LSN7 LSP1
68. 1 1 DRU parameter write inhibit ssseseeessossrossressressressressesssescsstessresstsssesssesseessseeseesseeesecsseesseesseesse 5 1 DS E E E E E E A A S E S 5 2 5 2 Interface Unit iia 5 14 5 2 1 IFU parameter write IOhIblt oooonoocononacionncnonnnononononnnononanonanononnnannnnaconnnconnnnrnnnncnnnnrnnnnronn nara resosi 5 14 PA A ER ER ORT 5 14 5 3 Detailed description cccccccccccessscesssceessccesecessecessecessecceseecsssecessecessecessecccseecesseceesecesseceeseeeessecetseeesaees 5 21 O EEE CEM AA dvi 5 21 0 9 2 AAlOS MONTO A AA AI EI es 5 25 5 3 3 Using forward rotation stroke end LSPO reverse rotation stroke end LSND to change the Stoppine Patti dd 5 28 50 4 Alarm history clica ett it details 5 28 Hid POSICLONSIMOOLNING a eu ees 5 29 6 1 Different adjustment methods cccccccccessscessccessecessscecessecessecessecessecceseecessecessecessecesseccesseessecesseeesaees 6 1 6 1 1 Adjustment on a MELSERVO J2M oooocncocncnonnnonnncoonacconanccnnnnononanonnnconnnnonanannnnnonnnnconnn conan nora naronnnonns 6 1 6 1 2 Adjustment using MR Configurator servo configuration software occocninnnininonononononrnrararanonos 6 2 C2 AUO TUNNA NN 6 3 6 2 1 Auto tuning MOE ii AA A A 6 3 6 2 2 Auto tuning mode operation cccccccssccessccessscesseceesscecessecesseccesecceseecessecessecesseceessecesecessecesseeeeseeees 6 4 6 2 3 Adjustment procedure by auto tuning ccccccscccessccessccessseccessccessecessecessece
69. 10 SG and CM20 SG gives you a choice of four different electronic gear numerators set in the DRU parameters As soon as Electronic gear selection CM10 Electronic gear selection 2 CM20 is turned ON or OFF the denominator of the electronic gear changes Therefore if any shock occurs at this change use position smoothing DRU parameter No 7 to relieve shock Note External input signal Electronic gear numerator cm20 cm1O o o DRUparameterNos o 1 DRUparameterNo69 1 o DRUparameterNo70 DRU parameter No 71 Note 0 cM1O cMm2 SG off open 1 CM10 CM20 SG on short 2 Torque limit A CAUTION Releasing the torque limit during servo lock may cause the servo motor to suddenly rotate according to the position deviation from the instructed position a Torque limit and torque By setting DRU parameter No 28 internal torque limit 1 and DRU parameter No 76 internal torque limit 2 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 Generated torque 0 i 0 100 Torque limit value b Torque limit value selection By making internal torque limit selection TL10 usable you can select the torque limit value as indicated below Note 2 Torque limit value made valid A Internal torque limit 1 DRU parameter No 28 DRU parameter No 76 gt DRU parameter No 28 DRU parameter No 28 DR
70. 2 This circuit applies to the servo motor with electromagnetic brake 3 The protective earth of the servo motor is connected to the base unit via the drive unit mounting screw 3 SIGNALS AND WIRING 3 5 3 I O terminals 1 Drive unit The pin configurations of the connectors are as viewed from the cable connector wiring section CN2 Drive unit E Cable side connector onnector 1 Soldering type Connector 10120 3000VE Shell kit 10320 52F0 008 2 Insulation displacement type Connector 10120 6000EL Shell kit 10320 3210 000 Housing 5557 04R 210 CNP2 Terminal 5556PBT3L 2 Servo motor HC KFS HC MFS HC UFS3000r min series Power supply lead Encoder connector signal arrangement 4 AWG19 0 3m 0 98ft 2 Lo Power supply connector molex Without electromagnetic brake 5557 04R 210 receptacle 5556PBTL Female terminal With electromagnetic brake 5557 06R 210 receptacle 5556PBTL Female terminal Power supply Powe supply connector z connector 5557 04R 210 5557 06R 210 Jun dE 2 4 2 all o alr Note Supply electromagnetic brake power 24VDC There is no polarity Encoder cable 0 3m 0 98ft With connector 1 172169 9 Tyco Electronics 3 SIGNALS AND WIRING 3 6 Alarm occurrence ti
71. 2 76 AERSBAN ESET 9 58 lamp B 1 qe E cla C 2 76 2 20 eee 1 77 12 32 30 1 18 0 940 12 OPTIONS AND AUXILIARY EQUIPMENT d Line noise filter FR BLF FR BSF01 This filter is effective in suppressing noises radiated from the power supply side and output side of MELSERVO J2M and also in suppressing high frequency leakage current side zero phase current especially within 0 5MHz to 5MHz band Connection diagram Outline drawing Unit mm Unit in Wind the 3 phase wires by the equal number of times in the SEN same direction and connect the filter to the power supply side 7 and output side of the base unit 110 4 33 The effect of the filter on the power supply side is higher as the 95 0 5 3 74 0 02 2 45 0 20 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 Base unit pes o Power _ H L supply o o 1 o o o A L2 Line noise La filter Number of turns 4 Example 2 NFB MC Base unit O o Power A Line noise 4 filter O Two filters are used Total
72. 200kpps Forward rotation pulse train across PPO SG Reverse rotation pulse train across NPO SG In the differential receiver system max input frequency 500kpps Forward rotation pulse train across PGO PPO Reverse rotation pulse train across NGO NPO pulse train 3 Reverse rotation pulse train 3 Forward rotation pulse train 4 Reverse rotation The command pulse train form can be changed using DRU parameter No pulse train 4 21 Function selection 3 Forward rotation pulse train 5 Reverse rotation pulse train 5 Forward rotation pulse train 6 Reverse rotation pulse train 6 Forward rotation pulse train 7 Reverse rotation pulse train 7 Forward rotation pulse train 8 Reverse rotation pulse train 8 3 SIGNALS AND WIRING 2 Output signals Connector 43 donot Signal Symbol pin No Functions Applications I O division i i Trouble A ALM_A CN1A 27 ALM_A Alarm signal for slot 1 to 4 Trouble B ALM_B CN1B 27 ALM_B Alarm signal for slot 5 to 8 ALMUO SG are disconnected when power is switched off or the protective circuit is activated to shut off the base circuit Without alarm ALMO SG are connected within about 3s after power on RD 1 RD 1 Ready signal for slot 1 RD 2 RD 2 Ready signal for slot 2 Ready 3 RD 3 Ready signal for slot 3 RD 4 RD 4 Ready signal for slot 4 RD5 RD 5 Ready signal for slot 5 Ready6 1p RD 6 Ready signal for slot 6 RD 7 Ready signal for slot 7 1 1
73. 3 5 SS RS TENA EA ae AO ae AAA RE 3 6 3 2 3 Detailed description of the signals cccccccccssscesssccessceeseecessecesseccesececessecesseceessecesseccssecesseeeeseeees 3 11 3 2 4 Internal connection diagram ccccccccessccessccessecessecesssceessecssseccesseecessecessecessecesseeeessecesecesseceeseeees 3 15 3 2 Intertacenstihsesiensinnh alisha Reese eens eee alien sees 3 16 3 3 Signal and wiring for extension LO UNIt ccc ecccessceessceessecesseccessecesseceeseecessecessecesseceeseecessecstaeessaees 3 20 3 31 Connection example ninia aaa HG ia 3 20 3 3 2 Connectors and signal configurations ccccccsccessccessecessecessecceseccessecessecessecesseceessecessecesseeeeseeees 3 22 3 3 3 Signal explamations cccccccccssscsssscesssscesssscessccesseccseccsssscsssscsssecesseccssescessscessecessecesssesensscssaeesssecens 3 23 3 39 4 Device Explanada A A LE 3 26 3 3 5 Detailed description of the device cccccccssscesssceessceessceesseccessecesseecessecesecesseceessecesseceseeseseeeeseeees 3 30 3 3 6 Device assignment method 2 032262 6 eis GHAR eI A E aA 3 31 3 4 Signals and wiring for base unit 0 cccccsccessccessccessecessecceessecessecesseceeseecessecessecessecesseceesesesssecesaeeesaees 3 35 3 4 1 Connection example for power line CIVCUIt ccccccessceessccessecessseccessecessecesseceessccessecessecesseeeeseeees 3 35 3 4 2 Connectors and signal configurations ccccccsccessccessccessecesseccesecces
74. 5K 160 6 30 145 5 71 140 5 51 71 2 79 55 22 17 2s 7 5 0 29 M4 M35 37618 max More than 750W t ore en FR BAL 2 2K 160 6 30 145 5 71 140 5 51 91 3 58 75 2 2 95 098 7 5 0 29 Ma M3 5 5 6 12 35 1100W max More than 1100W t A FR BAL 3 7K 220 8 66 200 7 87 192 7 56 90 3 54 70 2 2 76 0 00s 10 0 39 M5 M4 8 5 18 74 1900W max More than 1900W t PA FR BAL 5 5K 220 8 66 200 7 87 192 7 56 96 3 78 75 2 2 95_h09s 10 0 39 M5 M4 9 5 20 94 2500W max More than 2500W t pea a FR BAL 7 5K 220 8 66 200 7 87 194 7 64 120 4 72 100_9 8 94 593 10 0 39 M5 M5 14 5 32 0 max 12 27 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 4 Relays The following relays should be used with the interfaces Interface Selection example Relay used for digital input signals interface DI 1 To prevent defective contacts use a relay for small signal twin contacts Ex Omron type G2A MY Relay used for digital output signals interface DO 1 Small relay with 12VDC or 24VDC of 40mA or less Ex Omron type MY 12 2 5 Surge absorbers A surge absorber is required for the electromagnetic brake Use the following surge absorber or equivalent Insulate the wiring as shown in the diagram Maximum rating Static ve as Maximum capacity Varistor voltage Permissible circuit Surge Energy limit
75. 7 3 02 MR J2M BU8 2 Connection example EMC filter Base unit NFB LINE MC 6 oL L La Note 2 Power supply O O L2 O L2 O 0 0L3 La gt L3 Note 1 L11 O L21 Note 1 Connect when the power supply has earth 2 Connect a 1 phase 200 to 230VAC power supply to L1 L2 and keep L3 open 3 Outline drawing Unit mm in SF1253 le 209 5 8 248 i 6 0 0 236 x x LINE input side T q z e Ro a 5l ol E LOAD output side 4 A 8 5 23 0 0 906 12 35 12 OPTIONS AND AUXILIARY EQUIPMENT MEMO 12 36 13 COMMUNICATION FUNCTIONS 13 COMMUNICATION FUNCTIONS MELSERVO J2M has the RS 422 and RS 232C serial communication functions These functions can be used to perform servo operation 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 IFU parameter No 0 Refer to Section 13 2 2 13 1 Configuration 13 1 1 RS 422 configuration 1 Outline Example The interface unit and drive units of stations 0 to 31 can be run operated on the same bus Similarly any servo amplifiers that enable station number setting can be connected on the same bus It should be noted that the commands data should be handled without mistakes since they are
76. 9 MITSUBISHI ELECTRIC General Purpose AC Servo MelSeWU J2M Series General Purpose Interface Compatible MODEL MR J2M P8A MR J2M LIDU MR J2M BUL SERVO AMPLIFIER INSTRUCTION MANUAL e Safety Instructions e Always read these instructions before using the equipment Do not attempt to install operate maintain or inspect the units until you have read through this Instruction Manual Installation Guide Servo Motor Instruction Manual and appended documents carefully and can use the equipment properly Do not use the units until you have a full knowledge of the equipment safety information and instructions In this Instruction Manual the safety instruction levels are classified into WARNING and CAUTION AAN AN WARNING Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury A CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are indicated by the following diagrammatic symbols S Indicates what must not be done For example No Fire is indicated by R a Indicates what must be done For example grounding is indicated by L i In this Instr
77. A Completion of positioning ON INPO f Home position setting CRO l l Near zero point dog a ON Dog signal Home position ABS data 14 9 14 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 Perform manual operation such as JOG operation to move to the position where the home position is to be set When the home position setting CRD is on for longer than 20ms the stop position is stored into the non volatile memory as the home position ABS data When the servo on set home position setting CRO to ON after confirming that the in position INPD is ON If this condition is not satisfied the home position setting warning A 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 100 000 times Manual feed JOG etc more than 1 revolution of the motor shaft Servo Motor c ompletion of ON positioning INP O OFF Home position ON setting CRO OFF PORN Le Home position UN ABS data Update 14 6 4 How to process the absolute position data at detection of stroke end The drive unit stops the acceptance of the
78. AND AUXILIARY EQUIPMENT Application Standard encoder MR JCCBLOM L Connector 10120 3000VE Housing 1 172161 9 Standard Refer to 2 a in Shell kit 10320 52F0 008 Pin 170359 1 flexing life this section 3M or equivalent Tyco Electronics or equivalent IP20 Cable clamp MTI 0002 Toa Electric Industry Long flexing life MR JCCBLOM H Long flexing encoder cable Refer to 2 a in life this section IP20 4 line type Long flexing this section life IP20 Connector 10120 3000VE Housing 1 172161 9 Shell kit 10320 52F0 008 Pin 170359 1 3M or equivalent Tyco Electronics or equivalent Cable clamp MTI 0002 Toa Electric Industry 5 Connector set MR J2MCN1 Connector 10150 3000VE Shell kit 10350 52F0 008 3M or equivalent 6 Bus cable MR J2HBUSOM Connector 10120 6000EL Connector 10120 6000EL Refer to section Shell kit 10320 3210 000 Shell kit 10320 3210 000 12 1 4 4 3M or equivalent 3M or equivalent eee ee eee ee junction card 8 Communication MR CPCATCBL3M Connector DE 9SF N Connector 10120 6000EL For cable Refer to 3 in this Case DE C1 J6 S6 Shell kit 10320 3210 000 connection section Japan Aviation Electronics 3M or equivalent with PC AT 9 Power supply MR PWCNK1 Plug 5559 04P 210 connector set Terminal 5558PBT3L For AWG16 6 pcs Molex 10 Power supply MR PWCNK2 Plug 5559 06P 210 For motor connector set Terminal 5558PBT3L For AWG16 8 pes with brake M
79. AND WIRING MEMO 48 4 OPERATION AND DISPLAY 4 OPERATION AND DISPLAY On the interface unit display 5 digit seven segment display check the status of communication with the servo system controller at power on check the slot number and diagnose a fault at occurrence of an alarm 4 1 Display flowchart When powered on the MELSERVO J2M is placed in the automatic scroll mode in which the statuses of the interface unit drive units installed on the base unit appear at intervals of 2 seconds in due order At this time open slot numbers do not appear In the initial status the indication is in the automatic scroll mode Pressing the SET button switches the automatic scroll mode to the fixed mode In the fixed mode pressing the UP or DOWN button displays the status of the subsequent slot drive unit If an alarm warning occurs in the interface unit drive units the alarm warning number of the interface unit drive unit appears Refer to Section 4 1 2 Automatic scroll or button UP DOWN IFU status indication DRU status indication DRU status indication DRU status indication DRU status indication Slot 1 Slot 2 Slot 7 Slot 8 In the automatic scroll mode pressing the MODE button for 2s or more switches between the normal indication and the corresponding unit related display screen Refer to Section 4 2 Section 4 3 4 OPERATION AND DISPLAY 4 1 1 Normal indication The normal indication show
80. B 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 4 VICB Speed integral compensation changing ratio Used to set the ratio of changing the speed integral compensation when 6 gain changing is valid Made valid when auto tuning is invalid CDP Gain changing selection Used to select the gain changing condition Refer to Section 7 5 o o jo function TE column Gain changing selection Gains are changed in accordance with the settings of DRU parameters No 61 to 64 under any of the following conditions 0 Invalid 1 Gain changing CDPD is ON 2 Command frequency is equal to higher than DRU parameter No 66 setting Droop pulse value is equal to higher than DRU parameter No 66 setting Servo motor speed is equal to higher than DRU parameter No 66 setting 5 12 5 PARAMETERS Symbol Name and function Setting value range 10 10 CDS Gain changing condition kpps Used to set the value of gain changing condition command frequency droop pulse pulses servo motor speed selected in parameter No 65 Gain changing selection The set value unit changes with the changing condition item Refer to Section 7 5 67 CDT Gain changing time constant 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 7 5
81. B54 f Terminal block Unit mm in Fan mounting screw le 2 M3 screw gt ES 633 On opposite side AS P 3 5 e C Terminal screw M4 EN of G3 Tightening torque 1 2 N m 10 6 Ib in E o z a G4 T ol bag Fell g 7x 4slot S a 9 Mounting screw DER a E el rito s M6 oq El PL a e g S 3 i u Wind blows in the Tightening torque 5 4 N m 47 79 Ib in a E arrow direction 33 e ae oo os dl Ko 38 E o D 4 toe J ona 2 pig 0 28 0 09 D 200 7 87 17 0 67 S2112 108 4 25 Approx 30 1 18 223 8 78 0 47 120 4 73 8 0 32 r gt oe Regenerative Brake Option Mass kg Ib MR RB54 5 6 12 346 12 7 12 OPTIONS AND AUXILIARY EQUIPMENT 12 1 2 Cables and connectors 1 Cable make up The following cables are used for connection with the servo motor and other models The broken line areas in the diagram are not options panel l l i i panel i l gt PRES Programmable controller D Programmable controller Battery unit MR J2M BT CN1C L To regenerative brake option E Al 12 To control circuit power supply To main circuit ala a power supply LJ Supplied with interface unit CH E i A AAA 17 HC KFS ia HC MFS Personal computer 12 8 12 OPTIONS
82. DRU parameter No 65 and gain changing condition DRU parameter No 66 CDP DRU parameter No 65 External signal CDP l Command pulse gt frequency TA Droop pulses gt gt y Changing Model speed gt q __ l CDS Comparator DRU parameter No 66 GD2 DRU parameter No 34 o O Valid GD2B PI E GD2 value DRU parameter No 61 PG2 DRU parameter No 35 O O Valid PG2 x PG2B A PG2 value 100 i VG2 DRU parameter No 37 o AAA O Valid VG2 x VG2B ye VG2 value 100 VIC DRU parameter No 38 O IMA O Valid VIC x VICB A VIC value 100 7 5 7 SPECIAL ADJUSTMENT FUNCTIONS 7 5 3 Parameters When using the gain changing function always set OO 40 in DRU 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 mode DRU Abbrevi nee Name Unit Description parameter No ation pss ee Position control gain 1 Position and speed gains of a model used to set the Speed control gain 1 response level to a command Always valid 5j GD2 Ratio of load inertia moment to 0 1 Control parameters before changing servo motor inertia moment times Position control gain 2 V 37 G Used to set the ratio of load inertia moment to servo servo motor inertia moment 2 times motor inertia moment after changing ratio control gain 2 to position con
83. Encoder A phase Encoder pulse outputs for slot 6 pulse 7 Encoder B phase pulse 7 Encoder Z phase pulse 7 1 Encoder pulse outputs for slot 7 Encoder A phase pulse 8 Encoder B phase pulse 8 Encoder Z phase Encoder pulse outputs for slot 8 pulse 8 pulse 3 Encoder Z phase pulse 3 Encoder A phase pulse 4 Encoder B phase pulse 4 Encoder Z phase pulse 8 LZ8 LZR8 3 SIGNALS AND WIRING 3 Power supply Connector Signal Symbol Functions Applications Power input for digital interface Common for digital interface Control common Driver power input terminal for digital interface Used to input 24VDC 200mA or more for input interface 24VDC 10 Not connected to VIN of the interface unit Common terminal to VIN Pins are connected internally Separated from LG Not connected to SG of the interface unit CN4A 1 Common terminal to MO1 MO2 and MO3 CN4A 38 CN4B 13 CN4B 38 Shield Connect the external conductor of the shield cable 3 SIGNALS AND WIRING 3 3 4 Device explanations 1 Input device Using the MR Configurator servo configuration software you can assign the devices given in this section to the pins of connectors CN4A and CN4B of the MR J2M D01 extension IO unit Symbol Functions Applications Internal torque limit selection device for slot 1 Internal torque limit selection device for slot 2 Internal sous limit s
84. Forward rotation stroke end LSNO Internal torque limit selection SONO RESO CM20 Electronic gear 2 selection CDPO 4 16 4 OPERATION AND DISPLAY 4 3 7 Drive unit external output signal display The ON OFF states of the digital output 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 i Press UP button once M m m H eeen External output signal display screen 2 Display definition Slot number X 1 Aways lit gt amp _ A 1 i t l s oe A ES WNGO ALM O TLCO ZSPO INPO OPO MBRO RDO BWNGO Lit ON Extinguished OFF The 7 segment LED shown above indicates ON OFF Each segment at top indicates the input signal and each segment at bottom indicates the output signal The following table indicates the signal names Signal Name List RDO Ready TCO Limitingtorqe INPO BWNGO ZSPO Zerospeed N a 4 17 4 OPERATION AND DISPLAY 4 3 8 Drive unit output signal DO forced output POINT This function is usable during test operation only The output signal can be forced on off independently of the servo status This function is used for output signal wiring check etc This operation must be performed in the servo off state SONO off Call the display screen shown after power on Using the MODE button show the diagnostic
85. I O signals of interface unit 3 2 1 Connectors and signal arrangements The connector pin outs shown above are viewed from the cable connector wlring section side 1 Signal arrangement CN1A MR J2M P8A CN5 The connector frames are connected with the PE earth terminal inside the servo amplifier SDN 3 SIGNALS AND WIRING 3 2 2 Signal explanations For the I O interfaces symbols in I O column in the table refer to Section 3 2 5 The pin No s in the connector pin No column are those in the initial status 1 Input signals Connector PORI den Signal Symbol pin No Functions Applications I O division i i Servozon 1 on 1 SON 1 CN1A SON 1 Servo on signal for slot 1 SON 2 CN1A SON 2 Servo on signal for slot 2 SON 3 CN1A SON 3 Servo on signal for slot 3 SON 4 CN1A SON 4 Servo on signal for slot 4 SON 5 CN1B SON 5 Servo on signal for slot 5 SON 6 CNIB SON 6 Servo on signal for slot 6 son 7 CNIB SON 7 Servo on signal for slot 7 SON 8 Servo on signal for slot 8 Servo on 8 i oe Connect SONO SG to switch on the base circuit and make the servo amplifier ready to operate ser
86. J2M is contained 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 IB NA 67310 2 Low voltage directive The low voltage directive applies also to MELSERVO J2M Hence they are designed to comply with the low voltage directive MELSERVO J2M is certified by TUV third party assessment organization to comply with the low voltage directive The MELSERVO J2M complies with EN50178 3 Machine directive Not being machines MELSERVO J2M need not comply with this directive 2 PRECAUTIONS FOR COMPLIANCE 1 Unit and servo motors used Use each units and servo motors which comply with the standard model Interface unit MR J2M P8A Drive unit MR J2M ODU Base unit MR J2M BU O Servo motor HC KFS O HC MFSO HC UFS O 2 Configuration Control box Reinforced insulating type Reinforced FHS wW KAN No fuse Magnetic supply ransformer breaker JESIEN Servo contactor MELSERVO motor O 3 Environment Operate MELSERVO J2M at or above the contamination level 2 set forth in 1EC60664 1 For this purpose install MELSERVO J2M in a control box which is protected against water oil carbon dust dirt etc
87. LSP2 LSP3 LSP4 LSN4 3 Outline drawing Unit mm 126 4 96 Ee in 117 4 61 i Ll i x O Cds hr P y T O MITSUBISHI MR TB20 50 1 97 60 2 36 Foe Pe e e e e e OPC Cee ley a g 69 4 ree p hi 2 2 4 5 0 18 ee E ee es ee A E TE HIA da A da eh da bet ea a a H a a co L q aldo Ad ENT EN IZN EN EN x 2 Terminal screw M3 5 Applicable cable Max 2mm2 nt Crimping terminal width 7 2mm 0 283 in max 0 28 12 19 12 OPTIONS AND AUXILIARY EQUIPMENT 4 Junction terminal block cable MR J2TBLOM 1A a Model explanation Model MR J2TBL OM 1A Symbol Cable length m ft 0 5 1 64 b Connection diagram Junction terminal block side connector 3M Servo amplifierside CN5 connector 3M D7920 B500FL Connector 10120 6000EL Connector 10320 52F0 R08 M1A Shell kit Junction Terminal Block No Pin No
88. MB 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 60MB 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 X 600 or more and that can provide a high color 16 bit display Connectable with the above personal computer Keyboard Connectable with the above personal computer Connectable with the above personal computer Note that a serial mouse is not used Connectable with the above personal computer Communication cable MRCECATCBLSM A When this cannot be used refer to 3 Section 12 1 2 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 Note 2 Personal computer b Configuration diagram BU Personal computer IFU DRU First slot Communication cable CN3 CN2 e p i Servo motor __ To RS 232C aes Ld U connector DRU Eighth slot O CN2 ll Servo motor 12 23 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 Auxiliary equipment Always use the devices indicated in this section or equivalent To comply with the EN Stand
89. MRR BAT LG SD Note Always make connection for use in an absolute position detection system This wiring is not needed for use in an incremental system 12 14 12 OPTIONS AND AUXILIARY EQUIPMENT 3 Communication cable This cable may not be used with some personal computers After fully examining 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 Interface unit side eee ae Plate FG TXD 3 m net 2 RXD i m 1 LG RXD 2 ert ro 12 TXD GND 5 _ f oi 11 LG RTS 7 eee a CTS 8 DSR 6 DTR 4 D SUB9 pins Half pitch 20 pins When fabricating the cable refer to the connection diagram in this section The following must be observed in fabrication 1 Always use a shielded multi core cable and connect the shield with FG securely 2 The optional communication cable is 3m 10ft long When the cable is fabricated its maximum length is 15m 49ft in offices of good environment with minimal noise 12 15 12 OPTIONS AND AUXILIARY EQUIPMENT 4 Battery cable When fabricating use the recommended wire given in Section 12 2 1 and fabricate as in the connection diagram shown in this section a Definition of model Model MR J2MBTCBLOM Symbol Cable Length L m ft b Outline drawing
90. N4A CN4B Read the ON OFF statuses of the external input pins a Transmission Transmit command 1 2 and data No 4 8 Command Data No Commana Dato r DRU wa wa o b Reply The slave station sends back the ON OFF statuses of the output pins b31 b1b0 1 ON 0 OFF Command of each bit is transmitted to the master station as hexadecimal date Po cnar e onaz o onaz 13 CN4A 31 29 CN4B 31 CN4A 32 CN4B 32 CN4A 33 CN4B 33 4 External output pin status read CN1A CN1B Read the ON OFF statuses of the external output pins a Transmission Transmit command 1 2 and data No C 0 Command Data No Commana Data r DRU ESA a o ae b Reply The slave station sends back the ON OFF statuses of the output pins b31 b1b0 Command of each bit is transmitted to the master station as hexadecimal date bit o Numsa pa ONia6 2 Cnias i External output pin CN1B 23 CN1B 22 CN1A 30 14 22 ONIA 32 18 25 ESA ONIA 35 18 24 T A External output pin CN1B 6 CN1B 8 CN1B 11 CN1A 11 CN1A 28 i e CNIA33 a wlwolwlwlwelwlwfo ll lala ja TS Be Jefe ja jo gt po jin fre o 13 COMMUNICATION FUNCTIONS 5 External output pin status read CN4A CN4B Read the ON OFF statuses of
91. NB is disconnected shorted 2 Refer to Section 9 2 and remove cause Section 9 2 Switch on servo on Refer to Section 9 2 and remove cause Section 9 2 SOND Servo motor shaft is 1 Check the display to see if 1 Servo on SONO is not Section 4 3 6 not servo locked the servo amplifier is input Wiring mistake is free ready to operate 2 24VDC power is not 2 Check the external I O supplied to VIN signal indication to see if the servo on SOND is ON Enter input Servo motor does Check cumulative command 1 Wiring mistake Section 4 3 2 command not rotate a For open collector pulse Test operation train input 24VDC power is not supplied to OPC b LSPO LSNO SG are not connected 2 No pulses is input Servo motor run in 1 Mistake in wiring to Chapter 5 reverse direction controller 2 Mistake in setting of DRU parameter No 54 9 TROUBLESHOOTING No Startup sequence investigation Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 6 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 6 moment causes the run with safety repeat servo motor shaft to acceleration and oscillate side to side deceleration several times to complete auto tuning
92. ND CONFIGURATION 3 Base unit The following shows the MR J2M BU4 CON3A CNP1B First slot connector Control circuit power input connector CON3C Third slot connector CNP1A Regenerative brake option connector CON4 Option slot connector CNP3 Main circuit power input connector CON5 CON1 CON2 Battery unit connector Interface unit connectors CON3B CON3D Second slot connector Fourth slot connector 1 FUNCTIONS AND CONFIGURATION 1 8 Servo system with auxiliary equipment A WARNING To prevent an electric shock always connect the protective earth PE terminal terminal marked of the base unit to the protective earth PE of the control box 3 phase 200V to 230VAC power supply Note 1 phase 200V to 230VAC No fuse breaker NFB or fuse Control circuit power supply Command device Command device For 1 to 4 slots For 5 to 8 slots Magnetic contactor vd d MC a E To CN1A To CN1B pe Power x EE factor improving E SD HE gt SS reactor KA DNE james SS ee ae 2 NES FR BAL Sey AS mm Az igs T ll a p aea ARES PESAN E a AAN a AY Encoder cable Machine contact MR Configurator Personal computer servo configuration software MRZJW3 SETUP151E or later Note For 1 phase 200 to 230VAC connect the power supply to L1 L2 and leave L3 open 1 9 1 FUNCTIONS AND CONFIGURATION MEMO
93. No Description Frame length Current alarm number E SAO Command Data No Description Display item Frame ipti isplay i Bs il regenerative load ratio 12 Status display data value and processing regenerative load ratio 2 Ea 115 Jl information at alarm occurrence Bus voltage 4 N olejojeleleleleeele y Peak Bus voltage Status display data value and processing information at alarm occurrence load inertia moment ratio 1 oo Y o oo gt 2 12 Da jor a ofa MNN m o a 4 a 4 a 20 6 Others are Frame Unit Command Data No Description length IFU DRU oJ 2 oJlo Servo motor end pulse unit absolute position s SR O eI 9i Command unit absolute position d s DN oe a o oll2 Illo Software version 16 OO CO oJLo s o Read of slot connection status s amp s o 13 12 13 COMMUNICATION FUNCTIONS 13 11 2 Write commands Status display Command 8 1 Frame Unit Command Data No Description Setting range CIC A length Isu olol Status display data clear PO A A ROA 2 Parameter Command 8 4 Frame Unit Command Data No Description Setting range CN E length Each parameter write Depends on the The decimal equivalent of the data No value parameter hexadecimal corresponds to the parameter number Each parameter write Depends on th
94. OFF states of the external input signals 1 Forced stop A EMG_A ON On OFF Off input signal 2 Forced stop B EMG_B aen S ON On OFF Off Shows the ON OFF states of the external output signals 1 Trouble A ALM_A ON On OFF Off output signal 2 Trouble B ALM_B ON On OFF Off The digital output signal can be forced on off For more Interface unit external Interface unit external Interface unit output 1 D0 f A information refer to section 4 2 6 signa orce Las ee 5 During output signal DO forced output the decimal point in the outpuk first digit is lit Software version Low Indicates the version of the software Software version High Indicates the system number of the software 4 OPERATION AND DISPLAY 4 2 4 Alarm mode of interface unit The current alarm past alarm history and parameter error are displayed The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error Display examples are shown below Display Indicates no occurrence of an alarm in the interface unit Current alarm Indicates the occurrence of overvoltage A 10 in the interface unit Flickers at occurrence of the alarm Indicates that the last alarm is base unit error A 1C in the interface unit Indicates that the second alarm in the past is overvoltage A 33 in the interface unit Indi
95. ONS AND AUXILIARY EQUIPMENT 2 Wires for cables When fabricating a cable use the wire models given in the following table or equivalent Table 12 2 Wires for option cables y Characteristics of one core Note 3 Length Core size Number i Rees Type Model 2 Structure Conductor Insulation coating Finishing Wire model m ft of Cores Wires mm resistance Q mm ODd mm Note 1 OD mm 2to10 0 08 La 7 0 127 999 0 38 UL20276 AWG 28 MR JCCBLOM L 6 56 to 32 8 6 pairs 6pair BLACK 20 30 03 12 12 0 18 62 12 82 UL20276 AWG 22 65 6 98 4 6 pairs i j 6pair BLACK 2 5 12 Note 2 MR JCCBLOM H 6 56 16 4 6 pairs A 6P etal To w om om Bille De A O O os Beg pe femme ef eee e ER AOS IE POCO CIO CO e TS Note 1 d is as shown below d Conductor Insulation sheath 2 Purchased from Toa Electric Industry 3 Standard OD Max OD is about 10 greater 12 25 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 2 No fuse breakers fuses magnetic contactors Always use one no fuse breaker and one magnetic contactor with one drive unit Make selection as indicated below according to the total output value of the servo motors connected to one base unit When using a fuse instead of the no fuse breaker use the one having the specifications given in this section 1 No fuse breaker Servo motor output total No fuse breaker Rated current A 550W max 30A frame 5A More than 550W to 1100W max
96. OO 3 SIGNALS AND WIRING 3 3 3 Signal explanations For the IO interfaces system in I O column in the table refer to section 3 2 5 1 Input signal ARTE Signal Symbol Functions Applications No division CN4A 1 DI 1 CN4A 2 No signals are factory assigned to these pins Using the MR Configurator servo configuration software you can assign the input devices for CN4A 3 corresponding slots as signals Refer to Section 3 3 4 for assignable devices CN4A 4 ONIA 5 ON4A6 ON4A 7 CN4A 8 Proportion control oN4A 26 sos aT e ONAA 27 ONAA 28 ONAA 29 CN4A 30 Note You cannot select these devices when using the MR J2M P8A interface CN4A 31 unit CN4A 32 CN4A 33 CN4B 1 CN4B 2 CN4B 3 CN4B 4 CN4B 5 CN4B 6 CN4B 7 CN4B 8 CN4B 26 CN4B 27 CN4B 28 CN4B 29 CN4B 30 CN4B 31 CN4B 32 CN4B 33 2 Output signal Connector Signal Symbol Functions Applications division CN4A 9 No signals are factory assigned to these pins Using the MR Configurator CN4A 10 servo configuration software you can assign the input devices for corresponding slots as signals Refer to Section 3 34 4 for assignable cons CN4A 34 onsas ray mom CN4B 9 CN4B 10 CN4B 34 CN4B 35 Note You cannot select these devices when using the MR J2M P8A interface unit 3 SIGNALS AND WIRING Connector ae I O Signal Symbol Functions Applications iat pin No division Encoder A phase LA1 CN4A 50 As LAO LARO LBO and LBRO
97. Oza ozan COCOOCOONOOR HAN E pege 538 El CODO Y a2 amp El En qu00oo0o000 ADO N pe ied oe i AE k pao an rr nmrrr0 y inp g 5 2 o o PODODDDDuD y Dy E a o i oza ozan gog cor ronn O Se mbocacocon CO p 534 aQa000O00D00D y A OA 2 4 SF 00 OOOO H ES H A H EZ 68 O O o o booooooooD Go dy 8 3 g oza ozan aqornrmnmrmrmnnrn H are a enooooooop 90 y 43 E 3 CHIDO y 00 p g leg fo a aonor0m00OD AQ pA ag E O O o o boooosooaD o bany a E DODODODoab y SO N 53 CHIDOS y O Oj 22 ameg0860065 pA 00 vl 4 aoor0m00OD K top y EE O O o o ooDouDoDDooDooDo ms 3 0000 0 0 0 0 0 0 a ES G SSSSSS58S55SS9 i Y DODODODDONDO ES OOODDONDODODoao o 5 GOG08600600665 ite 2 6S556555558685005D y sh S ae ES C e m ea OZAm gt S252 E Y y E T gt N a orn R S eon 709 e0 8z rs og ZZ 6 98 e la i gt a gt 22 9 891 S S Opl a Falla m iii E lt Za EE it 3 a X A e 21 S ol Geol OL 6 0 OL lt gt ar Z1 9 OEL A a 8 ey E EI sl ww E gt 33 zo gt o E E l Ea f 10 1 10 OUTLINE DRAWINGS 10 2 Unit outline drawings 10 2 1 Base unit MR J2M BUD Unit mm Unit in I
98. P a e pulse train k 0010 Reverse rotation pulse train Pulse train sign 0011 A ph lse trai phase pulse ran 0012 B phase pulse train Negative logic Forward rotation pulse train f 0000 Reverse rotation pulse train Pulse train sign 0001 A phase pulse train E 0002 B phase pulse train Positive logic 3 11 3 SIGNALS AND WIRING b Connections and waveforms 1 Open collector system Connect as shown below Servo amplifier 24VDC OPC ay Appro 1 2kQ The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains DRU parameter No 21 has been set to 0010 The waveforms in the table in a 1 of this section are voltage waveforms of PPO and NPO based on SG Their relationships with transistor ON OFF are as follows eae ON OFF ON OFF ON J OFF transistor Reverse rotation OFF Jon OFF ON OFF ON pulse train transistor m Forward rotation command Reverse rotation command 3 12 3 SIGNALS AND WIRING 2 Differential line driver system Connect as shown below Servo amplifier PPO The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains DRU parameter No 21 has been set to 0010 For the differential line driver the waveforms in the table in a 1 of this sect
99. R JCCBL2M H MR JCCBL5M H MR JCCBL10M L MR JCCBL20M L 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 MR JCCBL20M H Drive unit side Encoder side When fabricating an encoder cable use the recommended wires given in Section 12 2 1 and the MR J2CNM connector set for encoder cable fabrication and fabricate an encoder cable as shown in the following wiring diagram Referring to this wiring diagram you can fabricate an encoder cable of less than 30m 98ft 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 P5 LG P5 LG P5 LG MR MRR BAT LG SD For use of AWG22 3M 19 11 20 12 18 Plate Encoder side Note Always make connection for use in an absolute position detection system This wiring is not needed for use in an incremental system 12 12 12 OPTIONS AND AUXILIARY EQUIPMENT b MR JC4CBLOM H When using this encoder cable set 1000 in DRU parameter No 20 1 Model explanation Model MR JC4CBLOM H Long fl
100. U parameter No 76 lt DRU parameter No 28 DRU parameter No 76 Note 1 0 TL1 L SG off open 1 TL1 SG on short 2 Releasing the torque limit during servo lock may cause the servo motor to suddenly rotate according to the position deviation from the instructed position c Limiting torque TLCO TLC SG are connected when the torque by the servo motor reaches the torque set to internal torque limit 1 or internal torque limit 2 3 SIGNALS AND WIRING 3 3 6 Device assignment method When using the device setting preset 000E in IFU parameter No 19 1 How to open the setting screen Click Parameters on the menu bar and click Device setting in the menu Parameter list Toning Change list Detailed information IFU Parameter DRU Parameter Device ing Making selection displays the following window initial settings of 1 0 function Device setting xi Do you want to read device settings from interface Set 000E in IFU parameter No 19 When it is opened offline the No Cancel Click Yes button reads and displays the function assigned to each pin from the interface unit and extension IO unit Click No button displays the initial status of the interface unit and extension IO unit Click Cancel button terminates the processing Click Yes button or No button displays the following two windows System Monitor Alarm Diagnostics Parameters Test File name D
101. Variable Dimensions Mass A TB q MR J2M BU6 290 11 42 278 10 95 1 3 2 87 MR J2M BU8 350 13 78 338 13 307 1 5 3 31 6 0 24 3 gt a B aA ee AT e Ake E 2 e nis En m Connector layout PLATE iE ERE CNP1A CNP1B CNP3 pE e 1 is ae role _ A B E EN HEE ega 1 N En Ele DO i ES ay 2 P La 2 Lo 4 og 3 c a el 0 3 Y i SA NI g 7 1 Li Ll gm ql TL Me l j Ris i Terminal screw M4 z m S E sell A 2 0 08 Tightening torque 3 24 N m 7 28 7 Ib in 2 6 0 24 mounting hole wo Stale Mounting screw M5 MSS Tightening torque 3 24 N m 28 7 Ib in 10 2 2 Interface unit MR J2M P8A Unit mm Unit in
102. YSTEM 3 At the time of alarm reset If an alarm has occurred detect the trouble ALM_ and turn off the servo on SOND After removing the alarm occurrence factor and deactivating the alarm get the absolute position data again from the drive unit in accordance with the procedure in 1 of this section Servo on ON SON O OFF Reset ON RES OFF O l 1 100ms ON Base circuit 1 OFF Trouble ON ALM_O OFF Read ON STE eady i RDO OFF Absolute position data command transmission Absolute position data receive Current position change X ABS data X Current position Pulse train command UL During this period get absolute position data 14 7 14 ABSOLUTE POSITION DETECTION SYSTEM 4 At the time of forced stop reset 200ms after the forced stop is deactivated the base circuit turns on and further 20ms after that the ready RDO turns on Always get the current position data from when the ready RDO is triggered until before the position command is issued a When power is switched on in a forced stop status Power ON supply OFF Servo on ON SON O OFF Forced stop ON Valid EMG_D OFF Invalied ON Base circuit OFF Ready ON RDO OFF Absolute position data command transmission Absolute position data receive Current position change Current position i ABS data Pulse train command A e f I
103. ake settling time shortest Response at positioning settling of a machine can be simulated from machine analyzer results on personal computer You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter You can automatically set the optimum gains in response to the machine characteristic This simple adjustment is suitable for a machine which has large machine resonance and does not require much settling time You can automatically set gains which make positioning settling time shortest You can optimize gain adjustment and command pattern on personal computer 6 GENERAL GAIN ADJUSTMENT 6 2 Auto tuning 6 2 1 Auto tuning mode The MELSERVO J2M has a real time auto tuning function which estimates the machine characteristic load inertia moment ratio in real time and automatically sets the optimum gains according to that value This function permits ease of gain adjustment of the MELSERVO J2M 1 Auto tuning mode 1 The MELSERVO J2M is factory set to the auto tuning mode 1 In this mode the load inertia moment ratio of a machine is always estimated to set the optimum gains automatically The following DRU parameters are automatically adjusted in the auto tuning mode 1 DRU parameter No Abbreviation po Position control gain 1 Ratio of load inertia moment to servo motor inertia moment The auto tuning mode 1 may not be performed pr
104. ameter 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 Select the sensitivity at which machine resonance is detected 0 Normal 1 Large sensitivity Adaptive vibration suppression control is factory set to be invalid DRU parameter No 60 0000 The filter characteristics generated are saved in the EEP ROM every 60 minutes since power on At next power on vibration suppression control is performed with this data saved in the EEP ROM being used as an initial value 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 7 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 expr
105. ard or UL C UL CSA Standard use the products which conform to the corresponding standard 12 2 1 Recommended wires 1 Wires for power supply wiring The following diagram shows the wires used for wiring Use the wires given in this section or equivalent 1 Main circuit power supply lead 3 Motor power supply lead Base Unit Drive unit Servo motor Power supply o T oO U 1 Q i OV E_A m TS W Motor l I Q 1 ph Earth 5 Electromagnetic 2 Control circuit power supply lead brake lead A Bi Electro ET magnetic I Regenerative brake option 7 B2 brake C 7 Encoder 4 Regenerative brake option lead Encoder cable refer to Section 12 1 2 2 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 servo motor side connection method depends on the type and capacity of the servo motor Refer to Section 3 5 3 To comply with the UL C UL CSA Standard use UL recognized copper wires rated at 60 C 140 F or more for wiring Table 12 1 Recommended wires Unit Wires mm ni 1 Ll1 L2 L3 S 2 L11 L21 3U V W S 4P C 5 B1 B2 2 AWG14 3 5 AWG12 2 AWG14 2 AWG14 5 5 AWG10 MR J2M 10DU MR J2M 20DU MR J2M 40DU 1 25 AWG16 1 25 AWG16 MR J2M 70DU 12 24 12 OPTI
106. ation ooonciccnononnnnnnnnnnnnnnnnncnnnanananonanonannn nn crono ricanonos 13 24 13 12 Test Operation Mode acia 13 25 13 12 8 Output signal pin ON OFF output signal DO forced output cocconinccconononacnnaonarininncnononoso 13 28 13 129 Alavi history ias 13 29 13 12 10 Current alar Mii ita tata aaa 13 30 TELL LD Other comas did 13 31 14 ABSOLUTE POSITION DETECTION SYSTEM 14 1 to 14 12 E O ON 14 1 14 101 Features uti ds 14 1 TAT 2 RESTOS N A E A N Aa 14 1 TADO PECICA IO Ai aa 14 2 14 3 Signal explain dadas cities d ASA ESEE SSES ASS 14 3 14 4 Serial communication COMMANA ccccessssssssseesseeseseseeeseeeseesseeeeseecsaeeceseeeseseseesseesseaeseesseeeseaeseaseeges 14 3 14 5 Startup ProCedure ccccccsccccsssccssscessecessssscsssccessecessescsssscsssccsssecessecessascessscessscessecessecessascesaseseseeesseeens 14 4 14 6 Absolute position data transfer protocol cccccccccessscessccessecesseceesscesessecessecesseccessecesseeesseeesseceeseeees 14 5 14 6 Data transfer procedure cs 14 5 14 6 2 Transfer Method A A tees ande 14 6 F463 HOMES position setting sera aaa gonna cbgvsdha cues oaay causes dla de foutadeandenes 14 9 14 6 4 How to process the absolute position data at detection of stroke eOd oooonncnnncnnocinoncnononnnos 14 10 14 7 Confirmation of absolute position detection kdata cooconononnononoonnnonencnnnnanononaconancnnnnacnnna conan nonanconanan 14 11 APPENDIX App 1 to App 2 App 1 S
107. ation number selection 5 5 slot serial communication station number selection 6 slot serial communication station number selection a N IN N IN N NIN IN N OlOINIDMIOsP un o 17 7 0000 SIC For manufacturer setting p ANNAN 5 15 5 PARAMETERS 2 Details list Classifi Initial Setting Symbol Name and Function cation Value Range BPS Serial communication function selection alarm history clear Refer to Used to select the serial communication baudrate function selection name select various communication conditions and clear the alarm and history function column L Serial communication 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 I F selection 0 RS 232C 1 RS 422 Communication response delay time selection O Invalid 1 valid reply sent after time of 888us or more REG Regenerative brake option selection Refer to Used to select the regenerative brake option Name and function ojoj Her IE of regenerative brake option 00 Not used 01 Spare do not set 02 MR RB032 05 MR RB14 06 MR RB34 07 MR RB54 2 OP1 Function selection 1 Refer to Used to select the pr
108. ations of regenerative brake options and base units may only be used Otherwise a fire may occur 1 Combinations and regenerative powers The power values in the table are resistor generated powers and not rated powers Regenerative power W Base unit MR RB032 MR RB14 MR RB34 MR RB54 4002 2602 2642 2602 MR J2M BU4 MR J2M BU6 30 100 300 500 MR J2M BU8 2 Selection of regenerative brake option a Simple judgment of regenerative brake option necessity The MELSERVO J2M series does not contain a regenerative brake resistor Check whether the regenerative brake option is needed or not in the following method 1 Requirements The drive units mounted to the same base unit are all horizontal axes The operation pattern is clear and the load inertia moments of the axes to be decelerated simultaneously are clear 2 Checking method The following table gives the permissible load inertia moment that does not require the regenerative brake option when speed is reduced from 3000r min Permissible Load Inertia Moment MR J2M 10DU MR J2M 20DU 1 42kg cm MR J2M 40DU MR J2M 70DU 4 94kg cm Calculate the 3000r min equivalent inertia moment of each drive unit Load inertia moment equivalent for 3000r min J1 Jm x running speed 3000 2 12 1 12 OPTIONS AND AUXILIARY EQUIPMENT Calculate the total of the 3000r min equivalent inertia moments of the axes to be decelerated simultaneously and find the maxim
109. auto tuning DRU parameter No Abbreviation Ratio of load inertia moment to servo motor inertia moment Position control gain 2 Speed control gain 2 Speed integral compensation b Manually adjusted parameters The following parameters are adjustable manually DRU parameter No Abbreviation 6 Position control gain 1 36 VG1 Speed control gain 1 2 Adjustment procedure Operation Description Set 15Hz DRU parameter No 2 010 D as the machine resonance frequency of i i Select the auto tuning mode 1 response in the auto tuning mode 1 During operation increase the response level setting DRU parameter No 2 Adjustment in auto tuning mode and return the setting if vibration occurs 1 Check the values of position control gain 1 DRU parameter No 6 and speed control gain 1 DRU parameter No 36 Set the interpolation mode DRU parameter No 2 000 D Select the interpolation mode Check the upper setting limits 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 setti
110. ay 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 00 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 First least significant digit normally not used Second least significant digit Third least significant digit Forth least significant digit Fifth least significant digit Sixth least significant digit OoahRWN Since the display type is 0 in this case the hexadecimal data is converted into decimal 00000929H gt 2345 As the decimal point position is 3 a decimal point is placed in the third least significant digit Hence 23 45 is displayed 13 15 13 COMMUNICATION FUNCTIONS 2 Writing the processed data When the data to be written is handled as decimal the decimal point position must be specified If it is not specified the data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position The data to be sent is the f
111. bination with servo motor The following table lists combinations of drive units and servo motors The same combinations apply to the models with electromagnetic brakes and the models with reduction gears ae rive unl HC KFSO HC MFSO HC UFSO MR J2M 10DU 053 13 053 13 MR J2M 20DU MR J2M 40DU MR J2M 70DU 1 FUNCTIONS AND CONFIGURATION 1 7 Parts identification 1 Drive unit Mounting screw Status indicator LED Indicates the status of the drive unit Blinking green Servo off status Steady green Servo on status Blinking red Warning status Steady red Alarm status CN2 Encoder connector Connect the servo motor encoder CNP2 Servo motor connector For connection of servo motor power line cable Rating plate 2 Interface unit Display Indicates operating status or alarm Pushbutton switches Used to change status indication or set IFU parameters and DRU parameters Mounting screw CNIA Display setting cover 1 O signal For 1 to 4 slots CN1B CN5 I O signal For 5 to 8 slots Forward rotation stroke end Reverse rotation stroke end Forced stop input CN3 For connection of personal computer RS 232C Outputs analog monitor Charge lamp Lit when main circuit capacitor carries electrical charge When this lamp is on do not remove reinstall any unit from to base unit and do not unplug plug cable and connector from into any unit 1 FUNCTIONS A
112. ble 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 13 18 13 COMMUNICATION FUNCTIONS 2 Parameter write 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 1t is not specified data cannot be written When the data is handled as hexadecimal specify 0 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 Command Data No Set data 0 0 to See below D 8114 oJ O to 5114 T Data is transferred in hexadecimal Decimal point position 0 No decimal point 1 Lower first digit 2 Lower second digit
113. ble because the temperature slope inside and outside the enclosure will be steeper 11 3 11 CHARACTERISTICS 11 3 Dynamic brake characteristics Fig 11 4 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use Equation 11 2 to calculate an approximate coasting distance to a stop The dynamic brake time constant t varies with the servo motor and machine operation speeds Refer to Fig 11 4 Forced stop EMG_ O Aue Time constant Machine speed te Time Lmax e terre Je A E A A IR A AAA A EE E 11 2 bugs Maximum coasting distance su Aa mm in Vo Machine des mm min lin min JM Servo motor inertial moment iii ies kg cm oz in JL Load inertia moment converted into equivalent value on servo motor shaft kg cm oz in T Brake time constant rada dan s te Delay time of control section cccccecceecessessesscsscessesecsssesccsscsecessesscssccssessccssesssesscauecssesscaecseesseeses s There is internal relay delay time of about 30ms 11 4 11 CHARACTERISTICS 0 02 0 018 Wry T 0 016 E 2 0 014 g amp 0 012 D E S 0 01 5 o 0 008 E 0 006 E E 0 004 0 0 002 O 500 1000 1500 2000 2500 3000 0 y 0 500 1000 1500 2000 2500 3000 Speed r min Speed r min a HC KFS series b HC MFS series 0 07 73 0 06 0 05 2 0 04 amp n S 0 03 D 43 E 0 02 23 H 13 0 01 50 5001000 1500 2000 2500 3000 Sp
114. brake interlock 7 MBR7 MBR7 Electromagnetic brake interlock device for slot 7 Electromagnetic hrako interlock 8 MBRS MBR8 Electromagnetic brake interlock device jus slot 8 In the servo off or alarm status MBRO SG are disconnected 3 SIGNALS AND WIRING WNG1 WNG1 Warning device for slot 1 WNG2 WNG2 Warning device for slot 2 Warning 3 WNG3 Warning device for slot 3 WNG4 WNG4 Warning device for slot 4 WNGs WNG5 Warning device for slot 5 ariete Warning 6 wnG6 WNG6 Warning device for slot 6 Warning 7 WNG7 WNG7 Warning device for slot 7 Warning 8 WNGS8 WNG8 Warns device for slot 8 When warning has occurred WNGO SG are connected When there is no warning WNGO SG are disconnected within about 3 second after power on BWNG1 Battery warning device for slot 1 Battery warning 2 BWNG2 BWNG2 Battery warning device for slot 2 Battery warning device for slot 3 BWNG4 Battery warning device for slot 4 BWNG5 Battery warning device for slot 5 BWNG6E Battery warning device for slot 6 BWNG7 Battery warning device for slot 7 E BWNG8 Battery warning device for slot 8 Battery warning 8 BWNGO SG are connected when battery cable breakage warning A 92 or battery warning A 9F has occurred When there is no battery warning BWNGO SG are disconnected within about 3 second after power on 3 SIGNALS AND WIRING 3 3 5 Detailed description of the device 1 Electronic gear switching The combination of CM
115. cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and MELSERVO J2M 4 5 6 2 Provide maximum clearance between easily affected signal cables and the I O cables of MELSERVO J2M 3 Avoid laying the power lines I O cables of MELSERVO J2M and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits When the power supply of peripheral devices is connected to the power supply of MELSERVO J2M system noises produced by MELSERVO J2M may be transmitted back through the power supply cable and the devices may malfunction The following techniques are required 1 Insert the radio noise filter FR BIF on the power cables input cables of MELSERVO J2M 2 Insert the line noise filter FR BSF01 FR BLF on the power cables of MELSERVO J2M When the cables of peripheral devices are connected to MELSERVO J2M to make a closed loop circuit leakage current may flow to malfunction the peripheral devices If so malfunction may be prevented by disconnecting the grounding cable of the peripheral device 2 Noise reduction products a Data line filter Noise can be prevented by installing a data line filter onto the encoder cable etc For example the ZCAT3035 1330 of TDK and the ESD SR 25 of NEC TOKIN are available as data line filters As a reference example the impedan
116. cates that the third alarm in the past is undervoltage A 10 in the interface unit Alarm history Indicates that the fourth alarm in the past is over regenerative A 30 in the interface unit Indicates that there is no fifth alarm in the past of the interface unit Indicates that there is no sixth alarm in the past of the interface unit Indicates no occurrence of parameter error A 37 of the interface unit Parameter error No Indicates that the data of parameter No 1 is faulty of the interface unit Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 The other screen is visible during occurrence of an alarm At this time the decimal point in the fourth digit flickers 3 For any alarm remove its cause and clear it in any of the following for clearable alarms refer to Section 9 2 a Switch power OFF then ON b Press the SET button on the current alarm screen 4 Use IFU parameter No 0 to clear the alarm history 5 Pressing SET button 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 button to move to the next history 7 Pressing the MODE button on the alarm detail display screen returns to the alarm history display 4 OPERATION AND DISPLAY 4 2 5 Interface unit paramet
117. ce and write ranges of the parameters name Em 3 F 3 Settin Seting IFU basic parameter ae ie lt i E g operation R assignment function parameter 2 column a 0000 A Gnitial value 20 SIC Serial communication time out selection s 0 Set the time out period of the communication protocol in the s unit to Setting 0 disables time out checking 60 For manufacturer setting Do not change this value any means Em Q o 8 g 4 ic a D E S o n g ic a gt a 5 PARAMETERS 5 3 Detailed description 5 3 1 Electronic gear N CAUTION Wrong setting can lead to unexpected fast rotation causing injury CMX CDV 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 lt 500 a y we A The guideline of the electronic gear setting range is 50 lt 1 Concept of electronic gear The machine can be moved at any multiplication factor to input pulses ooo oc ec eer rere eer eee Deviation counter CMX _ DRU parameter No 3 CDV DRU parameter No 4 Input pulse train The following setting examples are used to explain how to calculate the electronic gear The following specification symbols are required to calculate the elect
118. ce specifications of the ZCAT3035 1330 TDK are indicated below This impedances are reference values and not guaranteed values Unit mn Unit in 10 to 100MHZ 100 to 500MHZ EA AA 39 1 1 54 0 04 34 1 1 34 0 04 Loop for fixing the cable band 0 51 0 04 1 18 0 04 Product name Lot number Outline drawing ZCAT3035 1330 12 30 12 OPTIONS AND AUXILIARY EQUIPMENT b Surge suppressor The recommended surge suppressor for installation to an AC relay AC valve AC electromagnetic brake or the like near MELSERVO J2M is shown below Use this product or equivalent lO Surge suppressor a2 a Y Surge suppressor This distance should be short Surge suppressor within 20cm 0 79 in Relay Ex 972A 2003 50411 Matsuo Electric Co Ltd 200VAC rating Rated Outline drawing Unit mm Unit in voltage Test voltage AC V Vinyl sheath 18 1 5 AC V Blue vinyl cord 200 0 5 50 Across 1W T C 1000 1 to 5s L 0 71 0 06 Red vinyl cord 6 0 24 le dol 10 0 39 or less 10 0 39 or less k gt HM gt gt 4 gt 4 0 16 10 3 15 1 0 59 0 04 10 3 0 39 le 0 39 3141 22 0 12 200 7 87 48 1 5 200 7 87 0 15 ormore 1 89 0 06 or more Note that a diode should be installed to a DC relay DC valve or the like 5 RA o RA Maximum voltage Not less than 4 times the drive voltage of y the relay or the
119. ce unit and main circuit converter and regenerative functions in the base unit to batch wire the main circuit power input regenerative brake connection and control circuit power supply input achieving wiring saving In the MELSERVO J2M series main circuit converter sharing has improved the capacitor regeneration capability dramatically Except for the operation pattern where all axes slow down simultaneously the capacitor can be used for regeneration You can save the energy which used to be consumed by the regenerative brake resistor Input signal Axes 5 to 8 Extension IO unit MR J2M D01 Input signal Axes 1 to 4 Regenerative brake option Encoder pulse output V A ws A i a SL i extension DIO Axes 1 to 4 ee Control circuit power a all a Encoder pulse output supply input mal jill a n ll extension DIO Axes 5 to 8 Encoder cable Main circuit power input Servo motor power cable Personal computer connection Forward rotation stroke end Monitor output Reverse rotation stroke end Forced stop input Forced stop input Electromagnetic brake interlock output 1 1 1 FUNCTIONS AND CONFIGURATION 1 2 Function block diagram Base unit Interface unit Power Control circuit power suppy supply 3 phase 200 to 230VAC Y Note 6 d 0 NP3 1 phase 200 to 230VAC 0 O O Inrush current suppression circuit Regener ative TR
120. controller every time the ready RDO turns on The drive unit sends the current position to the controller on receipt of the command At the same time this data is set as a position command value in the drive unit 1 Sequence processing at power on Power ON AAA supply OFF ON Servo on SOND nl HH Base ON circuit OFF ot Ready ON RDO OFF Absolute position data command transmission Absolute position data receive Current position change Via Current position X ABS data X Pulse train command j j j I Pi During this period get absolute position data 1 100ms after the servo on SOND has turned on the base circuit turns on 2 After the base circuit has turned on the ready RDO turns on 3 After the ready RDO turned on and the controller acquired the absolute position data give command pulses to the drive unit Providing command pulses before the acquisition of the absolute position data can cause a position shift 2 Communication error If a communication error occurs between the controller and MELSERVO J2M the MELSERVO J2M sends the error code The definition of the error code is the same as that of the communication function Refer to Section 13 5 for details If a communication error has occurred perform retry operation If several retries do not result in a normal termination perform error processing 14 6 14 ABSOLUTE POSITION DETECTION S
121. ct values using the interface unit display or MR Configurator servo configuration software 3 Environment Signal cables and power cables are not shorted by wire offcuts metallic dust or the like 4 Machine a The screws in the servo motor installation part and shaft to machine connection are tight b The servo motor and the machine connected with the servo motor can be operated 2 INSTALLATION AND START UP 2 7 Start up Do not operate the switches with wet hands You may get an electric shock Do not operate the controller with the front cover removed High voltage terminals and charging area exposed and you may get an electric shock During power on or for some time after power off do not touch or close a parts cable etc to the regenerative brake resistor servo motor etc Their temperatures may be high and you may get burnt or a parts may damaged Before starting operation check the parameters Some machines may perform unexpected operation Take safety measures e g provide covers to prevent accidental contact of hands and parts cables etc with the servo amplifier heat sink regenerative brake resistor servo motor etc since they may be hot while power is on or for some time after power off Their temperatures may be high and you may get burnt or a parts may damaged During operation never touch the rotating parts of the servo motor Doing so can cause injury Connect the servo
122. current breaker re oie i Type products Models provided with harmonic and surge E gt S MELSERVO Cable J2M reduction techniques General models Ig1 Leakage current on the electric channel from the leakage current breaker to the input terminals of the base unit Found from Fig 12 1 Ig2 Leakage current on the electric channel from the output terminals of the drive unit to the servo motor Found from Fig 12 1 Ign Leakage current when a filter is connected to the input side 4 4mA per one FR BIF Iga Leakage current of the drive unit Found from Table 12 4 Igm Leakage current of the servo motor Found from Table 12 3 z Leakage current Table 12 3 Servo motor s Table 12 4 Drive unit s leakage current leakage current example lgm example Iga Servo motor Leakage Drive unit Leakage current output kW current mA capacity kW mA 0 05 to 0 4 0 1 to 0 4 0 3 0 75 0 6 8 306 Cable size mm Fig 12 1 Leakage current example Ig1 Ig2 for CV cable run in metal conduit 12 34 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 8 EMC filter For compliance with the EMC directive of the EN standard it is recommended to use the following filter Some EMC filters are large in leakage current Combination with the base unit Recommended filter Base unit Mass kg Ib MR J2M BU4 MR J2M BU6 SF1253 1 3
123. d acceleration deceleration time Name constant DRU parameter No 7 control system and function ojo jo las L Position command acceleration deceleration time constant control 0 Primary delay 1 Linear acceleration deceleration 56 For manufacturer setting 57 Do not change this value any means WN 58 NH1 Machine resonance suppression filter 1 0000 Refer to Used to selection the machine resonance suppression filter Name Refer to Section 7 2 and column Notch frequency selection Set 00 when you have set adaptive vibration suppression control to be valid or held DRU Jparameter No 60 01 Price value value value value oo mvaa f os 5623 10 sra is 1873 or 4500 o9 50 n ess f 19 fiso os 1500 os aoa 13 2568 18 1667 Los 900 on sas2 a5 os a 1552 Pos 750 os ema 16 2045 1m fiso 7 Notch depth selection Setting Depth Gain 7 Deep 40dB to 14aB Shallow 848 59 NH2 Machine resonance suppression filter 2 Refer to Used to set the machine resonance suppression filter Name and je column Notch frequency Same setting as in DRU 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 DRU parameter No 58 5 11 5 PARAMETERS Symbol Name and function Setting value range LPF Low pass filter adaptive vibration s
124. d environment b Relays Their contacts will wear due to switching currents and contact faults occur Relays reach the end of their life when the cumulative number of power on and forced stop times is 100 000 which depends on the power supply capacity c Drive unit cooling fan The cooling fan bearings reach the end of their life in 10 000 to 30 000 hours Normally therefore the fan must be changed in a few years of continuous operation as a guideline It must also be changed if unusual noise or vibration is found during inspection 8 INSPECTION MEMO 2 9 TROUBLESHOOTING 9 TROUBLESHOOTING 9 1 Trouble at start up Excessive adjustment or change of parameter setting must not be made as it will AN CAUTION j el 9 make operation instable Using the optional 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 1 Troubleshooting No 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 MELSERVO J2M 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 C
125. d type Model Connector 10150 3000VE Shell kit 10350 52F0 008 Unit mm Unit in 17 0 0 67 i HEE e SA 46 5 1 83 41 1 1 62 18 0 0 71 i Logo etc are ca ok eN indicated here 7 Li ete IF m oD g2 SP co I 8 E ri 52 4 2 06 A 12 7 0 50 b Threaded type Model Connector 10150 3000VE Shell kit 10350 52A0 008 Note This is not available as option and should be user prepared Unit mm Unit in 17 0 0 67 ol LO e ES 46 5 1 83 41 1 1 62 18 0 0 71 P E Viigo ele aie indicated here 1 39 0 1 54 5 2 0 21 23 8 0 94 x 52 4 2 06 10 5 10 OUTLINE DRAWINGS 2 CN2 CN3 connector lt 3M gt a Soldered type Model Connector Shell kit 39 0 1 54 10120 3000VE 10320 52F0 008 22 0 0 87 Unit mm Unit in a N o E N gt Y AN 2 0 0 0 gt 39 Logo etc are indicated here ao fa Y m yA b Threaded type Model Connector Shell kit 10120 3000VE 10320 52A0 008 Note This is not available as option and should be user prepared 22 0 0 87 39 0 1 54 0 22 23 8 0 94 5 7 33 3 1 31 Unit mm Unit
126. dard specifications c ccccccsscccssscesssccssscecessecesssceesecesssccessecessecesseccesescessecessecessecessseeeseeeseeeses 1 3 lA Function on ee Oe Scere erry A E A TE 1 4 1 5 Model code definition c ccccccsccsscssscesscsessceseceeessecesecssecssecssecssecssecssecssecesecesecssecesecesecesecesecesseeseenseenseenss 1 5 1 6 Combination with Servo motot ccccccccscssscssscesscesecsssecesecsecssecesecesecesecesecssecesecesecesecesscesscnsecessenseesseengs 1 6 Parts identifica ini A a 1 7 1 8 Servo system with auxiliary CQUIPMENt cccccssccessccessccesseceeseceessccessseceeseccessecessecessecessecesseceeaeesas 1 9 2 1 Environmental condi tad das da P costoce cccecslercetacdssdebeates cosuedesasees 2 1 2 2 Installation direction and clearances ccccccccssccesssesssseeeeeecesnecesnecssaecseeeceaecsnecesaeceeeeseeeseaeeseeneeeeaees 2 2 2 3 Keep out foreign Mater A tati 2 3 DA CADle StVESS A A E EE A A Weel NEN Ba tg 2 3 2 5 Mounting Method A de NS yeaa kad ana 2 4 2 6 When switching power on for the first time ccccccscccessccessccessccessseceessecessecessecesseceeseccessecesecesseeesaees 2 6 AA attests NN 2 7 3 1 Control signal line connection exaMple cccccccssccessscessscessscesssccesseecesseceeseccesseesssecesseceeseceeseeessseesaees 3 2 32 1 O signalsoF interface Ud ts 3 5 3 2 1 Connectors and signal arrangeMents ccccccssscessscessscceessccessecessecessecceseccessecessecessecesseceeseseesaeceses
127. djustment 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 mode No 2 setting inertia moment ratio DRU parameters DRU parameters Auto tuning mode 1 Always estimated 1 DRU parameter No Response level setting of DRU initial value ie DRU parameter No parameter No 2 PG2 DRU parameter No VG1 DRU parameter No VG2 DRU parameter No VIC DRU parameter No Auto tuning mode 2 Fixed to parameter PG1 DRU parameter No GD2 DRU parameter No No 34 value PG2 DRU parameter No Response level setting of VG1 DRU parameter No parameter No 2 VG2 DRU parameter No VIC DRU parameter No Manual mode 1 parameter No 35 PG1 DRU parameter No parameter No 36 GD2 DRU parameter No VG2 DRU parameter No VIC DRU parameter No Manual mode 2 PG1 DRU parameter No 6 GD2 DRU parameter No 34 PG2 DRU parameter No 35 VG1 DRU parameter No 36 VG2 DRU parameter No 37 VIC DRU parameter No 38 Interpolation mode Always estimated GD2 DRU parameter No 34 1 parameter No 6 PG2 DRU parameter No 35 1 parameter No 36 VG2 DRU parameter No 37 VIC DRU parameter No 38 6 GENERAL GAIN ADJUSTMENT 2 Adjustment sequence and mode usage nterpolation Yes Used when you want to made for 2 or more match the position gain 1 Interpolation mode PG1 b
128. doors 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 m s 5 9 or less HC MFS Series X Y 49 Note Vibration HC UFS13 to 43 HC KFS Series ts 4 or less eries Ye ft s 19 4 or HC MFS Seri X Y 161 HC UFS13 to 43 Note Except the servo motor with reduction gear Securely attach the servo motor to the machine If attach insecurely the servo motor may come off during operation The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage Take safety measures e g provide covers to prevent accidental access to the rotating parts of the servo motor during operation Never hit the servo motor or shaft especially when coupling the servo motor to the machine The encoder may become faulty Do not subject the servo motor shaft to more than the permissible load Otherwise the shaft may break When the equipment has been stored for an extended period of time consult Mitsubishi 2 Wiring AN CAUTION Wire the equipment correctly and securely Otherwise the servo motor may misoperate Do not install a power capacitor surge absorber or radio noise filter FR BIF option between the servo motor and drive unit Connect the output terminals U V W correctly Otherwise the servo motor will operate improperly Connect the servo motor power terminal U V W
129. e 24VDC 10 Digital I F Common terminal of VIN Pins are connected internally common Separated from LG 5V output P5 1A 49 Internal power supply for encoder Z phase pulses Connect P5 OP_VIN when using 1B 49 this power supply as an encoder Z phase pulse common ip 5VDC 5 Encoder Z phase de 1A Power input for encoder Z phase pulse common Connect P5 OP_VIN when using pulse power 1B 47 the 5V output P5 as an encoder Z phase pulse common Supply power to OP_VIN supply when using an external power supply as an encoder Z phase pulse common At this time do not connect P5 OP_VIN Encoder Z phase OP_COM N1A 48 Common for encoder Z phase pulses Power input to OP_VIN is output from pulse common N1B 48 OP_COM Control common N1A 50 Common terminal for MO1 MO2 and MO3 Shield Connect the external conductor of the shield cable 3 10 3 SIGNALS AND WIRING 3 2 3 Detailed description of the signals 1 Pulse train input a Input pulse waveform selection Encoder 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 DRU parameter No 21 Arrow _f L or _ Ll 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 DRU parameter No 21 Pulse train form command command Command pulse train Forward rotation P
130. e The decimal equivalent of the data No value parameter hexadecimal corresponds to the parameter number 3 Alarm history Command 8 2 Frame Unit Command Data No Description Setting range CIC een ea length isie iol Alarm history clear Y w OO 4 Current alarm Command 8 2 Frame Unit Command Data No Description Setting range ace ee length ise lool jAlarmresee AST OO 5 Operation mode selection Command 8 B Frame Unit Command Data No Description Setting range ms e Je length E Exit from test operation mode 0000 Jog operation 0001 Positioning operation 0002 Motor less operation 0003 Output signal DO forced output 13 13 13 COMMUNICATION FUNCTIONS 6 External input signal disable Command 9 0 Frame Unit 91 0 ollo Turns off the external input signals DD external input signals and pulse train inputs with the exception of EMG_O LSPO and LSNO independently of the external ON OFF statuses Changes the external output signals DO into the value of command 8 B or command A 0 data No 0 1 Enables the disabled external input signals DD external input signals and pulse train inputs with the exception of EMG_O LSPO and LSNO folfol__ ls Enables the disabled external output signals 00 iras 4 M O 7 Data for test operation mode Command 9 2 A 0 Frame Unit 9 2 ollo Input signal for test op
131. e functions in the system DA 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 directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety guaranteed products In the EU countries the machinery directive effective in January 1995 EMC directive effective in January 1996 and low voltage directive effective in January 1997 of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks CE marking CE marking applies to machines and equipment into which servo MELSERVO
132. e 1 TLC1 TLC1 Limiting torque device for slot 1 TLC2 TLC2 Limiting torque device for slot 2 Limiting torque 3 TLC3 TLC3 Limiting torque device for slot 3 TLC4 Limiting torque device for slot 4 TLC5 Limiting torque device for slot 5 TLC6 Limiting torque device for slot 6 TLC7 Limiting torque device for slot 7 a TLC8 Limiting torque device for slot 8 Limiting torque 8 TLCQO SG are connected when the torque generated reaches the value set to the internal torque limit 1 DRU parameter No 28 or internal torque limit 2 DRU parameter No 76 ZSP1 Zero speed detection device for slot 1 ZSP2 Zero speed detection device for slot 2 ZSP3 Zero speed detection device for slot 3 ZSP4 Zero speed detection device for slot 4 ZSP5 Zero speed detection device for slot 5 ZSP6 Zero speed detection device for slot 6 ZSP7 Zero speed detection device for slot 7 ZSP8 Zero speed detection device for slot 8 ZSPO SG are connected when the servo motor speed is zero speed 50r min or less Zero speed can be changed using DRU parameter No 24 MBRI1 Electromagnetic brake interlock device for slot 1 MBR2 Electromagnetic brake interlock device for slot 2 MBR3 Electromagnetic brake interlock device for slot 3 MBR4 Electromagnetic brake interlock device for slot 4 MBR gt 5 Electromagnetic brake interlock device for slot 5 Electromagnetic brake interlock 6 MBR6 MBR 6 Electromagnetie brake interlock devie for slot 6 Electromagnetic
133. e MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 This Instruction Manual uses recycled paper SH NA 030014 E 0510 MEE Printed in Japan Specifications subject to change without notice
134. e affected by the switching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Control box Base unit Power supply 3 phase 200 to 230VAC oyo Note4 1 phase 70 O 200 to 230VAC Servo motor Drive unit Line filter xo Fa E E g D O 2 A controller C Os earth PE Note 1 To reduce the influence of external noise we recommend you to ground the bus cable near the controller using a cable clamping fixture or to connect three or four data line filters in series 2 The mounting screw of the drive unit is also used for PE connection of the servo motor 3 Ensure to connect it to PE terminal of the drive unit Do not connect it directly to the protective earth of the control panel 4 For 1 phase 230VAC connect the power supply to L L2 and leave Ls open 3 46 3 SIGNALS AND WIRING 3 9 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 Sheath Core Sheath External conductor Pull back the external conductor to cover the sheath External conductor Strip the sheath Ground plate 3 SIGNALS
135. e 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 motor inertia moment x2 z c Speed integral compensation DRU 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 x 2000 to 3000 setting ms Speed control gain 2 setting 1 ratio of load inertia moment to servo motor inertia moment setting 0 1 6 GENERAL GAIN ADJUSTMENT 6 4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X Y table or the like In this mode the position control gain 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 The following parameters are automatically adjusted by
136. e operation period t 12 4 12 OPTIONS AND AUXILIARY EQUIPMENT 3 Connection of the regenerative brake option When using the MR RB54 cooling by a fan is required Please obtain a cooling fan at your discretion Set IFU parameter No 1 according to the option to be used The regenerative brake option will generate heat of about 100 C 212 F Fully examine heat dissipation installation position used cables etc before installing the option For wiring use flame resistant cables and keep them clear of the regenerative brake option body Always use twisted cables of max 5m 16 4ft length for connection with the base unit The G3 and G4 terminals act as a thermal sensor G3 G4 are disconnected when the regenerative brake option overheats abnormally DRU parameter No 2 111 ras of regenerative 0 Not used 2 MR RB032 5 MR RB14 6 MR RB34 7 MR RB54 Base unit Regenerative brake option 5m 16 4 ft max Note Make up a sequence which will switch off the magnetic contactor MC when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120V AC DC Maximum current 0 5V 4 8VDC Maximum capacity 2 4VA 12 5 12 OPTIONS AND AUXILIARY EQUIPMENT 4 Outline drawing a MR RB032 MR RB14 Unit mm in
137. ead 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 13 11 1 4 b Reply CUCINA L The alarm occurrence time is transferred in decimal Hexadecimal must be converted into decimal For example data O1F5 means that the alarm occurred in 501 hours after start of operation 3 Alarm history clear Erase the alarm oe Send command 8 2 and data No 2 0 Unit Commana Daiano ote oP IDU sita eto ias OJO 13 29 13 COMMUNICATION FUNCTIONS 13 12 10 Current alarm 1 Current alarm read Read the alarm No which is occurring currently a Transmission Send command 0 2 and data No aoa o Command Data No T DRU ae SS b Reply The slave station sends back the alarm currently occurring L Alarm No is transferred in decimal For example 0032 means A 32 and OOFF means A _ no alarm 2 Read of the status display at alarm occurrence Read the 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 A correspondin
138. eed r min c HC UFS3000r min series Fig 11 4 Dynamic brake time constant Use the dynamic brake at the load inertia moment indicated in the following table If the load inertia moment is higher than this value the built in dynamic brake may burn If there is a possibility that the load inertia moment may exceed the value contact Mitsubishi Load inertia moment ratio times MR J2M 10DU MR J2M 20DU MR J2M 40DU MR J2M 70DU 11 5 11 CHARACTERISTICS 11 4 Encoder cable flexing life The flexing life of the cables is shown below This graph calculated values Since they are not guaranteed values provide a little allowance for these values 1x108 a 5x107 1x107 5X108 a Long flexing life encoder cable MR JCCBLOM H MR JC4CBLOM H 1x108 5x105 b Standard encoder cable MR JCCBLOM L 8 1x105 2 5x104 D t x O LL 4 1x10 Ub 5x108 LA i 1x103 4 7 10 20 40 70 100 200 Flexing radius mm 11 6 12 OPTIONS AND AUXILIARY EQUIPMENT 12 OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment make sure that the charge lamp is off more than 15 minutes after power off then confirm the voltage with a tester or the like Otherwise you may get an electric shock Use the specified auxiliary equipment and options Unspecified ones may lead to a fault or fire 12 1 Options 12 1 1 Regenerative brake options The specified combin
139. eeesaecessecesseeees 13 4 13 2 1 Communication OVELVICW cccccsccssscssscssscescceseesseecesccesecssecesecsseesseessecsseesseeesessseeeseesseesseeseesseeeseees 13 4 13 22 Parameter setting ide 13 5 TOPLESS A A ba doveattelies 13 6 13 4 Character Codes iia naaa aaa aaa 13 7 LO O HPVOR COMES EEEE O E E E A A E A E A A A E eee 13 8 CPOO her Ee Um aAA AA AT AAE 13 8 13 7 Time c t operationen a a a a is R AES 13 9 13 8 Retry OLEI Ek EoI aE PARE E E E E E E E E A 13 9 13 9 Inal zaon oaar aE A A E S E E E A E E E EEE 13 10 13 10 Communication procedure example cccccscccessscessscesseceessceecssecesseceeseccessecessecesseceeseecesseeesseeenaees 13 10 13 11 Command and data No list ccccecccscsssessssesscescessseessessecesecesecesecesecesecesecessceseceseceseeesseeseeeseeeseenss 13 11 13 Read commands it o it A AE E AE A AA 13 11 18 112 Write COMMANDOS are e eE A E A en etteeeets 13 13 13 12 Detailed explanations of COMMANAS ccccscccessscesseecesssceessecessecesseceessccessecesecessscessesecseseetseeeaees 13 15 13 12 1 D ta Process 5 os EAS 13 15 13 122 Status displasia aaa 13 17 LITE PALAMOCCER ENERE ein an ia 13 18 13 12 4 External I O pin statuses DIO diagnosis ocnnnnnnnnnnnnnnnnnnoninnnnncncnanicnnnncnano cacon onona nica nncncnncnos 13 20 13 12 5 Disable enable of external I O signals DIO oooonnccicniciciconononnnnnncnnnncnnnonicanonanannnnnnncnanoricancnos 13 23 13 12 6 External input signal ON OFF test oper
140. election 3 Internal torque limit selection device for slot 3 Internal torque limit selection device for slot 4 Internal torque limit selection device for slot 5 Internal torque limit selection device for slot 6 Internal torque limit selection device for slot 7 wae E Internal torque limit selection device for slot 8 Internal torque limit selection 8 TL18 y Refer to Section 3 3 5 2 for details Proportion control 1 Proportion control device for slot 1 F op rtign control 2 PC2 Proportion control device for slot 2 Creo T A PC3 Proportion control device for slot 3 Proportion control4 Pes PC4 Proportion control device for slot 4 PC5 Proportion control device for slot 5 PC6 Proportion control device for slot 6 PC7 On control device for slot 7 7 PC8 Proportion control device for slot 8 Proportion control 8 Pad A Short PCO 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 PCO upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift 3 SIGNALS AND WIRING Functions Applications Electronic gear selection 1 device for slot
141. endix C in EN60204 1 Ambient temperature 40 104 C CFP Sheath PVC polyvinyl chloride Installed on wall surface or open table tray c Use the EMC filter for noise reduction 7 Performing EMC tests When EMC tests are run on a machine device into which MELSERVO J2M has been installed it must conform to the electromagnetic compatibility Gmmunity emission standards after it has satisfied the operating environment electrical equipment specifications For the other EMC directive guidelines on MELSERVO J2M refer to the EMC Installation Guidelines IB NA 67310 CONFORMANCE WITH UL C UL STANDARD The MELSERVO J2M complies with UL508C 1 Unit and servo motors used Use the each units and servo motors which comply with the standard model Interface unit MR J2M P8A Drive unit MR J2M ODU Base unit MR J2M BU O Servo motor HC KFS O HC MFSO HC UFS O 2 Installation Install a fan of 100CFM 2 8m8 min air flow 4 lin 10 16 cm above the servo amplifier or provide cooling of at least equivalent capability 3 Short circuit rating MELSERVO J2M conforms to the circuit whose peak current is limited to 5000A or less Having been subjected to the short circuit tests of the UL in the alternating current circuit MELSERVO J2M conforms to the above circuit 4 Capacitor discharge time The capacitor discharge time is as listed below To ensure safety do not touch the charging section for 15 minutes after power off D
142. er is switched on after disconnection of the U V W power cables 3 Ground fault occurred in servo Correct the wiring amplifier output phases U V and W 4 External noise caused the Take noise suppression overcurrent detection circuit to measures misoperate FA 33 Overvoltage Converter bus voltage exceeded 400VDC used option 2 Though the regenerative brake Make correct setting option is used the IFU parameter No 1 setting is O0 00 not used disconnected 2 Connect correctly 4 Regenerative transistor faulty Change drive unit A 35 Command pulse Input frequency of frequency error command pulse is too 5 Wire breakage of regenerative brake For wire breakage of regenerative brake option change regenerative brake option maximum speed of the servo motor 3 Servo system controller failure Change the servo system controller 9 TROUBLESHOOTING Displa pay Name Definition Cause Action IFU parameter IFU parameter 1 Interface unit fault caused the IFU Change the interface unit error setting is wrong parameter setting to be rewritten 2 The number of write times to EEP Change the interface unit ROM exceeded 100 000 due to parameter write program write etc A 37 DRU parameter DRU parameter 1 Drive unit fault caused the DRU Change the drive unit setting is wrong parameter setting to be rewritten 2 The number of write times to EEP Change the drive unit
143. er mode The parameters whose abbreviations are marked are made valid by changing the setting and then switching power off once and switching it on again Refer to Section 5 2 2 The following example shows the operation procedure performed after power on to change the regenerative brake resistor IFU parameter No 1 to 0005 MR RB15 Using the MODE button show the basic parameter screen JU JU a A seren The parameter number is displayed hi 4 A amm Press UP Y DOWN button to change the number Press SET twice eeen The set value of the specified parameter number flickers Ja mE CES Ja ml CIO yt CES Ja mk CIA a y F wes yA May E arras E Press UP fifth see During flickering the set value can be changed Ja mk A ae Ja mk A AS Ja mk PA EDS Mr ais a Seay A wt Jl RFA UP DOWN button 0005 regenerative brake option MR RB14 Use Press SET to enter Pressing the MODE button during a parameter setting display or setting change display cancels the processing and returns to a parameter number display To shift to the next parameter press the UP or DOWN button 4 OPERATION AND DISPLAY 4 2 6 Interface unit output signal DO forced output POINT This function is available during test operation The output signal can be forced on off independently of the servo status This function is used for output signal wiring check
144. eration Refer to section SUE Ml O a ENS PA RO 13 12 8 Frame Unit Command Data No Description Setting range Sao A length AJlo 110 Writes the speed of the test operation mode jog operation 0000 to positioning operation Permissible instantaneous speed 1111 Writes the acceleration deceleration time constant of the 00000000 test operation mode jog operation positioning operation to 20000 a a operation mode jog operation positioning operation Writes the moving distance in pulses of the test operation 80000000 mode jog operation positioning operation to 7FFFFFFF ASES operation positioning operation 13 14 13 COMMUNICATION FUNCTIONS 13 12 Detailed explanations of commands 13 12 1 Data processing When the master station transmits a command data No or a command data No data to a slave station a reply or data is returned from the slave station according to the purpose When numerical values are represented in these send data and receive data they are represented in decimal 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 The following methods are how to process send and receive data when reading and writing data 1 Processing the read data When the displ
145. erface unit VIN R 24VDC ALM O 10 etc SG o 3 17 3 SIGNALS AND WIRING c Pulse train input interface DI 2 Give a pulse train signal in an open collector or differential line driver system 1 Open collector system Interface unit 24VDC OPC Max input pulse frequency 200kpps 2m 78 74in or less Approx ee PPO NPO _1 2kQ 2a x X jso 7 7 tc tHL tLH tHL lt 0 2us 0 9 tc gt 2 us PPO 0 1 tF gt 3us tLH tL NPO nps 2 Differential line driver system Interface unit Max input pulse frequency 500kpps 10m 393 70in or less PPO NPo ini E About 1009 ds PA Ru ESA tc tHL Y tLH tHL lt 0 1us 0 9 tc gt 0 7us PPO PGO 01 tF gt 3 us tc tLH tF NPO NGO 3 18 3 SIGNALS AND WIRING d Encoder pulse output DO 2 1 Open collector system Max intake current 35mA Interface unit 2 Differential line driver system Max output current 35mA extension lO unit LAO LBO LZO Am26LS32 or equivalent LARO le LBRO LZRO 2 Interface unit 5 to 24VDC ED Photocoupler extension lO unit LAO High speed photocoupler Sarvo motor CCW rotation LN al LAR I sl k LB L L LBR T2 LI L LZ LZR 400u
146. ession Speed control gain 2 settingx10 Filter frequency Hz Es y Hz 2n X 1 Ratio of load inertia moment to servo motor inertia moment settingX0 1 2 Parameter Set the operation of the low pass filter DRU parameter No 60 DRU parameter No 60 EEE E Low pass filter selection 0 Valid automatic adjustment initial value 1 Invalid POINT In a mechanical system where rigidity is extremely high and resonance is difficult to occur setting the low pass filter to be invalid may increase the servo system response to shorten the settling time 7 SPECIAL ADJUSTMENT FUNCTIONS 7 5 Gain changing function This function can change the gains You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation 7 5 1 Applications This function is used when 1 You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation 2 You want to increase the gains during settling to shorten the stop settling time 3 You want to change the gains using an external signal to ensure stability of the servo system since the load inertia moment ratio varies greatly during a stop e g a large load is mounted on a carrier 7 5 2 Function block diagram The valid control gains PG2 VG2 VIC and GD2 of the actual loop are changed according to the conditions selected by gain changing selection
147. eter No 5 MONA Treg monitor 3 selection Signal output to across MO3 LG Slot number of analog monitor 3 IFU parameters No 6 to 8 can be used to set the offset voltages to the analog output voltages The setting range is between 999 and 999mV IFU parameter No Description Setting range mV Used to set the offset voltage for the analog monitor 1 7 JUsed to set the offset voltage for the analog monitor 2 999 to 999 lg JUsed to set the offset voltage for the analog monitor 3 2 Settings The three channels are all factory set to output servo motor speeds By changing the IFU parameter No 3 to 5 values you can change the data as shown in the following tale Refer to 3 for measurement points Setting Outputitem Setting Output item Servo motor speed 1 Torque Note Driving in CCW direction CCW direction am 4M 7 Max speed Max torque 1 l T O Max speed l 0 Max torque C AM Driving in p 41M CW direction 5 PARAMETERS Setna Question Servo motor speed CCW direction Max speed 0 Max speed Torque Note Driving in CW direction 4 V Driving in CCW direction Max torque 0 Max torque Current command 4 Max current command i I T 0 Max current command y 4M Droop pulses 4V 128pulse 0 128 pulse CW direction 74M CCW direction Droop pulses 4V 2048pulse 4 V 7 2048 pulse 2048 pul
148. etting in auto tuning mode Set the response The first digit of DRU parameter No 2 of the whole servo system As the response level setting is increased the trackability and settling time for a command decreases but a too high response level will generate vibration Hence make setting until desired response is obtained within the vibration free range If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100Hz adaptive vibration suppression control DRU parameter No 60 or machine resonance suppression filter DRU 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 7 2 for adaptive vibration suppression control and machine resonance suppression filter DRU parameter No 2 Response level setting Auto tuning selection cE Machine characteristic Response level setting PAR Machine resonance Dgan y Machine rigidity see Guideline of corresponding machine frequency guideline 15Hz 20Hz 25Hz Large conveyor 30Hz 35Hz Y 45Hz Arm robot 55 Hz General machine Middle 70Hz o Gpe conveyor 85Hz Precision 105Hz working machine 130Hz Inserter Mounter 200Hz Bonder 160Hz 240Hz 300Hz 6 GENERAL GAIN ADJUSTMENT 6 3 Manual mode 1 simple manual adjustment If you are not satisfied with the adjustment of auto tuning you can make simple ma
149. etween 2 or more axes Normally not used for other purposes Allows adjustment by Yes No Auto tuning mode 2 SS Operation Yes o Manual mode 1 SS St SA Operation Yes No Manual mode 2 merely changing the response level setting First use this mode to make adjustment Used when the conditions of auto tuning mode 1 are not met and the load inertia moment ratio could not be estimated properly for example This mode permits adjustment easily with three a A Se gains if you were not satisfied with auto tuning results You can adjust all gains manually when you want to do fast settling or the like 6 1 2 Adjustment using MR Configurator servo configuration software This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR Configurator servo configuration software which operates on a personal computer Adjustment Machine analyzer Gain search Machine simulation With the machine and servo motor coupled the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response Executing gain search under to and fro positioning command measures settling characteristic while simultaneously changing gains and automatically searches for gains which m
150. ev selectfiry X Input pin Pin No Function Function CNiAaT 4 Reset femesd 7 Bervo on CNiAS 4 Bero on CN B34 6 Clear CNiA7 3 Clear emes l s Reset cmia9 2 Reset font B37 5 Bervo on Mato 2 seroon_____ cns1 1 fwd rot strk end BNaf 1 Clear N52 1 Rvs rot strk end N1a29 4 Clear cns3 2 Fwd rot strk end PNIA3i 3 Reset onsa f 2 Rvs rot strk end PNiA32 3 Servoon______ cnss 3 Fwd rot strk end N1a3s 2 Clear censo 3 Rvs rot strk end ENIA36 1 freser_______ ocns7 a Fwd rot strk end N1a37 4 fseroon_____ ecnsto 4 Rvs rot strk end cote4 8 Reset ons 5 iwdrotstrkend entes e seroon_____ Jecns12 5 Rvs rot strk end cn1B 7 7 Clear CNS 13 6 Fwd rot strk end ene 6 Reset onsta 6 Rvs rot strkend PNiB 10 6 seroon____ Jons1s 7 Fwd rotstrk end meta s Clear fensie 7 Rvs rot strk end enie 29 8 Clear ST CNS 17 8 Fwd rotstrk end Rvs rot strk end r Input device r Output device slot selection slot selection 1 1 h Input device function Output device function No function No function ISON Servo on D Ready RES Reset MBR Ema brake output INP In position IPC Proportion entrl ISA Up to speed ICR SP Zero speed detect Y ISP1 Speed selection 1 TLC Limiting torque ISP2 Speed selection 2 IST1 Forward rot start ACME Trouble IST2 Reverse rot start NG Warn
151. exing life Symbol Cable length m ft 30 30 98 4 40 40 131 2 50 50 164 0 2 Connection diagram The signal assignment of the encoder connector is as viewed from the pin side For the pin assignment on the drive unit side refer to Section 3 5 3 Encoder cable Drive unit gt supplied to servo motor Encoder connector 1 172169 9 Tyco Electronics Encoder connector Servo motor Encoder cable option or fabricated cna 50m 164ft max 12 13 12 OPTIONS AND AUXILIARY EQUIPMENT MR JC4CBL30M H to MR JC4CBL50M H Drive unit side 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 When fabricating an encoder cable use the recommended wires given in Section 12 2 1 and the MR J2CNM connector set for encoder cable fabrication and fabricate an encoder cable as shown in the following wiring diagram Referring to this wiring diagram you can fabricate an encoder cable of up to 50m 164 0ft length When the encoder cable is to be fabricated by the customer the wiring of MD and MDR 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 For use of AWG22 Drive unit side Encoder side 3M P5 LG P5 LG P5 LG MR
152. f description from within 3 seconds to after approximately 3 seconds Section 3 6 Addition of CAUTION sentences Section 3 6 3 Change of sentences Section 3 7 Addition of CAUTION sentences Change of sentences Section 3 7 3 Modification of drawing d e Oct 2005 SH NA 030014 E Section 5 1 2 2 Correction of DRU parameter No 38 Section 5 3 2 Partial reexamination of sentences Section 5 3 2 2 Addition of Note in table Chapter 8 Partial change of WARNING sentences Section 9 2 Alarm code No A 45 A 46 Addition of Note in table Section 9 3 Addition of CAUTION sentence DRU parameter No A 17 Addition of contents Section 9 4 Addition of CAUTION sentence Addition of POINT DRU parameter No A 92 Reexamination of Cause 2 IFU parameter No FA 9F Partial addition of Cause IFU parameter No A E3 Addition of contents Section 10 2 Addition of Mounting screw Tightening torque Section 11 1 Partial change of CAUTION sentences Chapter 12 Partial change of WARNING sentences Section 12 1 1 3 Addition of POINT Section 12 1 1 4 Reexamination of Outline drawing b c Section 12 1 6 2 a Partial reexamination of table and Note Section 12 2 3 Correction of Dimensions for D1 in table Section 12 2 6 2 d Reexamination of Outline drawing for FR BSF01 Section 12 2 6 2 e Addition of sentences Section 13 12 7 3 b Correction in table Chapter 14 Reexamination of CAUTION sentences MEMO
153. g diagram shows the MR J2M BU8 base unit where one interface unit and eight drive units are installed Unit mm Unit in m N o k A Ic mrj PPA co o y 00 Od E o Sy ce Aa go E 9 g Oza ozan aoaonnonnnnrnrn Ai O m 2 boca CO p 538 3 CIDO y FA Bag Bl 4 Oo aooeseesenoogs H ES o a i JE 68 U U o o booooooooD Go go 8 5 g oza ozan gode OHOH x zan Hobo OL y 43 E 3 CODOS y 00 y a H lJ E Pel HHH GOO000000D p A p ag E m A o O EB5E5555625 jmp e a qnescoonoos DO y 33 El annonam y 00 e OR HHH a p tgp A Ez A O O o o DODODDDDouDo y al BOOOOoooapo pap es is g oza ozan Ga0o00005b y o 238 a CALDO A a Subesenesa led Y a A ag E EE oo 00 o D o v E o ponaaBbbaao 0 jop o NIA D g
154. g to the status display item to be read Refer to Section 13 11 1 5 b Reply The slave station sends back the requested status display data at alarm occurrence cel 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 OnahWN O 3 Current alarm clear As by the entry of the reset RESO reset the servo amplifier alarm to make the servo amplifier ready to operate After removing the cause e the alarm reset the alarm with no command entered a Command Data No Data ACTA AO co 13 30 13 COMMUNICATION FUNCTIONS 13 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 mies o AT Command Data No RIA b Reply The slave station sends back the requested servo motor end pulses FT TT ETT 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 pu
155. h terminal of the base unit Cable side connector Connector Housing 1 178128 3 X type CNP1A Contact 917511 2 max sheath OD 4 2 8 mm 4 0 11 in 353717 2 max sheath OD 4 3 4 mm 4 0 13 in Note Housing 2 178128 3 Y type Tyco CNP1B Contact 917511 2 max sheath OD 6 2 8 mm 4 0 11lin Electronics 353717 2 max sheath OD 9 3 4 mm 0 13 in Note CNP3 Housing 1 1 Contact 31 Note This contact is not included in the option MR J2MCNM 3 37 3 SIGNALS AND WIRING 3 4 3 Terminals Refer to Section 10 2 for the layouts and signal configurations of the terminal blocks Connection target oe Connector Pin No Code ete Description Application CNP3 4 L 1 When using a three phase power supply Supply L1 L2 and L3 with three phase 200 to 230VAC 50 60Hz Pa Le power 2 L2 Main circuit power gt l 2 When using a signal phase power supply Supply Li and La with signal phase 200 to 230VAC 50 60Hz 3 power CNP1B N Supply L11 and L21 with single phase 200 to 230VAC 50 60Hz L21 Control circuit power sb CNP1A a LON R Huet Connect the regenerative brake option across P C egenerative brake 2 PpP i Accidental connection of the regenerative brake option to P N may option p cause burning Refer to Section 12 1 1 D Connect this terminal to the protective earth PE terminals of the Earth Protective earth PE art servo motor and control box for grounding
156. haft varies A You can switch between gains during rotation and gains during stop or use an Gain changing function E s i E Section 7 5 4 external signal to change gains during operation Adaptive vibration MELSERVO J2M detects mechanical resonance and sets filter characteristics Section 7 3 j ection 7 suppression control automatically to suppress mechanical vibration Suppresses high frequency resonance which occurs as servo system response is Low pass filter d Section 7 4 increased A DRU paramete Position smoothing Speed can be increased smoothly in response to input pulse O Slight vibration DRU parameter i Suppresses vibration of 1 pulse produced at a servo motor stop suppression control No 20 DRU parameters Electronic gear Input pulses can be multiplied by 1 50 to 50 No 3 4 69 to 71 Section 5 3 1 snas o DRU parameters Torque limit Servo motor torque can be limited to any value No 2 O A A DRU parameter Command pulse selection Command pulse train form can be selected from among four different types N a O 2 Interface unit Abbreviation IFU Section 2 7 Position control mode This servo is used as position control servo Section 3 1 2 Section 3 1 5 TO signal selection The servoron SOND ready RDO and other input signals can be reassigned to denen any other pins 3 on i Section 4 2 2 Status display Servo status is shown on the 5 digit 7 segment LED display eS an Section 4 3
157. hat its temperature rise is within 10 C 50 F at the ambient temperature of 40 C With a 5 C 41 F safety margin the system should operate within a maximum 55 C 131 F limit The necessary enclosure heat dissipation area can be calculated by Equation 11 1 K AT where A Heat dissipation area m2 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 11 1 assume that P is the sum of all losses generated in the enclosure Refer to Table 11 1 for heat generated by the drive unit A indicates the effective area for heat dissipation but if the enclosure is directly installed on an insulated wall that extra amount must be added to the enclosure s surface area The required heat dissipation area will vary wit the conditions in the enclosure If convection in the enclosure is poor and heat builds up effective heat dissipation will not be possible Therefore arrangement of the equipment in the enclosure and the use of a fan should be considered Table 11 1 lists the enclosure dissipation area for each drive unit when the drive unit is operated at the ambient temperature of 40 C 104 F under rated load Outside Inside Air flow Fig 11 2 Temperature distribution in enclosure When air flows along the outer wall of the enclosure effective heat exchange will be possi
158. he rated speed ZSP Zero speed 50 r min 0 Used to set the output range of the zero speed ZSP O to 10000 For manufacturer setting a Do not change this value any means 27 ENR Encoder output pulses 4000 pulse 1 POINT rev to The MR J2M D01 extension IO unit is required to output the 65535 encoder pulses A phase B phase Z phase Used to set the encoder pulses A phase B phase output by the servo amplifier Set the value 4 times greater than the A phase or B phase pulses You can use DRU 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 0 000 initial value in DRU 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 Expansion DRU parameters 1 A B phase output pulses E 1400 pulse rev For output division ratio setting Set 1000 in DRU 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
159. he 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 100 16ms 4 Gain changing selection DRU 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 CDPO external input signal for gain changing The gain changing CDPD can be assigned to the pins using DRU parameters No 43 to 48 DRU parameter No 65 E Gain changing CDP O selection Gains are changed in accordance with the settings of DRU parameters No 61 to 64 under any of the following conditions 0 Invalid 1 Gain changing CDP O is ON 2 Command frequency is equal to higher than DRU parameter No 66 setting 3 Droop pulse value is equal to higher than DRU parameter No 66 setting 4 Servo motor speed is equal to higher than DRU parameter No 66 setting 5 Gain changing condition DRU parameter No 66 When you selected com
160. ic thermal relay protection curve shown in any of Figs 11 1 Overload 2 alarm A 51 occurs if the maximum current flows continuously for several seconds due to machine collision etc Use the equipment on the left hand side area of the continuous or broken line in the graph In a machine like the one for vertical lift application where unbalanced torque will be produced it is recommended to use the machine so that the unbalanced torque is 70 or less of the rated torque The overload protection characteristic is about 20 lower than that of the MELSERVO J2 Super series However operation at the 100 continuous rating can be performed 1000 1000 During rotation 100 100 During rotation During servo lock During servo lock Operation time s r Operation time s a 0 1 0 1 0 2 ee ENE ee Ae M0 0 50 100 150 200 250 300 Load ratio Load ratio a MR J2M 10DU to MR J2M 40DU b MR J2M 70DU Fig 11 1 Electronic thermal relay protection characteristics Note If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a servo motor stop status servo lock status or in a 30r min or less low speed operation status the servo amplifier may fail even when the electronic thermal relay protection is not activated 11 1 11 CHARACTERISTICS 11 2 Power supply equipment capacity and generated loss 1 Amount of heat generated by the drive unit Table 11 1 indicates drive un
161. ifier is switched OFF ON during the alarms allow more than 30 minutes for cooling before resuming operation Excessive regenerative warning A E0 Overload warning 1 A E1 If servo forced stop warning A E6 or main circuit off warning A E9 occurs the servo off status is established If any other warning occurs operation can be continued but an alarm may take place or proper operation may not be performed Eliminate the cause of the warning according to this section Use the optional MR Configurator servo configuration software to refer to the cause of warning in the Indication field denotes the slot number of the base unit Display s Name Definition Cause Action area e omon case atom A 92 Open battery Absolute position 1 Battery cable is open Repair cable or changed cable warning detection system 2 Battery voltage supplied from the Change battery unit battery voltage is low battery unit to the encoder fell to about 3 2V or less Detected with the encoder A 96 Home position Home position return 1 Droop pulses remaining are greater Remove the cause of droop pulse the precise position 2 Home position return was executed Reduce creep speed 3 Creep speed high 3 Creep speed high FA 9F Voltage of battery for Battery voltage fell to 3 2V or less Change the battery unit absolute position Detected with the servo amplifier detection system reduced FA EO Excessive There is a possib
162. ility Regenerative power increased to 85 1 Reduce frequency of regenerative that regenerative or more of permissible regenerative positioning warning power may exceed power of regenerative brake option 2 Change regenerative brake permissible Checking method option for the one with larger regenerative power of Call the status display and check capacity regenerative brake regenerative load ratio 3 Reduce load option A E1 Overload There is a possibility Load increased to 85 or more of Refer to A 50 A 51 that overload alarm 1 Joverload alarm 1 or 2 occurrence level or 2 may occur Cause checking method Refer to A 50 A 51 A E3 Absolute Absolute position 1 Noise entered the encoder Take noise suppression position counter encoder pulses faulty measures 2 Encoder faulty The multi revolution 3 The movement amount from the Make home position setting counter value of the home position exceeded a 32767 again absolute position rotation or 37268 rotation in encoder exceeded the succession maximum revolution range FA E6 Servo forced EMG_O SG are open External forced stop was made valid Ensure safety and deactivate stop warning EMG_O SG opened forced stop Main circuit off Servo on SOND was Switch on main circuit power turned on with main circuit power off 9 13 9 TROUBLESHOOTING MEMO 10 OUTLINE DRAWINGS 10 OUTLINE DRAWINGS 10 1 MELSERVO J2M configuration example The followin
163. inal block MR TB20 ac 12 19 12 1 5 Maintenance junction card MR J2CN8TM cococcicccononicnnoncnnnnnnnnnnnnnncncnnnnnnanonncon cacon anciana rncancncnis 12 21 12 1 6 MR Configurator servo configurations software oonninnnninnnnnonnnnnninnnnininnnrncnncncnanacnanncncnncns 12 23 12 2 Au xiliary CUA eo oe EAE a NS 12 24 12 2 1 Recommended WIT8S oooooccnocononcnonnconnononononono nono r NN HN ASE AKEE KE nano nano nana NERES EENEN ANEA AENEAS 12 24 12 2 2 No fuse breakers fuses magnetic CONTACCOLS cccccssscessscesssceessceessccessecessecesseceeseceeseeeeaeeesas 12 26 12 2 3 Power factor improving reactors s ssssesssesssessssesssesssesssesseesstesnressessnesssessossessessesstessernseesne 12 27 i PAA RAS E E A E E E A A A S E E E A A 12 28 122 5 Surse Absorhers ansann h rr E ai 12 28 12 2 6 Noise reduction tecChniques cccccccccssccessccessceessecessseceessecsssecsssecesseceessecessecessecessecesseeesseecesaeeeses 12 28 12 2 7 Leakage current breaker cccccscccsssccessccesseeceesecessscecssecessecessecesseccessecessecessecesseceeseeeeseseesaeeenas 12 34 12 2 8 EMC Oltra ra 12 35 131 Confioura tion init da adas ida en 13 1 18 1 1 RS 422 Configuration ccccccccsccceseesscesecesecesecssecesecssecesecssecesecssecssecsseesseesseesseesseeseeseeeeesseesseees 13 1 13 12 RS2232 C CONU AON alada 13 3 13 2 Communication SpecificatiONs cccccccsscccsssccsssccesscecessecessecessecceseecessecesecessecesseceessecess
164. ing SP3 Speed selection 3 WNG Battery warning ICM1 Elc gear select 1 Write ICM2 Elc gear select 2 TL1 Int tra Imt slot ICDP Gain change slct LSP Fwd rot strk end LSN Rvs rot strk end Assignment check auto ON setting 3 SIGNALS AND WIRING 2 Screen explanation a DIDO device setting window screen This is the device assignment screen of the interface unit option unit In Dev selection choose the IFU interface unit or DO1 extension IO unit Making selection displays the pin assignment status per unit Dev selectfiry y File name Input pin Output pin Pin No Function Function CNias4 4 Reset jemesa 7 Servo on CNIAS 4 fseroon______ Jfentesa 6 Clear CNiAT 3 Clear ent B 36f 5 Reset oniag 2 Reset JCN1B 37 5 Servo on entero 2 semoon______ _fons1 1 Fwd rot strk end cmiat2 1 fctear________ cns2 1 Rys rot strk end conta 29 4 Clear Jons3 2 wa rot strk end onta3i 3 Reset ons4 2 Tvs rot strk end CN1A 32 3 servoon______ cnss 3 Fwd rot strk end cnta3a 2 tear_______ conse 3 Rvs rotstrk end e 4 p Verify Setto Default H d c 1 Read of function assignment a Click the Read button reads and displays all functions assigned to the pins from the interface unit and extension IO unit 2 Write of function assignment b C
165. interface unit parameters When assigning the devices change the setting to 000K The following table indicates the IFU parameters which are made valid for reference and write by setting the IFU parameter No 19 Satti Expansion vo i Setting ig IFU basic parameter IFU operation i assignment parameter Gnitial value 000A R 000B 7 000C 100B 7 100C 3 5 2 2 Lists For any parameter whose symbol is preceded by set the IFU parameter value and switch power off once then switch it on again to make that parameter setting valid 5 14 5 PARAMETERS 1 Item list Classifi Initial i Customer f No Symbol Name Unit cation Value setting Basic IFU parameters Expansion IFU parameter o BPS Serial communication function selection alarm history clear 0000 l 1 SIC Regenerative brake option selection 0 00 Function selection 1 000 Analog monitor 1 output 000 Analog monitor 2 output 000 Analog monitor 3 output 000 6 MO1 Analog monitor 1 offset o mv Analog monitor 2 offset o mv 8 MOs Analog monitor 3 offset o ww 9 OP2 Function selection 2 0020 10 ISN Interface unit serial communication station number selection A A 1 slot serial communication station number selection A ed E E 12 2 slot serial communication station number selection 13 3 slot serial communication station number selection 14 4 slot serial communication st
166. ion are as follows The waveforms of PPO PGO NPO and NGO are based on that of the ground of the differential line driver Forward rotation pulse train PPO R m ALTA Reverse rotation pulse train NAS a Forward rotation command se Reverse rotation command 3 13 3 SIGNALS AND WIRING 2 In position INPO PF SG are connected when the number of droop pulses in the deviation counter falls within the preset in position range DRU parameter No 5 INPO SG may remain connected when low speed operation is performed with a large value set as the in position range NI ON Servo on SON D OFF ON Servo on SONO OFF Alarm Yes No Droop pulses ON In position INP position iNP D ofe 3 Ready RDO Yes Alarm No l 100ms less sll 10ms less 10ms less lt 4 ON Ready RD y RD O OFF 3 14 3 SIGNALS AND WIRING 3 2 4 Internal connection diagram MR J2M P8A Note CN1A symbol slot 1 slot 2 slot 3 slot 4 CN1A Note lot 1 slot 2 slot 3 slot 4 symbol VIN 26 SG 1 DT e 27 ALM_A _Approx 6 8kQ O 11 28
167. ion numbers used by the other units Po tetace mies 0 to 31 O Sot IE IE S a k IET Srs 6 IE gt 13 5 13 COMMUNICATION FUNCTIONS 13 3 Protocol Whether station number setting will be made or not must be selected if the RS 232C communication function is used 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 unit of data communication Set the station number per unit using the IFU parameters Send data are valid for the unit of the specified station number 1 Transmission of data from the controller to the servo 10 frames data Master station Station number E Command oO a S 3 E Slave station Station number T oO Check x glx 5 mj 6 frames Positive response Error code A Negative response Error code other than A 2 Transmission of data request from the controller to the servo 10 frames T T s fs E Master station o T Data T Check Station number H Xx No Xx sum O l T oO E Stati b S 8 E Check Slave station ARS nee T z Data T O sum x E x wi lo 6 frames data 3 Recovery of communication status by time out EOT causes the servo to return to E the receive neutral status Master station O T Slave station 4 Data frames The data length depends on the command Data o
168. ion of the U V W power cables occurred between 2 Encoder fault Change the servo motor encoder and drive 3 Encoder cable faulty Repair or change cable unit Wire breakage or shorted A A 20 Encoder error 2 Communication error 1 Encoder connector CN2 disconnected 9 TROUBLESHOOTING A 24 Main circuit Ground fault occurred 1 Power input wires and servo motor Connect correctly A a outputs U V and W 2 Sheathes of servo motor power Change the cable phases of the drive cables deteriorated resulting in unit ground fault 3 Main circuit of drive unit failed Change the drive unit Checking method Alarm 4 24 occurs if power is switched on after disconnection of the U V W power cables on for the first time in position encoder is not charged for a few minutes switch power the absolute position off then on again Always make A 25 Absolute Absolute position data Change battery position erase in error en make home position setting again Power was switched 3 Super capacitor of the absolute After leaving the alarm occurring detection system home position setting again 5 Regenerative brake option faulty Change regenerative brake option 6 Regenerative transistor faulty Change the drive unit 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 rege
169. ional MELSERVO Servo Motor Instruction Manual 4 14 4 OPERATION AND DISPLAY 4 3 4 Alarm mode of drive unit Note Display Indicates no occurrence of an alarm in the drive unit Current alarm Indicates the occurrence of overvoltage 4 33 in the drive unit Flickers at occurrence of the alarm Indicates that the last alarm is overload 1 A 50 in the drive unit Indicates that the second alarm in the past is overvoltage A 33 in the drive unit Indicates that the third alarm in the past is undervoltage A 52 in the drive unit Alarm history Indicates that the fourth alarm in the past is encoder error A 20 in the drive unit Indicates that there is no fifth alarm in the past in the drive unit Indicates that there is no sixth alarm in the past in the drive unit Indicates no occurrence of parameter error A 37 in the drive unit Parameter error No Indicates that the data of parameter No 1 is faulty in the drive unit Note indicates the slot number Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 The other screen is visible during occurrence of an alarm At this time the decimal point in the fourth digit flickers 3 For any alarm remove its cause and clear it in any of the following methods for clearable alarms refer to Section 9 2 a Switch power OFF then ON b T
170. ioning operation after a temporary stop retransmit the temporary stop communication command The remaining moving distance is then cleared 13 27 13 COMMUNICATION FUNCTIONS 13 12 8 Output signal pin ON OFF output signal DO forced output In the test operation mode the output signal pins 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 0 0 data 0004 to choose DO forced output e e el ES E Selection of test operation mode 4 DO forced output output signal forced output 2 External output signal ON OFF Transmit the following communication commands Setting data ala Alio 1 ON 0 OFF bit bit AA 141 AAA 1B EA EM ee E PARAS Ei Cap CA EA 64 a E Br E CAN Ep i A 13 28 13 COMMUNICATION FUNCTIONS 13 12 9 Alarm history 1 Alarm No read Read the alarm No which occurred in the past The alarm numbers and occurrence times of No 0 last alarm to No 5 sixth alarm in the past are read a Transmission Send command 3 3 and data No 1 0 to 1115 Refer to Section 13 11 1 4 b Reply The alarm No corresponding to the data No is provided Alarm No is transferred in decimal For example 0032 means A 32 and OOFF means A _ no alarm 2 Alarm occurrence time r
171. isables output n fe Q p o g fan fan os a D jea o 1 n ls A Analog monitor 1 offset Used to set the offset voltage of the analog monitor 1 MO1 Analog monitor 2 offset Used to set the offset voltage of the analog monitor 2 MO2 Analog monitor 3 offset Used to set the offset voltage of the analog monitor 3 MO2 Function selection 2 Refer to Used to select the input signal filter name and 0 0 2 0 function f column Input signal filter 0 None 1 1 777ms 2 3 555ms 5 18 5 PARAMETERS Classifi Initial Setting Symbol Name and Function cation Value e Interface unit serial communication Choose the serial communication station number of the interface unit When making selection avoid setting the station number used by any other unit 1 slot serial communication station number selection Choose the station number of the drive unit connected to the first slot of the base unit When making selection avoid setting the station number used by any other unit 2 slot serial communication station number selection Choose the station number of the drive unit connected to the second slot of the base unit When making selection avoid setting the station number used by any other unit 3 slot serial communication station number selection Choose the station number of the drive unit connected to the third slot of the base unit n H o gt o 8 fos En fos a D E j
172. ischarge time min MR J2M BU4 MR J2M BU6 MR J2M BU8 5 Options and auxiliary equipment Use UL C UL standard compliant products 6 Attachment of a servo motor For the flange size of the machine side where the servo motor is installed refer to CONFORMANCE WITH UL C UL STANDARD in the Servo Motor Instruction Manual 7 About wiring protection For installation in United States branch circuit protection must be provided in accordance with the National Electrical Code and any applicable local codes For installation in Canada branch circuit protection must be provided in accordance with the Canada Electrical Code and any applicable provincial codes lt lt About the manuals gt gt This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use MELSERVO J2M for the first time Always purchase them and use the MELSERVO J2M safely Also read the manual of the servo system controller Relevant manuals MELSERVO J2M Series To Use the AC Servo Safely Packed with the MR J2M P8A MR J2M ODU and MR J2M BUD BBE e002 MELSERVO Servo Motor Instruction Manual SH NA 3181 EMC Installation Guidelines IB NA 67310 In this Instruction Manual the drive unit interface unit and base unit may be referred to as follows Drive unit DRU Interface unit IFU Base unit BU A 10 CONTENTS 1 FUNCTIONS AND CONFIGURATION 1 1 to 1 10 LA ta 1 1 1 2 Function block MATA A atera 52 1 3 Unit stan
173. it al 1 i During this period get absolute position data b When a forced stop is activated during servo on Servo on ON SONO OFF Forced stop ON Valid EMG_D OFF Invalid 1 a ON Base circuit OFF i Ready ON RDO OFF 1 Absolute position data i command transmission i l l l i l l l Absolute position data receive MU Current position j Y ABS data Y Pulse train command Current position change UUL m ial 1 During this period get absolute position data 14 8 14 ABSOLUTE POSITION DETECTION SYSTEM 14 6 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 CRD 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 CRO should be turned on after it has been confirmed that the in position NPD is on If this condition is not satisfied the home position setting warning A 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 100 000 times Servo motor Zero pulse signal E A A
174. it had switched off 5 Faulty parts in the base unit Change the base unit Checking method Alarm A 10 occurs if interface unit is changed 6 Faulty parts in interface unit Change the interface unit Checking method Alarm A 10 occurs if base unit is changed 7 CNP3 or CNP1B connector Connect properly unplugged Faulty parts in the interface unit Change the interface unit Checking method Alarm any of A 11 and 13 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables 9 TROUBLESHOOTING Display ni Nns 12 Memory error 1 RAM memory fault 1 Faulty parts in the drive unit Change the drive unit DN naa 13 C Printed board fault m Checking method A 15 Memory error 2 EEP ROM fault Alarm A 15 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables 2 The number of write times to EEP ROM exceeded 100 000 A 16 Encoder error 1 Communication error 1 Encoder connector CN2 Connect correctly occurred between disconnected encoder and servo 2 Encoder fault Change the servo motor amplifier 3 Encoder cable faulty Repair or change cable Wire breakage or shorted A 17 Board error 2 CPU parts fault 1 Faulty parts in the drive unit Change the drive unit Checking method Alarm A 17 occurs if power is switched on after disconnection of all cables bu
175. it s power supply capacities and losses generated under rated load For thermal design of an enclosure use the values in Table 11 1 in consideration for the worst operating conditions The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation When the servo motor is run at less than the maximum speed the power supply capacity will be smaller than the value in the table but the drive unit s generated heat will not change Table 11 1 Power supply capacity and generated heat at rated output Note 1 Note 2 Son Eat Area required for heat dissipation Unit Servo motor Power supply Generated heat W capacityikVA At rated torque HO KFS058 13 03 u 6e o 26 MR J2M 10DU HC MFS053 13 oa u 6e oz 26 0 3 11 6 0 2 MR J2M 20DU MR J2M 40DU MR J2M 70DU Note 1 Note that the power supply capacity will vary according to the power supply impedance This value applies to the case where the power factor improving reactor is not used 2 Heat generated during regeneration is not included in the drive unit generated heat To calculate heat generated by the regenerative brake option use Equation 12 1 in Section 12 1 1 11 2 11 CHARACTERISTICS 2 Heat dissipation area for enclosed drive unit The enclosed control box hereafter called the control box which will contain the drive unit should be designed to ensure t
176. ith the parameter write inhibit S I al 4 OPERATION AND DISPLAY 4 2 2 Status display of interface unit MELSERVO J2M status during operation is shown on the 5 digit 7 segment LED display Press the UP 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 1 Display examples The following table lists display examples Displayed data Item Status Interface unit display Regenerative load ratio 60 o E LEAR B UWOD 2 Interface unit status display list The following table indicates the MELSERVO J2M statuses that can be shown After it has been selected each status display changes to a symbol display Press the SET button to show the definition of the status display Refer to Appendix 1 for the measurement point Pressing the MODE button during a status definition display returns to a symbol display 3 ee Displa range Regenerative load FL The ratio of regenerative power to permissible regenerative power is 0 to 100 ratio displayed in The voltage across P N of the main circuit converter is displayed 0 to 450 Shows the maximum voltage of the main circuit converter across P N Peak bus voltage F PnP V y apie 0 to 450 The maximum value during past 15s is displayed 4 OPERATION AND DISPLAY 4 2 3 Diagnostic mode of interface unit Shows the ON
177. ive units installed to the base unit drive units where alarm has lts 1 occurred FA 78 2 Incompatibility with the extension Change the interface unit for the IO unit one compatible with the extension IO unit NM ee ee loading error connected improperly extension IO unit communication stopped for longer Wire break or short circuit time out than the time setin 2 Communication cycle is longer than Set the IFU parameter value IFU parameter No 20 the IFU parameter No 20 setting correctly 3 Protocol is incorrect Correct the protocol FA 8E Serial Serial communication 1 Communication cable fault Repair or change the cable error occurred between interface unit and communication device e g personal computer communication Open cable or short circuit error oer a 2 Communication device e g personal Change the communication computer faulty device e g personal computer 88888 Watchdog CPU parts faulty Fault of parts in interface unit Change interface unit Checking method Alarm 8888 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables 9 12 9 TROUBLESHOOTING 9 4 Remedies for warnings When any of the following alarms has occurred do not resume operation by switching power of the servo amplifier OFF ON repeatedly The servo amplifier and servo motor may become faulty If the power of the servo ampl
178. k each unit Use the drive unit with the specified servo motor The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking For such reasons as service life and mechanical structure e g where a ballscrew and the servo motor are coupled via a timing belt the electromagnetic brake may not hold the motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions N CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a forced stop EMG_D Contacts must be open when servo on SON is off when an d duri trouble ALM_ O is present and O o when an electromagnetic brake EMG_D Circuit must be interlock MBRO Servo motor ra A EMG_O o c lo O s A 24VDC 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
179. lick the Write button writes all pins that are assigned the functions to the interface unit and extension IO unit 3 Verify of function assignment c Click the Verify button verifies the function assignment in the interface unit and extension IO unit with the device information on the screen 4 Initial setting of function assignment d Click the Set to Default button initializes the function assignment 3 SIGNALS AND WIRING b DIDO function display window screen This screen is used to select the slot numbers and functions assigned to the pins Choose the slot numbers in Input device slot selection and Output device slot selection The functions displayed below Input device function and Output device function are assignable DIDO function Input device __ r Output device slot selection slot selection 1 y 1 y Input device function Output device function No function No function ISON Servo on RD Ready RES Reset MBR Erng brake output INP In position PC Proportion cntrl SA Up to speed IZSP Zero speed detect LC Limiting torque pm Trouble NG Warning BWNG Battery warning ICR Clear SP1 Speed selection 1 SP2 Speed selection 2 ST1 Forward rot start IST2 Reverse rot start SP3 Speed selection 3 CM1 Ele gear select 1 CM2 Elc gear select 2 L1 Int tra Imt slet CDP Gain change slct
180. like 2 Time to hold data by a battery with power off It is recommended to replace the battery in three years independently of whether power is kept on or off 3 Period during which data can be held by the super capacitor in the encoder after power off with the battery voltage low or the battery removed or during which data can be held with the encoder cable disconnected Battery replacement should be finished within this period Battery unit 2 Configuration Controller Pulse train CN1A command IO O Interface unit Drive unit RS 422 CN1B IRS 232C CN3 P Servo motor 14 2 14 ABSOLUTE POSITION DETECTION SYSTEM 3 DRU parameter setting Set 1000 in DRU parameter No 1 to make the absolute position detection system valid DRU parameter No 1 ME Selection of absolute position detection system 0 Used in incremental system 1 Used in absolute position detection system 14 3 Signal explanation The following is the signal used in an absolute position detection system For the I O interfaces symbols in the I O category column in the table refer to section 3 2 5 Functions Applications 1 O category Clear CRO Shorting CRO SG clears the position control counter and stores the DI 1 home position setting home position data into the non volatile memory backup memory 14 4 Serial communication command The following commands are available f
181. like Maximum current Not less than twice the drive current of the relay or the like c Cable clamp fitting AERSBAN O SET Generally the earth of the shielded cable may only be connected to the connector s SD terminal However the effect can be increased by directly connecting the cable to an earth plate as shown below Install the earth plate near the drive unit for the encoder cable Peel part of the cable sheath to expose the external conductor and press that part against the earth plate with the cable clamp If the cable is thin clamp several cables in a bunch The clamp comes as a set with the earth plate El Cable Cable clamp l o Earth plate Sm a Soll o LO LS o Y Strip the cable sheath of the clamped area cutter External conductor Clamp section diagram 12 31 12 OPTIONS AND AUXILIARY EQUIPMENT Outline drawing Unit mm Unit in Earth plate Clamp section diagram 2 5 0 20 hole 17 5 0 69 installation hole EA UU L or less 10 0 39 r B 0 3 0 01 0 3 0 24 7 0 28 Note M4 screw 6 22 0 87 0 24 35 1 38 a y eS Note Screw hole for grounding Connect it to the earth plate of the control box me a B c Accessory fittings Clamp fitting AERSBAN DsET 100 86 30 lamp A 2 A 19 E cla CS 3 94 3 39 1 18 Do
182. lse 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 a on b Reply The slave station sends back the requested command pulses NAAA 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 A o a Command Data No Coria oe b Reply The slave station returns the software version requested ERRE Space Software version 15 digits 13 31 13 COMMUNICATION FUNCTIONS 4 Read of slot connection status Read the absolute position in the command unit a Transmission Send command 0 0 and data No mew o et Command Data No E E AA b Reply The slave stations send back the statuses of the units connected to the slots 1 Connected 0 Not connected 13 32 14 ABSOLUTE POSITION DETECTION SYSTEM 14 ABSOLUTE POSITION DETECTION SYSTEM If an absolute position erase A 25 or an absolute position counter warning JN CAUTION A E3 has occurred always perform home position setting again Not doing so can cause runaway 14 1 Outline 14 1 1 Features For normal operation as shown below the encoder con
183. lue parameter No 36 value is small ensure proper operation position exceeds 2 5 3 Motor cannot be started due to 1 Review the power supply 5 Servo motor shaft was rotated by 1 When torque is limited external force increase the limit value 2 Reduce load 3 Use servo motor that provides larger output 6 Machine struck something 1 Review operation pattern 2 Install limit switches 7 Encoder faulty Change the servo motor 8 Wrong connection of servo motor Connect correctly Drive unit s output U V W do not match servo motor s input U V W 9 11 9 TROUBLESHOOTING Display a i Name Definition Cause Action ar na Neme stos case fet FA 53 Multiple axis Drive unit whose 1 Drive unit having large load is 1 Change the slot of the drive overload effective load factor is adjacent unit whose load is large 85 or more is Reduce the load adjacent Reexamine the operation pattern Use a servo motor whose output is large 2 Servo system is instable and Repeat acceleration hunting deceleration and perform auto tuning Change the response setting of auto tuning Turn off auto tuning and make gain adjustment manually 3 Encoder cable and power cable U Make correct connection V W coming out of one drive unit are connected to the incorrect servo FA 54 Drive unit Alarm occurred in one Alarm occurred in one or more axes of Remove the alarm causes of all alarm or more axes of drive dr
184. m CLEAR COMPULSE COM of positioning module QD70 is connected to SG 24G Section 3 2 5 1 Reexamination of diagram Section 3 2 5 2 c 2 Reexamination of diagram Section 3 3 5 2 Addition of NOTE Section 3 7 3 a Partial change of diagram Section 5 3 1 1 b Addition of POINT sentence Section 9 2 Reexamination of sentence Section 9 3 A 12 to 15 Reexamination of occurrence cause A 37 Addition of occurrence cause A 51 Rotation 2 5s or more is added A 52 Change of content Section 12 1 1 4 Addition of terminal block and mounting screw Section 12 1 6 2 a Reexamination of Windows trademark Section 12 1 6 2 b Change of FR BSFO1 outline drawing Section 14 2 1 Addition of POINT Section 14 6 2 4 Reexamination of forced stop Oct 2005 SH NA 030014 E Reexamination of description on configuration software Safety Instructions 1 To prevent electric shock Change of description from 10 minutes to 15 minutes 4 Additional instructions 2 4 Addition of instructions COMPLIANCE WITH EC DIRECTIVES Partial change of sentence CONFORMANCE WITH UL C UL STANDARD 4 Partial change of sentence Chapter 2 Addition of CAUTION sentence Chapter 3 Partial change of WARNING sentences Section 3 2 2 4 Deletion of open collector power input Section 3 2 5 2 d 2 Modification of servo motor CCW rotation Section 3 3 4 2 Limiting torque Partial change of sentences Warning Battery warning Modification o
185. m external sequences and or confirm the operation status The automatic scroll mode is selected at power on Before starting use therefore press the UP or DOWN button to change the fifth digit to F and press the MODE button for 2s or more to change the indication Press the MODE UP or DOWN button once to move to the next screen button MODE Status display Diagnosis gt Alarm Basic IFU parameters peri Et i ij Software version Third alarm in past Regenerative load Interface unit Current alarm IFU parameter No 0 IFU parameter No 20 ratio external input signal ZLI Weak IN ES mim rit I I D a II A tt 14 tt tod toot tod I Bus voltage V Interface unit Last alarm IFU parameter No 1 IFU parameter No 21 external output signal f IZ T ZA i i a aa a T C a A A A nn Peak bus voltage Interface unit output Second alarm in past i UP V signal DO forced output 1 1 a T ee y Z _ imi mma _ l rut rout DOWN i l 1 Low J TZ Laaa A Wt a a HI ILL IL I AN TN Software version Fourth alarm in past IFU parameter No 18 IFU parameter No 28 High itt _ tm ti I tI TU orto tot I l Fifth alarm in past IFU parameter No 19 IFU parameter No 29 tt rt Sixth alarm in past Parameter error No wt Note The parameter display range varies w
186. mand frequency droop pulses or servo motor speed in gain changing selection DRU parameter No 65 set the gain changing level The setting unit is as follows Droop pulses Servo motor speed 6 Gain changing time constant DRU 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 7 7 7 SPECIAL ADJUSTMENT FUNCTIONS 7 5 4 Gain changing operation This operation will be described by way of setting examples 1 When you choose changing by external input a Setting DRU parameter No Abbreviation Setting A pp Pa Positioncontrolgani Speed control gain 1 1000 Ratio of load inertia moment to servo motor inertia moment Position control gain 2 A A Speed control gain 2 2 _ 38 va Speed integral compensation Ratio of load inertia moment A GD2B 0 1 times servo motor inertia moment 2 Position control gain 2 62 PG2B 70 changing ratio Speed control gain 2 changin ratio Speed integral compensation 64 VICB A 250 changing ratio 0001 65 CDP Gain changing selection Changed by ON OFF of pin CN1A 8 Gain changing time constant b Changing operation Gain changing OFF ON OFF CDPO After changing gain i Change of Before changing gain i each gain CDT 100ms Position control gain 1 Speed contr
187. ming 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 SOND and power off the main circuit When an alarm occurs in the MELSERVO J2M 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 or turn the reset RESO from off to on However the alarm cannot be reset unless its cause is removed 30ms or more Note Main circuit ON control circuit OFF Power off f Power on power supply ie ON q fe Base circuit OFF i Valid Dynamic brake ag Brake operator _ Brake operation l Servo on ON A Y l Ready ON RDD OFF Ms ll Trouble ON n ALM_D OFF FE A Reset ON gt i B RESO OFF E gt j T 50ms or more tal e Alarm occurs Remove cause of trouble Note Switch off the main circuit power as soon as an alarm occurs 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent 4 32 overload 1 A 50 or overload 2 A 51 alarm after its occurrence without removing its cause the servo amplifier and servo motor may become faulty due to temperature rise Sec
188. motor speed Torque 4V max Torque Current command 4V max Current command Command pulse frequency 4V 500kpps Droop pulses 4V 128pulse Droop pulses 4V 2048pulse Droop pulses 4V 8192pulse Droop pulses 4V 32768pulse Droop pulses 4V 131072pulse Bus voltage 4V 400V In position 4V ON Ready 4V ON Trouble 4V ON Slot number of analog monitor 2 Choose the slot number output to analog monitor 2 Slot number set value Selecting 0 disables output 5 17 5 PARAMETERS Classifi Initial Setting No Symbol Name and Function Unit cation Value Range MD3 Analog monitor 3 output Refer to Choose the signal to be output to analog monitor 3 name and 010 function column Analog monitor 3 selection Servo motor speed 4V max Servo motor speed Torque 4V max Torque Servo motor speed 4V max Servo motor speed Torque 4V max Torque Current command 4V max Current command Command pulse frequency 4V 500kpps Droop pulses 4V 128pulse Droop pulses 4V 2048pulse Droop pulses 4V 8192pulse Droop pulses 4V 32768pulse Droop pulses 4V 131072pulse Bus voltage 4V 400V In position 4V ON Ready 4V ON Trouble 4V ON MUoUOWPAANDARWNHO Slot number of analog monitor 3 Choose the slot number output to analog monitor 3 Slot number set value Selecting 0 d
189. motor with a machine after confirming that the servo motor operates properly alone 2 INSTALLATION AND START UP 1 Power on Switching on the main circuit power control circuit power places the interface unit display in the scroll status as shown below In the absolute position detection system first power on results in the absolute position lost 4 25 alarm and the servo system cannot be switched on This is not a failure and takes place due to the uncharged capacitor in the encoder The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then switching power off once and on again Also in the absolute position detection system if power is switched on at the servo motor speed of 500r min or higher position mismatch may occur due to external force or the like Power must therefore be switched on when the servo motor is at a stop 2 Test operation Using JOG operation in the test operation mode make sure 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 After setting the parameters switch power off once 2 8 2 INSTALLATION AND START UP 4 Slot number confirmation Confirm the slot number in the interface unit display section of the installed drive unit For MR J2M BU4 Display First slot
190. ms 20ms 1110ms t p lt gt e gt lt t Ready ON we ee a RDO OFF 3 38 3 SIGNALS AND WIRING 3 Forced stop Install an forced stop circuit externally to ensure that operation can be stopped and AN CAUTION a slop y p pp power shut off immediately Make up a circuit which shuts off main circuit power as soon as EMG_O SG are opened at a forced stop To ensure safety always install a forced stop switch across EMG_O SG By disconnecting EMG_O SG the dynamic brake is operated to bring the servo motor to a stop At this time the display shows the servo forced stop warning A E6 During ordinary operation do not use forced stop EMG_L to alternate stop and run The service life of each drive unit may be shortened Interface unit 24VDC T VIN EMG_A EMG_B 3 5 Connection of drive unit and servo motor 3 5 1 Connection instructions Connect the wires to the correct phase terminals U V W of the drive unit and servo motor Otherwise the servo motor will operate improperly Do not connect AC power supply directly to the servo motor Otherwise a fault may occur Do not apply the test lead bars or like of a tester directly to the pins of the connectors supplied with the servo motor Doing so will deform the pins causing poor contact The connection method differs according to the series and capacity of the servo motor and whether or not the servo mot
191. n E 1600 2400 3200 capacity W Continuous capacity W 1280 1920 2560 Inrush current 62 5A 15ms Function Converter function regenerative control rushing into current control function A Regenerative overvoltage shut off regenerative fault protection Protective functions undervoltage instantaneous power failure protection Mass l lb 2 4 2 9 3 3 Note The control circuit power supply is recorded to the interface unit 2 Drive unit Paves 210 10 B11VDC supply 230 to 342VDC Overcurrent shut off functions overload shut off electronic thermal relay servo Protective functions motor overheat protection encoder fault protection overspeed protection excessive error protection Open IP00 Cooling method Self cooled Force cooling With built in fan unit Mass lb 3 Interface unit MR J2M P8A Power supply circuit for each unit 8 slots or less Pulse train interface 8 channels Interface RS 232C interface 1 channel RS 422 interface 1 channel output signal 16 points 1 10 1 FUNCTIONS AND CONFIGURATION 1 4 Function list The following table lists the functions of this servo For details of the functions refer to the Reference field 1 Drive unit Abbreviation DRU High resolution encoder High resolution encoder of 131072 pulses rev is used as a servo motor encoder PA x Automatically adjusts the gain to optimum value if load applied to the servo motor Auto tuning g Chapter 7 s
192. n _______ feedback Switch DRU parameter No 34 Load inertia moment ratio estimation value DRU parameter Third digit First digit Auto tuning Response selection level 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 DRU parameter No 34 the ratio of load inertia moment to servo motor These results can be confirmed on the status display screen of the servo amplifier display section If the value of the load inertia moment ratio is already known or if estimation cannot be made properly chose the auto tuning mode 2 DRU parameter No 2 1200 to stop the estimation of the load inertia moment ratio Switch in above diagram turned off and set the load inertia moment ratio DRU parameter No 34 manually From the preset load inertia moment ratio DRU parameter No 34 value and response level The first digit of DRU 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 estimati
193. nd 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 e ru IFU wo ma o eas PJ O 2 Cancel the test operation mode Command Data No Data e TAR AA EOS 3 Enable the disabled external input signals Command Data No Data on 13 25 13 COMMUNICATION FUNCTIONS 2 Jog operation Transmit the following communication commands a Setting of jog operation data EE IFU a a a Write the speed r min in hexadecimal Ao Acceleration deceleration Write the acceleration deceleration time constant time constant ms in hexadecimal b Start Turn on the external input signals servo on SONO forward a stroke end LSPO reverse rotation stroke end LSND and ST1 ST2 by using command 9 2 data No 0 10 Item Command Data No Data Forward rotation start 9 2 00000807 Turns on SONO LSPO LSNO and ST1 Reverse rotation start 00001007 Turns on SONO LSPO NO and ST2 NO and LSND 3 Positioning operation Transmit the following communication commands a Setting of positioning operation data Unit emo command ao o T IFU Speed Iio tito write the speed r min in hexadecimal SX pmen gt Write the acceleration deceleration time constant IO time constant ms in hexadecimal NO hexadecimal b Input of se
194. nerative brake option FA 30 Regenerative Permissible 1 Mismatch between used Set correctly alarm regenerative power of regenerative brake option and IFU the regenerative brake parameter No 1 setting connected 3 High duty operation or continuous 1 Reduce the frequency of regenerative operation caused the positioning permissible regenerative power of 2 Use the regenerative brake the regenerative brake option to be option of larger capacity exceeded 3 Reduce the load Checking method Call the status display and check the regenerative load ratio above 260VAC 9 TROUBLESHOOTING Display de A Name Definition Cause Action ar la Meme stos case fat the instantaneous too high permissible speed 2 Small acceleration deceleration time Increase acceleration constant caused overshoot to be deceleration time constant large 3 Servo system is instable to cause 1 Reset servo gain to proper overshoot value 2 If servo gain cannot be set to proper value 1 Reduce load inertia moment ratio or 2 Reexamine acceleration deceleration time constant DRU parameter No 3 4 5 Encoder faulty Change the servo motor A 32 Overcurrent Current that flew is 1 Short occurred in drive unit output Correct the wiring higher than the phases U V and W permissible current of 2 Transistor of the servo drive unit Change the drive unit the drive unit faulty m Checking method Alarm A 32 occurs if pow
195. ng Looking at the interpolation characteristic and rotation status fine adjust the Fine adjustment gains and response level setting 3 Adjustment description a Position control gain 1 DRU parameter No 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 set value b Speed control gain 1 DRU parameter No 36 Set the response level of the speed loop of the model Make setting using the following expression Xx 131072 pulse Droop pulse value pulse as a guideline Speed control gain 1 setting gt Position control gain 1 settingx3 6 9 6 GENERAL GAIN ADJUSTMENT MEMO 7 SPECIAL ADJUSTMENT FUNCTIONS 7 SPECIAL ADJUSTMENT FUNCTIONS The functions given in this chapter need not be used generally Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 6 If a mechanical system has a natural resonance 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 suppres
196. nit to the aon amp Ww 11 13 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 forced stop and other protective circuits The forced stop switch normally closed contact must be installed CN1A CN1B CN4A CN4B have the same shape Wrong connection of the connectors will lead to a fault CN2 and CN3 have the same shape Wrong connection of the connectors can cause a fault When starting operation always connect the forced stop EMG_A and forward reverse rotation stroke end LSNO LSPO with SG Normally closed contacts Trouble ALM_O is connected with COM 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 Always connect P5 OP_VIN when using the 5V output P5 Keep them open when supplying external power Use MRZJW3 SETUP151E 10 The MR J2M BT battery unit is required to configure an absolute position detection system Refer to Chapter 14 for details 12 Refer to Section 3 3 for the MR J2M D01 extension lO unit When connecting the personal computer together with monitor outputs 1 2 use the maintenance junction card MR J2CN3TM Refer to Section 12 1 2 O in Symbol indicates a slot number 3 SIGNALS AND WIRING 3 2
197. noise Routes 4 and 5 Static induction D noise Route 6 EN teg Noise transmitted through rough efecto power supply cable Route 7 channels NE y Noise sneaking from grounding cable due to Route 8 leakage current Sensor power suppl Instrument Receiver 8 Sensor O akin ae 12 OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques When measuring instruments receivers sensors etc which handle weak signals and may malfunction due to noise and or their signal cables are contained in a control box together with the MELSERVO J2M or run near MELSERVO J2M such devices may malfunction due to noises transmitted through the air The following techniques are required 1 Provide maximum clearance between easily affected devices and MELSERVO J2M 1 2 3 2 Provide maximum clearance between easily affected signal cables and the I O cables of MELSERVO J2M 3 Avoid laying the power lines I O cables of MELSERVO J2M and signal cables side by side or bundling them together 4 Insert a line noise filter to the I O cables or a radio noise filter on the input line 5 Use shielded wires for signal and power cables or put cables in separate metal conduits When the power lines and the signal cables are laid side by side or bundled together magnetic induction noise and static induction noise will be transmitted through the signal
198. nual adjustment with three DRU parameters 6 3 1 Operation of manual mode 1 In this mode setting the three gains of position control gain 1 PG1 speed control gain 2 VG2 and speed integral compensation VIC automatically sets the other gains to the optimum values according to these gains User setting ve PG2 VG1 VIC Automatic setting Therefore you can adjust the model adaptive control system in the same image as the general PI control system position gain speed gain speed integral time constant Here the position gain corresponds to 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 DRU parameter No 34 correctly 6 3 2 Adjustment by manual mode 1 If machine resonance occurs adaptive vibration suppression control DRU parameter No 60 or machine resonance suppression filter DRU parameter No 58 59 may be used to suppress machine resonance Refer to Section 7 1 1 DRU parameters The following parameters are used for gain adjustment DRU parameter No Abbreviation Pot Position control gain 1 A A o Ratio of load inertia moment to servo motor inertia moment VG2 Speed control gain 2 VIC Speed integral compensation 2 Adjustment procedure MAA ae ee inertia moment DRU parameter No 34 Pe eee area 6 Increase the speed control gain 2 DRU parameter No 37 within the Increase the speed control
199. number of turns 4 e Radio noise filter FR BIF for the input side only This filter is effective in suppressing noises radiated from the power supply side of MELSERVO J2M especially in 10MHz and lower radio frequency bands The FR BIF is designed for the input only Connection diagram Outline drawing Unit mm Unit in Make the connection cables as short as possible Leakage current 4mA Grounding is always required When using the FR BIF with a single phase wire always insulate the wires that are not used for wiring Red White Blue Green Base unit About 300 11 81 5 0 20 me EXE filter FR BIF 44 1 73 Radio noise 12 33 12 OPTIONS AND AUXILIARY EQUIPMENT 12 2 7 Leakage current breaker 1 Selection method High frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply Select a leakage current breaker according to the following formula and ground the base unit servo motor etc securely Make the input and output cables as short as possible and also make the grounding cable as long as possible about 30cm 11 8 in to minimize leakage currents Rated sensitivity current gt 10 Ig1 Ign Iga K Ig2 Igm mA 12 1 Cable K Constant considering the harmonic contents Leakage
200. ol gain 1 1000 Ratio of load inertia moment 7 4 0 e 10 0 gt 4 0 to servo motor inertia moment Position control gain 2 120 84 Speed control gain 2 3000 Speed integral compensation 20 50 7 SPECIAL ADJUSTMENT FUNCTIONS 2 When you choose changing by droop pulses a Setting DRU parameter No Abbreviation Setting E A 4A Position control gain 1 o a ads A A Speed control gain 1 1000 Ratio of load inertia moment to 0 1 times e S motor inertia moment Lo PG 2 Positioncontrolgain2 control gain 2 rad s HARO Speed control gain 2 lao ve Speed integral compensation Ratio of load inertia moment to GD2B 0 1 times servo motor inertia moment 2 PG2B Position control gain 2 changing ratio Speed control gain 2 changin ratio Speed integral compensation 64 VICB changing ratio 65 CDP Gain changi lecti 9903 ain changing selection SAR Changed x aoe pulses o es eS Gain changing condition 67 CDT Gain changing time constant b Changing operation Command pulse Droop pulses Droop pulses pulses 0 Change of each gain CDT 100ms Position control gain 1 Speed control gain 1 Ratio of load inertia moment to servo motor inertia moment Position control gain 2 Speed control gain 2 Speed integral compensation 7 SPECIAL ADJUSTMENT FUNCTIONS MEMO 8 INSPECTION 8 INSPECTION Before starting maintenance and or inspection make sure that the charge lamp i
201. olex IP20 compatible personal computer 12 9 12 OPTIONS AND AUXILIARY EQUIPMENT Application 11 Power supply MR PWCNK3 Plug 5557 04R 210 Servo motor connector Terminal 5556PBT3L for AWG16 6 pcs power cable Molex 12 Base unit MR J2MCNM Housing 2 178128 3 5 pes For CNP1B connector set Contact 917511 2 max sheath OD 6 2 8 mm 4 0 11lin 15 pes Tyco Electronics Housing 1 178128 3 5 pes For CNP1A Contact 917511 2 max sheath OD 4 2 8 mm 4 0 11 in 15 pes Tyco Electronics Housing 1 179958 3 5 pes Contact 316041 2 20 pcs Tyco Electronics Battery cable MR J2MBTCBLOM Housing 51030 0230 Connector 10120 3000VE Terminal 50083 8160 Shell kit 10320 52F0 008 molex 3M or equivalent 4 Junction terminal MRJ2M CNITBLOM Junction terminal block connector Interface unit connector For MR TB50 block cable Cable length 3M or equivalent 0 5 1m D7950 B500FL connector 10150 6000EL connector 1 64 3 28ft 10350 3210 000 shell kit Cable length 3M or equivalent 0 5 1m D7920 B500FL connector 10120 6000EL connector 1 64 3 28ft 10320 52F0 F08 M1A shell kit bp 16 Junction terminal MR TB50 Refer to Section 12 1 3 Refer to Section 12 1 4 13 1 15 MR J2TBLOM 1A Junction terminal block connector Interface unit connector For MR TB20 7 12 10 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Encoder cable The encode
202. ollowing value CANON i 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 13 16 13 COMMUNICATION FUNCTIONS 13 12 2 Status display 1 Status display data read When the master station transmits the data No refer to the following table for assignment to the slave station the slave station sends back the data value and data processing information 1 Transmission Transmit command 0 1 and the data No corresponding to the status display item to be read Refer to Section 13 11 1 2 Reply The slave station sends back the status display data requested oP E 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 not used Lower second digit Lower third digit Lower fourth digit Lowe
203. on of the inertia moment ratio may malfunction temporarily In such a case choose the auto tuning mode 2 DRU parameter No 2 0200 and set the correct load inertia moment ratio in DRU 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 6 GENERAL GAIN ADJUSTMENT 6 2 3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory simply running the servo motor automatically sets the optimum gains that match the machine Merely changing the response level setting value as required completes the adjustment The adjustment procedure is as follows Auto tuning adjustment Acceleration deceleration repeated oad inertia moment ratio estimation value stable Auto tuning Conditions not satisfied Estimation of load inertia moment ratio is difficult Choose the auto tuning mode 2 DRU parameter No 2 0200 jand set the load inertia moment ratio DRU parameter No 34 manually Adjust response level setting so that desired response level is achieved on vibration free level SSS Acceleration deceleration repeated Requested performance satisfied No To manual mode 6 GENERAL GAIN ADJUSTMENT 6 2 4 Response level s
204. on of cable Section 12 1 2 2 Addition of POINT sentences Section 12 1 2 2 a Addition and change of items partial change of drawing Section 12 1 2 2 b Addition of item Section 12 1 3 2 Change of text Section 12 1 4 Deletion of POINT Section 12 1 4 2 Change of terminal label sketch Section 12 1 4 4 b Partial change of connection diagram Section 12 1 6 1 Reexamination of table Section 12 1 6 2 Partial change of contents Section 12 2 1 2 Addition of cable Section 12 2 8 Partial addition of text Section 13 10 Partial addition of drawing Section 13 12 3 2 Partial change of drawing Section 14 7 Partial reexamination of text Mar 2004 SH NA 030014 C Reexamination of description on configuration software Safety Instructions 1 To prevent electric shock Addition of sentence Print Data_ Manual Number Mar 2004 SH NA 030014 C 3 To prevent injury Reexamination of sentence 4 Additional instructions 1 Addition of Note Reexamination of sentence 5 Reexamination of wiring drawing COMPLIANCE WITH EC DIRECTIVES 2 PRECAUTIONS FOR COMPLIANCE IEC664 1 is modified to IEC60664 1 in 3 and 4 CONFORMANCE WITH UL C UL STANDARD 2 Reexamination of sentence Section 1 3 1 Addition of Inrush current Section 2 4 2 Reexamination of sentence Section 2 7 Reexamination and addition of NOTE sentence Section 2 7 8 Addition of POINT Section 3 1 The following modification is made to the diagra
205. on stroke end signal for slot 2 Forward rotation LSP 6 LSN 3 Reverse rotation stroke end signal for slot 3 iio LSN 4 Reverse rotation stroke end signal for slot 4 Forward rotation LSE CN5 15 LSN 5 Reverse rotation stroke end signal for slot 5 ene or LSN 6 Reverse rotation stroke end signal for slot 6 isa LSP 8 CN5 17 LSN 7 Reverse rotation stroke end signal for slot 7 Pe LSN 8 Reverse rotation stroke end signal for slot 8 a To start operation short LSPO SG and or LSNO SG Open them to bring the motor to a sudden stop and make it servo locked stroke end 1 Set O O O 1 in parameter No 22 Function selection 4 to make a Reverse rotation LSN 2 CN5 4 slow stop e el ae ho to Section 5 1 2 Reverse rotation LSN 3 CN5 6 Note Input signals Input signals stroke end 3 LSPO Reverse rotation LSN 4 direction direction Reverse rotation LSN 5 o sa a stroke end 6 Note 0 LSPO LSNO SG off open Reverse rotation LSN 7 CN5 16 1 LSPO LSNO SG on short stroke end 7 Reverse rotation LSN 8 CN5 18 stroke end 8 EMG_A CN5 20 EMG_A Forced stop signal for slots 1 to 8 Forced stop B EMG_B CN5 19 EMG_B Forced stop signal for slots 1 to 8 Disconnect EMG_O SG to bring the servo motor to forced stop state in which the servo is switched off and the dynamic brake is operated Connect EMG_O SG in the forced stop state to reset that state When either of EMG A and EMG B is to be used short the unused signal with SG 3 SIGNALS AND
206. onance point Mechanical i system response level i Frequency i i Notch depth Y Y Frequency DRU parameter No 58 DRU 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 resonance frequency or a too deep notch 2 Parameters a Machine resonance suppression filter 1 DRU parameter No 58 Set the notch frequency and notch depth of the machine resonance suppression filter 1 DRU parameter No 58 When you have made adaptive vibration suppression control selection DRU parameter No 60 valid or held make the machine resonance suppression filter 1 invalid DRU parameter No 58 0000 DRU parameter No 58 E Notch frequency value value value value Poo iva os ses 10 rs is a ore Po so Pa porras 100 Pos 1500 os os is aos 18 1087 Los 900 Poo 2482 a5 08 10 1592 Los oro os a ie eons ae 15 Notch depth Setting value Depth Gain Deep 40dB T C14dB l EsdB Shallow 4dB 7 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 increa
207. ontroller ON OFF Tb ms after the servo on SONO is switched off the servo lock is released and the servo motor coasts If the electromagnetic brake is made valid in the servo lock status the brake life may be shorter Therefore when using the electromagnetic brake in a vertical lift application or the like set delay time Tb to about the same as the electromagnetic brake operation delay time to prevent a drop f Coasting Servo motor speed O r min ON Base circuit OFF Invalid ON Electromagnetic brake Electromagnetic sek operation delay time brake MBR O Valid OFF ON Servo on SON O OFF b Forced stop EMG_O ON OFF Dynamic brake a Dynamic brake s i d Vx Electromagnetic brake ervo motor spee E i e Electromagnetic as Electromagnetic brake release faba ON Base circuit OFF 180ms Electromagnetic Invalid ON Electromagnetic brake oe operation delay time brake interlock MBRO valid OFF Invalid ON Valid OFF Forced stop EMG_ O c Alarm occurrence Dynamic brake Dynamic brake x Electromagnetic brake Electromagnetic brake Servo motor speed AZ ON j Base circuit OFF Electromagnetic Invalid ON Electromagnetic brake operation delay time brake interlock MBRO Valid OFF No ON Yes OFF Trouble ALM_ 7 3 SIGNALS AND WIRING d Both main and control circuit power supplies off Dynamic b
208. operly 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 is not more than 100 times The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance torque during acceleration deceleration or on a machine which is extremely loose auto tuning may not function properly either In such cases use the auto tuning mode 2 or manual mode 1 2 to make gain adjustment 2 Auto tuning mode 2 Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1 Since the load inertia moment ratio is not estimated in this mode set the value of a correct load inertia moment ratio DRU parameter No 34 The following DRU parameters are automatically adjusted in the auto tuning mode 2 DRU parameter No Abbreviation po pp Pa Position control gain 1 Position control gain 2 Speed control gain 1 Speed control gain 2 Speed integral compensation 6 GENERAL GAIN ADJUSTMENT 6 2 2 Auto tuning mode operation The block diagram of real time auto tuning is shown below Load inertia Automatic setting moment Control gains PG1 VG1 PG2 VG2 VIC Command O Current control Set 0 or 1 to turn on Real time auto Position speed El PA A AAA tuning sectio
209. or has the electromagnetic brake Perform wiring in accordance with this section 1 The protective earth of the servo motor joins to the base unit via the drive unit mounting screw Connect the protective earth terminal of the base unit to the protective earth of the control box to discharge electricity to the earth 2 The power supply for the electromagnetic brake should not be used as the 24VDC power supply for interface Always use the power supply for electromagnetic brake only 3 SIGNALS AND WIRING 3 5 2 Connection diagram The following table lists wiring methods according to the servo motor types Use the connection diagram which conforms to the servo motor used For cables required for wiring refer to Section 12 2 1 For encoder cable connection refer to Section 12 1 2 For the signal layouts of the connectors refer to Section 3 5 3 For the servo motor connector refer to Chapter 3 of the Servo Motor Instruction Manual Servo motor Connection diagram Base unit Drive unit Servo motor Mu Rea V White W Black Note 3 Green _ Earth D B1 B2 y Electro HC KFS053 B to 73 B an magnetic HC MFS053 B to 73 B To be shut off when servo HC UFS13 B to 73 B AL cnz amman gt Encoder cable Note 1 To prevent an electric shock always connect the protective earth PE terminal of the base unit to the protective earth PE of the control box
210. or reading absolute position data using the serial communication function When reading data take care to specify the correct station number of the drive unit from where the data will be read When the master station sends the data No to the slave station drive unit the slave station returns the data value to the master station 1 Transmission Transmit command 0 2 and data No 9 1 2 Reply The absolute position data in the command pulse unit is returned in hexadecimal NAAA Data 32 bit length hexadecimal representation 14 3 14 ABSOLUTE POSITION DETECTION SYSTEM 14 5 Startup procedure 1 Connection of a battery unit 2 Parameter setting Set 1 000 in DRU parameter No 1 of the servo amplifier and switch power off then on 3 Resetting of absolute position erase A 25 After connecting the encoder cable the absolute position erase A 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 After making sure that the ready RDO output after the servo on SOND had turned on has turned on read the absolute value data with the serial communication function 5 Home position setting The home position must be set if a System setup is performed b When the drive unit or interface unit is replaced c The servo motor has been changed or d The absolute position erase
211. otes alarm warning indication Slot number 2 If alarm warning occurs in interface unit An alarm warning which occurred in the interface unit is represented by the following indication The following indication example assumes that interface unit undervoltage A 10 occurred During alarm occurrence digits flicker F A 1 0 gm Alarm warning number Denotes alarm warning indication Denotes interface unit 4 OPERATION AND DISPLAY 4 1 3 If test operation Test operation can be performed using the MR Configurator servo configuration software 1 When test operation is being performed Test operation being performed is indicated as follows felt cle L Slot number Test operation being performed is indicated as follows Indicates the current status Refer to the following table for below Denotes test operation indication Slot number Current Status ar Ca aT da 2 When alarm occurs during test operation Any alarm that occurred during test operation is indicated as follows L Slot number The decimal point is lit during test operation Alarm display Slot number 4 OPERATION AND DISPLAY 4 2 Interface unit display 4 2 1 Display flowchart of interface unit Use the display 5 digit 7 segment LED on the front panel of the interface unit for status display parameter setting etc Set the parameters before operation diagnose an alarm confir
212. otocol of serial communication name and 0 0 0 function Lo column Protocol checksum selection 0 Yes checksum added 1 No checksum not added 5 16 Basic IFU parameters 5 PARAMETERS Classifi Initial Setting No Symbol Name and Function Unit cation Value Range 3 MD1 Analog monitor 1 output 0000 Refer to Choose the signal to be output to analog monitor 1 name and 0 function column Analog monitor 1 selection Servo motor speed 4V max Servo motor speed Torque 4V max Torque Servo motor speed 4V max Servo motor speed Torque 4V max Torque Current command 4V max Current command Command pulse frequency 4V 500kpps Droop pulses 4V 128pulse Droop pulses 4V 2048pulse Droop pulses 4V 8192pulse Droop pulses 4V 32768pulse Droop pulses 4V 131072pulse Bus voltage 4V 400V In position 4V ON Ready 4V ON Trouble 4V ON L Slot number of analog monitor 1 Choose the slot number output to analog monitor 1 Slot number set value Selecting 0 disables output MOOWPOANDUNA WHAT Basic IFU parameters MOOWPODANODNTAWNAO 4 MD2 Analog monitor 2 output 0000 Refer to Choose the signal to be output to analog monitor 2 name and lojo function T il column Analog monitor 2 selection Servo motor speed 4V max Servo motor speed Torque 4V max Torque Servo motor speed 4V max Servo
213. otor may misoperate resulting in injury Connect cables to correct terminals to prevent a burst fault etc Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction Otherwise the signal is not output due to a fault disabling the forced stop and other protective circuits Interface unit Interface unit VIN SG SG Control output Control output signal signal Use a noise filter etc to minimize the influence of electromagnetic interference which may be given to electronic equipment used near each unit Do not install a power capacitor surge suppressor or radio noise filter FR BIF option with the power line of the servo motor When using the regenerative brake resistor switch power off with the alarm signal Otherwise a transistor fault or the like may overheat the regenerative brake resistor causing a fire Do not modify the equipment 3 SIGNALS AND WIRING 3 1 Control signal line connection example Refer to Section 3 4 for connection of the power supply line and to Section 3 5 for connection with servo motors MR J2M P8A Note 13 CN1A Note 4 Note 2 Symbol Slot 1 Slot 2 Slot 3 Slot 4 A Rool 11 33 6 28 Pol 35 8 30 3 He Note 7 ALM A 27 SO AHSONO 37 10 32 5 OH RESO 36 9 31
214. owing 1 Wiring a Check that the control circuit power cable main circuit power cable and servo motor power cable are fabricated properly b Check that the control circuit power cable is connected to the CNP1B connector and the main circuit power cable is connected to the CNP3 connector c Check that the servo motor power cable is connected to the drive unit CNP2 connector d Check that the base unit is earthed securely Also check that the drive unit is screwed to the base unit securely e When using the regenerative brake option check that the cable using twisted wires is fabricated properly and it is connected to the CNP1A connector properly f When the MR J2M 70DU is used it is wired to have the left hand side slot number of the two slots g 24VDC or higher voltages are not applied to the pins of connector CN3 h SD and SG of connector CN1A CN1B CN3 CN4A CN4B and CN5 are not shorted i The wiring cables are free from excessive force G Check that the encoder cable and servo motor power cable connected to the drive unit are connected to the same servo motor properly k When stroke end limit switches are used the signals across LSPO SG and LSNO SG are on during operation 2 Parameters a Check that the drive unit parameters are set to correct values using the servo system controller screen or MR Configurator servo configuration software b Check that the interface unit parameters are set to corre
215. pansion parameters make them valid with DRU parameter No 19 parameter write disable 6 button MODE Basic DRU Expansion DRU Expansion DRU parameters parameters 1 parameters 2 Ye yA ye ve A LILILILI T Oo mn O aN LI es O vote HHHH A C O F E 0 ef 1 al Cumulative feedback Drive unit external Current alarm DRU parameter No 0 DRU parameter No 20 DRU parameter No 50 pulses pulse input signal aie D A a 11 al On CIO A Ef 21581 H Col O a Motor ieee Drive unit external Last alarm DRU parameter No 1 DRU parameter No 21 DRU parameter No 51 r min output signal i i i 2 PA l l l 1 ALLL 1 I I m pulses Drive unit output signal Second alarm in past i i O pulse se DO forced output f f 1 IA l l l UP E I I I ps a command Software version er alarm in past l e pulses pulse Low l l 000 A eF il e MEE Command pulse Software version Fourth alarm in past DRU parameter No 18 DRU parameter No 48 DRU parameter No 83 frequency kpps High 7 a OL I a a a I el e He F F a load ratio Motor series ID Fifth alarm in past DRU parameter No 19 DRU ameter No 49 DRU anat No 84 o yA A A en eh roa load ratio Motor type ID Sixth alarm in past o E o en le A
216. pulse width is about 400us For home position return Encoder Z phase 23 using this pulse set the creep speed to 100r min or less m a eee 22 CN1B 25 Outputs the zero point signal of the encoder One pulse is output per servo motor revolution OP and LG are connected when the zero point CN1 CN1B 1B OP 5 OP7 pulse 8 Analog monitor 1 MO1 CN3 4 Used to output the data set in IFU parameter No 3 Analog monitor 1 Analog A T Analog monitor 2 MO2 CN3 14 Used to output the data set in IFU parameter No 4 Analog monitor 2 Analog onan hind kell ee rer ree E Analog monitor 3 MO3 CN3 7 Used to output the data set in IFU parameter No 5 Analog monitor 3 Analog a 3 SIGNALS AND WIRING 3 Communication Refer to Chapter 13 for the communication function A Connector ier Signal Symbol Functions Applications pin No RS 422 I F SDP E RS 422 and RS 232C functions cannot be used together SDN J Choose either one in IFU parameter No 16 RDP 5 RDN RS 422 TRE CN3 10 Termination resistor connection terminal of RS 422 interface termination When the servo amplifier is the termination axis connect this terminal to RDN CN3 15 TXD CN3 12 Choose either one in IFU parameter No 0 4 Power supply Connector ae Signal Symbol i Functions Applications pin No Digital I F power CN1A 26 Driver power input terminal for digital interface supply input CN1B 26 Input 24VDC 300mA or more for input interfac
217. puter 8 ESA EE 2 Cable connection diagram Wire as shown below The communication cable for connection with the personal computer MR CPCATCBL3M is available Refer to Section 12 1 2 8 Personal computer Note 2 15m 49 2ft Note 1 ote m 49 2ft max connector D SUB9 socket gt Pica Plate FG TXD 3 j 2 RXD 1 GND RXD 2 12 TXD GND 5 11 GND RTS 7 CTS 8 DSR 6 DTR 4 Note 1 For CN3 connector 3M Connector 10120 6000EL Shell kit 10320 3210 000 2 15m 49 2ft max in environment of little noise However this distance should be 3m 9 84ft max for use at 38400bps or more baudrate 13 3 13 COMMUNICATION FUNCTIONS 13 2 Communication specifications 13 2 1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction The device which gives this instruction e g personal computer is called a master station and the device which sends a reply in response to the instruction drive unit is called a slave station When fetching data successively the master station repeatedly commands the slave station to send data 9600 19200 38400 57600 asynchronous system Start bit 1 bit Data bit 8 bits Parity bit 1 bit even Stop bit 1 bit Transfer protocol Character system half duplex communication system Transfer code h i l I i i Next
218. quence 1 When Q xP 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 12 2 6 CMX 2 When P CDV AC During operation the servo on SONO or forward rotation stroke end LSPL reverse rotation stroke end LSNO was switched off or the clear CRO and the reset RESO switched on Cause C If a malfunction may occur due to much noise increase the input filter setting DRU parameter No 1 3 When C A M Mechanical slip occurred between the servo motor and machine Cause B 9 TROUBLESHOOTING 9 2 Alarms and warning list The alarm warning whose indication is not given does not exist in that unit When a fault occurs during operation the corresponding alarm or warning is displayed If any alarm or warning has occurred refer to Section 9 3 or 9 4 and take the appropriate action When an alarm occurs in any of slots 1 to 4 ALM_A SG open When an alarm occurs in any of slots 5 to 8 ALM_B SG open The alarm can be canceled by turning the power OFF to ON After its cause has been removed the alarm can be deactivated in any of the methods marked O in the alarm deactivation
219. r Data or 12 frames or 16 frames 4 frames 8 frames 13 6 13 COMMUNICATION FUNCTIONS 13 4 Character codes Control codes Hexadecimal Personal computer terminal key operation Code name Description ASCII code General start of head ctrl A start of text ctrl B end of text ctrl C end of transmission ctrl D 2 Codes for data ASCII unit codes are used o wuL DLE Space o P gt i son pe ilalelal a 2 srx pee 2 B r b r 3 ferx ocs s o s e s CARES AE CA A ARA fe so LT Tam 3 Station numbers You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to specify the stations station number_ o 1 2 fs ls fs e 7 fs fo fso aa 92 as aa fis asciicode o iv fe s Js s lo 7 ls jo Ja s jo jo fe r jasciicode a a Jr s k jt jm x Jo e fo re js r ju v For example 30H is transmitted in hexadecimal for the station number of 0 13 7 13 COMMUNICATION FUNCTIONS 13 5 Error codes Error codes are used in the following cases and an error code of single code length is transmitted On receipt of data from the master station the slave station sends the error code corresponding to that data to the master station The error code sent in upper case indicates that the MELSERVO J2M is normal and the one in lower case indicates that an alarm occurred
220. r as follows _CMX _ No CDV 60 f Input pulses pulse s No Servo motor speed r min Pt Servo motor resolution pulse rev CMX _ 3000 3 200 10 CDV 60 131072 CMX _ 3000 131072 _ 3000 131072 _ 4096 CDV 60 200 60 200000 125 The following table indicates the electronic gear setting example ballscrew lead 10mm when the AD75P is used in this way Rated servo motor speed 3000r min 2000r min Open Differential Open Differential Input system oo a driver E DECIA driver Max input pulse frequency Max input pulse frequency kpulse s Feedback pulse revolution pulse rev Le a Electronic gear CMX CDV 4096 125 2048 125 8192 375 aa Command pulse frequency kpulse s Note 200 400 200 Number of pulses per servo motor revolution as 4000 8000 6000 12000 viewed from AD75Plpulse rev Minimum command ani AH 1pulse Electronic gear aM L l l eae ER Note Command pulse frequency at rated speed 5 PARAMETERS 5 3 2 Analog monitor The servo status can be output to 3 channels in terms of voltage Using an ammeter enables monitoring the servo status 1 Setting Change the following digits of IFU parameter No 3 to 5 IFU parameter No 3 ITT E Analog monitor 1 selection Signal output to across MO1 LG Slot number of analog monitor 1 IFU parameter No 4 ples lt E Analog monitor 2 selection Signal output to across MO2 LG Slot number of analog monitor 2 IFU param
221. r cable is not oil resistant Refer to Section 11 4 for the flexing life of the encoder cable When the encoder cable is used the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2 40 When soldering the wire to the connector pin insulate and protect the connection portion using heat shrinkable tubing Generally use the encoder cable available as our options If the required length is not found in the options fabricate the cable on the customer side a MR JCCBLOM L H 1 Model explanation Model MR JCCBLOM O Specifications Standard flexing life Long flexing life 10 10 32 8 20 20 65 6 2 Connection diagram The signal assignment of the encoder connector is as viewed from the pin side For the pin assignment on the drive unit side refer to Section 3 5 3 Encoder cable Drive unit i supplied to servo motor Encoder connector 1 172169 9 Tyco Electronics Encoder connector Servo motor Encoder cable option or fabricated 1 2 3 MR MRR BAT 4 5 6 Less than 30m 98ft x MD MDR 0 98ft 7 8 9 P5 LG SHD 12 11 12 OPTIONS AND AUXILIARY EQUIPMENT Drive unit side Encoder side Drive unit side Encoder side P5 19 P5 7 LG 11 LG P5 20 P5 LG 12 LG P5 18 P5 LG 2 LG 8 MR 7 MR 1 MRR 17 MRR 2 MD 6 MD 4 MDR 16 MDR 5 BAT 9 BAT 3 LG 1 LG SD Plate SD MR JCCBL2M L MR JCCBL5M L M
222. r fifth digit Lower sixth digit DOAOARUON O0 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 Command Data No Data Ltd toto imss AJO For example after sending command 0 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 13 17 13 COMMUNICATION FUNCTIONS 13 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 Command Data No commana omano r e 1J D as 5 4 2 Reply The slave station sends back the data and processing information of the requested parameter No PARES 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 aRWN O L 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 disa
223. rake Dynamic brake j Electromagnetic brake 2 Electromagnetic brake Servo motor speed i I Note 15 to 100ms l i r e ON AAA Base circuit 1 OFF Electromagnetic Invalid ON diri Valid OFF Electromagnetic brake t No ON l operation delay time Trouble ALM_O i Yes OFF in circui ON Main circuit ower Control circuit p OFF Note Changes with the operating status e Only main circuit power supply off control circuit power supply remains on Dynamic brake K Dynamic brake Electromagnetic brake Electromagnetic brake Servo motor speed 8 ON Base circuit i OFF L Electromagnetic MValid ON al l vente ai KARGE x Electromagnetic brake Ss eh S No ON L operation delay time Trouble ALM_O i Note 2 Yes OFF l al ON j 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_ O does not turn off 3 SIGNALS AND WIRING 3 8 Grounding Ground the base unit and servo motor securely JN WARNING To prevent an electric shock always connect the protective earth PE terminal of the base unit with the protective earth PE of the control box The base unit switches the power transistor on off to supply power to the servo motor Depending on the wiring and ground cablerouting MELSERVO J2M may b
224. ration of heat generation so that MELSERVO J2M is not affected Install MELSERVO J2M on a perpendicular wall in the correct vertical direction 2 3 Keep out foreign materials 1 When installing the unit in a control box prevent drill chips and wire fragments from entering each unit 2 Prevent oil water metallic dust etc from entering each unit through openings in the control box or a fan installed on the ceiling 3 When installing the control box in a place where there are much toxic gas dirt and dust conduct an air purge force clean air into the control box from outside to make the internal pressure higher than the external pressure to prevent such materials from entering the control box 2 4 Cable stress 1 The way of clamping the cable must be fully examined so that flexing stress and cable s own mass stress are not applied to the cable connection 2 For use in any application where the servo motor moves fix the cables encoder power supply brake supplied with the servo motor and flex the optional encoder cable or the power supply and brake wiring cables Use the optional encoder cable within the flexing life range Use the power supply and brake wiring cables within the flexing life of the cables 3 Avoid any probability that the cable sheath might be cut by sharp chips rubbed by a machine corner or stamped by workers or vehicles 4 For installation on a machine where the servo motor will move the flexing radius
225. rayed When you want to set auto ON to the function that is enabled for auto ON click the corresponding cell Clicking it again disables auto ON 1 Auto ON read of function assignment a Click Auto ON read button reads the functions set for auto ON from the interface unit and extension IO unit 2 Auto ON write of function assignment b Click Auto ON write button writes the functions currently set for auto ON to the interface unit and extension IO unit 3 Auto ON verify of function assignment c Click Auto ON verify button verifies the current auto ON setting in the interface unit and extension IO unit with the auto ON setting on the screen 4 Auto ON initial setting of function assignment d Click Auto ON initial setting button initializes the auto ON setting 5 Quitting the function device assignment checking auto ON setting window e Click Close button exits from the window 3 SIGNALS AND WIRING 3 4 Signals and wiring for base unit When each unit has become faulty switch power off on the servo amplifier power side Continuous flow of a large current may cause a fire Use the trouble ALM_D to switch power off Otherwise a regenerative brake JN CAUTION transistor fault or the like may overheat the regenerative brake resistor causing a fire Fabricate the cables noting the shapes of the CNP1A housing X type and CNP1B housing Y type 3 4 1 Connection example for power line circuit
226. ression find the total of C charging J of the MELSERVO J2M Number of drive unit axesX5 5J Then find the energy at each timing in a single cycle operation pattern The energy is positive in the driving mode and negative in the regenerative mode Enter signed driving regenerative energy values into the following calculation table The shaded areas indicate negative values 12 3 12 OPTIONS AND AUXILIARY EQUIPMENT lt Entry ls A AS a a e E a e mse Le o vs a fm fm El oa Second slot hse O e O CO O O e e Fourthslot_ Es Es m e es m Es ma Sixthelot m e re e rm m m R Seventh slot e e re es vs m m R Eighthsot e e2 re ks Toa e ed E ei ER Regenerative ES MSN e espe AA AA Pr nN mre ss m E A A SA ME A AA AAA AA A Calculate the total of energies at each timing Only when the total is negative timings 3 4 in the example use the following expression for calculation Energy total ER regenerative energy ES absolute value C charging total EC If the subtraction results are negative at all timings the regenerative brake option is not needed From the total of ER s whose subtraction results are positive and a single cycle period the power consumption of the regenerative brake option can be calculated with the following expression Power consumption PR W total of positive ER s 1 cycl
227. rminal screw M3 5 Applicable cable 2mm Crimping terminal width 7 2mm 0 283 in max 12 17 12 OPTIONS AND AUXILIARY EQUIPMENT 4 Junction terminal block cable MR J2M CN1TBLOM a Model explanation Model MR 32M CN1TBLIJM Symbol Cable length m ft 0 5 1 64 b Connection diagram PCR S50FS Servo amplifier side JE1S 501 Junction terminal side Symbol CNA TCNTB CENO cay a de Pin No SG SG 1 En Z a 1 OPC OPC 2 2 INP4 INP8 3 a a 3 RES4 RES8 4 4 SON4 SON8 5 a a 5 RD3 RD7 6 J n 6 CR3 CR7 7 k 7 INP2 INP6 8 u 8 RES2 RES6 9 m 9 SON2 SON6 10 gt t 10 RDI RD5 1 11 CR1 CR5 12 po gt uT 172 PP4 PP8 13 m 13 NP4 NP8 14 3 it 14 PP3 PP7 15 EH E 15 NP3 NP7 16 gt gt _16 PP2 PP6 17 4 f 17 NP2 NP6 18 18 PP1 PP5 19 HL E 19 NP1 NP5 20 gt 20 LG LG 21 a f 21 OP4 22 a 3 uT 22 OP3 OP7 23 KA 23 OP2 OP6 24 J u 24 OP1 OP5 25 k 25 VIN VIN 26 gt t 26 ALMA ALMB 27 E sE 27 E A A CR4 CR8 29 HR m 29 INP3 INP7 30 gt uT 30 RES3 RES7 31 3
228. ronic 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 A0 Angle per pulse pulse A0 Angle per revolution rev a For motion in increments of 10m per pulse n n NL NM 1 2 7 NL Ballscrew lead Pb 10 mm HI NM e Pb 10fmn Reduction ratio n 1 2 Machine specifications Servo motor Servo motor resolution Pt 131072 pulses rev 131072 pulse rev CMX Pt Pte a 131072 _ 262144 _ 32768 a Crome OO 1000 S 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 AQ a NA cra 1 cov 2 caa OOL 64 360 1125 ey Since CMX is not within the setting range in this status it must be reduced to the 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 POINT 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 1 setting
229. rred always remove its cause and allow about 30 minutes for cooling before resuming operation If operation is resumed by switching control circuit power off then on to reset the alarm each unit and servo motor may become faulty Regenerative error Overload 1 A 50 The alarm can be A 30 Overload 2 A 51 deactivated by switching power off then on press the SET button on the interface unit current alarm screen or by turning on the reset RESD For details refer to Section 9 2 When an alarm occurs the dynamic brake is indicates the alarm No The servo motor com operated to stop the servo motor At this time the display es to a stop Remove the cause of the alarm in accordance with this section The optional MR Configurator servo configuration software may be used to refer to the cause in the Indication field denotes the slot numb Display Name Definition o e e mn FA 10 Undervoltage Power supply voltage fell to or below 160VAC FA 12 Jim error RAM memory ful FA 13 Clock error Printed board fault N o er of the base unit 1 Power supply voltage is low Review the power supply 2 There was an instantaneous control circuit power failure of 30ms or longer 3 Shortage of power supply capacity caused the power supply voltage to drop at start etc 4 Power was restored after the bus voltage had dropped to 200VDC Main circuit power switched on within 5s after
230. rvo on stroke end Turn on the external input signals servo on SOND rinda dae al end LSPO and reverse rotation stroke end LSND by using command 9 2 data No DC E O IFU Servon tete oo 00000001 TunsonsoND SL NO Servo OFF olla lollo 00000006 Turns off SONO and turns on Stroke end ON LSPO LSNO S E O 9 2 ollo 00000007 Turns on SOND LSPO LSND Stroke end ON 13 26 13 COMMUNICATION FUNCTIONS c Start of positioning operation Transmit the speed and acceleration deceleration time constant turn on the servo on SONO and forward rotation stroke end LSPO reverse rotation stroke end LSND 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 SONO and forward rotation stroke end LSPO reverse rotation stroke end LSN O are off the transmission of the moving distance is invalid Therefore positioning operation will not start if the servo on SOND and forward rotation stroke end LSPD reverse rotation stroke end LSND are turned on after the setting of the moving distance d Temporary stop A temporary stop can be made during positioning operation Command Data No Data oe Retransmit the same communication commands as at the start time to resume operation To stop posit
231. s Time out 300ms 300ms 300ms 300ms S E S E S E gt Master station lo 2 O f O 3 O 2 5 oO 5 o gt T T T Slave station 13 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 fl 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 Master station Slave station Station number Station number Station number Similarly when the master station detects a fault e g 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 13 9 13 COMMUNICATION FUNCTIONS 13 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
232. s off more than 15 minutes after power off Then confirm that the voltage is safe in the tester or the like Otherwise you may get an electric shock Any person who is involved in inspection should be fully competent to do the work Otherwise you may get an electric shock For repair and parts replacement contact your safes representative Do not test MELSERVO J2M with a megger measure insulation resistance or it may become faulty Do not disassemble and or repair the equipment on customer side 1 Inspection It is recommended to make the following checks periodically a Check for loose terminal block screws Retighten any loose screws b Check the cables and the like for scratches and cracks Perform periodic inspection according to operating conditions 2 Life The following parts must be changed periodically as listed below If any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please contact your sales representative Life guideline Smoothing capacitor Stop times 100 000times a Smoothing capacitor Affected by ripple currents etc and deteriorates in characteristic The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its life in 10 years of continuous operation in normal air conditione
233. s or more OP e Analog output Output voltage 4V Max output current 0 5mA Resolution 10bit Interface unit 10kQ 7 Moo poa Pel Faf ca Reading in one or both directions 1mA meter 3 19 3 SIGNALS AND WIRING 3 3 Signal and wiring for extension lO unit 3 3 1 Connection example The pins without symbols can be assigned any devices using the MR Configurator servo configuration software MR J2M D01 Note 3 Note 2 24VDC CN4A eN z VIN 111 36 CN4B 11 SG 12 37 y 9 O O 1 IO Io Approx 6 8k Q BV 10 o O 3 A 34 Oo O 4 l oO 5 YV 35 oO 6 l v o O 7 l Note 2 To 8 CN4A To Top 13 38 LG as oo 27 e 50 Encoder A phase pulse 1 Oo O 28 25 Differential line driver system o O 29 i To 30 J 49 Encoder B phase pulse 1 To 31 l 24 Differential line driver system O o 32 48 Encoder Z phase pulse 1 o 0 33 23 Differential line driver system Approx 6 8k Q Encoder A phase pulse 2 Differential line driver system Encoder B phase pulse 2 Differential line driver system Encoder Z phase pulse 2 Differential line driver system Encoder A phase pulse 3 Differential line driver system Encoder B phase pulse 3 Differential line driver system Encoder Z phase pulse 3 Differential line driver system
234. s the interface unit status or the slot number and current status during servo ON or during servo OFF of the corresponding drive unit to allow you to diagnose faults at alarm occurrence The following are the drive unit status display data in the normal indication Note 1 Indication Note 2 A Alarm Warning The encountered alarm warning number is displayed Refer to Section 9 1 Test operation mode Test operation mode status using the MR Configurator servo configuration software Displayed for JOG operation positioning operation motor less operation or DO forced output The indication varies with the current condition Note 1 denotes the slot number of the base unit 2 indicates the warning alarm No 1 When the drive unit is during servo off 1 C 1 E Slot number Indicates servo OFF Slot number 2 When the drive unit is during servo on 1 d 1 Slot number Indicates servo ON Slot number 3 When the interface unit is normal AQ E Indicates the interface unit 4 OPERATION AND DISPLAY 4 1 2 If alarm warning occurs 1 If alarm warning occurs in drive unit An alarm warning which occurred in the drive unit is represented by the following indication The following indication example assumes that an encoder error A 16 occurred in the drive unit of installed on slot 1 During alarm occurrence digits flicker 1 1 A11 56 1 Slot number Alarm warning number Den
235. screen Press UP button twice Press SET button for more than 2 seconds sehen Switch on off the signal below the lit segment q Always lit Hated Indicates the ON OFF of the output signal The correspondences between segments and signals are as in the external output RDO signal display Lit ON extinguished OFF Press the MODE button once to shift the lit LED to the left Press UP button once ee RD is switched on RD O SG conduct Press DOWN button once sees RD O is switched off Press SET button for more than 2 seconds 4 18 5 PARAMETERS 5 PARAMETERS Never adjust or change the parameter values extremely as it will make operation AN CAUTION i ARE k p instable 5 1 DRU parameter list 5 1 1 DRU parameter write inhibit After setting the DRU parameter No 19 value switch power off then on to make that setting valid In the MELSERVO J2M servo amplifier its parameters are classified into the DRU basic parameters No 0 to 19 DRU expansion parameters 1 No 20 to 49 and DRU 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 DRU expansion parameter values When fine adjustment e g gain adjustment is required change the DRU parameter No 19 setting to
236. se CW direction p Droop pulses CCW direction 4V 8192pulse 4 V 7 i 1 1 81 92 pulse i 1 0 8192 pulse 4M Command pulse irecti frequency i 9 S00 kpps CW direction Setting Outputitem Droop pulses avi CCW direction 4V 32768pulse 32768 pulse 0 32768 pulse CW direction Y AM Droop pulses CCW direction 4V 131072pulse voltage 4 VI 131 072 pulse l l l i 131072 pulse CW direction 400 V Alarm provided not provided Note 4V is outputted at the maximum torque However when DRU parameter No 28 76 are set to limit torque 4V is outputted at the torque highly limited 5 PARAMETERS 3 Analog monitor block diagram Jajuno9 say uol Isod UON OADA U0 UUM y uopenojeo ones yjuawow eou peo uonisod jualino Jajuno9 say yBiH UONISOd UOINIOASA MOT 9U0 UIYUM jenuaseyiq Japooue uonisod aynjosqy JOJOW OA19S W eBejjoA sng 101 U09 juaJIno N EN Poy 189d uonejnojeo anjea n ones peo yeed anb o peo sanosy3 enbio Bulno90 snoauejue su y9eqpaa pasds OJJUO9 pseds poeds JOJOW OMS uonoes Hulun olny onuos asind yoeqpsa aaeinwing uONISOd cae esind dooiq
237. se 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 DRU parameter No 58 59 is used to select a close notch frequency and set a deep notch b Machine resonance suppression filter 2 DRU parameter No 59 The setting method of machine resonance suppression filter 2 DRU parameter No 59 is the same as that of machine resonance suppression filter 1 DRU parameter No 58 However the machine resonance suppression filter 2 can be set independently of whether adaptive vibration suppression control is valid or invalid 7 3 Adaptive vibration suppression control 1 Function Adaptive vibration suppression control is a function in which the drive unit detects machine resonance and sets the filter characteristics automatically to suppress mechanical system vibration Since the filter characteristics frequency depth are set 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 Mechanical Machine resonance point Me hanic l Machine resonance point system l system response
238. secessecssseceeseceesseeessecesseeseseeees 3 37 IA A adds 3 38 3 44 Power on SEQUENCE iii de icca 3 38 3 5 Connection of drive unit and servo MOTO ceccesceesssesseesseessessscesecesecesecesecesscesecesecesecesecessceseeeseenseenss 3 39 3 5 1 Connection INStrUCtIONS serisi n AaOr a ASISTA EEA AA TA ia S 3 39 3 5 2 Connection Giagram r a a r E a a r a a a a a a E E E Easa 3 40 300 UO terminals A TAN A da 3 41 3 6 Alarm occurrence timing Cary A A Ai 3 42 3 7 Servo motor with electromagnetic brake ooooocnnononnonnnnononononnnonancnnnnacnnnnconnnconnnconncconn corra conan conanconanaos 3 43 IS AU sad 3 46 3 9 Instructions for the 3M ronet ororo orere ee nEeD ea EES ENESTE EES EEEE AENEAS EAEN ESEA 3 47 AA Display Ho WC ii 4 1 AT Normal dCi aia ds la sisas 4 2 4 1 2 If alarm warning occurs cccccescccessceessceessecessccesseceesececsseccssecscesscesssecessecesseceeseccessecessecessecessecenseeees 4 3 4 1 3 If test OPEV AatION ccccesscessscessscesssceesecessecscessscessecessecessescessscsssecessesessascessscesuecessecessescesascseseesesecens 4 4 A D nterface UNIt ISP lA Ys cise ec coca esc ada 4 5 4 2 1 Display flowchart of interface unit cccccccessceessceessceessecceeseceeseccessecesssceeseceeseecessecessecesseeeeseeees 4 5 4 2 2 Status display of interface unit ooocooccnonoconancnonnncnnnnnnonanonnanonnnnnconnnonnnnnonnnnrnnnnrnn nac nnnnronnn conan nrnnnarnnnannns 4 6 4 2 3 Diagnostic mode of interface unit
239. should be made as large as possible Refer to section 11 4 for the flexing life 2 INSTALLATION AND START UP 2 5 Mounting method 1 Base unit As shown below mount the base unit on the wall of a control box or like with M5 screws 2 Interface unit drive unit MR J2M 40DU or less The following example gives installation of the drive unit to the base unit The same also applies to the interface unit Sectional view Base unit Drive unit E Sg 53 a wal Pr NS 1 BS Sg Catch Positioning hole 1 Hook the catch of the drive unit in the positioning hole of the base unit Sectional view 2 Base unit Drive unit a Wall CELTA ATA UA 2 Using the catch hooked in the positioning hole as a support push the drive unit in 2 4 2 INSTALLATION AND START UP Sectional view 3 Gp ee n Wall CALELLA AA 3 Tighten the M4 screw supplied for the base unit to fasten the drive unit to the base unit POINT Securely tighten the drive unit fixing screw Sectional view ELIA TILL 3 Drive unit MR J2M 70DU When using the MR J2M 70DU install it on two slots of the base unit The slot number of this drive unit is that of the left hand side slot of the two occupied slots when they are viewed from the front of the base unit 2 INSTALLATION AND START UP 2 6 When switching power on for the first time Before starting operation check the foll
240. sion control functions can suppress the resonance of the mechanical system 7 1 Function block diagram Speed DRU parameter DRU parameter DRU parameter DRU parameter Current control No 58 No 60 No 59 No 60 command NO o A 00 rosa Low pass JO gt T F filter I I ees l l I L Machine resonance Machine resonance suppression filter 2 except suppression filter 1 Adaptive vibration suppression control 7 2 Machine resonance suppression filter except 00 D10Do0or0200 1 Function The machine resonance suppression filter is a filter function notch filter which decreases the gain of the specific frequency to suppress the resonance of the mechanical system You can set the gain decreasing frequency notch frequency and gain decreasing depth Mechanical Machine resonance point system response l i level l gt Frequency Notch depth V Notch frequency Frequency 7 SPECIAL ADJUSTMENT FUNCTIONS You can use the machine resonance suppression filter 1 DRU parameter No 58 and machine resonance suppression filter 2 DRU parameter No 59 to suppress the vibration of two resonance frequencies Note that if adaptive vibration suppression control is made valid the machine resonance suppression filter 1 DRU parameter No 58 is made invalid Machine res
241. sists 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 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 Controller Drive unit Battery unit Pulse train command JUUL Home position datai Current position data Current position data Backed up in the case of power failure Changing the current position data Battery LS Detecting the number of revolutions Co 0 cs G 990 c o 2 D 0 a 0 oa awn Detecting the position within Serial one revolutions communication RS 422 RS 232C High speed serial communication gt C gt Servo motor Within one revolution counter 4 L 1pulse rev Accumulative revolution counter Y Super capacitor
242. smoothing By setting the position command acceleration deceleration time constant DRU 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 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 DRU parameter No 55 according to the machine used 1 For step input i z l A Io oy Input position command g Y Position command after E j Y filtering for primary delay 5 l de Position command after filtering oO i for linear acceleration deceleration vi EN t Position command acceleration I A deceleration time constant i Ni DRU parameter No 7 t t gt l Time 3t 2 For trapezoidal input 3t E Input position command A Position command after filtering for linear acceleration deceleration Position command after filtering for primary delay Command soe Ce t Position command acceleration deceleration time constant DRU parameter No 7 5 PARAMETERS MEMO 30 6 GENERAL GAIN ADJUSTMENT 6 GENERAL GAIN ADJUSTMENT 6 1 Different adjustment methods 6 1 1 Adjustment on a MELSERVO J2M The gain adjustment in this section can be made on the MELSERVO J2M For gain a
243. spondence schedule by the A B Z phase pulse The number of pulses output by the parameter can be changed Encoder pulse output 1 5 Model code definition 1 Drive unit a Rating plate MIVSUBISEN MELSERVO MODEL Model MR J2M 40DU 4 f POWER 400W lt gt Capacity INPUT DC270V 311V Applicable power supply OUTPUT 170V 0 360Hz 2 3A _____ Rated output current E SERIAL N9Z95046 _ TC300A G51 Serial number El son E ALM Rating plate A MITSUBISHI ELECTRIC Rating plate b Model code MR J2M ODU Rated output 200 400 2 Interface unit a Rating plate AC SERVO MR J2M P8A POWER _ 75W m Model Input capacity Rating plate 4 y AC INPUT 2PH_AC200 230V_50Hz 2PH_AC200 230V_60Hz OUTPUT DC5 12 20 4 6A 1 2 0 7A SERIAL Ad TC3xk gt AAAAG52 PASSED b Model code Applicable power supply Output voltage current q _ Serial number MR J2M P8A train interface compatible 1 5 1 FUNCTIONS AND CONFIGURATION 3 Base unit a Rating plate Rating plate MR J2M BU4 lt Model INPUT 3PH 200 230 Applicable power 14A 50 60Hz supply Serial number PASSED b Model code MR J2M BU O 6 6 xo i920 Lele sw ws 1 6 Com
244. sseceessccessecessecesseeeeseeees 6 5 6 2 4 Response level setting in auto tuning mode ccc eesccessscessscesseceesseccessecesseceessecessecesecssaeeeeseeees 6 6 6 3 Manual mode 1 simple manual adjustment ys55scecsecsvdsercoassesevavdscscsdeseeseoavabcadeloyiognaarcetoensivstorborveds 6 7 6 3 Operation of manual mode daa 6 7 6 3 2 Adjustment by manual mode 1 sristi ninie tenri nTa En EE i n E aE 6 7 6 4 Interpolation Mod n inea A ana aira riaa aina a ianiai 6 9 7 SPECIAL ADJUSTMENT FUNCTIONS 7 1 to 7 10 CAL Function block dia ram a ia aceite 7 1 7 2 Machine resonance suppression filter cccccccccssccessccessecessecesseccessescsssscesseccessecessecessecessssecseeeetseeeaees 7 1 7 3 Adaptive vibration suppression Control ooooonnonononaconnnnnonncnnonnnnonnnonnnnnonnnnnnnnnc nora nonnnornnn non na conan ronannonnnaos 7 3 TALLOW pass ltda tia 74 720 Gam Changi g UACh tidad tel icios 7 5 TO rN 0 0 BL cr 1 0 ep ba 7 5 Vio Function block Gia Kea ge 11 1 NPRN EN E EEEE SS GN AE 7 5 100 Parameter gerin E DO AA oka eee A ees 76 74 Gaimchan ging operations A do eee 7 8 8 INSPECTION 8 1 to 8 2 9 TROUBLESHOOTING 9 1 to 9 14 9 1 Trouble at Start Up nilo tdi lalalala 9 1 9 2 Alarms sand Warning ls IIA 9 4 9 3 Remedies dor alat mS iii ida ia riadas 9 6 9 4 Remedies for WarningS cccccscccsssceessceeessecessecesssccessecesecesseccessccessecsssecesecessecceseecssseceseceeseceesseeesasesas 9 13 10 OUTLINE DRAWINGS 10
245. suppress vibration at a stop 0 Invalid 1 Valid 0000 Refer to Name and function column Encoder cable selection 0 2 wire type when MR JCCBLOIM LI H is used 1 4 wire type when MR JC4CBL OM H is used 5 7 rv n aH Q 8 o 8 3 4 3 a a A g aS n S 3 a z sa 5 PARAMETERS Symbol Name and function Setting value range 21 OP3 Function selection 3 Command pulse selection 0000 Refer to Used to select the input form of the pulse train input signal Name Refer to Section 3 2 3 and function oJo 7 A 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 22 OP4 Function selection 4 0000 Refer to Used to select stop processing at the forward rotation stroke end Name LSPO reveres rotation stroke end LSND off Falda if unction Jolo si C How to make a stop when the forward rotation stroke end LSP O reveres rotation stroke end LSN D is valid 0 Sudden stop 1 Slow stop FFC Feed forward gain 0 Set the feed forward gain When the setting is 100 the droop pulses to during operation at constant speed are nearly zero However sudden 100 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 t
246. t servo motor and regenerative brake resistor on or near combustibles Otherwise a fire may cause When each unit has become faulty switch off the main base unit power side Continuous flow of a large current may cause 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 AN CAUTION Transport the produc
247. t the control circuit power supply cables The output terminals 2 The wiring of U V W is Correctly connect the output U V W of the drive disconnected or not connected terminals U V W of the drive unit and the input unit and the input terminals U terminals U V W of V W of the servo motor the servo motor are not connected FA 19 aA 190 Memory error 3 ROM memory fault Faulty parts in the interface unit or Change the interface unit or drive unit drive unit Checking method Alarm A 19 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables A 1A Servo motor Wrong combination of Wrong combination of drive unit and Use correct combination combination drive unit and servo servo motor connected error motor error 1 communication base unit properly between interface unit 2 Interface unit failure Change the interface unit and drive unit 3 Base unit failure Change the base unit FA 1D Base unit bus There is error in 1 Drive unit connection fault Connect the drive unit to the between interface unit and drive unit FA 1E Drive unit Drive unit came off 1 Drive unit connection fault Connect the drive unit to the mounting error the base unit after base unit properly initialization 2 Base unit failure Change the base unit 3 Faulty parts in drive unit Change the drive unit Checking method Alarm A 1E occurs if power is switched on after disconnect
248. tated 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 9 10 9 TROUBLESHOOTING Display qe i Name Definition Cause Action o la Meme stos case ct A 51 Overload 2 Machine collision or the like caused max 2 Install limit switches output current to flow 2 Wrong connection of servo motor Connect correctly successively for Drive unit s output terminals U V several seconds W do not match servo motor s input Servo motor locked terminals U V W 0 3s or more 3 Servo system is instable and Repeat acceleration During rotation hunting deceleration to execute auto 2 5s or more tuning Change auto tuning response setting Set auto tuning to OFF and make gain adjustment manually 4 Encoder faulty Change the servo motor m Checking method When the servo motor shaft is rotated with the servo off the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway rotations Refer to torque shortage caused by power capacity the function block supply voltage drop 2 Use servo motor which diagram in Section provides larger output A 52 Error excessive The difference between the model constant is too small deceleration time constant position and the 2 Torque limit value DRU parameter Increase the torque limit va
249. tatus indication block diagram ccccccccssscesssceessceessecessecesseceeseecesscecesseceesseceseecssasessseeesseeees App 1 Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference Note that the contents of the Servo Motor Instruction Manual are not included in 1 INTRODUCTION 2 INSTALLATION 3 CONNECTORS USED FOR SERVO MOTOR WIRING 4 INSPECTION 5 SPECIFICATIONS 6 CHARACTERISTICS 7 OUTLINE DIMENSION DRAWINGS 8 CALCULATION METHODS FOR DESIGNING ct B Y D Y E a Q g O D lt D D e D o 1 FUNCTIONS AND CONFIGURATION 1 FUNCTIONS AND CONFIGURATION 1 1 Overview The Mitsubishi general purpose AC servo MELSERVO J2M series is an AC servo which has realized wiring saving energy saving and space saving in addition to the high performance and high functions of the MELSERVO J2 Super series The MELSERVO J2M series consists of an interface unit abbreviated to the IFU to be connected with a positioning unit drive units abbreviated to the DRU for driving and controlling servo motors and a base unit abbreviated to the BU where these units are installed A torque limit is applied to the drive unit by the clamp circuit to protect the main circuit power transistors from overcurrent caused by abrupt acceleration deceleration or overload In addition the torque limit value can
250. th Status display data value and processing information Status display data value and processing information 112 118 Jia a Instantaneous torque rt nT nave EEEE Command Data No Description Frame a a ipti length Current value of each parameter The decimal equivalent of the data No value hexadecimal corresponds to the parameter number Current value of each parameter The decimal equivalent of the data No value hexadecimal corresponds to the parameter number 3 External I O signals Command 1 2 Command Data No Description Frame ipti NC CAE A ME Estel tall Extemalimputpinstatuses Cs JO N Estel ais Extemalimputpinstatuses Cos JO N me follo Extemaloutputpinstatuses ON miei fol Exteraloutputpinstatuses OT 13 11 13 COMMUNICATION FUNCTIONS 4 Alarm history Command 3 3 EE eee re length 3 3 1 0 1 Alarm number in alarm history most recent alarm 4 O O first alarminpast 4 O O second alarm inpast 4 O O third alarminpase 4 O O fourth alarminpast_ 4 O O fifth alarm in past 4 O O Alarm occurrence time in alarm history most recent alarm 4 lolo first alarminpast 4 O O second alarmin past 4 O O third alarminpase 4 O O fourthalarminpast 4 O O ffifthalarminpast_ 4 O O 5 Current alarm Command 0 2 3 5 C Data
251. the electromagnetic brake operates properly Refer to the Servo Motor Instruction Manual for specifications such as the power supply capacity and operation delay time of the electromagnetic brake Note the following when the servo motor equipped with electromagnetic brake is used 1 Using the MR Configurator servo configuration software make the electromagnetic brake interlock MBRO valid 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 RESO is on the base circuit is shut off When using the servo motor with a vertical shaft use the electromagnetic brake interlock MBRO 5 Switch off the servo on SONDO command after the servo motor has stopped 1 Connection diagram Interface unit Forced stop A or extension IO unit Servo motor or RA Forced stop B B1 2 Setting 1 Using the MR Configurator servo configuration software make the electromagnetic brake interlock MBRO valid 2 In DRU parameter No 33 electromagnetic brake sequence output set the delay time Tb from electromagnetic brake operation to base circuit shut off at a servo off time as in the timing chart in 3 in this section 3 43 3 SIGNALS AND WIRING 3 Timing charts a Servo on SOND command from c
252. the external output pins a Transmission Transmit command 1 2 and data No C 1 Command Data No DRU AAA e b Reply The slave station sends back the statuses of the output pins PEA SSS BS ee cee eee b1b0 Command of each bit is transmitted to the master station as hexadecimal date External output pin BUE CN4A 9 1 CN4A 10 CN4A 34 CN4A 35 CN4B 10 CN4B 34 CN4B 35 13 22 1 ON 0 OFF 13 COMMUNICATION FUNCTIONS 13 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 input signals are recognized as follows Among the external input signals forced stop EMG_D forward rotation stroke end LSPO and reverse rotation stroke end LSND cannot be disabled nterna input signals DD 1 Disabling enabling the external input signals DI external analog input signals and pulse train inputs with the exception of forced stop EMG_Q forward rotation stroke end LSPD and reverse rotation stroke end LSND Transmit the following communication commands a Disable ue laa IFU tito tool fo was AJO b Enable O E IFU mom mo was AY O 2 Disabling enabling the external output signals DO Transmit the following communication commands a Disable Command Data No Data aaron b Enable Command Data No Data os 13 23 13
253. the pulses per servo motor revolution set DO 2 pulse 1 LAR1 CN4A 25 in the DRU parameter No 27 Encoder output pulses of the corresponding Encoder B phase LB1 CN4A 49 slots are output in the differential line driver system pulse 1 LBR1 CN4A 24 In CCW rotation of the servo motor the encoder B phase pulse lags the Encoder Z phase LZ1 CN4A 48 encoder A phase pulse by a phase angle of 1 2 pulse 1 LZR1 CN4A 23 The relationships between rotation direction and phase difference of the A Encoder A phase and B phase pulses can be changed using DRU parameter No 54 Function selection 9 As LZO and LZRO the zero point signals of the encoders of the corresponding slots are output One pulse is output per servo motor pulse 2 Encoder B phase lse 2 y boy ac gies revolution The same signals as OPO are output in the differential line Encoder Z phase driver system pulse 2 Encoder pulse outputs for slot 1 Encoder A phase LA3 CN4A 44 Symbol pulse 3 LAR3 CN4A 19 Encoder A phase pulse 1 LA1 LAR1 Encoder B phase CN4A 43 Encoder B phase pulse 1 LB1 LBR1 CN4A 18 CN4A 42 Encoder pulse outputs for slot 2 CN4A 1 Encoder pulse outputs for slot 3 Encoder Z phase Signal Symbol pulse 4 Encoder A phase pulse 5 Encoder B phase Encoder pulse outputs for slot 4 pulse 5 Encoder Z phase pulse 5 Encoder A phase pulse 6 Encoder pulse outputs for slot 5 Encoder B phase pulse 6 Encoder Z phase pulse 6
254. tion FACA Setting value range For manufacturer setting e Do not change this value any means Eua oa ETE ee 0000 0000 OP6 Function selection 6 0000 Refer to Used to select the operation to be performed when the reset RESO Name switches on and function lol jojo column ae to be performed when the reset RES O switches on 0 Base drive circuit is shut off 1 Base drive circuit is not shut off For manufacturer setting 0000 Do not change this value any means 0000 OP9 Function selection 9 0000 e to Use to select the command pulse rotation direction encoder output pulse Name direction and encoder pulse output setting and function Ela ia aes motor rotation direction changing Changes the servo motor rotation direction for the input pulse train Servo motor rotation direction Set value At forward rotation At reverse rotation pulse input Note pulse input Note Note Refer to Section 3 1 5 Encoder pulse output phase changing Changes the phases of A B phase encoder pulses output Set value Encoder output pulse setting selection refer to DRU parameter No 27 0 Output pulse designation 1 Division ratio setting 5 10 N n H Q 8 o g 3 3 a p A A g 2 n 3 a z sa 5 PARAMETERS Symbol Name and function Setting value range Expansion DRU parameters 2 OPA Function selection A 0000 Refer to Used to select the position comman
255. to the servo motor power input terminal U V W directly Do not let a magnetic contactor etc intervene drive unit Servo Motor Do not connect AC power directly to the servo motor Otherwise a fault may occur The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in the specified direction Otherwise the forced stop and other protective circuits may not operate Interface unit Interface unit SG SG Control output Control output signal signal 3 Test run adjustment N CAUTION Before operation check the parameter settings Improper settings may cause some machines to perform unexpected operation The parameter settings must not be changed excessively Operation will be insatiable 4 Usage AN CAUTION Provide an forced stop circuit to ensure that operation can be stopped and power switched off immediately Any person who is involved in disassembly and repair should be fully competent to do the work Before resetting an alarm make sure that the run signal of the servo amplifier is off to prevent an accident A sudden restart is made if an alarm is reset with the run signal on Do not modify the equipment Use a noise filter etc to minimize the influence of electromagnetic interference which may be caused by electronic equipment used near MELSERVO J2M Burning or breaking each unit may cause a toxic gas Do not burn or brea
256. trol gain 2 ratio control gain 2 to speed control gain 2 64 2 Speed control gain 2 VICB Speed integral compensation o Used to set the ratio of the after changing speed changing ratio integral compensation to speed integral compensation Gain changing selection a Used to select the changing condition sed to set the changing condition values You can set the filter time constant for a gain change at changing 7 SPECIAL ADJUSTMENT FUNCTIONS 1 DRU 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 moment to servo motor inertia moment 2 GD2B DRU 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 DRU parameter No 34 3 Position control gain 2 changing ratio DRU parameter No 62 speed control gain 2 changing ratio DRU parameter No 63 speed integral compensation changing ratio DRU 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 t
257. ts correctly according to their weights Stacking in excess of the specified number of products is not allowed Do not carry the servo motor by the cables shaft or encoder Do not hold the front cover to transport each unit Each unit may drop Install the each unit in a load bearing place in accordance with the Instruction Manual Do not climb or stand on servo equipment Do not put heavy objects on equipment The servo amplifier controller and servo motor must be installed in the specified direction Leave specified clearances between the base unit and control enclosure walls or other equipment Do not install or operate the unit and servo motor which has been damaged or has any parts missing Provide adequate protection to prevent screws and other conductive matter oil and other combustible matter from entering each unit and servo motor Do not drop or strike each unit or servo motor Isolate from all impact loads When you keep or use it please fulfill the following environmental conditions Environment Conditions During 0 to 55 non freezing 0 to 40 non freezing Ambient operation 32 to 131 non freezing 32 to 104 non freezing temperature 20 to 65 non freezing 15 to 70 non freezing In storage E 4 to 149 non freezing 5 to 158 non freezing Ambient During operation 90 RH or less non condensing 80 RH or less non condensing humidity In storage 90 RH or less non condensing In
258. uction Manual instructions at a lower level than the above instructions for other functions and so on are classified into POINT After reading this Instruction Manual always keep it accessible to the operator 1 To prevent electric shock note the following Z WARNING Before wiring or inspection switch power off and wait for more than 15 minutes Then confirm the voltage is safe with voltage tester Otherwise you may get an electric shock Connect the base unit and servo motor to ground Any person who is involved in wiring and inspection should be fully competent to do the work Do not attempt to wire for each unit and the servo motor until they are installed Otherwise you can obtain the electric shock Operate the switches with dry hand to prevent an electric shock The cables should not be damaged stressed loaded or pinched Otherwise you may get an electric shock During power on or operation do not open the front cover of the servo amplifier You may get an electric shock Do not operate the servo amplifier with the front cover removed High voltage terminals and charging area are exposed and you may get an electric shock Except for wiring or periodic inspection do not remove the front cover even of the servo amplifier if the power is off The servo amplifier is charged and you may get an electric shock 2 To prevent fire note the following AN CAUTION Do not install the base uni
259. ulse Encoder data lt Current position gt lt Position at power loss gt Absolute encoder data pulse Absolute encoder data CYC Motor edge pulse value CYCO Motor edge pulse value 6476 0 CYC Command pulse value cyYcofCommand pulse value Number of motor rotations rew Number of motor rotations ABS 1639 ABSO 0 Convertto starting point by the following expressions Value of each motor edge pulse ABS X Encoder one revolution counts CYC CYCO Listing of transmission and receiver interface data between controller and amplifier Command pulse value 3 Click the Close button to close the absolute encoder data display window 14 11 14 ABSOLUTE POSITION DETECTION SYSTEM MEMO 14 12 APPENDIX App 1 Status indication block diagram uonejnojeo y Jajuno9 say uol Isod UON OASA U0 UIM ones JusWOW erou POT uonisod yuan Jajuno9 say yBIH uogsod UOIN OAeL MoT jenuaseyiq U0 UUM Jopogua uonisod aynjosqy y JO OW OMSS w A WMd ebejjoA sng JO U09 queuing yoeqp pasds 0JJUO9 pasads paads JOJOW OAIBS Poy 189d uonejnojeo anjea aajoeyy ones peo yeed enbo peo sanoey7 anb o Bunn990 A snosuejue sul uojoes Bulun olny 01 U09 esind y9eqpaa SAejnung UONISOq oe esind doolq
260. um total of 3000r min equivalent inertia moments Also find the sum total of permissible load inertia moments of the drive units installed on the same base unit Maximum total of 3000r min equivalent inertia moments lt Sum total of permissible load inertia moments of drive units x 1 42 Regenerative brake option is unnecessary Maximum total of 3000r min equivalent inertia moments gt Sum total of permissible load inertia moments of drive units x 1 42 Regenerative brake option is necessary 3 Confirmation example In the following 8 axis system the total 3000r min equivalent inertia moment is maximum 9 75kg cm at the timing of 7 The permissible inertia moment of this 8 axis system is 11 36 kg cm as indicated by the following expression 8 laxes x1 42 kg cm 11 36 kg cm Hence Maximum total of 3000r min equivalent load inertia moments 9 75 lt 11 36 kg cm The regenerative brake option is unnecessary Speed First slot HA Second slot nN E N O i Third slot i a LT Operation pattern Fourth slot lt e Fifth slot A l Sixth slot a ae Seventh slot Eighth slot Servo Load Inertia Total Running 3000r min Motor Moment inertia speed equivalent Inertia Servo motor moment Total Inertia Moment shaft equivalent Moment kg cm kg cm kg cm r min kg cm First slot HC KFS13 Second slot HC KFS23 Third slot HC KFS43
261. uppression control 0000 Refer to Used to selection the low pass filter and adaptive vibration suppression Name control Refer to Chapter 7 and function 0 column Low pass filter selection 0 Valid Automatic adjustment Invalid VG2 setting x10 When you choose valid 2n 1 GD2 settingx0 1 Hz bandwidth filter is set automatically Adaptive vibration suppression control selection Choosing valid or held in adaptive vibration suppression control selection makes the machine resonance control filter 1 DRU parameter No 58 invalid 0 Invalid 1 Valid Machine resonance frequency is always detected and the filter is generated in response to resonance to suppress machine vibration Held The characteristics of the filter generated so far are held and detection of machine resonance is stopped ____________ Adaptive vibration suppression control sensitivity selection Used to set the sensitivity of machine resonance detection 0 Normal 1 Large sensitivity GD2B Ratio of load inertia moment to servo motor inertia moment 2 x0 1 Used to set the ratio of load inertia moment to servo motor inertia moment times when gain changing is valid 3000 Made valid when auto tuning is invalid PG2B Position control gain 2 changing ratio 7 Used to set the ratio of changing the position control gain 2 when gain changing is valid Expansion DRU parameters 2 Made valid when auto tuning is invalid VG2
262. urely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation 2 Regenerative alarm If operation is repeated by switching control circuit power off then on to reset the regenerative A 30 alarm after its occurrence the external regenerative brake resistor will generate heat resulting in an accident 3 Instantaneous power failure Undervoltage A 10 occurs when the input power is in either of the following statuses A power failure of the control circuit power supply continues for 30ms or longer and the control circuit is not completely off The bus voltage dropped to 200VDC or less 4 Incremental When an alarm occurs the home position is lost When resuming operation after deactivating the alarm make a home position return 3 SIGNALS AND WIRING 3 7 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the interface unit signals but also by an external forced stop EMG_ KO Contacts must be open when servo on SON is off when an d duri trouble ALM_ 0 is present and Peres ce when an electromagnetic brake EMG_D interlock MBRO To Servo motor Circuit must be RA EMG_O o o dlo lt O 24VDC Electromagnetic brake The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking Before performing the operation be sure to confirm that
263. urn on the reset RESD 4 Use DRU parameter No 16 to clear the alarm history 5 Pressing SET button 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 button to move to the next history 4 15 4 OPERATION AND DISPLAY 4 3 5 Drive unit parameter mode The parameter setting of the drive unit is the same as that of the interface unit Refer to Section 4 2 5 To use the expansion parameters change the setting of DRU parameter No 19 parameter write disable Refer to section 5 1 1 4 3 6 Drive unit external input signal display The ON OFF states of the digital input 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 ri rt nt nt EOS External input signal display screen ribo 2 Display definition Corresponds to the signals of the seven segment LED Slot number TL10 Pco CRO RESO SONO LSNO LSPO Always lit CM20 CM10 CDPO Lit ON Extinguished OFF The 7 segment LED shown above indicates ON OFF Each segment at top indicates the input signal and each segment at bottom indicates the output signal The following table indicates the signal names Signal Name List Signal Name Signal Name LSPO
264. ut range in the command pulse unit that was used before electronic gear calculation For example when you want to set 100 Hm 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 100Lyuml 107 131072 pulse rev x 252 10 10 mm x 107 16384 Position loop gain 1 Used to set the gain of position loop Increase the gain to improve trackability in response to the position command When auto turning mode 1 2 is selected the result of auto turning is You can use DRU parameter No 55 to choose the primary delay or linear E automatically used 8 Z 7 PST Position command acceleration deceleration time constant 3 ms 0 E position smoothing to Used to set the time constant of a low pass filter in response to the position 20000 z command o a ES aa acceleration deceleration control system When you choose linear acceleration deceleration the setting range is O to 10ms Setting of longer than 10ms is recognized as 10ms Example When a command is given from a synchronizing detector synchronous operation can be started smoothly if started during line operation Synchronizing detector 7 Start gt Servo motor Servo amplifier Without time constant setting gt i
265. ve command pulses Command pulse frequency Effective load ratio Peak load ratio Instantaneous torque Within one revolution position Low Within one revolution position High ABS counter Load inertia moment ratio a C Feedback pulses from the servo motor encoder are counted and displayed The value in excess of 99999 is counted bus since the interface 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 X0 1r min The number of droop pulses 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 interface 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
266. vo on Disconnect SONO SG to shut off the base circuit and coast the servo motor servo off RES 1 RES 1 Reset signal for slot 1 RES 2 RES 2 Reset signal for slot 2 RES 3 RES 3 Reset signal for slot 3 RES 4 RES 4 Reset signal for slot 4 RES 5 RES 5 Reset signal for slot 5 RES6 RES 6 Reset signal for slot 6 Reset 7 RES 7 RES 7 Reset signal for slot 7 Reset 8 RES 8 N1B 4 RES 8 Reset signal for slot 8 Disconnect RESO SG for more than 50ms to reset the alarm Some alarms cannot be deactivated by the reset RESO Refer to Section 9 2 Shorting RESO SG in an alarm free status shuts off the base circuit The base circuit is not shut off when O 1 O DO is set in DRU parameter No 51 Function selection 6 3 SIGNALS AND WIRING Connector fs eee pin No Functions Applications I O division LSP 1 Forward rotation stroke end signal for slot 1 DI 1 stroke end 1 LSP 2 Forward rotation stroke end signal for slot 2 Forward rotation LSP 2 CN5 3 LSP 3 Forward rotation stroke end signal for slot 3 stroke end 2 LSP 4 Forward rotation stroke end signal for slot 4 LSP 5 Forward rotation stroke end signal for slot 5 stroke end 3 LSP 6 Forward rotation stroke end signal for slot 6 Forward rotation LSP 4 CN5 7 LSP 7 Forward rotation stroke end signal for slot 7 ea LSP 8 Forward rotation stroke end signal for slot 8 Forward rotation LSP 5 LSN 1 Reverse rotation stroke end signal for slot 1 o eee LSN 2 Reverse rotati
267. y 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 loop gain 2 Set this parameter when vibration occurs on machines of low rigidity or m n E Q 8 o g 3 3 a 2 A 2 g 2 n g 3 a z sa large backlash Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 and interpolation mode is selected the result of auto tuning is automatically used Speed integral compensation Used to set the integral time constant of the speed loop Lower 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 A 00 of auto tuning is automatically used Yu co co 00 o Speed differential compensation Used to set the differential compensation Made valid when the proportion control PCO is switched on For manufacturer setting Do not change this value any means 0000 Input signal selection 1 0003 Refer to Used to set the clear CRD ofo 3 E Clear CRD selection 0 Droop pulses are cleared on the leading edge 1 While on droop pulses are always cleared Name and function column 5 PARAMETERS AS Name and func

Mitsubishi Electronics MR-J2M-P8A Car Amplifier User Manual

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