Instruction/ maintenance manual of the product MR-J2M-P8A Mitsubishi Electronics
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General-Purpose AC Servo MODEL MR-J2M-P8A MR-J2M- DU MR-J2M-BU SERVO AMPLIFIER INSTRUCTION MANUAL General-Purpose Interface Compatible J2M Series E.
A - 1 Safety Instructions (Always read these instru ctio ns before using the equipment.) Do not attempt to install, operate , maintain or inspec t the units until you have read through this Instruction Manual, Installation Guide, Servo Motor Instruct ion Manual and appended documents carefully and can use the equipment properly.
A - 2 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 15 minu tes. Then, confirm the voltage is safe with voltage tester . Otherwise, you may get an electr ic shock. Connect the base unit and servo motor to ground.
A - 3 4. Additional instructions The following instructions should also be fu lly note d. Incorrect handling may cause a fault, injur y, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights.
A - 4 (2) Wiring CAUTION Wire the equipment correctly and securely . O therwise, the servo motor may misoperate . Do not install a power capacitor, surge absorber or r adio noise filter (FR-BIF option) between the servo motor and drive unit. Connect the output terminals (U, V, W) correctly.
A - 5 (4) Usage CAUTION Provide an forced stop circuit to ensure t hat 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 signa l of the servo amplifier is off to prevent an accident.
A - 6 (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the drive uni t will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electr olytic capacitor every 1 0 years when used in general environment.
A - 7 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.
A - 8 (3) Environment Operate MELSERVO-J2M at or above the contamin ation level 2 set forth in IEC60664-1 For this purpose, install MELSERVO-J2M in a control box whic h is protected against water, oil, carbon, dust, dirt, etc.
A - 9 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 wh ich comply with the standard model. Interface unit :MR-J2M-P8A Drive unit :MR-J2M- DU Base unit :MR-J2M-BU Servo motor :HC-KFS HC-MFS HC-UFS (2) Installation Install a fan of 100CFM (2.
A - 10 <<About the manuals>> This Instruction Manual and the MELSERVO Servo Mo tor Instruction Manual ar e required if you use MELSERVO-J2M for the first time. Always purch ase them and use the MELSERVO-J2M safely. Also read the manual of the servo system controller.
1 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-10 1.1 Over view ................................................................................................................... ................................ 1- 1 1.2 Function bl ock diag ram .
2 3.7 Servo motor with el ectromagneti c bra ke ..................................................................................... ........ 3-43 3.8 Gro unding.........................................................................................
3 6.2.2 Auto tuning mo de operatio n ............................................................................................... ............. 6- 4 6.2.3 Adjustmen t proced ure by auto tuning .......................................................
4 12.1.1 Regenerative brake op tions .............................................................................................. ........... 12- 1 12.1.2 Cables an d conne ctors ......................................................................
5 14. ABSOLUTE POSITION DETECT ION SYSTEM 14- 1 to 14-12 14.1 Out line ................................................................................................................... ............................... 14- 1 14.1.1 Feature s .........
6 Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional ME LSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in this Instruction Manual.
1 - 1 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 addi tion to the high performance and high functions of the MELSERVO-J2-Super series.
1 - 2 1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram W RS-232C D/A NFB MC W V U L 11 L 21 L 1 L 2 L 3 CNP3 CNP1B P N C CNP1A U V M CN1A CN1B CN3 CNP2 CN2 CNP2 CN2 W U V M CNP2 CN2 FR-BAL CN.
1 - 3 1. FUNCTIONS AND CONFIGURATION 1.3 Unit standard specifications (1) Base unit Model MR-J2M-BU4 MR-J 2M-BU6 MR-J2M-BU8 Number of slots 4 slots 6 slots 8 slots Voltage/f requency 3-phase 200 t o 2.
1 - 4 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) Function Description Reference High-r esolut ion encod er High-r esolut ion encod er of 13107 2 pulses /rev is used as a serv o motor enc oder.
1 - 5 1. FUNCTIONS AND CONFIGURATION (5) Option unit Fun cti on Des cri pti on Reference Absolute position detec tion system Merely setting a home position once makes home position return unnecessary at every power-on. Battery unit M R-J2M-BT (sho rtly correspo ndence schedule ) is necessary.
1 - 6 1. FUNCTIONS AND CONFIGURATION (3) Base unit (a) Rating plate MITSUBISH I MADE IN JA PAN MR-J2M-BU4 3PH 200-230 INPUT : SERIAL: 14A 50/60Hz N87B95046 BC336U246 MODEL MITSUBISHI ELECTRIC PASSED M.
1 - 7 1. FUNCTIONS AND CONFIGURATION 1.7 Parts identification (1) Drive unit Statu s indi cator LE D Indicates the sta tus of the drive unit. Blinki ng gre en: Ser vo off st atus Steady green: Servo o.
1 - 8 1. FUNCTIONS AND CONFIGURATION (3) Base unit The following shows the MR-J2M-BU4. CNP1B Control circuit power input connector CNP1 A Regene rative brake option connecto r CNP3 Main circuit power .
1 - 9 1. FUNCTIONS AND CONFIGURATION 1.8 Servo system with auxiliary equipment WARNING To prevent an e lectric shock, always c onnect the protective ear th (PE) terminal (terminal marked ) of the base unit to the protective ear th (PE) of the contro l box.
1 - 10 1. FUNCTIONS AND CONFIGURATION MEMO.
2 - 1 2. INSTALLATION AND START UP 2. INSTALLATION AND START UP CAUTION Stacking in excess of the limited number of products is no t allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire.
2 - 2 2. INSTALLATION AND START UP 2.2 Installation direction and cleara nces CAUTION The equipment must be installed in the specified direction. Otherwise, a fau lt may occur. Leave specified clearances between each unit and control box inside walls or other equipment.
2 - 3 2. INSTALLATION AND START UP (3) Others When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that MELSERVO-J2M is not affected. Install MELSERVO-J2M on a perpendicular wa ll in the correct vertical direction.
2 - 4 2. INSTALLATION AND START UP 2.5 Mounting method (1) Base unit As shown below, mount the base unit on the wa ll of a control box or like with M5 screws. Wall (2) Interface unit/drive unit (MR-J2M-40DU or less) The following example gives installation of the drive unit to the base unit.
2 - 5 2. INSTALLATION AND START UP 3) 3) Sectional view Wall 3) Tighten the M4 screw supplied for the ba se uni t to fasten the drive unit to the base unit. POINT Securely tighten the drive unit fixing screw. Sectional view Wall (3) Drive unit (MR-J2M-70DU) When using the MR-J2M-70DU, install it on two slot s of the base unit.
2 - 6 2. INSTALLATION AND START UP 2.6 When switching power on for the first time Before starting operation, check the following: (1) Wiring (a) Check that the control circuit power cable, ma in circuit power cable an d servo motor power cable are fabricated properly.
2 - 7 2. INSTALLATION AND START UP 2.7 Start up WARNING Do not operate the switches with we t hands. You may get an electric shock. Do not operate the controller with the front cover remo ved. High-voltage terminals and charging area exposed and you may ge t an electric shock.
2 - 8 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 sy stem, fir st power-on results in th e absolute position lost (A.
2 - 9 2. INSTALLATION AND START UP (4) Slot number confirmation Confirm the slot number in the interface unit display section of the installed drive unit.
2 - 10 2. INSTALLATION AND START UP (8) Stop In any of the following statuses, the servo amplifie r interrupts and stops the operation of the servo motor: Refer to Section 3.
3 - 1 3. SIGNALS AND WIRING 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, make sure tha t the voltage is safe in the tester more than 10 minutes after power-off. Otherwise, you may get an electric shock.
3 - 2 3. SIGNALS AND WIRING 3.1 Control signal line connection example POINT Refer to Section 3.4 for connection of the power suppl y line and t o Section 3.
3 - 3 3. SIGNALS AND WIRING LSP LSN LSP LSN SG MR-J2M -BT MR-J2MBTCBL M CN5 CN5 11 12 13 14 15 16 17 18 4M O 1 (Note 5)CN3 SD 14 MO2 7M O 3 11 LG A A A CON3A CON4 CN4A CN4B MR-J2M- P8A CN3 CON3B CON3H 8 1 2 3 4 5 6 7 10 (Note 9) MR Configurator (servo configuration software) Personal computer Communication cable (Note 12) Monitor output Max.
3 - 4 3. SIGNALS AND WIRING Note 1. To prevent an elect ric shock, alwa ys connec t the protective earth (PE ) terminal (te rminal marked ) of th e base uni t to the protective earth (PE) of the co ntrol box. 2. Connect the diode in the corre ct direction.
3 - 5 3. SIGNALS AND WIRING 3.2 I/O signals of interface unit 3.2.1 Connectors and signal arrangeme nts POINT The connector pin-o uts shown above are viewe d from the cable conn ector wiring section side.
3 - 6 3. SIGNALS AND WIRING 3.2.2 Signal explanations For the I/O interfaces (symbols in I/O colu mn in t he table), refer to Section 3.2.5. The pin No.s in the connector pin No. co lumn are those in the initial status. (1) Input signals Signal Symbol Connector pin No.
3 - 7 3. SIGNALS AND WIRING Signal Symbol Connector pin No. Functions/Applications I/O division Forward rotation stroke end 1 LSP 1 CN5-1 Forward rotation stroke end 2 LSP 2 CN5-3 Forward rotation str.
3 - 8 3. SIGNALS AND WIRING Signal Symbol Connector pin No. Functions/Applications I/O division Clear 1 CR 1 CN1A-12 Clear 2 CR 2 CN1A-34 Clear 3 CR 3 CN1A-7 Clear 4 CR 4 CN1A-29 Clear 5 CR 5 CN1B-12 .
3 - 9 3. SIGNALS AND WIRING (2) Output signals Signal Symbol Connector pin No. Functions/Applications I/O division Trouble A ALM_A CN1A-27 Trouble B ALM_B CN1B-27 ALM_A: Alarm signal for slot 1 to 4 A.
3 - 10 3. SIGNALS AND WIRING (3) Communication POINT Refer to Chapter 13 for the communication function. Signal Symbol Connector pin No. Functions/Applications RS-422 I/F SDP SDN RDP RDN CN3-9 CN3-19 CN3-5 CN3-15 RS-422 and RS-232C functions ca nnot be used together.
3 - 11 3. SIGNALS AND WIRING 3.2.3 Detailed description of the signal s (1) Pulse train inpu t (a) Input pulse waveform selection Encoder pulses may be input in any of three differe nt forms, for which positive or negative logic can be chosen. Set the command pulse train form in DRU parameter No.
3 - 12 3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collector system Connect as shown below: SD OPC 24VDC Servo a mplifie r NP PP Approx. 1.2k Approx. 1.2k The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (DRU parame ter No.
3 - 13 3. SIGNALS AND WIRING 2) Differential line driver system Connect as shown below: PP NP PG NG SD Servo am plifi er The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (DRU parameter No.
3 - 14 3. SIGNALS AND WIRING (2) In-position (INP ) 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). INP -SG may remain connected when low-speed operation is performed with a large valu e set as the in-position range.
3 - 15 3. SIGNALS AND WIRING 3.2.4 Internal connection diagram SG SDN RDP RDN TXD 29 4 1 26 37 12 10 34 9 32 7 31 5 SON CR RES SG VIN 36 38 13 39 14 44 19 45 20 42 17 43 18 40 15 41 16 PG PP NG NP SD .
3 - 16 3. SIGNALS AND WIRING 3.2.5 Interface (1) Common line The following diagram shows the power supply and its common line. PG NG MR OPC SD SG LG SD SG VIN 24VDC DI-1 RA SDP SDN RDP RDN LG TXD RXD RS-232C MRR LG SD M E LG SD SG EM1 DI-1 RA VIN MBR RS-422 24VDC Interface unit (Note) Analog monitor output INP , etc.
3 - 17 3. SIGNALS AND WIRING (2) Detailed description of the in terfaces This section gives the details of the I/O signal interfac es (refer to I/O Division in the table) indicated in Section s 3.2.2. Refer to this section and connect the in terfaces with the external equipment.
3 - 18 3. SIGNALS AND WIRING (c) Pulse train input interface DI-2 Give a pulse train signal in an open colle ctor or differential line driver system. 1) Open collector system OPC SD 24VDC Interface unit Max. in put puls e freque ncy 200 kpps Approx. 1.
3 - 19 3. SIGNALS AND WIRING (d) Encoder pulse output DO-2 1) Open collector system Max. intake current 35mA LG SD LG SD Interface unit Interface unit OP OP Photocoupler 5 to 24VD C 2) Differential line driver system Max.
3 - 20 3. SIGNALS AND WIRING 3.3 Signal and wiring for extension IO unit 3.3.1 Connection example POINT The pins without symbols can be assigned an y devices using the MR Configurator (ser vo configurat ion software).
3 - 21 3. SIGNALS AND WIRING RA8 RA10 RA7 9 10 34 35 MR-J2M-D01 RA9 50 LA5 LG 25 LAR5 49 LB5 24 LBR5 48 LZ5 23 LZR5 47 LA6 22 LAR6 46 LB6 21 LBR6 45 LZ6 20 LZR6 44 LA7 19 LAR7 43 LB7 18 LBR7 42 LZ7 17.
3 - 22 3. SIGNALS AND WIRING 3.3.2 Connectors and signal configuration s (1) Signal configurations POINT The pin configurat ions of the connectors ar e as viewed from th e cable connector wiring section. The pins without symbols can be assigned an y devices using the MR Configurator (ser vo configurat ion software).
3 - 23 3. SIGNALS AND WIRING 3.3.3 Signal explanations For the IO interfaces (system in I/O colu mn in the table), refer to section 3.2.5. (1) Input signal Signal Symbol Connector pin No. Functions/Applications I/O division CN4A-1 CN4A-2 CN4A-3 CN4A-4 No signals are factory-assigned to these pins.
3 - 24 3. SIGNALS AND WIRING Signal Symbol Connector pin No. Functions/Applications I/O division LA1 CN4A-50 DO-2 Encoder A-phase pulse 1 LAR1 CN4A-25 LB1 CN4A-49 Encoder B-phase pulse 1 LBR1 CN4A-24 .
3 - 25 3. SIGNALS AND WIRING (3) Power supply Signal Symbol Connector pin No. Functions/Applications Power input for digital interface VIN CN4A-11 CN4A-36 CN4B-11 CN4B-36 Driver power input terminal for digital interface. Used to input 24VDC (200mA or more ) for input interface.
3 - 26 3. SIGNALS AND WIRING 3.3.4 Device explanations (1) Input device Using the MR Configurator (servo configuration so ftware), you can assign the devices given in this section to the pins of connectors CN4A an d CN4B of the MR-J2M-D01 extension IO unit .
3 - 27 3. SIGNALS AND WIRING Device name Symbol Functions/Applications Electronic gear selection 11 CM11 Electronic gear selection 12 CM12 Electronic gear selection 13 CM13 Electronic gear selection 1.
3 - 28 3. SIGNALS AND WIRING (2) Output device Device name Symbol Functions/Applications Ready 1 RD1 Ready 2 RD2 Ready 3 RD3 Ready 4 RD4 Ready 5 RD5 Ready 6 RD6 Ready 7 RD7 Ready 8 RD8 RD1: Ready devi.
3 - 29 3. SIGNALS AND WIRING Device name Symbol Functions/Applications Warning 1 WNG1 Warning 2 WNG2 Warning 3 WNG3 Warning 4 WNG4 Warning 5 WNG5 Warning 6 WNG6 Warning 7 WNG7 Warning 8 WNG8 WNG1: War.
3 - 30 3. SIGNALS AND WIRING 3.3.5 Detailed description of the device (1) Electronic gear switching The combination of CM1 -SG and CM2 -SG gives you a choice of four different electronic gear numerators set in the DRU parameters.
3 - 31 3. SIGNALS AND WIRING 3.3.6 Device assignment method POINT When using the device sett ing, preset "000E" in IFU paramet er No. 19. (1) How to open the setting screen Click " Parameters " on the menu bar and click " Device setting " in the menu.
3 - 32 3. SIGNALS AND WIRING (2) Screen explanation (a) DIDO device setting window screen This is the device assign ment screen of the interface unit/option unit. In Dev. selection, choose t he IFU (interface unit) or D01 (extension IO unit) . Making selection displays the pin assignment status per unit.
3 - 33 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 de vice slot selection. The functions displayed below Input device functi on and Output device function are assignable.
3 - 34 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. a) b) c) d) e) The assigned functions are indicated by .
3 - 35 3. SIGNALS AND WIRING 3.4 Signals and wiring for base unit CAUTION 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_ ) to switch power off.
3 - 36 3. SIGNALS AND WIRING (2) For 1-phase 200 to 230 VAC power supply EMG_A EMG_B SG 20 8 MC OFF ON MC SK MELSERVO-J2M CNP3 CNP1B RA2 RA1 MC 1 2 L 11 L 21 1 2 L 1 L 2 3 L 3 VIN 27 26 CN5 CN1A CN1B .
3 - 37 3. SIGNALS AND WIRING 3.4.2 Connectors and signal configuration s POINT The pin configurat ions of the connectors ar e as viewed from th e cable connector wiring section. 1 3 2 2 3 1 N P C L 3 L 2 L 1 CNP3 1 2 3 L 11 L 21 CNP1A Base unit (X type ) (Y type ) The connector frames are connected to the PE (earth) terminal of the base unit.
3 - 38 3. SIGNALS AND WIRING 3.4.3 Terminals Refer to Section 10.2 for the layouts and signal configuratio ns of the terminal blocks. Connector Pin No.
3 - 39 3. SIGNALS AND WIRING (3) Forced stop CAUTION Install an forced stop circuit externa lly to ensure that operation can be s topped and power shut off immediately. Make up a circuit which shuts off main circuit power as soon as EMG_ -SG are opened at a forced stop.
3 - 40 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 .
3 - 41 3. SIGNALS AND WIRING 3.5.3 I/O terminals (1) Drive unit POINT The pin configurat ions of the connectors ar e as viewed from th e cable connector wiring section.
3 - 42 3. SIGNALS AND WIRING 3.6 Alarm occurrence timing chart CAUTION 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 of f Servo-on (SON ) and power o ff the main circuit.
3 - 43 3. SIGNALS AND WIRING 3.7 Servo motor with electromagnetic brake CAUTION Configure the electromagnetic brake operation ci rcuit so that it is activated not only by the interface un it signals but also by an e xternal forced stop (EMG_ ).
3 - 44 3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on (SON ) command (from controller) ON/OFF Tb [ms] after the servo-on (SON ) 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.
3 - 45 3. SIGNALS AND WIRING (d) Both main and control circuit power supplies off (10ms) ON OFF ON Servo motor speed Base circuit Electromagnetic brake interlock(MBR ) Invalid (ON) Valid(OFF) Trouble .
3 - 46 3. SIGNALS AND WIRING 3.8 Grounding WARNING Ground the base unit and servo motor securely. To prevent an electric shock, always connec t the protective earth ( PE) terminal of the base unit with the protective earth (PE) of the control box. The base unit switches the power tran sistor on-off to supply power to the servo motor.
3 - 47 3. SIGNALS AND WIRING 3.9 Instructions for the 3M connector When fabricating an encoder cable or the like, secure ly connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.
3 - 48 3. SIGNALS AND WIRING MEMO.
4 - 1 4. OPERATION AND DISPLAY 4. OPERATION AND DISPLAY On the interface unit display (5-digit, seven-segment di splay), 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 - 2 4. OPERATION AND DISPLAY 4.1.1 Normal indication The normal indication shows the interface unit status or the slot number and current status (during servo ON or during servo OFF) of the corresponding driv e unit to allow you to diagnose faults at alarm occurrence.
4 - 3 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 uni t is represented by the following indication. The following indication example assum es that an encoder error (A.
4 - 4 4. OPERATION AND DISPLAY 4.1.3 If test operation POINT Test operation can be performed using the MR Co nfig ura tor (servo configuration software). (1) When test operation is being performed Test operation being performed is indicated as follows.
4 - 5 4. OPERATION AND DI SPLAY 4.2 Interface unit display 4.2.1 Display flowchart of interface unit Use the display (5-digit, 7-segment LED) on the fr ont panel of the interface unit for status display, parameter setting, etc. Set the pa rameters before operation, diagnose an alarm, confirm external sequences, and/or confir m the operation status.
4 - 6 4. OPERATION AND DI SPLAY 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 di splay data as desired. When the required data is selected, the corresponding symbol appears.
4 - 7 4. OPERATION AND DI SPLAY 4.2.3 Diagnostic mode of interface unit Name Display Description Interface unit external input signal 2) 1) Shows the ON/OFF states of the ex ternal input signals.
4 - 8 4. OPERATION AND DI SPLAY 4.2.4 Alarm mode of interface unit The current alarm, past alarm history and paramete r error are displayed. The lower 2 digits on the display indicate the alarm number that has occu rred or the parameter num ber in error.
4 - 9 4. OPERATION AND DI SPLAY 4.2.5 Interface unit parameter mode The parameters whose abbreviations are marked* ar e made valid by changing the setting and then switching power off once and switching it on again.
4 - 10 4. OPERATION AND DI SPLAY 4.2.6 Interface unit output signal (DO) forced output POINT This function is availabl e during test operation. The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, etc.
4 - 11 4. OPERATION AND DI SPLAY 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 pa rameters before operation, diagnose an alarm, confirm external sequences, and/or confir m the operation status.
4 - 12 4. OPERATION AND DI SPLAY 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 da ta is selected, the corresponding symbol appears.
4 - 13 4. OPERATION AND DI SPLAY (2) Drive unit status displa y list The following table lists the serv o statuses that may be shown: Refer to Appendix 2 for the measurement point. Name Symbol Unit Description Display range Cumulative feedback pulses @.
4 - 14 4. OPERATION AND DI SPLAY 4.3.3 Diagnostic mode of drive unit Name (Note) Display Description Drive unit ex ternal input signal Refer to section 4.3.6. Shows the ON/OFF statuses of th e external input signals. Each signal corresponds to the function assignment.
4 - 15 4. OPERATION AND DI SPLAY 4.3.4 Alarm mode of drive unit Name (Note) Display Description @ Indicates no occurrence of an alarm in the drive unit. Current alarm @ Indicates the occurrence of overvoltage (A.33) in the drive unit. Flickers at occurrence of the alarm.
4 - 16 4. OPERATION AND DI SPLAY 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).
4 - 17 4. OPERATION AND DI SPLAY 4.3.7 Drive unit external output signal display The ON/OFF states of th e digital output sign als connected to the ser vo amplifier can be c onfirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen.
4 - 18 4. OPERATION AND DI SPLAY 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.
5 - 1 5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parame ter values extremely as it will make operation instable. 5.1 DRU parameter list 5.1.1 DRU parameter write inhibit POINT After setting the DRU parameter No. 19 value, switch power off, th en on to make that setting valid.
5 - 2 5. PARAMETERS 5.1.2 Lists POINT For any DRU parameter wh ose symbol is precede d by *, set the DRU parameter value and switch power off once, then switch it on again t o make that DRU parameter setting valid.
5 - 3 5. PARAMETERS No. Symbol Name Initial value Unit Customer setting 20 *OP2 Function selection 2 0000 21 *OP3 Function selection 3 (Com mand pulse selection) 0000 22 *OP4 Function selection 4 0000.
5 - 4 5. PARAMETERS No. Symbol Name Initial value Unit Customer setting 50 For manufacturer setting 0000 51 *OP6 Function selection 6 0000 52 0000 53 For manufacturer setting 0000 54 *OP9 Function sel.
5 - 5 5. PARAMETERS (2) Details list Class No. Symbol Name and function Initial value Unit Setting range 0 For manufacturer setting Do not change t his value any me ans. 0000 1 *OP1 Function selection 1 Used to select the absolute position detection system.
5 - 6 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 3 CMX Electro nic gear numerator (Command pulse multipl ying factor numera tor) Used to set the electronic gear numerator value. For the setting, refe r to Section 5.
5 - 7 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 8 100 9 500 10 1000 11 0 12 0 13 0 14 0 15 For manufacturer setting Do not change t his value any me ans.
5 - 8 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 21 *OP3 Function selection 3 (Command pulse selection) Used to select the input form of the pulse train input sig nal.
5 - 9 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 28 TL1 Internal torque limit 1 Set this parameter to limit servo moto r torque on the a ssumption that the maximum torque is 100 [%]. When 0 is set, torque is not produced.
5 - 10 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 43 0000 44 0000 45 0000 46 0000 47 0000 48 0000 49 0000 50 For manufacturer setting Do not change this value any me ans. 0000 51 *OP6 Function selection 6 Used to select the operation to be performed wh en the reset (RES ) switches on.
5 - 11 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 55 *OPA Function selection A Used to select the position command acceleration/deceleration time constant (DRU paramete r No.
5 - 12 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 60 LPF Low-p ass filter/adaptive vibration su ppression control Used to selection the low-pass filter and adaptive vibration suppression control. (Refer to Chapter 7.
5 - 13 5. PARAMETERS Class No. Symbol Name and function Initial value Unit Setting range 66 CDS Gain changing condition Used to set the valu e of gain changing condition (comm and frequency, droop pulses, servo motor speed) selected in parameter No. 65 (Gain chang ing selection).
5 - 14 5. PARAMETERS 5.2 Interface unit 5.2.1 IFU parameter write inhibit POINT Use the unit operation section pushbutton switches or M R C on fi gur ato r (servo configuration software) to set the IFU parameters of the interface unit.
5 - 15 5. PARAMETERS (1) Item list Classifi- cation No. Sym bol Name Init ial Value Unit Custome r setting 0 *BPS Serial communication function selection, alarm history clear 0000 1 SIC Regenerative b.
5 - 16 5. PARAMETERS (2) Details list Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 0 *BPS Serial communication function selection, alarm history clear Used to select the serial communica tion baudrate function selection, select various communication co nditions, and clear the alarm history.
5 - 17 5. PARAMETERS Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 3 MD1 Analog monitor 1 output Choose the signal to be output to an alog monitor 1. 0 0 Analog monitor 1 selectio n 0: Servo motor speed ( 4V/max. Servo motor speed) 1: Torque ( 4V/max.
5 - 18 5. PARAMETERS Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 5 *MD3 Analog monitor 3 output Choose the signal to be output to an alog monitor 3. 0 0 Analog monitor 3 selectio n 0: Servo motor speed ( 4V/max. Servo motor speed) 1: Torque ( 4V/max.
5 - 19 5. PARAMETERS Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 10 * INS Interface unit serial communication Choose the serial com munication station number of the in terface unit. When making sele ction, avoid setting the statio n number used by any other unit.
5 - 20 5. PARAMETERS Classifi- cation No. Symbo l Name and Function Initial Value Unit Setting Range 16 *SL6 6 slot serial communicati on station number selection Choose the station num ber of the drive unit connected to th e sixth slot of the base unit.
5 - 21 5. PARAMETERS 5.3 Detailed description 5.3.1 Electronic gear CAUTION Wrong setting can lead to unexpected fast rotation, causing injury. POINT The guideline of the electronic g ear setting range is 50 1 CDV CMX 500 .
5 - 22 5. PARAMETERS (b) Conveyor setting example For rotation in increments of 0.01 per pulse Machine specif ications Table : 360 /rev Reduction ratio: n 4/64 Servo motor resolution: Pt 131072 [pulses/rev] Tabl e Timing belt : 4/64 Servo motor 131072 [pulse/rev ] CDV CMX Pt 131072 65536 1125 0.
5 - 23 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).
5 - 24 5. PARAMETERS To rotate the servo motor at 3000r/min in th e open collector system (2 00kpulse/s), set the electron ic gear as follows CDV CMX N 0 f 60 pt f : Input pulses [pulse/s] N 0 : Servo.
5 - 25 5. PARAMETERS 5.3.2 Analog monitor The servo status can be output to 3 channels in te rms of voltage. Using an ammeter enables monitoring the servo status.
5 - 26 5. PARAMETERS Setting Output item Data Setting Output item Data 2 Servo motor speed 4[V] 0 CW direction CCW direction Max. speed Max. speed 9 Droop pulses ( 4V/32768pulse) 4[V] 32768[ pulse] 0 4[V] 32768[pu lse] CCW directio n CW dire ction 3 Torque (Note) 4[V] 0 Driving in CW dire ction Driving in CCW directi on Max.
5 - 27 5. PARAMETERS (3) Analog monitor block diagram Peak load ratio PWM M Current control Droop pulse ABS counter Low High CMX CDV Electr onic gear Bus voltage ABS counter Servo moto r Position cont.
5 - 28 5. PARAMETERS 5.3.3 Using forward rotation stroke end (LSP ) reve rse rotation stroke end (LSN ) to chang e the stopping pattern The stopping pattern is factory-set to make a sudde n stop when the forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) is made valid.
5 - 29 5. PARAMETERS 5.3.5 Position smoothing By setting the position command acceleration/deceler ation time constant (DRU parameter No.7), you can run the servo motor smoothly in resp onse to a sudden position command.
5 - 30 5. PARAMETERS MEMO.
6 - 1 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 ME LSERVO-J2M. For gain adjustm ent, first execute auto tuning mode 1.
6 - 2 6. GENERAL GAIN ADJ USTMENT (2) Adjustment sequence and mode usage Usage Used when you want to match the position gain 1 (PG1) between 2 or more axes. Normally not used for other purposes. Allows adjustment by merely changing the response level setting.
6 - 3 6. GENERAL GAIN ADJ USTMENT 6.2 Auto tuning 6.2.1 Auto tuning mode The MELSERVO-J2M has a real-time auto tuning func tion which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value.
6 - 4 6. GENERAL GAIN ADJ USTMENT 6.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Servo motor Command Automa tic se tting Control gains PG1,VG1 PG2,VG2,VIC .
6 - 5 6. GENERAL GAIN ADJ USTMENT 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 th e machine. Merely changing the response level setting value as required completes the adjust ment .
6 - 6 6. GENERAL GAIN ADJ USTMENT 6.2.4 Response level setting 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 ti me for a command decreases, but a too high response level will generate vibration.
6 - 7 6. GENERAL GAIN ADJ USTMENT 6.3 Manual mode 1 (simple manual adjustme nt) If you are not satisfied with the adjustment of auto tuning, yo u can make si mple manual adjust ment with three DRU parameters.
6 - 8 6. GENERAL GAIN ADJ USTMENT (3) Adjustment description (a) Position control gain 1 (DRU parameter No. 6) This parameter determines the response level of the position control loop.
6 - 9 6. GENERAL GAIN ADJ USTMENT 6.4 Interpolation mode The interpolation mode is used to match the positi on 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.
6 - 10 6. GENERAL GAIN ADJ USTMENT MEMO.
7 - 1 7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not b e used generally. Use them if you are not satisfied with the ma chine status after making adjustment in the methods in Chapt er 6.
7 - 2 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 .
7 - 3 7. SPECIAL ADJUSTMENT FUNCTIONS POINT If the frequenc y of machine resonance is unknown, decr ease the notch frequency from high er to lower ones in order.
7 - 4 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppressi on control selection (DRU parameter No.60). DRU parameter No.
7 - 5 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 - 6 7. SPECIAL ADJUSTMENT FUNCTIONS 7.5.3 Parameters When using the gain changi ng function, always set " 4 " in DRU parameter No.2 (auto tuni ng) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.
7 - 7 7. SPECIAL ADJUSTMENT FUNCTIONS (1) DRU parameters No. 6 34 to 38 These parameters are the same as in ordinary manua l 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.
7 - 8 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.
7 - 9 7. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting DRU parameter No. Abbreviation Name Setting Unit 6 PG1 Position control ga in 1 100 rad /s 36 VG1 Speed cont rol gain 1 1000 rad/s 34 GD2 Ratio of load inertia moment to servo moto r inertia moment 40 0.
7 - 10 7. SPECIAL ADJUSTMENT FUNCTIONS MEMO.
8 - 1 8. INSPECTION 8. INSPECTION WARNING Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 15 minu tes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock.
8 - 2 8. INSPECTION MEMO.
9 - 1 9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Trouble at start-up CAUTION Excessive adjustment or change o f parameter setting must not be made as it will make operation instable. POINT Using the optional MR C onf igu ra tor (servo configuration software), you can refer to unrotated servo motor reasons, etc.
9 - 2 9. TROUBLESHOOTING No. Start-up sequence Fault Investi gation Possible cause Reference Rotation ripples (speed fluctuations) are large at low speed. Make gain adjustment in the following procedure: 1. Increase the auto tuning response level. 2. Repeat acceleration and deceleration several times to complete auto tuning.
9 - 3 9. TROUBLESHOOTING (2) How to find the cause of position shift (C) Servo -on (SON ), forward rotation stroke end (LSP ) reverse rotation stroke end (LSD ) input Positioning unit (a) Output pulse.
9 - 4 9. TROUBLESHOOTING 9.2 Alarms and warning list POINT The alarm/warning wh ose indication is not give n does not exist in that unit. When a fault occurs during operation, the correspondi ng alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 9.
9 - 5 9. TROUBLESHOOTING Alarm deactivation Display Name Power OFF ON Press “SET” on current alarm screen. Reset (RES) A.10 Undervoltage A.12 Memory error 1 A.13 Clock error A.15 Memory error 2 A.16 Encoder error 1 A.17 Board error A.19 Memory error 3 A.
9 - 6 9. TROUBLESHOOTING 9.3 Remedies for alarms CAUTION When any alarm has occurred, eliminate it s cause, ensure safety, then rese t the alarm, and restart operation. Otherwise, injury ma y occur. If an absolute position erase (A.25) occu rred, always make home position setting again.
9 - 7 9. TROUBLESHOOTING Display IFU DRU Name Definiti on Cause Action @A.12@ Memory error 1 RAM, memory fau lt @A.13@ Clock error Printed board fau lt.
9 - 8 9. TROUBLESHOOTING Display IFU DRU Name Definiti on Cause Action 1. Power input wires and servo motor output wires are in contact at CNP2. Connect correctly. 2. Sh eathes of se rvo mot or power cables deteriorate d, resulting in ground fault. Change the cable.
9 - 9 9. TROUBLESHOOTING Display IFU DRU Name Definiti on Cause Action 1. Input comm and pulse fre quency is too high. Set the command pulse correctly. 2. Sma ll accelerat ion/dec eleration t ime constant caus ed overshoo t to be large. Increase accelerat ion/ deceleration time consta nt.
9 - 10 9. TROUBLESHOOTING Display IFU DRU Name Definition Cause Action FA.37 IFU para meter error IFU parame ter setting is wrong. 1. Interface u nit fault ca used the IFU parameter se tting to be re written. Change th e interface uni t. 2. The number of write times to EEP- ROM exceeded 100,000 due to parameter write, program write, etc.
9 - 11 9. TROUBLESHOOTING Display IFU DRU Name Definiti on Cause Action 1. Mach ine struc k somethi ng. 1. Review op eration p attern. 2. Install limit switches. 2. Wron g conn ection of serv o motor. Drive unit's output terminals U, V, W do not match servo moto r's input terminals U, V, W.
9 - 12 9. TROUBLESHOOTING Display IFU DRU Name Definiti on Cause Action 1. Drive unit having la rge load is adjacent. 1. Change the slot of the drive unit whose load is large. 2. Reduce the load. 3. Reex amine the oper ation pattern. 4. Use a servo motor whose output is large.
9 - 13 9. TROUBLESHOOTING 9.4 Remedies for warnings CAUTION If an absolute position counter warning (A.E3) occurred, always make home position setting again. Otherwise, misoperation may occur. POINT When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly.
9 - 14 9. TROUBLESHOOTING MEMO.
10 - 1 10. OUTLINE DRAWINGS 10. OUTLINE DRAWINGS 10.1 MELSERVO-J2M configuration example The following diagram shows the MR-J2M-BU8 base un it where one interface unit and eight drive units are installed.
10 - 2 10. OU TLINE DR AWINGS 10.2 Unit outline drawings 10.2.1 Base unit (MR-J2M-BU ) L 3 A B C N P 3 C N P 1 B C N P 1 A B CNP3 L 21 N A P C 1 2 3 3 L 2 2 L 1 1 L 11 [Unit: mm] ([Uni t: in]) Base Unit MR-J2M- BU4 230 (9. 06) Variable Dime nsions Mass [kg]([lb]) 1.
10 - 3 10. OU TLINE DR AWINGS 10.2.3 Drive unit (MR-J2M- DU) (1) MR-J2M-10DU to MR-J2M-40DU MITSUBI S HI C N 2 C N P 2 MITSUBIS HI MELSERVO SON ALM CNP2 2 4 V 13 UW (1 (0.04)) Appr ox.70 (2.76) 138.5 (5. 45) 130 (4.72) 6.5 (0.26) 5 (0.20) Connector layout 5 (0.
10 - 4 10. OU TLINE DR AWINGS 10.2.4 Extension IO unit (MR-J2M-D01) 120 (4.72) 130 (5.12) (1 (0.04) ) 25 (0.89) C N 4 B C N 4 A Approx.80 (3 .15) 130 (4. 72) 6.5 (0. 26) 138.5 (5.45) 5 (0.20) 5 (0.20) 5 (0.20) NAME PLATE 120 (4.72) 2- 4.5 ( 0. 18) mountin g hole [Unit: mm] ([Unit: in]) Mass: 0.
10 - 5 10. OU TLINE DR AWINGS 10.3 Connectors (1) CN1A CN1B CN4A CN4B connector <3M> (a) Soldered type Model Connector : 10150-3000VE Shell kit : 10350-52F0-008 14.0 (0.55) 41.1 (1.62) 39.0 (1.54) 23.8 (0.94) 18.0 (0.71) 52.4 (2.06) 12.7 (0.50) 46.
10 - 6 10. OU TLINE DR AWINGS (2) CN2 CN3 connector <3M> (a) Soldered type Model Connector : 10120-3000VE Shell kit : 10320-52F0-008 14.0 (0.55) 12.7 (0.50) 23.8 (0.98) 12.0 (0.47) 33.3 (1.31) 22.0 (0.87) 39.0 (1.54) 10.0 (0.39) [Unit: mm] ([Unit: in]) Logo, etc.
10 - 7 10. OU TLINE DR AWINGS (c) Insulation displacement type Model Connector : 10120-6000EL Shell kit : 10320-3210-000 2- 0.5 ( 0.02) 33.0 ( 1.3) 42.0 (1.65) 29.7 (1.17) 20.9 (0.82) 11.5 6.7 ( 0.26) [Unit: mm] ([Unit: in]) Logo, etc. are indicat ed here.
10 - 8 10. OU TLINE DR AWINGS (4) CNP1A/CNP1B connector <Tyco Electronics> Model CNP1A housing : 1-178128-3 CNP1B housing : 2-178128-3 Contact : 917511-2 (max. sheath OD: 2.8 [mm] ( 0.11 [in])) 353717-2 (max. sheath OD: 3.4 [mm] ( 0.13 [in])) Applicable tool : 91560-1 (for 917511-2) 937315-1 (for 353717-2) AMP 0-3 3 2 1 X 5.
10 - 9 10. OU TLINE DR AWINGS (6) Connectors for CNP2 11.6 3.5 (0.138) 3 9 . 6 ( 0 . 3 7 8 ) 2.7 (0.106) A B 4.2 4 . 2 ( 0 . 1 6 5 ) 2 . 5 ( 0 . 0 9 8 ) 8 . 5 6 . 3 3 . 3 ( 0 . 1 3 ) 1 0 . 7 1 9 . 6 1 2 3 4 5 6 7 9 1 0 0.6 (0 .024) 0 . 6 ( 0 . 0 2 4 ) R0.
10 - 10 10. OU TLINE DR AWINGS MEMO.
11 - 1 11. CHARACTERISTICS 11. CHARACTERISTICS 11.1 Overload protection characteristics An electronic thermal relay is built in the drive unit to protect th e servo motor and drive unit from overloads. Overload 1 alarm (A.50) occurs if overload operat ion performed is above the electronic thermal relay protection curve shown in any of Figs 11.
11 - 2 11. CHARACTERISTICS 11.2 Power supply equipment cap acity and generated loss (1) Amount of heat generated by the drive unit Table 11.1 indicates drive unit's power supply capaci ties and losses generated under rated load. For thermal design of an enclosure, use the values in Table 11.
11 - 3 11. CHARACTERISTICS (2) Heat dissipation area for enclosed drive unit The enclosed control box (hereafter called the cont rol box) which will contain the drive unit should be designed to ensure that its temperature rise is within 10 (50 ) at the ambient temperature of 40 .
11 - 4 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 co asting distance to a stop. The dynamic brake time constant varies with the servo motor and machin e operation speeds.
11 - 5 11. CHARACTERISTICS 0 14 16 2 4 8 10 6 12 0 500 1000 1500 2000 2500 3000 13 73 23 43 053 Speed [r/min] Time constant [ms] 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02 0 500 1000 1500 2000 2500 3000 13 43 23 053 73 Speed [r/min] Time constant [s] a.
11 - 6 11. CHARACTERISTICS 11.4 Encoder cable flexing life The flexing life of the cables is shown below. This graph calculated values. Si nce they are not guaranteed values, provide a little allowance for these values.
12 - 1 12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or au xiliary equipment, make sure that the charge lamp is off more than 15 minutes after power-off, then confirm the voltag e with a tester or the like.
12 - 2 12. OPTIONS AND AU XILIARY EQUI PMENT Calculate the total of the 3000r/min-equivalent in ertia moments of the axes to be decelerated simultaneously, and find the maximum tota l of 3000r/min-equivalent inertia moments. Also find the sum total of permissible load iner tia moments of the drive units installed on the same base unit.
12 - 3 12. OPTIONS AND AU XILIARY EQUI PMENT (b) To make selection accord ing to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or w.
12 - 4 12. OPTIONS AND AU XILIARY EQUI PMENT <Entry example> Timing 1) 2) 3) 4) 5) 6) 7) 8) First slot E1 E2 E3 E4 E1 E2 E3 E4 Second slot E1 E2 E3 E4 E1 E2 E3 E4 Third slot E1 E2 E3 E4 E5 E6 E7.
12 - 5 12. OPTIONS AND AU XILIARY EQUI PMENT (3) Connection of the regenerative brake op tion POINT When using the MR-R B54, 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.
12 - 6 12. OPTIONS AND AU XILIARY EQUI PMENT (4) Outline drawing (a) MR-RB032 MR-RB14 LA 5 (0.20) LB TE1 6 (0.2 3) 6 ( 0 . 2 3 ) 1 5 6 ( 6 . 1 4 ) 1 6 8 ( 6 . 6 1 ) 1 4 4 ( 5 . 6 7 ) 1 2 ( 0 . 4 7 ) 6 ( 0 . 2 3 ) 1 2 ( 0 . 4 7 ) 20 (0.79) LD 1.6 (0.06) LC G3 G4 P C [Unit: mm (in)] 6 (0.
12 - 7 12. OPTIONS AND AU XILIARY EQUI PMENT (c) MR-RB54 Tighteni ng torque: 5.4 [N m](47. 79 [lb in]) Termin al bloc k G4 G3 C P Terminal screw: M4 Tighten ing torq ue: 1.2 [N m](10.6 [ lb in]) [Unit: mm (in)] 49 (1.93) 82.5 (3.25) 200 (7.87 ) 223 (8.
12 - 8 12. OPTIONS AND AU XILIARY EQUI PMENT 12.1.2 Cables and connectors (1) Cable make-up The following cables are used for connectio n with the servo motor and other models.
12 - 9 12. OPTIONS AND AU XILIARY EQUI PMENT No. Product Model Description Application 1) Standar d encoder cable MR-JCCBL M-L Refer to (2) (a) in this section.
12 - 10 12. OPTIONS AND AU XILIARY EQUI PMENT No. Product Model Description Application 11) Power supply connector MR-PWCNK3 Plug: 5557-04R-210 Terminal: 5556PBT3L (for AWG16) (6 pcs. ) (Molex) Servo motor power cable Y Housing: 2-178128-3 (5 pcs.) Contact: 917511-2 (max.
12 - 11 12. OPTIONS AND AU XILIARY EQUI PMENT (2) Encoder cable CAUTION If you have fabrica ted the encoder cable, connect it correctly. Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to Section 11.
12 - 12 12. OPTIONS AND AU XILIARY EQUI PMENT P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 18 P5 LG MD 6 LG 1 BAT 9 SD 1 2 8 9 P5 LG P5 LG 19 11 20 12 2 MR MRR 7 17 MDR 16 5 3 7 4 MR-JCCBL2M-L.
12 - 13 12. OPTIONS AND AU XILIARY EQUI PMENT (b) MR-JC4CBL M-H POINT When using this encoder cable, set "1 " in DRU parameter No. 20. 1) Model explanation Model: MR-JC4CBL M- H 30 30 (98.
12 - 14 12. OPTIONS AND AU XILIARY EQUI PMENT Note. Always make connection for use in an absolute position detection system. This wiring is not needed for use in an increme ntal system.
12 - 15 12. OPTIONS AND AU XILIARY EQUI PMENT (3) Communication cable POINT This cable may not be used w ith some personal comput ers. After fully examining the sig nals of the RS-23 2C connector, refer to this sect ion and fabricate the cable.
12 - 16 12. OPTIONS AND AU XILIARY EQUI PMENT (4) Battery cable When fabricating, use the recommended wire give n in Section 12.2.1 and fabricate as in the connection diagram shown in this section. (a) Definition of model Model: M R-J2MBTCBL M Symbol Cable Length L [m(ft)] 0.
12 - 17 12. OPTIONS AND AU XILIARY EQUI PMENT 12.1.3 Junction terminal block (MR-TB50) (1) How to use the junc tion terminal block Always use the junctio n terminal block (MR-T B50) with the junction terminal block cable (MR -J2M- CN1TBL M) as a set.
12 - 18 12. OPTIONS AND AU XILIARY EQUI PMENT (4) Junction terminal block cable (MR-J2M-CN1TBL M) (a) Model explanation Cable length[m(ft) ] Symbol 05 1 0.
12 - 19 12. OPTIONS AND AU XILIARY EQUI PMENT 12.1.4 Junction terminal block (MR-TB20) (1) How to use the junction terminal block Always use the junctio n terminal block (MR-TB2 0) with the junction terminal block cable (MR- J2TBL M-1A) as a set.
12 - 20 12. OPTIONS AND AU XILIARY EQUI PMENT (4) Junction terminal block cable (MR-J2TBL M-1A) (a) Model explanation Cable length[m(ft)] Symbol 05 1 0.
12 - 21 12. OPTIONS AND AU XILIARY EQUI PMENT 12.1.5 Maintenance junction card (MR-J2C N3TM) (1) Usage The maintenance junction card (MR-J2CN3TM) is de signed for use when a personal computer and analog monitor are used at the same time.
12 - 22 12. OPTIONS AND AU XILIARY EQUI PMENT (4) Bus cable (MR-J2HBUS M) (a) Model explanation 05 1 5 0.5 (1.64) 1 (3.28) 5 (16.4) Symbol Cable length [m(ft)] Model: MR-J2H BUS M (b) Connection diagr.
12 - 23 12. OPTIONS AND AU XILIARY EQUI PMENT 12.1.6 MR Configurator (servo configuratio ns software) POINT Required to assign de vices to th e pins of CN4A and CN4B of the MR- J2M-D01 extension IO unit.
12 - 24 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2 Auxiliary equipment Always use the devices indicated in this section or eq u iv al e n t. To co m pl y w it h t he EN S ta n da rd o r U L /C - UL (CSA) Standard, use the products whic h conform to the corresponding standard.
12 - 25 12. OPTIONS AND AU XILIARY EQUI PMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 12.
12 - 26 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2.2 No-fuse breakers, fuses, mag netic contactors Always use one no-fuse breaker and one magnetic co ntactor with one drive unit. Make selection as indicated below according to the total output value of the servo motors connected to one base unit.
12 - 27 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2.3 Power factor improving reactors The input power factor is improved to be about 90%. Make selection as describe d below according to the sum of the outputs of the servo motors connected to one base unit.
12 - 28 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2.4 Relays The following relays should be used with the interfaces: Interface Selection example Relay used for digital in put signals (interface D I-1) To prevent defective contacts , use a re lay for small signal (twin contacts).
12 - 29 12. OPTIONS AND AU XILIARY EQUI PMENT (b) Reduction techniques for external nois es that cause MELSERVO-J2M to malfunction If there are noise sources (such as a magnetic contactor, an electrom.
12 - 30 12. OPTIONS AND AU XILIARY EQUI PMENT Noise transmission route Suppression techniques 1) 2) 3) When m easurin g instrum ents, r eceiver s, senso rs, etc.
12 - 31 12. OPTIONS AND AU XILIARY EQUI PMENT (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 show n below.
12 - 32 12. OPTIONS AND AU XILIARY EQUI PMENT Outline drawing Earth pla te Clam p secti on di agra m (Note) M4 screw 1 1 ( 0 . 4 3 ) 3 ( 0 . 1 2 ) 6 ( 0 . 2 4 ) C A 6 22(0. 87) 17.5(0.69) 35(1.38) 3 5 ( 1 . 3 8 ) L or less 10(0.39) 3 0 ( 1 . 1 8 ) 7 ( 0 .
12 - 33 12. OPTIONS AND AU XILIARY EQUI PMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppre ssing noises radiated from the po wer supply side and output side of MELSERVO-J2M and also in suppressing high-fr equency leakage current side (zero-phase current) especially within 0.
12 - 34 12. OPTIONS AND AU XILIARY EQUI PMENT 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 a re la rger than those of the motor which is run with a commercial power supply.
12 - 35 12. OPTIONS AND AU XILIARY EQUI PMENT 12.2.8 EMC filter For compliance with the EMC directive of the EN standa rd, it is recommended to use the following filter: Some EMC filters are large in leakage current.
12 - 36 12. OPTIONS AND AU XILIARY EQUI PMENT MEMO.
13 - 1 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, para meter changing, monitor function, etc . However, the RS-422 and RS-232C communication func tions cannot be used together.
13 - 2 13. COMMUNICATION FUNCTIONS (2) Cable connection diagram Wire as shown below: RDP RDN SDP SDN GND GND 5 15 9 19 11 1 10 RDP RDN SDP SDN LG LG TRE SD 5 15 9 19 11 1 10 RDP RDN SDP SDN LG LG TRE SD 5 15 9 19 11 1 10 RDP RDN SDP SDN LG LG TRE SD (Note 3) 30m(98.
13 - 3 13. COMMUNICATION FUNCTIONS 13.1.2 RS-232C configuration (1) Outline (Example) Run / operate. MELSERVO-J2M Controller such as perso nal c omput er To CN3 Station 0 Station 1 Station 2 Station 3 Station 4 Station 5 Station 6 Station 7 Station 8 (2) Cable connection diagram Wire as shown below.
13 - 4 13. COMMUNICATION FUNCTIONS 13.2 Communication spe cifications 13.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction.
13 - 5 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 amplifie r in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again.
13 - 6 13. COMMUNICATION FUNCTIONS 13.3 Protocol POINT Whether station number setting will b e made or not must be sele cted if the RS-232C communication funct ion is used. Since up to 32 axes may be connected to the bus, a dd a station number to the command, data No.
13 - 7 13. COMMUNICATION FUNCTIONS 13.4 Character code s (1) Control codes Code name Hexadecimal (ASCII code) Description Personal computer terminal key operation (General) SOH STX ETX EOT 01H 02H 03H 04H start of head start of text end of text end of transmission ctrl A ctrl B ctrl C ctrl D (2) Codes for data ASCII unit codes are used.
13 - 8 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 sl ave station sends the error code corre sponding to that data to the master station.
13 - 9 13. COMMUNICATION FUNCTIONS 13.7 Time-out operation The master station transmits EOT when the slave st ation does not start reply operation (STX is not received) 300[ms] after the master station has ende d communication operation. 100[ ms] after that, the master station retransmits the message.
13 - 10 13. COMMUNICATION FUNCTIONS 13.9 Initialization After the slave station is switched on, it cannot repl y to communication until the internal initialization processing terminates.
13 - 11 13. COMMUNICATION FUNCTIONS 13.11 Command and data No. list POINT If the command/data No. is the same, its data may be differ ent from the interface and drive un its and other servo ampli fiers. The commands/data No. of the respective inte rface unit and drive units are those marked in the Unit field.
13 - 12 13. COMMUNICATION FUNCTIONS (4) Alarm history (Command [3][3]) Unit Command Data No. Description Alarm occurrence sequence Frame length IFU DRU [3][3] [1][0] most recent alarm 4 [3][3] [1][1] .
13 - 13 13. COMMUNICATION FUNCTIONS 13.11.2 Write commands (1) Status display (Command [8 ][1]) Unit Command Data No. Description Setting range Frame length IFU DRU [8][1] [0][0] Status display data clear 1EA5 4 (2) Parameter (Command [8][4]) Unit Command Data No.
13 - 14 13. COMMUNICATION FUNCTIONS (6) External input signal disable (Command [9][0 ]) Unit Command Data No. Description Setting range Frame length IFU DRU [9][0] [0][0] Turns off the exter nal inp u.
13 - 15 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 co mmand data No. data to a slave station, a reply or data is returned fro m the slave station according to the purpose.
13 - 16 13. COMMUNICATION FUNCTIONS (2) Writing the processed data When the data to be written is handled as decimal , th e 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.
13 - 17 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.
13 - 18 13. COMMUNICATION FUNCTIONS 13.12.3 Parameter (1) Parameter read Read the parameter setting. 1) Transmission Transmit command [0][5] and the data No. corre sponding to the parameter No. The data No. is expressed in hexadecimal equiva lent of the data No.
13 - 19 13. COMMUNICATION FUNCTIONS (2) Parameter write POINT The number of write tim es to the EEP-ROM is limited to 100,0 00. 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.
13 - 20 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]. Unit Command Data No.
13 - 21 13. COMMUNICATION FUNCTIONS (3) External input pin status read (CN4A CN4B) Read the ON/OFF statuses of the external input pins. (a) Transmission Transmit command [1][2] and data No. [4][3]. Unit Command Data No. IFU DRU [1][2] [4][3] (b) Reply The slave station sends back the ON/O FF statuse s of the output pins.
13 - 22 13. COMMUNICATION FUNCTIONS (5) External output pin status read (CN4A CN4B) Read the ON/OFF statuses of the external output pins. (a) Transmission Transmit command [1][2] and data No. [C][1]. Unit Command Data No. IFU DRU [1][2] [C][1] (b) Reply The slave station sends back the statuses of the output pins.
13 - 23 13. COMMUNICATION FUNCTIONS 13.12.5 Disable/enable of external I/O signal s (DIO) Inputs can be disabled independently of the external I/O signal ON/OFF.
13 - 24 13. COMMUNICATION FUNCTIONS 13.12.6 External input signal ON/OFF (test operation) Each input signal can be turned on/off for test operation. Turn off the external input signals. Send command [9] [2], data No. [0] [0] and data. Unit Command Data No.
13 - 25 13. COMMUNICATION FUNCTIONS 13.12.7 Test operation mode (1) Instructions for test operation mode The test operation mode must be executed in the fo llowing procedure. If communication is interrupted for longer than 0.5s during test operation, the serv o amplifier causes the moto r to be decelerated to a stop and servo-locked.
13 - 26 13. COMMUNICATION FUNCTIONS (2) Jog operation Transmit the following communication commands: (a) Setting of jog operation data Unit Item Command Data No.
13 - 27 13. COMMUNICATION FUNCTIONS (c) Start of positioning operation Transmit the speed and acceleration/deceleratio n time constant, turn on the servo-on (SON ) and forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) , and t hen send the moving distance to start positioning operation.
13 - 28 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 ca n be turned on/off independently of the servo status. Using command [9][0], disable the output signals in advance.
13 - 29 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 i n the past) are read. (a) Transmission Send command [3][3] and data No.
13 - 30 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. [0][0]. Unit Command Data No. IFU DRU [0][2] [0][0] (b) Reply The slave station sends back the alarm cu rrently occurring.
13 - 31 13. COMMUNICATION FUNCTIONS 13.12.11 Other commands (1) Servo motor end pulse unit absolu te position Read the absolute position in the servo motor end pulse unit. Note that overflow will occur in the position of 16384 or more revo lutions from the home position.
13 - 32 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.[8][0]. Unit Command Data No. IFU DRU [0][0] [8][ 0] (b) Reply The slave stations send back the statuses of the units connected to the slots.
14 - 1 14. ABSOLUTE POSITION DETECTION SYSTEM 14. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If an absolute position erase (A.25) or an absolute position counter warning (A E3) has occurred, always perform home position setting again. Not doing so can cause runaway.
14 - 2 14. ABSOLUTE POSITI O N DETECTION SYSTEM 14.2 Specifications (1) Specification of battery unit MR-J2M-BT POINT The revision (Edit ion 44) of the Dangero us Goods Rule of the International Air Transport Ass o ciation (IAT A) went into effect on January 1, 2003 and was enforced immedi ately.
14 - 3 14. ABSOLUTE POSITI O N DETECTION SYSTEM (3) DRU parameter setting Set " 1 " in DRU parameter No.1 to make the absolute position detection system valid. Selection of absolute position detection system 0: Used in incre mental system 1: Used in absolute position detection system DRU parameter No.
14 - 4 14. ABSOLUTE POSITI O N DETECTION SYSTEM 14.5 Startup procedure (1) Connection of a battery unit (2) Parameter setting Set "1 "in DRU parameter No. 1 of the servo ampl ifier and switch power off, then on. (3) Resetting of absolute position erase (A.
14 - 5 14. ABSOLUTE POSITI O N DETECTION SYSTEM 14.6 Absolute position data transfer protocol 14.6.1 Data transfer procedure Every time the servo-on (SON ) turns on at power-on or like, the controller must read the current position data in the drive unit.
14 - 6 14. ABSOLUTE POSITI O N DETECTION SYSTEM 14.6.2 Transfer method The sequence in which th e base circuit is turned O N (servo-on) whe n it is in the OFF state due t o the servo-on (SON ) going OFF, a forced stop, or alarm, is explained below.
14 - 7 14. ABSOLUTE POSITI O N DETECTION SYSTEM (3) At the time of alarm reset If an alarm has occurred, detect the trouble (ALM_ ) and turn off the servo-on (SON ). 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.
14 - 8 14. ABSOLUTE POSITI O N DETECTION SYSTEM (4) At the time of forced s top reset 200ms after the forced stop is deactivated, the base circuit turns on, and further 20ms after that, the ready (RD ) turns on. Always get the current po si tion data from when the ready (RD ) is triggered until before the position command is issued.
14 - 9 14. ABSOLUTE POSITI O N DETECTION SYSTEM 14.6.3 Home position setting (1) Dog type home position return Preset a home position return creep speed at whic h the machine will not be given impact. On detection of a zero pulse, the home position setting (CR ) is turned from off to on.
14 - 10 14. ABSOLUTE POSITI O N DETECTION SYSTEM (2) Data set type home position return POINT Never make home po sition setting du ring command o peration or serv o motor rotation. It may cause home position sift. It is possible to execute data set type hom e position return when the se rvo off.
14 - 11 14. ABSOLUTE POSITI O N DETECTION SYSTEM 14.7 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator (ser vo configuration software MRZJW3- SETUP151E). Clicking " Diagnostics " on the menu bar an d click " Absolute encoder data " in the menu.
14 - 12 14. ABSOLUTE POSITI O N DETECTION SYSTEM MEMO.
App - 1 A PPENDIX App 1. Status indication block diagram Peak load ratio PWM M Current control Droop pulse ABS counter Low High CMX CDV Elect ronic gear Bus voltage ABS counter Servo moto r Position c.
App - 2 APPENDIX MEMO.
REVISIONS *The manual nu mber is given on the bot tom left of the back co ver. Print Data *Manual Number Revision Jan., 2002 SH(NA)0 30014-A First edition 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.
Print Data *Manual Number Revision 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.
Print Data *Manual Number Revision Oct., 2005 SH(NA)030 014-E Section 5.1.2 (2): Correction of DRU parameter No.38 Section 5.3.2: Partial reexamination of sen tences Section 5.3.2 (2): Addition of Note in table Chapter 8: Partial change of WARNING sent ences Section 9.
MEMO.
HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030014-E (0510) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper.
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