Mitsubishi MR-385R-ST-A Instruction manual

General-Purpose AC Servo
J2-Super Series
General-Purpose Interface
MODEL
MR-J2S-A GIJUTU SIRYOU
MODEL
CODE
1CW501
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
Printed in Japan
This Instruction Manual uses recycled paper.
Specifications subject to change without notice.
J
SH (NA) 030006-J (0712) MEE
J2-Super Series MR-J2S- A Servo Amplifier Instruction Manual
MODEL
MR-J2S- A
SERVO AMPLIFIER
INSTRUCTION MANUAL
J
Safety Instructions
(Always read these instructions before using the equipment.)
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents
carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a
full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
: Indicates what must not be done. For example, "No Fire" is indicated by
: Indicates what must be done. For example, grounding is indicated by
.
.
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.
A- 1
1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the
charge lamp is off or not.
Connect the servo amplifier and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.
During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric
shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area
are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the
power is off. The servo amplifier is charged and you may get an electric shock.
2. To prevent fire, note the following:
CAUTION
Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them
directly or close to combustibles will lead to a fire.
Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of
the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the
servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large
current may cause a fire when the servo amplifier malfunctions.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.
3. To prevent injury, note the follow
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 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.
A- 2
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
CAUTION
Transport the products correctly according to their masses.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The controller and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
When you keep or use it, please fulfill the following environmental conditions.
Conditions
Servo amplifier
Servo motor
[ ] 0 to 55 (non-freezing)
0 to 40 (non-freezing)
In
operation [ ] 32 to 131 (non-freezing)
32 to 104 (non-freezing)
Ambient
temperature
[ ]
20 to 65 (non-freezing)
15 to 70 (non-freezing)
In storage
[ ]
4 to 149 (non-freezing)
5 to 158 (non-freezing)
In operation
90%RH or less (non-condensing)
80%RH or less (non-condensing)
Ambient
humidity
In storage
90%RH or less (non-condensing)
Ambience
Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude
Max. 1000m (3280 ft) above sea level
HC-KFS Series
HC-MFS Series
X Y : 49
HC-UFS13 to 73
HC-SFS81
HC-SFS52 to 152
X Y : 24.5
HC-SFS53 to 153
HC-RFS Series
HC-UFS 72 152
[m/s2]
5.9 or less
HC-SFS121 201
HC-SFS202 352
X : 24.5
HC-SFS203 353
Y : 49
HC-UFS202 to 502
HC-SFS301
X : 24.5
HC-SFS502 to 702
Y : 29.4
X : 11.7
HA-LFS11K2 to 22K2
Y : 29.4
(Note)
Vibration
HC-KFS Series
HC-MFS Series
X Y : 161
HC-UFS 13 to 73
HC-SFS81
HC-SFS52 to 152
HC-SFS53 to 153
X Y : 80
HC-RFS Series
HC-UFS 72 152
19.4 or less
[ft/s2]
HC-SFS121 201
HC-SFS202 352
X : 80
HC-SFS203 353
Y : 161
HC-UFS202 to 502
HC-SFS301
X : 80
HC-SFS502 to 702
Y : 96
X : 38
HA-LFS11K2 to 22K2
Y : 96
Note. Except the servo motor with reduction gear.
Environment
A- 3
CAUTION
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
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
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and servo amplifier.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.
Otherwise, the servo motor does not operate properly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.
Servo amplifier
U
V
W
U
V
Servo motor
Servo amplifier
U
U
V
V
M
W
Servo motor
M
W
W
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in
the specified direction. Otherwise, the emergency stop (EMG) and other protective circuits may not
operate.
Servo amplifier
Servo amplifier
COM
(24VDC)
COM
(24VDC)
Control
output
signal
Control
output
signal
RA
RA
When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.
A- 4
(3) Test run adjustment
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
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Any person who is involved in disassembly and 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 the servo amplifier.
Use the servo amplifier with the specified servo motor.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw 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
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prevention.
Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals
but also by an external emergency stop (EMG).
Contacts must be open when
servo-off, when an trouble (ALM)
and when an electromagnetic brake
interlock (MBR).
Servo motor
Circuit must be
opened during
emergency stop (EMG).
RA EMG
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).
A- 5
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please consult our sales representative.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have
been drawn without covers and safety guards. When the equipment is operated, the covers and safety
guards must be installed as specified. Operation must be performed in accordance with this Specifications
and Instruction Manual.
About processing of waste
When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).
FOR MAXIMUM SAFETY
These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or under water relays, contact Mitsubishi.
These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.
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.
A- 6
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 amplifiers have been installed.
(1) EMC directive
The EMC directive applies not to the servo units alone but to servo-incorporated machines and
equipment. This requires the EMC filters to be used with the servo-incorporated machines and
equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to
the EMC Installation Guidelines (IB(NA)67310).
(2) Low voltage directive
The low voltage directive applies also to servo units alone. Hence, they are designed to comply with
the low voltage directive.
This servo is certified by TUV, third-party assessment organization, to comply with the low voltage
directive.
(3) Machine directive
Not being machines, the servo amplifiers need not comply with this directive.
2. PRECAUTIONS FOR COMPLIANCE
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier
Servo motor
:MR-J2S-10A to MR-J2S-22KA
MR-J2S-10A1 to MR-J2S-40A1
:HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Configuration
Control box
(Note)
Reinforced
insulating
transformer
Reinforced
insulating type
No-fuse
breaker
Magnetic
contactor
NFB
MC
24VDC
power
supply
Servo
amplifier
Servo
motor
M
Note. The insulating transformer is not required for the 11kW or more servo amplifier.
A- 7
(3) Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this
purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).
(4) Power supply
(a) Operate the servo amplifier 7kW or less 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.
Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage
category III set forth in IE60664-1, a reinforced insulating transformer is not required in the power
input section.
(b) When supplying interface power from external, use a 24VDC power supply which has been
insulation-reinforced in I/O.
(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked
servo amplifier to the protective earth (PE) of the control box.
) of the
(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the
cables to the terminals one-to-one.
PE terminals
PE terminals
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
of the servo amplifier must be connected to the corresponding earth terminals.
(6) Wiring
(a) The cables to be connected to the terminal block of the servo amplifier must have crimping
terminals provided with insulating tubes to prevent contact with adjacent terminals.
Crimping terminal
Insulating tube
Cable
(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard
compliant power connector sets are available from us as options.
A- 8
(7) Auxiliary equipment and options
(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in section 13.2.2.
(b) The sizes of the cables described in section 13.2.1 meet the following requirements. To meet the
other requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray
(c) Use the EMC filter for noise reduction.
(8) Performing EMC tests
When EMC tests are run on a machine/device into which the servo amplifier has been installed, it
must conform to the electromagnetic compatibility (immunity/emission) standards after it has
satisfied the operating environment/electrical equipment specifications.
For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation
Guidelines(IB(NA)67310).
A- 9
CONFORMANCE WITH UL/C-UL STANDARD
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.
Servo amplifier
Servo motor
:MR-J2S-10A to MR-J2S-22KA
MR-J2S-10A1 to MR-J2S-40A1
:HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HA-LFS
HC-LFS
(2) Installation
Install a cooling fan of 100CFM (2.8m3/min) air flow 4 in (10.16 cm) above the servo amplifier or
provide cooling of at least equivalent capability.
(3) Short circuit rating
This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having
been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo
amplifier conforms to the above circuit.
(4) Capacitor discharge time
The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for
15 minutes after power-off.
Servo amplifier
Discharge time
[min]
MR-J2S-10A(1) 20A(1)
MR-J2S-40A(1) 60A
MR-J2S-70A to 350A
MR-J2S-500A 700A
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
1
2
3
5
4
6
8
(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.
A - 10
(7) About wiring protection
For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.
<<About the manuals>>
This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use
the General-Purpose AC servo MR-J2S-A for the first time. Always purchase them and use the MRJ2S-A safely.
Relevant manuals
Manual name
Manual No.
MELSERVO-J2-Super Series To Use the AC Servo Safely
IB(NA)0300010
MELSERVO Servo Motor Instruction Manual
SH(NA)3181
EMC Installation Guidelines
IB(NA)67310
A - 11
MEMO
A - 12
CONTENTS
1. FUNCTIONS AND CONFIGURATION
1- 1 to 1-24
1.1 Introduction.............................................................................................................................................. 1- 1
1.2 Function block diagram .......................................................................................................................... 1- 2
1.3 Servo amplifier standard specifications ................................................................................................ 1- 5
1.4 Function list ............................................................................................................................................. 1- 6
1.5 Model code definition .............................................................................................................................. 1- 7
1.6 Combination with servo motor............................................................................................................... 1- 9
1.7 Structure.................................................................................................................................................. 1-10
1.7.1 Parts identification .......................................................................................................................... 1-10
1.7.2 Removal and reinstallation of the front cover .............................................................................. 1-15
1.8 Servo system with auxiliary equipment............................................................................................... 1-19
2. INSTALLATION
2- 1 to 2- 4
2.1 Environmental conditions....................................................................................................................... 2- 1
2.2 Installation direction and clearances .................................................................................................... 2- 2
2.3 Keep out foreign materials ..................................................................................................................... 2- 3
2.4 Cable stress .............................................................................................................................................. 2- 4
3. SIGNALS AND WIRING
3- 1 to 3- 70
3.1 Standard connection example ................................................................................................................ 3- 2
3.1.1 Position control mode ....................................................................................................................... 3- 2
3.1.2 Speed control mode........................................................................................................................... 3- 6
3.1.3 Torque control mode ......................................................................................................................... 3- 8
3.2 Internal connection diagram of servo amplifier .................................................................................. 3-10
3.3 I/O signals................................................................................................................................................ 3-11
3.3.1 Connectors and signal arrangements............................................................................................ 3-11
3.3.2 Signal explanations ......................................................................................................................... 3-15
3.4 Detailed description of the signals........................................................................................................ 3-24
3.4.1 Position control mode ...................................................................................................................... 3-24
3.4.2 Speed control mode.......................................................................................................................... 3-29
3.4.3 Torque control mode ........................................................................................................................ 3-31
3.4.4 Position/speed control change mode .............................................................................................. 3-34
3.4.5 Speed/torque control change mode................................................................................................. 3-36
3.4.6 Torque/position control change mode ............................................................................................ 3-38
3.5 Alarm occurrence timing chart ............................................................................................................. 3-39
3.6 Interfaces................................................................................................................................................. 3-40
3.6.1 Common line .................................................................................................................................... 3-40
3.6.2 Detailed description of the interfaces ............................................................................................ 3-41
3.7 Input power supply circuit..................................................................................................................... 3-47
3.7.1 Connection example......................................................................................................................... 3-47
3.7.2 Terminals.......................................................................................................................................... 3-49
3.7.3 Power-on sequence........................................................................................................................... 3-50
3.8 Connection of servo amplifier and servo motor ................................................................................... 3-52
3.8.1 Connection instructions .................................................................................................................. 3-52
3.8.2 Connection diagram......................................................................................................................... 3-53
1
3.8.3 I/O terminals .................................................................................................................................... 3-54
3.9 Servo motor with electromagnetic brake ............................................................................................. 3-56
3.10 Grounding ............................................................................................................................................. 3-60
3.11 Servo amplifier terminal block (TE2) wiring method ....................................................................... 3-61
3.11.1 For the servo amplifier produced later than Jan. 2006 ............................................................. 3-61
3.11.2 For the servo amplifier produced earlier than Dec. 2005.......................................................... 3-63
3.12 Instructions for the 3M connector....................................................................................................... 3-64
3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA ............................................................... 3-64
3.13.1 Connection example ...................................................................................................................... 3-65
3.13.2 Servo amplifier terminals ............................................................................................................. 3-66
3.13.3 Servo motor terminals................................................................................................................... 3-67
4. OPERATION
4- 1 to 4- 6
4.1 When switching power on for the first time.......................................................................................... 4- 1
4.2 Startup...................................................................................................................................................... 4- 2
4.2.1 Selection of control mode.................................................................................................................. 4- 2
4.2.2 Position control mode ....................................................................................................................... 4- 2
4.2.3 Speed control mode........................................................................................................................... 4- 4
4.2.4 Torque control mode ......................................................................................................................... 4- 5
4.3 Multidrop communication ...................................................................................................................... 4- 6
5. PARAMETERS
5- 1 to 5- 34
5.1 Parameter list .......................................................................................................................................... 5- 1
5.1.1 Parameter write inhibit ................................................................................................................... 5- 1
5.1.2 Lists.................................................................................................................................................... 5- 2
5.2 Detailed description ............................................................................................................................... 5-26
5.2.1 Electronic gear ................................................................................................................................. 5-26
5.2.2 Analog monitor................................................................................................................................. 5-30
5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern.............................. 5-33
5.2.4 Alarm history clear.......................................................................................................................... 5-33
5.2.5 Position smoothing .......................................................................................................................... 5-34
6. DISPLAY AND OPERATION
6- 1 to 6-16
6.1 Display flowchart..................................................................................................................................... 6- 1
6.2 Status display .......................................................................................................................................... 6- 2
6.2.1 Display examples .............................................................................................................................. 6- 2
6.2.2 Status display list ............................................................................................................................. 6- 3
6.2.3 Changing the status display screen................................................................................................ 6- 4
6.3 Diagnostic mode....................................................................................................................................... 6- 5
6.4 Alarm mode .............................................................................................................................................. 6- 7
6.5 Parameter mode ...................................................................................................................................... 6- 8
6.6 External I/O signal display..................................................................................................................... 6- 9
6.7 Output signal (DO) forced output ......................................................................................................... 6-12
6.8 Test operation mode ............................................................................................................................... 6-13
6.8.1 Mode change..................................................................................................................................... 6-13
6.8.2 Jog operation .................................................................................................................................... 6-14
6.8.3 Positioning operation....................................................................................................................... 6-15
2
6.8.4 Motor-less operation ........................................................................................................................ 6-16
7. GENERAL GAIN ADJUSTMENT
7- 1 to 7-12
7.1 Different adjustment methods ............................................................................................................... 7- 1
7.1.1 Adjustment on a single servo amplifier.......................................................................................... 7- 1
7.1.2 Adjustment using MR Configurator (servo configuration software) ........................................... 7- 2
7.2 Auto tuning .............................................................................................................................................. 7- 3
7.2.1 Auto tuning mode ............................................................................................................................. 7- 3
7.2.2 Auto tuning mode operation ............................................................................................................ 7- 4
7.2.3 Adjustment procedure by auto tuning............................................................................................ 7- 5
7.2.4 Response level setting in auto tuning mode................................................................................... 7- 6
7.3 Manual mode 1 (simple manual adjustment)....................................................................................... 7- 7
7.3.1 Operation of manual mode 1 ........................................................................................................... 7- 7
7.3.2 Adjustment by manual mode 1 ....................................................................................................... 7- 7
7.4 Interpolation mode .................................................................................................................................. 7- 9
7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super .......................... 7-11
7.5.1 Response level setting ..................................................................................................................... 7-11
7.5.2 Auto tuning selection....................................................................................................................... 7-11
8. SPECIAL ADJUSTMENT FUNCTIONS
8- 1 to 8-10
8.1 Function block diagram .......................................................................................................................... 8- 1
8.2 Machine resonance suppression filter ................................................................................................... 8- 1
8.3 Adaptive vibration suppression control................................................................................................. 8- 3
8.4 Low-pass filter ......................................................................................................................................... 8- 4
8.5 Gain changing function........................................................................................................................... 8- 5
8.5.1 Applications....................................................................................................................................... 8- 5
8.5.2 Function block diagram.................................................................................................................... 8- 5
8.5.3 Parameters ........................................................................................................................................ 8- 6
8.5.4 Gain changing operation.................................................................................................................. 8- 8
9. INSPECTION
9- 1 to 9- 2
10. TROUBLESHOOTING
10- 1 to 10-14
10.1 Trouble at start-up .............................................................................................................................. 10- 1
10.1.1 Position control mode ................................................................................................................... 10- 1
10.1.2 Speed control mode....................................................................................................................... 10- 4
10.1.3 Torque control mode ..................................................................................................................... 10- 5
10.2 When alarm or warning has occurred ............................................................................................... 10- 6
10.2.1 Alarms and warning list .............................................................................................................. 10- 6
10.2.2 Remedies for alarms..................................................................................................................... 10- 7
10.2.3 Remedies for warnings................................................................................................................ 10-13
11. OUTLINE DIMENSION DRAWINGS
11- 1 to 11-10
11.1 Servo amplifiers................................................................................................................................... 11- 1
11.2 Connectors............................................................................................................................................ 11- 8
3
12. CHARACTERISTICS
12- 1 to 12- 8
12.1 Overload protection characteristics ................................................................................................... 12- 1
12.2 Power supply equipment capacity and generated loss .................................................................... 12- 2
12.3 Dynamic brake characteristics........................................................................................................... 12- 5
12.3.1 Dynamic brake operation............................................................................................................. 12- 5
12.3.2 The dynamic brake at the load inertia moment ........................................................................ 12- 7
12.4 Encoder cable flexing life .................................................................................................................... 12- 7
12.5 Inrush currents at power-on of main circuit and control circuit .................................................... 12- 8
13. OPTIONS AND AUXILIARY EQUIPMENT
13- 1 to 13-64
13.1 Options.................................................................................................................................................. 13- 1
13.1.1 Regenerative options .................................................................................................................... 13- 1
13.1.2 FR-BU2 brake unit ...................................................................................................................... 13-10
13.1.3 Power regeneration converter .................................................................................................... 13-17
13.1.4 External dynamic brake.............................................................................................................. 13-20
13.1.5 Cables and connectors................................................................................................................. 13-23
13.1.6 Junction terminal block (MR-TB20) .......................................................................................... 13-31
13.1.7 Maintenance junction card (MR-J2CN3TM) ............................................................................ 13-33
13.1.8 Battery (MR-BAT, A6BAT)......................................................................................................... 13-34
13.1.9 MR Configurator (Servo configurations software) ................................................................... 13-35
13.1.10 Power regeneration common converter................................................................................... 13-37
13.1.11 Heat sink outside mounting attachment (MR-JACN) ........................................................... 13-41
13.2 Auxiliary equipment .......................................................................................................................... 13-44
13.2.1 Recommended wires .................................................................................................................... 13-44
13.2.2 No-fuse breakers, fuses, magnetic contactors........................................................................... 13-47
13.2.3 Power factor improving reactors ................................................................................................ 13-47
13.2.4 Power factor improving DC reactors.......................................................................................... 13-48
13.2.5 Relays............................................................................................................................................ 13-49
13.2.6 Surge absorbers ........................................................................................................................... 13-49
13.2.7 Noise reduction techniques......................................................................................................... 13-49
13.2.8 Leakage current breaker............................................................................................................. 13-57
13.2.9 EMC filter..................................................................................................................................... 13-59
13.2.10 Setting potentiometers for analog inputs................................................................................ 13-63
14. COMMUNICATION FUNCTIONS
14- 1 to 14- 28
14.1 Configuration ....................................................................................................................................... 14- 1
14.1.1 RS-422 configuration.................................................................................................................... 14- 1
14.1.2 RS-232C configuration ................................................................................................................. 14- 2
14.2 Communication specifications............................................................................................................ 14- 3
14.2.1 Communication overview............................................................................................................. 14- 3
14.2.2 Parameter setting ......................................................................................................................... 14- 4
14.3 Protocol ................................................................................................................................................. 14- 5
14.4 Character codes ................................................................................................................................... 14- 7
14.5 Error codes ........................................................................................................................................... 14- 8
14.6 Checksum ............................................................................................................................................. 14- 8
14.7 Time-out operation .............................................................................................................................. 14- 9
4
14.8 Retry operation .................................................................................................................................... 14- 9
14.9 Initialization........................................................................................................................................ 14-10
14.10 Communication procedure example ............................................................................................... 14-10
14.11 Command and data No. list............................................................................................................. 14-11
14.11.1 Read commands ......................................................................................................................... 14-11
14.11.2 Write commands ........................................................................................................................ 14-12
14.12 Detailed explanations of commands............................................................................................... 14-14
14.12.1 Data processing.......................................................................................................................... 14-14
14.12.2 Status display ............................................................................................................................ 14-16
14.12.3 Parameter................................................................................................................................... 14-17
14.12.4 External I/O pin statuses (DIO diagnosis).............................................................................. 14-19
14.12.5 Disable/enable of external I/O signals (DIO) .......................................................................... 14-20
14.12.6 Input devices ON/OFF (test operation) ................................................................................... 14-21
14.12.7 Test operation mode .................................................................................................................. 14-22
14.12.8 Output signal pin ON/OFF output signal (DO) forced output.............................................. 14-24
14.12.9 Alarm history ............................................................................................................................. 14-25
14.12.10 Current alarm .......................................................................................................................... 14-26
14.12.11 Other commands...................................................................................................................... 14-27
15. ABSOLUTE POSITION DETECTION SYSTEM
15- 1 to 15- 68
15.1 Outline .................................................................................................................................................. 15- 1
15.1.1 Features......................................................................................................................................... 15- 1
15.1.2 Restrictions.................................................................................................................................... 15- 1
15.2 Specifications ....................................................................................................................................... 15- 2
15.3 Battery installation procedure ........................................................................................................... 15- 3
15.4 Standard connection diagram ............................................................................................................ 15- 4
15.5 Signal explanation............................................................................................................................... 15- 5
15.6 Startup procedure................................................................................................................................ 15- 6
15.7 Absolute position data transfer protocol ........................................................................................... 15- 7
15.7.1 Data transfer procedure............................................................................................................... 15- 7
15.7.2 Transfer method ........................................................................................................................... 15- 8
15.7.3 Home position setting.................................................................................................................. 15-19
15.7.4 Use of servo motor with electromagnetic brake ....................................................................... 15-21
15.7.5 How to process the absolute position data at detection of stroke end.................................... 15-22
15.8 Examples of use .................................................................................................................................. 15-23
15.8.1 MELSEC-A1S (A1SD71)............................................................................................................. 15-23
15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG) .......................................................................................... 15-37
15.8.3 MELSEC A1SD75........................................................................................................................ 15-49
15.9 Confirmation of absolute position detection data............................................................................ 15-64
15.10 Absolute position data transfer errors ........................................................................................... 15-65
15.10.1 Corrective actions ...................................................................................................................... 15-65
15.10.2 Error resetting conditions......................................................................................................... 15-67
APPENDIX
App- 1 to App- 4
App 1. Signal arrangement recording sheets......................................................................................... App- 1
App 2. Status display block diagram ...................................................................................................... App- 2
App 3. Combination of servo amplifier and servo motor ...................................................................... App- 3
App 4. Change of connector sets to the RoHS compatible products .................................................... App- 4
5
Optional Servo Motor Instruction Manual CONTENTS
The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced
here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included
in the Servo Amplifier Instruction Manual.
1. INTRODUCTION
2. INSTALLATION
3. CONNECTORS USED FOR SERVO MOTOR WIRING
4. INSPECTION
5. SPECIFICATIONS
6. CHARACTERISTICS
7. OUTLINE DIMENSION DRAWINGS
8. CALCULATION METHODS FOR DESIGNING
6
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Introduction
The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is based on the MELSERVO-J2
series and has further higher performance and higher functions.
It has position control, speed control and torque control modes. Further, it can perform operation with the
control modes changed, e.g. position/speed control, speed/torque control and torque/position control.
Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of
machine tools and general industrial machines but also line control and tension control.
As this new series has the RS-232C or RS-422 serial communication function, a MR Configurator (servo
configuration software)-installed personal computer or the like can be used to perform parameter setting,
test operation, status display monitoring, gain adjustment, etc.
With real-time auto tuning, you can automatically adjust the servo gains according to the machine.
The MELSERVO-J2-Super series servo motor is equipped with an absolute position encoder which has
the resolution of 131072 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2
series. Simply adding a battery to the servo amplifier makes up an absolute position detection system.
This makes home position return unnecessary at power-on or alarm occurrence by setting a home position
once.
(1) Position control mode
An up to 500kpps high-speed pulse train is used to control the speed and direction of a motor and
execute precision positioning of 131072 pulses/rev resolution.
The position smoothing function provides a choice of two different modes appropriate for a machine, so
a smoother start/stop can be made in response to a sudden position command.
A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in
the main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque
limit value can be changed to any value with an external analog input or the parameter.
(2) Speed control mode
An external analog speed command (0 to 10VDC) or parameter-driven internal speed command
(max. 7 speeds) is used to control the speed and direction of a servo motor smoothly.
There are also the acceleration/deceleration time constant setting in response to speed command, the
servo lock function at a stop time, and automatic offset adjustment function in response to external
analog speed command.
(3) Torque control mode
An external analog torque command (0 to 8VDC) is used to control the torque output by the servo
motor.
To prevent unexpected operation under no load, the speed limit function (external or internal setting)
is also available for application to tension control, etc.
1- 1
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
The function block diagram of this servo is shown below.
(1) MR-J2S-350A or less
Regenerative option
P
Servo amplifier
(Note 2)
Power
supply
MC
L1
D
Diode
stack Relay
Servo motor
(Note 1)
L2
CHARGE
lamp
L3
Current
detector
Regenerative
TR
U
V
V
W
W
Dynamic
brake
(Note 3)Cooling fan
L11
U
B1
Control
circuit
power
supply
L21
Electromagnetic
brake
B2
Base
amplifier
Voltage
detection
Overcurrent
protection
Current
detection
M
CN2
NFB
C
Encoder
Pulse
input
Virtual
encoder
Model speed
control
Model position
control
Virtual
motor
Model
torque
Model
speed
Actual position
control
Actual speed
control
RS-232C
RS-422
A/D
Current
control
D/A
CON1
Model
position
I/F
CN1A CN1B
CN3
MR-BAT
Optional battery
(for absolute position
detection system)
Analog monitor
(2 channels)
Analog
(2 channels)
D I/O control
Servo on
Start
Failure, etc.
Controller
RS-422/RS-232C
Note:1. The built-in regenerative resistor is not provided for the MR-J2S-10A(1).
2. For 1-phase 230VAC, connect the power supply to L1, L2 and leave L3 open.
L3 is not provided for a 1-phase 100 to120VAC power supply. Refer to section 1.3 for the power supply specification.
3. Servo amplifiers MR-J2S-200A have a cooling fan.
1- 2
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-500A MR-J2S-700A
Regenerative option
P
Servo amplifier
(Note)
Power
supply
MC
L1
N
Servo motor
L2
CHARGE
lamp
L3
Current
detector
Regenerative
TR
U
V
V
W
W
B1
Control
circuit
power
supply
L21
M
Dynamic
brake
Cooling fan
L11
U
Electromagnetic
brake
B2
Base
amplifier
Voltage
detection
Overcurrent
protection
Current
detection
CN2
NFB
C
Diode
stack Relay
Encoder
Pulse
input
Virtual
encoder
Model position
control
Model speed
control
Virtual
motor
Model
speed
Actual position
control
Model
torque
Actual speed
control
RS-232C
RS-422
A/D
Current
control
D/A
CON1
Model
position
I/F
CN1A CN1B
CN3
Analog monitor
(2 channels)
Analog
(2 channels)
D I/O control
Servo on
Start
Failure, etc.
Controller
RS-422/RS-232C
Note. Refer to section 1.3 for the power supply specification.
1- 3
MR-BAT
Optional battery
(for absolute position
detection system)
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-11KA or more
Regenerative option
Servo amplifier
(Note)
Power
supply
MC
C N
Servo motor
L1
L2
Current
detector
CHARGE
lamp
L3
Regenerative
TR
U
V
V
W
W
Dynamic
brake
Cooling fan
L11
U
B1
Control
circuit
power
supply
L21
Electromagnetic
brake
B2
Base
amplifier
Voltage
detection
Overcurrent
protection
Current
detection
M
CN2
NFB
P
P1
Diode Thyristor
stack
Encoder
Pulse
input
Virtual
encoder
Model speed
control
Model position
control
Virtual
motor
Model
speed
Actual position
control
Model
torque
Actual speed
control
RS-232C
RS-422
A/D
Current
control
D/A
CON1
Model
position
I/F
CN1A CN1B
CN3
Analog monitor
(2 channels)
Analog
(2 channels)
D I/O control
Servo on
Start
Failure, etc.
Controller
RS-422/RS-232C
Note. Refer to section 1.3 for the power supply specification.
1- 4
MR-BAT
Optional battery
(for absolute position
detection system)
1. FUNCTIONS AND CONFIGURATION
1.3 Servo amplifier standard specifications
Servo Amplifier
MR-J2S- 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA 10A1 20A1 40A1
Power supply
Item
Voltage/frequency
3-phase 200 to 230VAC,
50/60Hz or 1-phase
230VAC, 50/60Hz
3-phase 200 to 230VAC, 50/60Hz
1-phase 100 to
120VAC
50/60Hz
Permissible voltage fluctuation
3-phase 200 to 230VAC:
170 to 253VAC
1-phase 230VAC: 207 to
253VAC
3-phase 170 to 253VAC
1-phase
85 to 127VAC
Permissible frequency fluctuation
Within 5%
Power supply capacity
Refer to section12.2
Inrush current
Refer to section 12.5
Control system
Sine-wave PWM control, current control system
Dynamic brake
Built-in
External option
Built-in
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic
thermal relay), servo motor overheat protection, encoder error protection, regenerative
error protection, undervoltage, instantaneous power failure protection, overspeed
protection, excessive error protection
Speed control mode
Position control mode
Protective functions
Max. input pulse frequency
500kpps (for differential receiver), 200kpps (for open collector)
Command pulse multiplying factor
Electronic gear A:1 to 65535
In-position range setting
131072 B:1 to 65535, 1/50
A/B
500
0 to 10000 pulse (command pulse unit)
Error excessive
(Note)
Torque limit
2.5 revolutions
Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
Speed control range
Analog speed command 1: 2000, internal speed command 1: 5000
Analog speed command input
0 to 10VDC / Rated speed
0.01% or less (load fluctuation 0 to 100%)
0% (power fluctuation 10%)
0.2% or less (ambient temperature 25
10 (59 to 95 )),
when using analog speed command
Speed fluctuation ratio
Torque limit
Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
Torque Analog torque command input
control
mode Speed limit
Set by parameter setting or external analog input (0 to 10VDC/Rated speed)
Structure
Self-cooled, open (IP00)
Environment
Ambient
temperature
Ambient
humidity
In operation
In storage
0 to 8VDC / Maximum torque (input impedance 10 to 12k )
[ ]
0 to 55 (non-freezing)
[ ]
32 to 131 (non-freezing)
[ ]
20 to 65 (non-freezing)
[ ]
4 to 149 (non-freezing)
In operation
90%RH or less (non-condensing)
In storage
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Max. 1000m (3280ft) above sea level
Ambient
Altitude
5.9 [m/s2] or less
Vibration
Mass
Self-cooled,
open(IP00)
Force-cooling, open (IP00)
19.4 [ft/s2] or less
[kg] 0.7
0.7
1.1
1.1
[lb] 1.5
1.5
2.4
2.4 3.75 3.75 4.4
1.7
1.7
2.0
0.7
0.7
1.1
4.4 10.8 33.1 35.3 35.3 44.1 1.5
2.0
4.9
15
16
16
20
1.5
2.4
Note. The error excessive detection for 2.5 revolutions is available only when the servo amplifier of software version B0 or later is
used. When the software version is earlier than B0, the error excessive detection level of that servo amplifier is 10 revolutions.
1- 5
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.
Function
Description
(Note)
Control mode
Reference
Position control mode
This servo is used as position control servo.
P
Section 3.1.1
Section 3.4.1
Section 4.2.2
Speed control mode
This servo is used as speed control servo.
S
Section 3.1.2
Section 3.4.2
Section 4.2.3
Torque control mode
This servo is used as torque control servo.
T
Section 3.1.3
Section 3.4.3
Section 4.2.4
Position/speed control change Using external input signal, control can be switched
mode
between position control and speed control.
P/S
Section 3.4.4
Speed/torque control change
mode
Using external input signal, control can be switched
between speed control and torque control.
S/T
Section 3.4.5
Torque/position control
change mode
Using external input signal, control can be switched
between torque control and position control.
T/P
Section 3.4.6
High-resolution encoder
High-resolution encoder of 131072 pulses/rev is used as a
servo motor encoder.
P, S, T
Absolute position detection
system
Merely setting a home position once makes home position
return unnecessary at every power-on.
P
Chapter 15
Gain changing function
You can switch between gains during rotation and gains
during stop or use an external signal to change gains
during operation.
P, S
Section 8.5
Adaptive vibration
suppression control
Servo amplifier detects mechanical resonance and sets filter
characteristics automatically to suppress mechanical
vibration.
P, S, T
Section 8.3
Low-pass filter
Suppresses high-frequency resonance which occurs as servo
system response is increased.
P, S, T
Section 8.4
Machine analyzer function
Analyzes the frequency characteristic of the mechanical
system by simply connecting a MR Configurator (servo
configuration software ) installed personal computer and
servo amplifier.
P
Machine simulation
Can simulate machine motions on a personal computer
screen on the basis of the machine analyzer results.
P
Gain search function
Personal computer changes gains automatically and
searches for overshoot-free gains in a short time.
P
Slight vibration suppression
control
Suppresses vibration of 1 pulse produced at a servo motor
stop.
P
Section 7.5
Electronic gear
Input pulses can be multiplied by 1/50 to 50.
P
Parameters No. 3, 4
Auto tuning
Automatically adjusts the gain to optimum value if load
applied to the servo motor shaft varies. Higher in
performance than MR-J2 series servo amplifier.
Position smoothing
Speed can be increased smoothly in response to input pulse.
S-pattern acceleration/
deceleration time constant
Speed can be increased and decreased smoothly.
Regenerative option
Used when the built-in regenerative resistor of the servo
amplifier does not have sufficient regenerative capability
for the regenerative power generated.
P, S, T
Section 13.1.1
Brake unit
Used when the regenerative option cannot provide enough
regenerative power.
Can be used with the MR-J2S-500A to MR-J2S-22KA.
P, S, T
Section 13.1.2
1- 6
P, S
Chapter 7
P
Parameter No. 7
S, T
Parameter No. 13
1. FUNCTIONS AND CONFIGURATION
Function
(Note)
Control mode
Description
Reference
Return converter
Used when the regenerative option cannot provide enough
regenerative power.
Can be used with the MR-J2S-500A to MR-J2S-22KA.
P, S, T
Section 13.1.3
Alarm history clear
Alarm history is cleared.
P, S, T
Parameter No. 16
S
Parameter No. 20
Parameter No. 21
If the input power supply voltage had reduced to cause an
Restart after instantaneous
alarm but has returned to normal, the servo motor can be
power failure
restarted by merely switching on the start signal.
Command pulse selection
Command pulse train form can be selected from among four
different types.
P
Input signal selection
Forward rotation start, reverse rotation start, servo-on
(SON) and other input signals can be assigned to any pins.
P, S, T
Torque limit
Servo motor torque can be limited to any value.
P, S
Speed limit
Servo motor speed can be limited to any value.
T
Status display
Servo status is shown on the 5-digit, 7-segment LED
display
P, S, T
Section 6.2
External I/O signal display
ON/OFF statuses of external I/O signals are shown on the
display.
P, S, T
Section 6.6
Output signal (DO)
forced output
Output signal can be forced on/off independently of the
servo status.
Use this function for output signal wiring check, etc.
P, S, T
Section 6.7
Automatic VC offset
Voltage is automatically offset to stop the servo motor if it
does not come to a stop at the analog speed command (VC)
or analog speed limit (VLA) of 0V.
S, T
Section 6.3
Test operation mode
JOG operation positioning operation motor-less operation
DO forced output.
P, S, T
Section 6.8
Analog monitor output
Servo status is output in terms of voltage in real time.
P, S, T
Parameter No. 17
P, S, T
Section 13.1.9
P, S, T
Section 10.2.1
MR Configurator
Using a personal computer, parameter setting, test
(Servo configuration software) operation, status display, etc. can be performed.
If an alarm has occurred, the corresponding alarm number
is output in 3-bit code.
Alarm code output
Parameters
No. 43 to 48
Section 3.4.1 (5)
Parameter No. 28
Section 3.4.3 (3)
Parameter No. 8
to 10,72 to 75
Note. P: Position control mode, S: Speed control mode, T: Torque control mode
P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode
1.5 Model code definition
(1) Rating plate
MITSUBISHI
MODEL
MR-J2S-60A
AC
SERVO
AC SERVO
POWER : 600W
POWER
INPUT : 3.2A 3PH 1PH200-230V 50Hz
3PH 1PH200-230V 60Hz
5.5A 1PH 230V 50/60Hz
OUTPUT : 170V 0-360Hz 3.6A
SERIAL : A5
TC3 AAAAG52
MITSUBISHI ELECTRIC CORPORATION
PASSED
MADE IN JAPAN
1- 7
Model
Capacity
Applicable power supply
Rated output current
Serial number
1. FUNCTIONS AND CONFIGURATION
(2) Model
MR–J2S–100A or less
Series
MR–J2S–200A 350A
With no regenerative resistor
Symbol
Description
Indicates a servo
amplifier of 11k to 22kW
-PX that does not use a
regenerative resistor as
standard accessory.
Power supply
Symbol
Power supply
3-phase 200 to 230VAC
None
(Note 1)1-phase 230VAC
(Note 2)
1-phase 100 to 120VAC
1
Rating plate
MR-J2S-500A
Rating plate
MR-J2S-700A
Note 1. 1-phase 230V is supported
by 750W or less.
2. 1-phase 100V to 120V is
supported by 400W or less.
General-purpose interface
Rated output
Rated
Symbol output [kW]
10
20
40
60
70
100
200
350
500
700
11K
15K
22K
0.1
0.2
0.4
0.6
0.75
1
2
3.5
5
7
11
15
22
Rating plate
MR-J2S-11KA 15KA
Rating plate
1- 8
Rating plate
MR-J2S-22KA
Rating plate
1. FUNCTIONS AND CONFIGURATION
1.6 Combination with servo motor
The following table lists combinations of servo amplifiers and servo motors. The same combinations apply
to the models with electromagnetic brakes and the models with reduction gears.
Servo motors
Servo amplifier
MR-J2S-10A(1)
HC-SFS
HC-KFS
053
13
HC-MFS
053
MR-J2S-20A(1)
23
23
MR-J2S-40A(1)
43
43
(Note 1)
1000r/min
2000r/min
(Note 1) 73
HC-RFS
2000r/min
13
13
43
52
53
102
103
73
72
MR-J2S-100A
81
MR-J2S-200A
3000r/min
23
MR-J2S-60A
MR-J2S-70A
HC-UFS
(Note 1)
3000r/min
121
MR-J2S-350A
201
301
152
202
352
MR-J2S-500A
(Note 1)
502
MR-J2S-700A
(Note 1)
702
153
203
353
103
153
73
152
(Note 1) 203
(Note 1) 202
(Note 1)
353 503
(Note 1)
352 502
Servo motors
Servo amplifier
HA-LFS
1000r/min
1500r/min
2000r/min
(Note 1)
HC-LFS
MR-J2S-60A
52
MR-J2S-100A
102
MR-J2S-200A
152
MR-J2S-350A
202
MR-J2S-500A
(Note 1)502
MR-J2S-700A
(Note 2)601
MR-J2S-11KA
801
MR-J2S-15KA
MR-J2S-22KA
12K1
15K1
20K1
25K1
302
(Note 2)701M (Note 1)702
11K1M
11K2
15K1M
15K2
22K1M
22K2
Note 1. These servo motors may not be connected depending on the production time of the servo amplifier. Please refer to appendix 3.
2. Consult us since the servo amplifier to be used with any of these servo motors is optional.
1- 9
1. FUNCTIONS AND CONFIGURATION
1.7 Structure
1.7.1 Parts identification
(1) MR-J2S-100A or less
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Name/Application
Reference
Battery holder
Contains the battery for absolute position data backup.
Section 15.3
Battery connector (CON1)
Used to connect the battery for absolute position data
Section 15.3
backup.
Display
The 5-digit, seven-segment LED shows the servo status
Chpater 6
and alarm number.
MODE
UP
DOWN
SET
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.
MODE
UP
DOWN
SET
Used to set data.
Chapter 6
Used to change the
display or data in each
mode.
Used to change the
mode.
I/O signal connector (CN1A)
Used to connect digital I/O signals.
I/O signal connector (CN1B)
Used to connect digital I/O signals.
Communication connector (CN3)
Section 3.3
Section 3.3
Section 3.3
Used to connect a command device (RS-422/RS-232C)
and output analog monitor data.
Rating plate
Section 13.1.5
Chapter 14
Section 1.5
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply and
regenerative option.
Protective earth (PE) terminal (
Ground terminal.
Fixed part(2places)
(For MR-J2S-70A 100A 3 places)
1 - 10
)
Section 3.3
Section 13.1.5
Section 3.7
Section 11.1
Section 3.7
Section 11.1
Section 13.1.1
Section 3.10
Section 11.1
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-200A MR-J2S-350A
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Name/Application
Battery holder
Contains the battery for absolute position data backup.
Battery connector (CON1)
Used to connect the battery for absolute position data
Reference
Section 15.3
Section 15.3
backup.
Display
The 5-digit, seven-segment LED shows the servo status
Chpater 6
and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
MODE
UP
DOWN
SET
parameter setting operations.
MODE
UP
DOWN
SET
Used to set data.
Chapter 6
Used to change the
display or data in each
mode.
Used to change the
mode.
I/O signal connector (CN1A)
Used to connect digital I/O signals.
I/O signal connector (CN1B)
Used to connect digital I/O signals.
Communication connector (CN3)
Section 3.3
Section 3.3
Section 3.3
Used to connect a command device (RS-422/RS-232C)
Section 13.1.5
and output analog monitor data.
Chapter 14
Rating plate
Section 1.5
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Section 3.3
Used to connect the servo motor encoder.
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply and
regenerative option.
Protective earth (PE) terminal (
Cooling fan
Ground terminal.
Fixed part
(4 places)
1 - 11
)
Section 13.1.5
Section 3.7
Section 11.1
Section 3.7
Section 11.1
Section 3.1.1
Section 3.10
Section 11.1
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-500A
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Name/Application
Reference
Battery connector (CON1)
Used to connect the battery for absolute position data
Section 15.3
backup.
Battery holder
Contains the battery for absolute position data backup.
Section 15.3
Display
The 5-digit, seven-segment LED shows the servo status
Chpater 6
and alarm number.
MODE
UP
DOWN
Operation section
SET
Used to perform status display, diagnostic, alarm and
parameter setting operations.
MODE
UP
DOWN
SET
Used to set data.
Chapter 6
Used to change the
display or data in each
mode.
Used to change the
mode.
Fixed part
(4 places)
I/O signal connector (CN1A)
Used to connect digital I/O signals.
I/O signal connector (CN1B)
Used to connect digital I/O signals.
Communication connector (CN3)
Section 3.3
Section 3.3
Section 3.3
Used to connect a command device (RS-422/RS-232C)
and output analog monitor data.
Section 13.1.5
Chapter 14
Encoder connector (CN2)
Used to connect the servo motor encoder.
Section 13.1.5
Section 3.3
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply and
regenerative option.
Section 13.1.1
Main circuit terminal block (TE1)
Used to connect the input power supply and servo
motor.
Cooling fan
Rating plate
Protective earth (PE) terminal (
Ground terminal.
1 - 12
Section 3.7
Section 11.1
Section 3.7
Section 11.1
Section 1.5
)
Section 3.10
Section 11.1
1. FUNCTIONS AND CONFIGURATION
(4) MR-J2S-700A
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Name/Application
Reference
Battery connector (CON1)
Used to connect the battery for absolute position data
Section 15.3
backup.
Battery holder
Contains the battery for absolute position data backup.
Section 15.3
Display
The 5-digit, seven-segment LED shows the servo status
Chpater 6
and alarm number.
MODE
UP
DOWN
Operation section
SET
Used to perform status display, diagnostic, alarm and
parameter setting operations.
MODE
UP
DOWN
SET
Used to set data.
Chapter 6
Used to change the
display or data in each
mode.
Used to change the
mode.
I/O signal connector (CN1A)
Used to connect digital I/O signals.
I/O signal connector (CN1B)
Used to connect digital I/O signals.
Communication connector (CN3)
Section 3.3
Section 3.3
Section 3.3
Used to connect a command device (RS-422/RS-232C)
and output analog monitor data.
Section 13.1.5
Chapter 14
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Section 3.7
Used to connect the control circuit power supply.
Section 11.1
Encoder connector (CN2)
Section 3.3
Used to connect the servo motor encoder.
Rating plate
Section 1.5
Main circuit terminal block (TE1)
Section 3.7
Used to connect the input power supply, regenerative
Section 11.1
option and servo motor.
Cooling fan
Fixed part
(4 places)
Section 13.1.5
Protective earth (PE) terminal (
Ground terminal.
1 - 13
Section 13.1.1
)
Section 3.10
Section 11.1
1. FUNCTIONS AND CONFIGURATION
(5) MR-J2S-11KA or more
POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to section 1.7.2.
Name/Application
Reference
Battery holder
Contains the battery for absolute position data backup. Section 15.3
Display
The 5-digit, seven-segment LED shows the servo
status and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.
MODE
MODE
UP
DOWN
UP
DOWN
SET
SET
Chapter 6
Chapter 6
Used to set data.
Used to change the
display or data in each
mode.
Used to change the
mode.
Battery connector (CON1)
Used to connect the battery for absolute position data
backup.
Monitor output terminal (CN4)
Used to output monitor values as analog signals
for two channels.
Cooling fan
Communication connector (CN3)
Used to connect a command device (RS232C)
Section 15.3
Section 3.3
Section 11.1
Section 3.3
Section 13.1.5
I/O signal connector (CN1A)
Used to connect digital I/O signals.
Section 3.3
I/O signal connector (CN1B)
Used to connect digital I/O signals.
Section 3.3
Charge lamp
Lit to indicate that the main circuit is charged.
While this lamp is lit, do not reconnect the cables.
Control circuit terminal block (TE2)
Used to connect the control circuit power supply.
Section 3.7
Section 11.1
Section 13.1.1
Encoder connector (CN2)
Used to connect the servo motor encoder.
Section 3.3
Section 13.1.5
Manufacturer adjusting connector (CON2)
Keep this connector open.
Rating plate
Fixed part
(4 places)
Section 1.5
Main circuit terminal block (TE1)
Used to connect the input power supply, regenerative
option and servo motor.
Section 3.7
Section 11.1
Section 13.1.1
Protective earth (PE) terminal (
Ground terminal.
Section 3.10
Section 11.1
1 - 14
)
1. FUNCTIONS AND CONFIGURATION
1.7.2 Removal and reinstallation of the front cover
Before removing or installing the front cover, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P and N is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, always confirm from the front of the servo amplifier
whether the charge lamp is off or not.
CAUTION
(1) For MR-J2S-350A or less
Removal of the front cover
Reinstallation of the front cover
1)
Front cover hook
(2 places)
2)
2)
Front cover
1)
Front cover socket
(2 places)
1) Hold down the removing knob.
2) Pull the front cover toward you.
1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
(2) For MR-J2S-500A
Removal of the front cover
Reinstallation of the front cover
1)
Front cover hook
(2 places)
2)
2)
1)
Front cover
1) Hold down the removing knob.
2) Pull the front cover toward you.
Front cover socket
(2 places)
1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
1 - 15
1. FUNCTIONS AND CONFIGURATION
(3) For MR-J2S-700A
Removal of the front cover
Reinstallation of the front cover
Front cover
hook
(2 places)
A)
B)
2)
2)
1)
A)
1)
Front cover socket
(2 places)
1) Push the removing knob A) or B), and put you finger into the
front hole of the front cover.
2) Pull the front cover toward you.
1) Insert the two front cover hooks at the bottom into the
sockets of the servo amplifier.
2) Press the front cover against the servo amplifier until the
removing knob clicks.
1 - 16
1. FUNCTIONS AND CONFIGURATION
(4) For MR-J2S-11KA or more
Removal of the front cover
Mounting screws
(2 places)
Mounting screws (2 places)
1) Remove the front cover mounting screws (2 places) and
remove the front cover.
2) Remove the front cover mounting screws (2 places).
3) Remove the front cover by drawing it in the direction of
arrow.
1 - 17
1. FUNCTIONS AND CONFIGURATION
Reinstallation of the front cover
Mounting screws
(2 places)
1) Insert the front cover in the direction of arrow.
2) Fix it with the mounting screws (2 places).
Reinstallation of the front cover
Mounting screws (2 places)
3) Fit the front cover and fix it with the mounting screws (2
places).
1 - 18
1. FUNCTIONS AND CONFIGURATION
1.8 Servo system with auxiliary equipment
To prevent an electric shock, always connect the protective earth (PE) terminal ( )
of the servo amplifier to the protective earth (PE) of the control box.
WARNING
(1) MR-J2S-100A or less
(a) For 3-phase 200V to 230VAC or 1-phase 230V
(Note 2)
Power supply
Options and auxiliary equipment
Reference
Options and auxiliary equipment
Reference
No-fuse breaker
Section 13.2.2
Regenerative option
Section 13.1.1
Magnetic contactor
Section 13.2.2
Cables
Section 13.2.1
MR Configurator
Section 13.1.9
(Servo configuration software)
Power factor improving reactor Section 13.2.3
No-fuse breaker
(NFB) or fuse
Servo amplifier
Command device
To CN1A
Junction terminal block
Magnetic
contactor
(MC)
To CN1B
Power
factor
improving
reactor
(FR-BAL)
CHARGE
To CN3
Personal
computer
To CN2
L1
L2
L3
U
V
MR Configurator
(Servo configuration
software
MRZJW3-SETUP151E)
W
(Note 1)
Encoder cable
(Note 1)
Power supply lead
Control circuit terminal block
D
L21
L11
P
Regenerative option
Servo motor
C
Note 1. The HC-SFS, HC-RFS series have cannon connectors.
2. A 1-phase 230VAC power supply may be used with the servo amplifier of MR-J2S-70A or less.
For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open.
Refer to section 1.3 for the power supply specification.
1 - 19
1. FUNCTIONS AND CONFIGURATION
(b) For 1-phase 100V to 120VAC
(Note 2)
Power supply
Options and auxiliary equipment
Reference
Options and auxiliary equipment
Reference
No-fuse breaker
Section 13.2.2
Regenerative option
Section 13.1.1
Magnetic contactor
Section 13.2.2
Cables
Section 13.2.1
MR Configurator
Section 13.1.9
(Servo configuration software)
Power factor improving reactor Section 13.2.3
No-fuse breaker
(NFB) or fuse
Servo amplifier
Command device
To CN1A
Junction terminal block
Magnetic
contactor
(MC)
To CN1B
CHARGE
Power
factor
improving
reactor
(FR-BAL)
To CN3
Personal
computer
To CN2
L1
L2
U
V
MR Configurator
(Servo configuration
software
MRZJW3-SETUP151E)
W
(Note 1)
Encoder cable
(Note 1)
Power supply lead
Control circuit terminal block
D
L21
L11
P
Regenerative option
Servo motor
C
Note 1. The HC-SFS, HC-RFS series have cannon connectors.
2. Refer to section 1.3 for the power supply specification.
1 - 20
1. FUNCTIONS AND CONFIGURATION
(2) MR-J2S-200A MR-J2S-350A or more
(Note)
Power supply
No-fuse
breaker
(NFB) or
fuse
Options and auxiliary equipment
Reference
Options and auxiliary equipment
Reference
No-fuse breaker
Section 13.2.2
Regenerative option
Section 13.1.1
Magnetic contactor
Section 13.2.2
Cables
Section 13.2.1
MR Configurator
Section 13.1.9
(Servo configuration software)
Power factor improving reactor Section 13.2.3
Servo amplifier
Command device
To CN1A
Junction terminal
block
Magnetic
contactor
(MC)
To CN1B
Power
factor
improving
reactor
(FR-BAL)
To CN2
To CN3
Personal
computer
L11
L21
L1
L2
L3
U
V W
P
C
Regenerative option
Note. Refer to section 1.3 for the power supply specification.
1 - 21
MR Configurator
(Servo
configuration
software
MRZJW3SETUP151E)
1. FUNCTIONS AND CONFIGURATION
(3) MR-J2S-500A
(Note 2)
Power supply
Options and auxiliary equipment
Reference
Reference
Section 13.2.2
Regenerative option
Section 13.1.1
Magnetic contactor
Section 13.2.2
Cables
Section 13.2.1
MR Configurator
Section 13.1.9
(Servo configuration software)
No-fuse
breaker
(NFB) or
fuse
Options and auxiliary equipment
No-fuse breaker
Power factor improving reactor Section 13.2.3
Magnetic
contactor
(MC)
Servo amplifier
Power
factor
improving
reactor
(FA-BAL)
Command device
To CN1A
L1
L2
L3
(Note 1) C
P
Regenerative option
To CN1B
U
V
W
To CN3
Junction terminal
block
MR Configurator
(Servo
configuration
software
Personal
MRZJW3computer
SETUP151E)
To CN2
L11
L21
Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.
2. Refer to section 1.3 for the power supply specification.
1 - 22
1. FUNCTIONS AND CONFIGURATION
(4) MR-J2S-700A
(Note 2)
Power supply
Options and auxiliary equipment
Reference
L11
Regenerative option
Section 13.1.1
Magnetic contactor
Section 13.2.2
Cables
Section 13.2.1
Power factor improving reactor Section 13.2.3
Command device
Servo amplifier
To CN1A
L21
Junction terminal
block
Magnetic
contactor
(MC)
To CN1B
To CN3
Power
factor
improving
reactor
(FA-BAL)
Reference
Section 13.2.2
MR Configurator
Section 13.1.9
(Servo configuration software)
No-fuse
breaker
(NFB) or
fuse
Options and auxiliary equipment
No-fuse breaker
To CN2
L3
L2
L1
U
V
W
C
P
(Note 1) Regenerative option
Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.
2. Refer to section 1.3 for the power supply specification.
1 - 23
Personal
computer
MR Configurator
(Servo
configuration
software
MRZJW3SETUP151E)
1. FUNCTIONS AND CONFIGURATION
(5) MR-J2S-11KA or more
Options and auxiliary equipment
(Note 3)
Power supply
Reference
Options and auxiliary equipment
No-fuse breaker
Section 13.2.2
Regenerative option
Section 13.1.1
Magnetic contactor
Section 13.2.2
Cables
Section 13.2.1
MR Configurator
Section 13.1.9
(Servo configuration software)
Power factor improving reactor Section 13.2.3
Power factor improving
DC reactor
No-fuse
breaker
(NFB) or
fuse
Magnetic
contactor
(MC)
Reference
Personal
computer
L21
L11
Section 13.2.4
MR Configurator
(Servo
configuration
software
MRZJW3SETUP151E)
To CN3
Analog monitor
(Note 2)
Power
factor
improving
reactor
(FA-BAL)
To CN4
MITSUBISHI
Command device
To CN1A
L3
L2
L1
To CN1B
C
Junction terminal
block
To CN2
Regenerative
option
P
(Note 2)
Power factor
improving DC reactor
(FR-BEL)
(Note 1)
BW
BV
BU
U VW
Servo motor
series
Note 1. Cooling fan power supply of the HA-LFS11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different
from that of the servo amplifier. Therefore, separate power supply is required.
2. Use either the FR-BAL or FR-BEL power factor improving reactor.
3. Refer to section 1.3 for the power supply specification.
1 - 24
2. INSTALLATION
2. INSTALLATION
Stacking in excess of the limited number of products is not allowed.
Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead 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. (For the
environmental conditions, refer to section 1.3.)
CAUTION
Provide an adequate protection to prevent screws, metallic detritus and other
conductive matter or oil and other combustible matter from entering the servo
amplifier.
Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may
occur.
Do not subject the servo amplifier to drop impact or shock loads as they are
precision equipment.
Do not install or operate a faulty servo amplifier.
When the product has been stored for an extended period of time, consult
Mitsubishi.
When treating the servo amplifier, be careful about the edged parts such as the
corners of the servo amplifier.
2.1 Environmental conditions
Environment
Ambient
temperature
Conditions
In
[ ] 0 to 55 (non-freezing)
operation
[ ] 32 to 131 (non-freezing)
In storage
Ambient
In operation
humidity
In storage
[ ]
20 to 65 (non-freezing)
[ ]
4 to 149 (non-freezing)
90%RH or less (non-condensing)
Indoors (no direct sunlight)
Ambience
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude
Max. 1000m (3280 ft) above sea level
2
Vibration
[m/s ] 5.9 [m/s2] or less
[ft/s2] 19.4 [ft/s2] or less
2- 1
2. INSTALLATION
2.2 Installation direction and clearances
CAUTION
The equipment must be installed in the specified direction. Otherwise, a fault may
occur.
Leave specified clearances between the servo amplifier and control box inside
walls or other equipment.
(1) Installation of one servo amplifier
Control box
Control box
40mm
(1.6 in.)
or more
Servo amplifier
Wiring clearance
70mm
(2.8 in.)
Top
10mm
(0.4 in.)
or more
10mm
(0.4 in.)
or more
Bottom
40mm
(1.6 in.)
or more
2- 2
2. INSTALLATION
(2) Installation of two or more servo amplifiers
Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
Control box
100mm
(4.0 in.)
or more
10mm
(0.4 in.)
or more
Servo
amplifier
30mm
(1.2 in.)
or more
30mm
(1.2 in.)
or more
40mm
(1.6 in.)
or more
(3) Others
When using heat generating equipment such as the regenerative option, install them with full
consideration of heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2.3 Keep out foreign materials
(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the
servo amplifier.
(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control
box or a cooling 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- 3
2. INSTALLATION
2.4 Cable stress
(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own 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 should be made as
large as possible. Refer to section 12.4 for the flexing life.
2- 4
3. SIGNALS AND WIRING
3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work.
WARNING
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P and N is safe with a
voltage tester and others. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the servo amplifier whether the charge lamp is off
or not.
Ground the servo amplifier and the servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.
Wire the equipment correctly and securely. Otherwise, the servo motor may
operate unexpectedly, 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 emergency stop (EMG) and other protective circuits.
CAUTION
Servo amplifier
Servo amplifier
COM
(24VDC)
COM
(24VDC)
Control output
signal
RA
Control output
signal
RA
Use a noise filter, etc. to minimize the influence of electromagnetic interference,
which may be given to electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF
option) with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
POINT
CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of
the connectors will lead to a failure. Connect them correctly.
3- 1
3. SIGNALS AND WIRING
3.1 Standard connection example
POINT
Refer to section 3.7.1 for the connection of the power supply system and
refer to section 3.8 for connection with the servo motor.
3.1.1 Position control mode
(1) FX-10GM
Positioning module
FX-10GM
Servo amplifier
(Note 4, 9) (Note 4)
CN1A
CN1B
SVRDY
COM2
COM2
SVEND
COM4
PG0
RD
COM
INP
1
2
12
11
14
13
19
9
18
P15R 4
OP 14
7,17
24
8,18
VC
5
FPO
6
FP
COM5 9,19
16
RP
15
RP0
3
CLR
COM3 4
OPC
COM
11
9
PP
SG
NP
3
10
2
3
VDD
13
COM
(Note 12)
(Note 7)
(Note 2, 5)
18
ALM
RA1
19
ZSP
RA2
6
TLC
RA3
Trouble
Zero speed
Limiting torque
10m (32ft) or less
CR
8
SG 20 (Note 13)
SD Plate
(Note 4, 9)
CN1A
(Note 10) 2m(6.5ft) max.
1
ST2
ZRN
3
FWD
4
RVS
5
DOG
6
LSF
7
8
LSR
COM1 9,19
START
10m(32ft) max.
6
LA
16
LAR
7
LB
17
LBR
LG
1
5
LZ
15
LZR
Plate
SD
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(differential line driver)
(Note 4, 9)(Note 4, 9,14)
CN3
CN1B
(Note 3, 6) Emergency stop
EMG
15
4
MO1
Servo-on
SON
5
3
LG
Reset
RES
14
14
MO2
PC
8
13
LG
Plate
SD
Proportion control
Torque limit selection
(Note 6) Forward rotation stroke end
Reverse rotation stroke end
Upper limit setting
Analog torque limit
10V/max. torque
(Note 11)
MR Configurator
(Servo configuration
software)
Personal
computer
TL
9
LSP
16
LSN
17
SG
10
P15R
11
TLA
12
LG
1
SD
Plate
A
A
(Note 4, 9)
CN3
3- 2
10k
2m (6.5ft) max.
2m(6.5ft) max.
(Note 8)
Communication cable
10k
(Note 1)
(Note 8)
Analog monitor
Max. 1mA
Reading in both
directions
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC 10%,
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interface described in section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.
6. When starting operation, always turn on emergency stop (EMG) and Forward/Reverse rotation stroke end (LSP/LSN).
(Normally closed contacts)
7. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output
of the programmable controller should be stopped by the sequence program.
8. When connecting the personal computer together with analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to section 13.1.5)
9. The pins with the same signal name are connected in the servo amplifier.
10. This length applies to the command pulse train input in the opencollector system. It is 10m (32ft) or less in the differential line
driver system.
11. Use MRZJW3-SETUP 151E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external power.
Refer to section 3.6.2.
13. Connect to CN1A-10 when using the junction terminal block (MR-TB20).
14. For the 11kW or more servo amplifier, analog monitor 1 (MO1) and analog monitor 2 (MO2) are replaced by CN4.
CN4
1
MO1
A
2
MO2
A
4
LG
2m (6.5ft) or less
3- 3
3. SIGNALS AND WIRING
(2) AD75P
(A1SD75P
)
Positioning module
AD75P
(A1SD75P )
Ready
COM
INPS
PGO(24V)
PGO(5V)
PGO COM
CLEAR
CLEAR COM
PULSE F
PULSE F
PULSE R
PULSE R
6
24
25
5
23
21
3
22
4
PULSE COM
1
19
2
20
DOG
FLS
RLS
STOP
CHG
START
COM
COM
11
12
13
14
15
16
35
36
PULSE F
PULSE R
(Note 4,9)
CN1A
RD
COM
INP
7
26
8
(Note 13)
PULSE COM
Servo amplifier
(Note 10) 10m(32ft) max.
(Note 4)
CN1B
19
9
18
LZ
5
LZR 15
CR
8
SG
10
PG
13
PP
3
NG 12
NP
2
1
LG
SD Plate
3
VDD
13
COM
18
ALM
RA1
19
ZSP
RA2
6
TLC
RA3
EMG
10m(32ft) or less
15
6
LA
16
LAR
LB
LBR
LG
Control common
Encoder Z-phase pulse
(open collector)
SON
5
RES
14
1
Proportion control
PC
8
14
OP
Torque limit selection
TL
9
4
P15R
Plate
SD
Upper limit setting
(Note 11)
MR Configurator
(Servo configuration
software)
Personal
computer
Control common
LSP
16
LSN
17
SG
10
P15R
11
TLA
12
4
MO1
LG
1
3
LG
SD
Plate
2m(6.5ft) max.
(Note 8)
Communication cable
Encoder B-phase pulse
(differential line driver)
7
Reset
Analog torque limit
10V/max. torque
Encoder A-phase pulse
(differential line driver)
17
Servo-on
(Note 6) Forward rotation stroke end
Reverse rotation stroke end
Limiting torque
10m(32ft) or less
(Note 4,9)
CN1B
DC24V
2m(6.5ft) or less
(Note 4,9,14)
CN3
(Note 4,9)
CN3
14
MO2
13
LG
Plate
SD
A
A
10k
10k
2m(6.5ft) max.
(Note 1)
3- 4
(Note 7)
Trouble
(Note 2,5)
Zero speed
(Note 4,9)
CN1A
(Note 3, 6) Emergency stop
(Note 12)
(Note 8)
Analog monitor
Max. 1mA
Reading in both
directions
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC 10%,
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interface described in section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.
6. When starting operation, always turn on emergency stop (EMG) and forward/reverse rotation stroke end (LSP/LSN). (Normally
closed contacts)
7. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output
of the programmable controller should be stopped by the sequence program.
8. When connecting the personal computer together with analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to section 13.1.5)
9. The pins with the same signal name are connected in the servo amplifier.
10. This length applies to the command pulse train input in the differential line driver system.
It is 2m (6.5ft) or less in the opencollector system.
11. Use MRZJW3-SETUP 151E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external power.
Refer to section 3.6.2.
13. This connection is not required for the AD75P. Depending on the used positioning module, however, it is recommended to
connect the LG and control common terminals of the servo amplifier to enhance noise immunity.
14. For the 11kW or more servo amplifier, Analog monitor 1 (MO1) and Analog monitor 2 (MO2) are replaced by CN4.
CN4
1
MO1
A
2
MO2
A
4
LG
2m (6.5ft) or less
3- 5
3. SIGNALS AND WIRING
3.1.2 Speed control mode
Servo amplifier
(Note 4)
CN1B
(Note 4,9)
CN1A
Speed selection 1
SP1
8
SG
10
3
VDD
13
COM
(Note 12)
(Note 7)
(Note 2,5)
18
ALM
RA1
19
ZSP
RA2
6
TLC
RA3
Trouble
Zero speed
Limiting torque
10m(32ft) max.
10m(32ft) or less
(Note 4,9) (Note 4,9)
CN1B
CN1A
(Note 3, 6) Emergency stop
EMG
15
Servo-on
SON
5
9
COM
Reset
RES
14
18
SA
RA5
Speed reached
Speed selection 2
Forward rotation start
SP2
7
19
RD
RA4
Ready
ST1
8
Reverse rotation start
ST2
9
5
LZ
(Note 6) Forward rotation stroke end
Reverse rotation stroke end
LSP
16
15
LZR
LSN
17
SG
10
Upper limit setting
P15R 11
Analog speed command
(Note 13) 10V/rated speed
Upper limit setting
(Note 10) Analog torque limit
10V/max. torque
VC
2
LG
1
TLA
12
SD
Plate
6
LA
16
LAR
7
LB
17
LBR
1
LG
14
OP
4
P15R
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Control common
Encoder Z-phase pulse
(open collector)
Plate SD
2m(6.5ft) or less
(Note 4,9,14)
CN3
2m(6.5ft) max.
(Note 11)
MR Configurator
(Servo configuration
software)
Personal
computer
(Note 8)
Communication cable
(Note 4,9)
CN3
4
MO1
3
LG
14
MO2
13
LG
A
10k
A
10k
Plate SD
2m(6.5ft) max.
(Note 1)
3- 6
(Note 8)
Analog monitor
Max. 1mA
Reading in
both directions
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal ( ) of the servo amplifier to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC 10%,
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interface described in section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.
6. When starting operation, always turn on emergency stop (EMG) and forward/reverse rotation stroke end (LSP/LSN). (Normally
closed contacts)
7. Trouble (ALM) turns on in normal alarm-free condition.
8. When connecting the personal computer together with Analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to section 13.1.5)
9. The pins with the same signal name are connected in the servo amplifier.
10. By setting parameters No.43 to 48 to make TL available, TLA can be used.
11. Use MRZJW3-SETUP 151E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external power.
Refer to section 3.6.2.
13. Use an external power supply when inputting a negative voltage.
14. For the 11kW or more servo amplifier, analog monitor 1 (MO1) and analog monitor 2 (MO2) are replaced by CN4.
CN4
1
MO1
A
2
MO2
A
4
LG
2m (6.5ft) or less
3- 7
3. SIGNALS AND WIRING
3.1.3 Torque control mode
Servo amplifier
(Note 4)
CN1B
(Note 4,8)
CN1A
Speed selection 1
SP1
8
SG
10
3
VDD
13
COM
(Note 10)
(Note 6)
(Note 2,5)
18
ALM
RA1
19
ZSP
RA2
6
VLC
RA3
Trouble
Zero speed
Limiting torque
10m(32ft) max.
10m(32ft) or less
(Note 4,8) (Note 4,8)
CN1B
CN1A
(Note 3) Emergency stop
EMG
15
Servo-on
SON
5
Reset
RES
14
Speed selection 2
Forward rotation start
SP2
RS1
Reverse rotation start
RS2
SG
Upper limit setting
Analog torque command
(Note 11) 8V/max. torque
Upper limit setting
Analog speed limit
0 to 10V/rated speed
9
COM
19
RD
7
5
LZ
9
15
LZR
8
6
LA
10
16
LAR
P15R 11
7
LB
TC
12
17
LBR
LG
1
1
LG
14
OP
4
P15R
Ready
RA4
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
VLA
2
SD
Plate
Control common
Encoder Z-phase pulse
(open collector)
Plate SD
2m(6.5ft) or less
2m(6.5ft) max.
(Note 9)
MR Configurator
(Servo configuration
software)
Personal
computer
(Note 4,8,12)
CN3
(Note 7)
Communication cable
(Note 4,8)
CN3
4
MO1
3
LG
14
MO2
13
LG
A
A
Plate SD
2m(6.5ft) max.
(Note 1)
3- 8
10k
10k
(Note 7)
Analog monitor
Max. 1mA
Reading in both
directions
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the ( ) servo amplifier to the protective earth
(PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output
signals, disabling the emergency stop (EMG) and other protective circuits.
3. The emergency stop switch(normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, externally supply 24VDC 10%,
200mA power for the interface. 200mA is a value applicable when all I/O signals are used. Reducing the number of I/O points
decreases the current capacity. Refer to the current necessary for the interface described in section 3.6.2. Connect the external
24VDC power supply if the output signals are not used.
6. Trouble (ALM) turns on in normal alarm-free condition.
7. When connecting the personal computer together with analog monitor 1 (MO1) and analog monitor 2 (MO2) on the 7kW or less
servo amplifier, use the maintenance junction card (MR-J2CN3TM). (Refer to section 13.1.5)
8. The pins with the same signal name are connected in the servo amplifier.
9. Use MRZJW3-SETUP 151E.
10. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them when supplying external power.
Refer to section 3.6.2.
11. Use an external power supply when inputting a negative voltage.
12. For the 11kW or more servo amplifier, analog monitor 1 (MO1) and analog monitor 2 (MO2) are replaced by CN4.
CN4
1
MO1
A
2
MO2
A
4
LG
2m (6.5ft) or less
3- 9
3. SIGNALS AND WIRING
3.2 Internal connection diagram of servo amplifier
The following is the internal connection diagram where the signal assignment has been made in the
initial status in each control mode.
Servo amplifier
CN1B
VDD
3
COM
13
24VDC
(Note 1)
(Note 1)
P
S
T
COM COM COM
CN1A
CN1A
P
S
9
18
INP
SA
RD
RD
RD
S
T
CR
SP1
SP1
8
SG
SG
SG
10,20
Approx. 4.7k
19
(Note 1)
CN1B
(Note 1)
P
S
T
CN1B
SON
SON
SON
5
SP2
SP2
7
PC
ST1
RS2
8
TL
ST2
RS1
9
RES
RES
RES
14
EMG EMG EMG
15
LSP
LSP
16
LSN
LSN
17
SG
SG
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
P
6
TLC
TLC
VLC
18
ALM
ALM
ALM
19
ZSP
ZSP
ZSP
4
DO1
DO1
DO1
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
SG
10,20
T
CN1A
6
LA
OPC
11
16
LAR
PG
13
PP
3
NG
12
NP
2
CN1A
(Note 1)
P
SD
S
SD
SD
Approx. 100k
Approx. 1.2k
Approx. 100k
Approx. 1.2k
Case
TLA
7
LB
17
LBR
5
LZ
15
LZR
14
OP
1
LG
CN3
(Note 1)
P
T
S
T
CN1B
VC
VLA
2
TLA
TC
12
11
LG
LG
LG
1
SD
SD
SD
Case
14
MO2
2
RXD
12
TXD
9
SDP
19
SDN
5
RDP
15
RDN
PE
CN1A
P15R
MO1
(Note 2)
15VDC
P15R P15R P15R
4
4
Note 1. P: Position control mode, S: Speed control mode, T: Torque control mode
2. For the 11kW or more servo amplifier, MO1 is replaced by CN4-1 and MO2 by CN4-2.
3 - 10
3. SIGNALS AND WIRING
3.3 I/O signals
3.3.1 Connectors and signal arrangements
POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.
Refer to (2) CN1A and CN1B signal assignment for CN1A and CN1B
signal assignment.
(1) Signal arrangements
(a) MR-J2S-700A or less
CN1B
CN1A
11
1
MITSUBISHI
MELSERVO-J2
18
18
20
10
CN3
11
1
LG
LG
3
12
LG
5
16
MD
MDR
8
7
MR
9
10
LG
RXD
13
BAT
4
MO1
15
6
18
P5
20
6
17
MRR
19
11
1
2
14
4
19
9
20
CN2
2
17
7
8
19
9
10
16
6
17
8
15
5
16
7
14
4
15
5
13
3
14
6
12
2
13
3
4
11
1
12
2
The connector frames are
connected with the PE (earth)
terminal inside the servo amplifier.
P5
LG
5
RDP
TXD
14
MO2
16
LG
13
LG
15
RDN
17
7
18
19
9
TRE
3 - 11
3
8
10
P5
LG
12
SDP
20
P5
SDN
3. SIGNALS AND WIRING
(b) MR-J2S-11KA or more
CN3
1
CN4
2
1 MO1
2 MO2
4
RXD
LG
3
4
11
12
TXD
6
RDP
15
16
7
8
MITSUBISHI
TRE
RDN
17
18
9
10
13
14
5
LG
LG
SDP
19
20
SDN
P5
CN1A
Same as the one of the
MR-J2S-700A or less.
CN1B
Same as the one of the
MR-J2S-700A or less.
CN2
CHARGE
1
2
LG
LG
3
4
12
LG
5
8
13
15
16
7
MR
9
10
LG
14
6
MD
CON2
For manufacturer adjustment.
Keep this open.
11
BAT
MDR
18
P5
20
17
MRR
The connector frames are
connected with the PE (earth)
terminal inside the servo amplifier.
19
P5
P5
3 - 12
3. SIGNALS AND WIRING
(2) CN1A and CN1B signal assignment
The signal assignment of connector changes with the control mode as indicated below.
For the pins which are given parameter No.s in the related parameter column, their signals can be
changed using those parameters.
Connector
P
2
I
NP
3
I
1
LG
4
P/S
S
S/T
T
T/P
LG
LG
LG
LG
LG
/PP
PP/
P15R/P15R
P15R
P15R
P15R
P15R
O
LZ
LZ
LZ
LZ
LZ
LZ
6
O
LA
LA
LA
LA
LA
LA
7
O
LB
LB
LB
LB
LB
LB
8
I
CR
CR/SP1
SP1
SP1/SP1
SP1
SP1/CR
COM
COM
COM
COM
COM
COM
SG
SG
SG
SG
10
SG
11
OPC
OPC/
/OPC
NG
NG/
/NG
PG/
I
13
I
PG
14
O
OP
/PG
OP
OP
OP
OP
OP
O
LZR
LZR
LZR
LZR
LZR
LZR
16
O
LAR
LAR
LAR
LAR
LAR
LAR
17
O
LBR
LBR
LBR
LBR
LBR
LBR
18
O
INP
INP/SA
SA
19
O
RD
RD
RD
RD
SG
SG
SG
SG
LG
LG
1
2
I
3
/VC
VDD
No.43 to 48
SG
15
20
Related
parameter
/NP
NP/
5
12
CN1B
PP
P15R
9
CN1A
(Note 2) I/O Signals in control modes
(Note 1)
I/O
Pin No.
VDD
SA/
/INP
No.49
RD
RD
No.49
SG
SG
LG
LG
LG
VC
VC/VLA
VLA
VDD
VDD
VDD
LG
VLA/
VDD
(Note 4) 4
O
DO1
DO1
DO1
DO1
DO1
DO1
5
I
SON
SON
SON
SON
SON
SON
6
O
TLC
TLC
TLC
TLC/VLC
VLC
VLC/TLC
No.49
7
I
LOP
SP2
LOP
SP2
LOP
No.43 to 48
8
I
PC
PC/ST1
ST1
ST1/RS2
RS2
RS2/PC
No.43 to 48
9
I
No.43 to 48
TL
TL/ST2
ST2
ST2/RS1
RS1
RS1/TL
10
SG
SG
SG
SG
SG
SG
11
P15R
P15R
P15R
TC
TC/TLA
12
I
13
TLA
P15R
P15R
P15R
(Note 3)
(Note 3)
(Note 3)
TLA/TLA
TLA
TLA/TC
No.43 to 48
COM
COM
COM
COM
COM
COM
14
I
RES
RES
RES
RES
RES
RES
15
I
EMG
EMG
EMG
EMG
EMG
EMG
16
I
LSP
LSP
LSP
LSP/
/LSP
17
I
LSN
LSN
LSN
LSN/
/LSN
18
O
ALM
ALM
ALM
ALM
ALM
ALM
No.49
19
O
ZSP
ZSP
ZSP
ZSP
ZSP
ZSP
No.1, 49
SG
SG
SG
SG
SG
SG
20
No.43 to 48
Note 1. I : Input signal, O: Output signal
2. P : Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T:
Speed/torque control change mode, T/P: Torque/position control change mode
3. By setting parameters No. 43 to 48 to make TL available, TLA can be used.
4. CN1B-4 and CN1A-18 output signals are the same. However, this pin may not be used when assigning alarm codes to CN1A18.
3 - 13
3. SIGNALS AND WIRING
(3) Symbols and signal names
Symbol
Signal name
Symbol
Signal name
SON
Servo-on
VLC
Limiting speed
LSP
Forward rotation stroke end
RD
Ready
LSN
Reverse rotation stroke end
ZSP
Zero speed
CR
Clear
INP
In position
SP1
Speed selection 1
SA
Speed reached
SP2
Speed selection 2
ALM
Trouble
PC
Proportion control
WNG
Warning
ST1
Forward rotation start
BWNG
Battery warning
ST2
Reverse rotation start
OP
Encoder Z-phase pulse (open collector)
TL
Torque limit selection
MBR
Electromagnetic brake interlock
RES
Reset
LZ
EMG
Emergency stop
LZR
Encoder Z-phase pulse
(differential line driver)
LOP
Control change
LA
VC
Analog speed command
LAR
VLA
Analog speed limit
LB
TLA
Analog torque limit
LBR
Encoder B-phase pulse
(differential line driver)
TC
Analog torque command
VDD
I/F internal power supply
RS1
Forward rotation selection
COM
Digital I/F power supply input
RS2
Reverse rotation selection
OPC
Open collector power input
Encoder A-phase pulse
(differential line driver)
PP
SG
Digital I/F common
NP
P15R
15VDC power supply
LG
Control common
SD
Shield
PG
Forward/reverse rotation pulse train
NG
TLC
Limiting torque
3 - 14
3. SIGNALS AND WIRING
3.3.2 Signal explanations
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.6.2.
In the control mode field of the table
P : Position control mode, S: Speed control mode, T: Torque control mode
: Denotes that the signal may be used in the initial setting status.
: Denotes that the signal may be used by setting the corresponding parameter among parameters 43 to
49.
The pin No.s in the connector pin No. column are those in the initial status.
(1) Input signals
Signal
Connector
Symbol
pin No.
Functions/Applications
I/O
division
Servo-on
SON
CN1B
5
Turn SON on to power on the base circuit and make the servo
amplifier ready to operate (servo-on).
Turn it off to shut off the base circuit and coast the servo motor
(servo off).
Set "
1" in parameter No. 41 to switch this signal on
(keep terminals connected) automatically in the servo
amplifier.
DI-1
Reset
RES
CN1B
14
Turn RES on for more than 50ms to reset the alarm.
Some alarms cannot be deactivated by the reset signal. Refer to
section 10.2.
Turning RES on in an alarm-free status shuts off the base circuit.
The base circuit is not shut off when " 1
" is set in parameter
No. 51.
DI-1
Forward
rotation stroke
end
LSP
CN1B
16
To start operation, turn LSP/LSN on. Turn it off to bring the
motor to a sudden stop and make it servo-locked.
Set "
1" in parameter No. 22 to make a slow stop.
(Refer to section 5.2.3.)
DI-1
(Note) Input signals
Reverse rotation
stroke end
LSN
CN1B
17
LSP
LSN
1
1
0
1
1
0
0
0
Operation
CCW
CW
direction direction
Note. 0: off
1: on
Set parameter No. 41 as indicated below to switch on the signals
(keep terminals connected) automatically in the servo amplifier.
Parameter No.41
Automatic ON
1
LSP
1
LSN
3 - 15
Control
mode
P
S
T
3. SIGNALS AND WIRING
Signal
Connector
Symbol
pin No.
External torque
limit selection
TL
Internal
torque limit
selection
TL1
Forward
rotation start
ST1
Reverse rotation
start
ST2
CN1B
9
CN1B
8
CN1B
9
Functions/Applications
I/O
division
Turn TL off to make Internal torque limit 1 (parameter No. 28)
valid, or turn it on to make Analog torque limit (TLA) valid.
For details, refer to section 3.4.1 (5).
DI-1
When using this signal, make it usable by making the setting of
parameter No. 43 to 48.
For details, refer to section 3.4.1 (5).
DI-1
Used to start the servo motor in any of the following directions.
DI-1
(Note) Input signals
Servo motor starting direction
ST2
ST1
0
0
Stop (servo lock)
0
1
CCW
1
0
CW
1
1
Stop (servo lock)
Note. 0: off
1: on
If both ST1 and ST2 are switched on or off during operation, the
servo motor will be decelerated to a stop according to the
parameter No. 12 setting and servo-locked.
Forward
rotation
selection
Reverse rotation
selection
RS1
CN1B
9
Used to select any of the following servo motor torque generation
directions.
(Note) Input signals
RS2
CN1B
8
Torque generation direction
RS2
RS1
0
0
Torque is not generated.
0
1
Forward rotation in driving mode /
reverse rotation in regenerative mode
1
0
Reverse rotation in driving mode /
forward rotation in regenerative mode
1
1
Torque is not generated.
Note. 0: off
1: on
3 - 16
DI-1
Control
mode
P
S
T
3. SIGNALS AND WIRING
Connector
pin No.
Signal
Symbol
Speed selection 1
SP1
CN1A
8
Speed selection 2
SP2
CN1B
7
Speed selection 3
SP3
I/O
division
Functions/Applications
<Speed control mode>
Used to select the command speed for operation.
When using SP3, make it usable by making the setting of
parameter No. 43 to 48.
(Note) Input
signals
Speed command
SP3 SP2 SP1
0
0 Analog speed command (VC)
Internal speed command 1
When speed
0
1
(parameter No. 8)
selection
(SP3) is not
Internal speed command 2
1
0
used
(parameter No. 9)
(initial status)
Internal speed command 3
1
1
(parameter No. 10)
0
0
0 Analog speed command (VC)
Internal speed command 1
0
0
1
(parameter No. 8)
Internal speed command 2
0
1
0
(parameter No. 9)
Internal speed command 3
0
1
1
When speed
(parameter No.10)
selection
Internal speed command 4
(SP3) is made
1
0
0
(parameter No. 72)
valid
Internal speed command 5
1
0
1
(parameter No. 73)
Internal speed command 6
1
1
0
(parameter No. 74)
Internal speed command 7
1
1
1
(parameter No. 75)
Setting of
parameter
No. 43 to 48
Note. 0: off
1: on
<Torque control mode>
Used to select the limit speed for operation.
When using SP3, make it usable by making the setting of
parameter No. 43 to 48.
Setting of
parameter
No. 43 to 48
(Note) Input
signals
SP3 SP2 SP1
0
0
0
1
1
0
1
1
0
0
0
0
0
1
0
1
0
0
1
1
1
0
0
1
0
1
1
1
0
1
1
1
When speed
selection
(SP3) is not
used
(initial status)
When speed
selection
(SP3) is made
valid
Note. 0: off
1: on
3 - 17
Speed limit
Analog speed limit (VLA)
Internal speed command 1
(parameter No. 8)
Internal speed command 2
(parameter No. 9)
Internal speed command 3
(parameter No. 10)
Analog speed limit (VLA)
Internal speed command 1
(parameter No. 8)
Internal speed command 2
(parameter No. 9)
Internal speed command 3
(parameter No.10)
Internal speed command 4
(parameter No. 72)
Internal speed command 5
(parameter No. 73)
Internal speed command 6
(parameter No. 74)
Internal speed command 7
(parameter No. 75)
DI-1
DI-1
DI-1
Control
mode
P S T
3. SIGNALS AND WIRING
Signal
Proportion
control
Emergency stop
Clear
Symbol
Connector
pin No.
Functions/Applications
I/O
division
PC
CN1B
8
Connect PC-SG to switch the speed amplifier from the
proportional integral type to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any
external factor, it generates torque to compensate for a position
shift. When the servo motor shaft is to be locked mechanically
after positioning completion (stop), switching on the proportion
control (PC) upon positioning completion will suppress the
unnecessary torque generated to compensate for a position shift.
When the shaft is to be locked for a long time, switch on the
proportion control (PC) and torque control (TL) at the same time
to make the torque less than the rated by the analog torque limit.
DI-1
EMG
CN1B
15
Turn EMG off (open EMG-common) to bring the motor to an
emergency stop state, in which the base circuit is shut off and the
dynamic brake is operated.
Turn EMG on (short EMG-common) in the emergency stop state
to reset that state.
DI-1
CR
CN1A
8
Turn CR on to clear the position control counter droop pulses on
its leading edge. The pulse width should be 10ms or more.
When the parameter No. 42 setting is "
1 ", the pulses are
always cleared while CR is on.
DI-1
When using CM1 and CM2, make them usable by the setting of
parameters No. 43 to 48.
The combination of CM1 and CM2 gives you a choice of four
different electronic gear numerators set in the parameters.
CM1 and CM2 cannot be used in the absolute position detection
system.
DI-1
Electronic gear
selection 1
CM1
Electronic gear
selection 2
CM2
(Note) Input signals
Electronic gear molecule
CM2
CM1
0
0
Parameter No. 3
0
1
Parameter No. 69
1
0
Parameter No. 70
1
1
Parameter No. 71
DI-1
Note. 0: off
1: on
Gain changing
CDP
When using this signal, make it usable by the setting of
parameter No. 43 to 48.
Turn CDP on to change the load inertia moment ratio into the
parameter No. 61 setting and the gain values into the values
multiplied by the parameter No. 62 to 64 settings.
3 - 18
DI-1
Control
mode
P
S
T
3. SIGNALS AND WIRING
Signal
Control change
Symbol
LOP
Connector
pin No.
CN1B
7
Functions/Applications
<Position/speed control change mode>
Used to select the control mode in the position/speed control
change mode.
(Note) LOP
Control mode
0
1
Position
Speed
I/O
division
DI-1
Applications.
<Speed/torque control change mode>
Used to select the control mode in the speed/torque control change
mode.
Control mode
0
1
Speed
Torque
Note. 0: off
1: on
<Torque/position control mode>
Used to select the control mode in the torque/position control
change mode.
(Note) LOP
Control mode
0
1
Torque
Position
Note. 0: off
1: on
Analog torque
limit
TLA
Analog torque
command
TC
Analog speed
command
VC
Analog speed
limit
Forward
rotation pulse
train
Reverse rotation
pulse train
CN1B
12
CN1B
2
VLA
PP
NP
PG
NG
CN1A
3
CN1A
2
CN1A
13
CN1A
12
To use this signal in the speed control mode, set any of
parameters No. 43 to 48 to make TL available.
When the analog torque limit (TLA) is valid, torque is limited in
the full servo motor output torque range. Apply 0 to 10VDC
across TLA-LG. Connect the positive terminal of the power supply
to TLA. Maximum torque is generated at 10V. (Refer to section
3.4.1 (5)) Resolution:10bit
Used to control torque in the full servo motor output torque
range.
Apply 0 to 8VDC across TC-LG. Maximum torque is generated
at 8V. (Refer to section 3.4.3 (1))
The torque at 8V input can be changed using parameter No. 26.
Apply 0 to 10VDC across VC-LG. Speed set in parameter No. 25
is provided at 10V. (Refer to section 3.4.2 (1))
Resolution:14bit or equivalent
Apply 0 to 10VDC across VLA-LG. Speed set in parameter No.
25 is provided at 10V. (Refer to section 3.4.3 (3))
Used to enter a command pulse train.
In the open collector system (max. input frequency 200kpps).
Forward rotation pulse train across PP-SG
Reverse rotation pulse train across NP-SG
In the differential receiver system (max. input frequency
500kpps).
Forward rotation pulse train across PG-PP
Reverse rotation pulse train across NG-NP
The command pulse train form can be changed using parameter
No. 21.
3 - 19
Refer to
Functions/
Note. 0: off
1: on
(Note) LOP
Control
mode
P S T
Analog
input
Analog
input
Analog
input
Analog
input
DI-2
3. SIGNALS AND WIRING
(2) Output signals
Signal
Trouble
Connector
Symbol
pin No.
ALM
CN1B
18
Functions/Applications
I/O
division
ALM turns off when power is switched off or the protective circuit
is activated to shut off the base circuit.
Without alarm occurring, ALM turns on within about 1s after
power-on.
DO-1
This signal can be used with the 11kW or more servo amplifier.
When using this signal, set " 1
" in parameter No. 1.
When the dynamic brake is operated, DB turns off. (Refer to
section 13.1.4.)
DO-1
Dynamic brake
interlock
DB
Ready
RD
CN1A
19
RD turns on when the servo is switched on and the servo
amplifier is ready to operate.
DO-1
In position
INP
CN1A
18
INP turns on when the number of droop pulses is in the preset inposition range. The in-position range can be changed using
parameter No. 5.
When the in-position range is increased, INP-SG may be kept
connected during low-speed rotation.
DO-1
Speed reached
SA
SA turns on when the servo motor speed has nearly reached the
preset speed. When the preset speed is 20r/min or less, SA
always turns on. SA does not turn on even when the servo on
(SON) is turned off or the servo motor speed by the external force
reaches the preset speed while both the forward rotation start
(ST1) and the reverse rotation start (ST2) are off.
DO-1
Limiting speed
VLC
VLC turns on when speed reaches the value limited using any of
the internal speed limits 1 to 7 (parameter No. 8 to 10, 72 to 75)
or the analog speed limit (VLA) in the torque control mode.
VLC turns off when servo on (SON) turns off.
DO-1
Limiting torque
TLC
TLC turns on when the torque generated reaches the value set to
the internal torque limit 1 (parameter No. 28) or analog torque
limit (TLA).
DO-1
Zero speed
ZSP
CN1B
19
ZSP turns on when the servo motor speed is zero speed (50r/min)
or less. Zero speed can be changed using parameter No. 24.
DO-1
Electromagnetic
brake interlock
MBR
CN1B
19
Set "
1 " in parameter No. 1 to use this parameter. Note that
ZSP will be unusable.
MBR turns off when the servo is switched off or an alarm occurs.
DO-1
Warning
WNG
To use this signal, assign the connector pin for output using
parameter No.49. The old signal before assignment will be
unusable.
When warning has occurred, WNG turns on.
When there is no warning, WNG turns off within about 1s after
power-on.
DO-1
To use this signal, assign the connector pin for output using
parameter No.49. The old signal before assignment will be
unusable.
BWNG turns on when battery cable breakage warning (AL. 92) or
battery warning (AL. 9F) has occurred.
When there is no battery warning, BWNG turns off within about
1s after power-on.
DO-1
Battery warning BWNG
CN1B
6
3 - 20
Control
mode
P
S
T
3. SIGNALS AND WIRING
Signal
Alarm code
Connector
Symbol
pin No.
ACD 0
ACD 1
ACD 2
CN1A
19
CN1A
18
CN1B
19
I/O
division
Functions/Applications
To use this signal, set "
1 " in parameter No.49.
This signal is output when an alarm occurs. When there is no
alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
Alarm codes and alarm names are listed below.
(Note) Alarm code
CN1B CN1A CN1A
19 Pin 18 Pin 19 Pin
0
0
0
0
0
1
0
1
0
0
1
1
1
1
0
0
1
1
0
1
0
Alarm
display
Name
88888
Watchdog
AL.12
Memory error 1
AL.13
Clock error
AL.15
Memory error 2
AL.17
Board error
AL.19
Memory error 3
AL.37
Parameter error
AL.8A
Serial communication
timeout
AL.8E
Serial communication error
AL.30
Regenerative error
AL.33
Overvoltage
AL.10
Undervoltage
AL.45
Main circuit device
AL.46
Servo motor overheat
AL.50
Overload 1
AL.51
Overload 2
AL.24
Main circuit error
AL.32
Overcurrent
AL.31
Overspeed
AL.35
Command pulse frequency
alarm
AL.52
Error excessive
AL.16
Encoder error 1
AL.1A
Monitor combination error
AL.20
Encoder error 2
AL.25
Absolute position erase
Note. 0: off
1: on
3 - 21
DO-1
Control
mode
P
S
T
3. SIGNALS AND WIRING
Connector pin No.
Signal
Symbol
OP
Encoder Z-phase
pulse
(Open collector)
7kW or 11kW or
less
more
CN1A
14
CN1A
14
Functions/Applications
Outputs the zero-point signal of the encoder. One pulse is
output per servo motor revolution. OP turns on when the
zero-point position is reached. (Negative logic)
The minimum pulse width is about 400 s. For home
I/O
division
Control
mode
P
S
T
DO-2
position return using this pulse, set the creep speed to
100r/min. or less.
Encoder A-phase
Pulse
(Differential line
driver)
Encoder B-phase
pulse
(Differential line
driver)
Encoder Z-phase
pulse
(Differential line
driver)
LA
LAR
LB
LBR
LZ
LZR
CN1A
6
CN1A
16
CN1A
6
CN1A
16
CN1A
7
CN1A
17
CN1A
7
CN1A
17
CN1A
5
CN1A
15
CN1A
5
CN1A
15
Outputs pulses per servo motor revolution set in
parameter No. 27 in the differential line driver system.
In CCW rotation of the servo motor, the encoder B-phase
pulse lags the encoder A-phase pulse by a phase angle of
/2.
The relationships between rotation direction and phase
difference of the A B-phase pulses can be changed using
parameter No. 54.
DO-2
The same signal as OP is output in the differential line
driver system.
DO-2
Analog monitor 1
MO1
CN3
4
CN4
1
Used to output the data set in parameter No.17 to across
MO1-LG in terms of voltage. Resolution 10 bits
Analog
output
Analog monitor 2
MO2
CN3
14
CN4
2
Used to output the data set in parameter No.17 to across
MO2-LG in terms of voltage. Resolution 10 bits
Analog
output
(3) Communication
POINT
Refer to chapter 14 for the communication function.
Signal
RS-422 I/F
Symbol
SDP
SDN
RDP
RDN
Connector
pin No.
Functions/Applications
CN3
9
CN3
19
CN3
5
CN3
15
RS-422 and RS-232C functions cannot be used together.
Choose either one in parameter No. 16.
RS-422
termination
TRE
CN3
10
Termination resistor connection terminal of RS-422 interface.
When the servo amplifier is the termination axis, connect this
terminal to RDN (CN3-15).
RS-232C I/F
RXD
CN3
2
CN3
12
RS-422 and RS-232C functions cannot be used together.
Choose either one in parameter No. 16.
TXD
3 - 22
I/O
division
Control
mode
P
S
T
3. SIGNALS AND WIRING
(4) Power supply
Connector pin No.
Signal
Symbol
7kW or 11kW or
less
more
Functions/Applications
P S
I/F internal
power supply
VDD
CN1B
3
CN1B
3
Used to output 24V 10% to across VDD-SG.
When using this power supply for digital interface,
connect it with COM.
Permissible current : 80mA
Digital I/F power
supply input
COM
CN1A
9
CN1B
13
CN1A
9
CN1B
13
Used to input 24VDC for input interface.
Connect the positive terminal of the 24VDC external
power supply.
24VDC 10%
Open collector
power input
OPC
CN1A
11
CN1A
11
When inputting a pulse train in the open collector
system, supply this terminal with the positive ( ) power
of 24VDC.
SG
CN1A
10
20
CN1B
10
20
CN1A
10
20
CN1B
10
20
Common terminal for input signals such as SON and
EMG. Pins are connected internally.
Separated from LG.
P15R
CN1A
4
CN1B
11
CN1A
4
CN1B
11
Outputs 15VDC to across P15R-LG. Available as power
for TC, TLA, VC, VLA.
Permissible current: 30mA
Control common
LG
CN1A
1
CN1B
1
CN3
1, 11
3, 13
CN1A
1
CN1B
1
CN3
1, 11
3, 13
CN4
4
Common terminal for TLA, TC, VC, VLA, FPA, FPB, OP
,MO1, MO2 and P15R.
Pins are connected internally.
Shield
SD
Plate
Plate
Connect the external conductor of the shield cable.
Digital I/F
common
15VDC power
supply
I/O division
Control
mode
3 - 23
T
3. SIGNALS AND WIRING
3.4 Detailed description of the signals
3.4.1 Position control mode
(1) Pulse train input
(a) Input pulse waveform selection
Command pulses may be input in any of three different forms, for which positive or negative logic
can be chosen. Set the command pulse train form in parameter No. 21.
Arrow
or
in the table indicates the timing of importing a pulse train.
A B-phase pulse trains are imported after they have been multiplied by 4.
Pulse train form
Negative logic
Forward rotation
pulse train
Reverse rotation
pulse train
Forward rotation
command
Reverse rotation
command
Parameter No. 21
(Command pulse train)
PP
0010
NP
PP
Pulse train
sign
0011
NP
L
H
PP
A-phase pulse train
B-phase pulse train
0012
Positive logic
NP
Forward rotation
pulse train
Reverse rotation
pulse train
PP
0000
NP
PP
Pulse train
sign
NP
0001
L
H
PP
A-phase pulse train
B-phase pulse train
0002
NP
3 - 24
3. SIGNALS AND WIRING
(b) Connections and waveforms
1) Open collector system
Connect as shown below.
Servo amplifier
VDD
OPC
(Note)
PP
Approx.
1.2k
NP
Approx.
1.2k
SG
SD
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a
resistance to a pulse train signal line.
The explanation assumes that the input waveform has been set to the negative logic and forward
and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the
table refer to (1) (a) in this section are voltage waveforms of PP and NP based on SG. Their
relationships with transistor ON/OFF are as follows.
Forward rotation
pulse train
(transistor)
Reverse rotation
pulse train
(transistor)
(OFF) (ON) (OFF) (ON)
(OFF)
(ON) (OFF) (ON) (OFF) (ON)
(OFF)
Forward rotation command
3 - 25
Reverse rotation command
3. SIGNALS AND WIRING
2) Differential line driver system
Connect as shown below.
Servo amplifier
PP
PG
(Note)
NP
NG
SD
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a
resistance to a pulse train signal line.
The explanation assumes that the input waveform has been set to the negative logic and forward
and reverse rotation pulse trains (parameter No.21 has been set to 0010).
For the differential line driver, the waveforms in the table refer to (1) (a) in this section are as
follows.
The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line
driver.
Forward rotation
pulse train
PP
PG
Reverse rotation
pulse train
NP
NG
Forward rotation command
3 - 26
Reverse rotation command
3. SIGNALS AND WIRING
(2) In-position (INP)
PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset
in-position range (parameter No. 5). INP-SG may remain connected when low-speed operation is
performed with a large value set as the in-position range.
Servo-on (SON)
Alarm
ON
OFF
Yes
No
In-position range
Droop pulses
In position (INP)
ON
OFF
(3) Ready (RD)
Servo-on (SON)
Alarm
Ready (RD)
ON
OFF
Yes
No
ON
80ms or less
10ms or less
10ms or less
OFF
(4) Electronic gear switching
The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in
the parameters.
As soon as CM1/CM2 is turned ON or OFF, the molecule of the electronic gear changes. Therefore, if
any shock occurs at this change, use position smoothing (parameter No. 7) to relieve shock.
(Note) External input signal
Electronic gear molecule
CM2
CM1
0
0
Parameter No. 3
0
1
Parameter No. 69
1
0
Parameter No. 70
1
1
Parameter No. 71
Note. 0: off
1: on
3 - 27
3. SIGNALS AND WIRING
(5) Torque limit
If the torque limit is canceled during servo lock, the servo motor may suddenly
rotate according to position deviation in respect to the command position.
CAUTION
(a) Torque limit and torque
By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum
value during operation. A relationship between the limit value and servo motor torque is shown
below.
torque
Max. torque
0
0
100
Torque limit value [%]
Torque limit value [%]
A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit
value of the servo motor is shown below. Torque limit values will vary about 5% relative to the
voltage depending on products.
At the voltage of less than 0.05V, torque may vary as it may not be limited sufficiently. Therefore,
use this function at the voltage of 0.05V or more.
Servo amplifier
100
TL
SG
5%
0
0 0.05
2k
10
TLA application voltage [V]
2k
Japan resistor
RRS10 or equivalent
P15R
TLA
LG
SD
TLA application voltage vs.
torque limit value
(b) Torque limit value selection
Choose the torque limit made valid by the internal torque limit value 1 (parameter No. 28) using
the external torque limit selection (TL) or the torque limit made valid by the analog torque limit
(TLA) as indicated below.
When internal torque limit selection (TL1) is made usable by parameter No. 43 to 48, internal
torque limit 2 (parameter No. 76) can be selected. However, if the parameter No. 28 value is less
than the limit value selected by TL/TL1, the parameter No. 28 value is made valid.
(Note) External input signals
TL1
TL
0
0
0
1
1
0
1
1
Torque limit value made valid
Internal torque limit value 1 (parameter No. 28)
TLA Parameter No. 28: Parameter No. 28
TLA Parameter No. 28: TLA
Parameter No. 76 Parameter No. 28: Parameter No. 28
Parameter No. 76 Parameter No. 28: Parameter No. 76
TLA Parameter No. 76: Parameter No. 76
TLA Parameter No. 76: TLA
Note. 0: off
1: on
(c) Limiting torque (TLC)
TLC turns on when the servo motor torque reaches the torque limited using the internal torque
limit 1 2 or analog torque limit.
3 - 28
3. SIGNALS AND WIRING
3.4.2 Speed control mode
(1) Speed setting
(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied
voltage of the analog speed command (VC). A relationship between the analog speed command
(VC) applied voltage and the servo motor speed is shown below.
Rated speed is achieved at 10V with initial setting. The speed at 10V can be changed using
parameter No.25.
Rated speed [r/min]
Speed [r/min]
10
CW direction
Forward rotation (CCW)
CCW direction
0
10
VC applied voltage [V]
Rated speed [r/min]
Reverse rotation (CW)
The following table indicates the rotation direction according to forward rotation start (ST1) and
reverse rotation start (ST2) combination.
(Note 1) External input signals
(Note 2) Rotation direction
Analog speed command (VC)
Internal speed
commands
ST2
ST1
0
0
Stop
(Servo lock)
Stop
(Servo lock)
Stop
(Servo lock)
Stop
(Servo lock)
0
1
CCW
CCW
0
CW
Stop
(No servo lock)
CW
1
CCW
CW
1
Stop
(Servo lock)
Stop
(Servo lock)
Stop
(Servo lock)
Stop
(Servo lock)
1
Polarity
0V
Polarity
Note 1. 0: off
1: on
2. If the torque limit is canceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect
to the command position.
The forward rotation start (ST1) and reverse rotation start (ST2) can be assigned to any pins of the
connector CN1A, CN1B using parameters No. 43 to 48.
Generally, make connection as shown below.
Servo amplifier
2k
2k
Japan resistor
RRS10 or equivalent
3 - 29
ST1
ST2
SG
P15R
VC
LG
SD
3. SIGNALS AND WIRING
(b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value
Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection
1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC).
(Note) External input signals
Speed command value
SP2
SP1
0
0
Analog speed command (VC)
0
1
Internal speed command 1 (parameter No. 8)
1
0
Internal speed command 2 (parameter No. 9)
1
1
Internal speed command 3 (parameter No. 10)
Note. 0: off
1: on
By making speed selection 3 (SP3) usable by setting of parameter No. 43 to 48, you can choose the
speed command values of analog speed command (VC) and internal speed commands 1 to 7.
(Note) External input signals
Speed command value
SP3
SP2
SP1
0
0
0
Analog speed command (VC)
0
0
1
Internal speed command 1 (parameter No. 8)
0
1
0
Internal speed command 2 (parameter No. 9)
0
1
1
Internal speed command 3 (parameter No. 10)
1
0
0
Internal speed command 4 (parameter No. 72)
1
0
1
Internal speed command 5 (parameter No. 73)
1
1
0
Internal speed command 6 (parameter No. 74)
1
1
1
Internal speed command 7 (parameter No. 75)
Note. 0: off
1: on
The speed may be changed during rotation. In this case, the values set in parameters No. 11 and
12 are used for acceleration/deceleration.
When the speed has been specified under any internal speed command, it does not vary due to the
ambient temperature.
(2) Speed reached (SA)
SA turns on when the servo motor speed has nearly reached the speed set to the internal speed
command or analog speed command.
Internal speed
command 1
Set speed selection
Start (ST1,ST2)
ON
OFF
Servo motor speed
Speed reached (SA)
ON
OFF
(3) Torque limit
As in section 3.4.1 (5).
3 - 30
Internal speed
command 2
3. SIGNALS AND WIRING
3.4.3 Torque control mode
(1) Torque control
(a) Torque command and torque
A relationship between the applied voltage of the analog torque command (TC) and the torque by
the servo motor is shown below.
The maximum torque is generated at 8V. Note that the torque at 8V input can be changed with
parameter No. 26.
CCW direction
Max. torque
Forward rotation (CCW)
Generated torque
8
0.05
0.05 8
TC applied voltage [V]
CW direction
Max. torque
Reverse rotation (CW)
Generated torque limit values will vary about 5% relative to the voltage depending on products.
Also the torque may vary if the voltage is low ( 0.05 to 0.05V) and the actual speed is close to the
limit value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation
selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.
(Note) External input signals
Rotation direction
Torque control command (TC)
RS2
RS1
0
0
Torque is not generated.
1
CCW (reverse rotation in
driving mode/forward
rotation in regenerative
mode)
1
0
CW (forward rotation in
driving mode/reverse
rotation in regenerative
mode)
1
1
Torque is not generated.
0
Polarity
0V
CW (forward rotation in
driving mode/reverse
rotation in regenerative
Torque is not mode)
generated. CCW (reverse rotation in
driving mode/forward
rotation in regenerative
mode)
Torque is not generated.
Note. 0: off
1: on
Generally, make connection as shown below.
Servo amplifier
8 to 8V
Polarity
Torque is not generated.
RS1
RS2
SG
TC
LG
SD
3 - 31
3. SIGNALS AND WIRING
(b) Analog torque command offset
Using parameter No. 30, the offset voltage of
voltage as shown below.
999 to 999mV can be added to the TC applied
Generated torque
Max. torque
Parameter No.30 offset range
999 to 999mV
0
8( 8)
TC applied voltage [V]
(2) Torque limit
By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value
during operation. A relationship between limit value and servo motor torque is as in section 3.4.1 (5).
Note that the analog torque limit (TLA) is unavailable.
(3) Speed limit
(a) Speed limit value and speed
The speed is limited to the values set in parameters No. 8 to 10, 72 to 75 (internal speed limits 1 to
7) or the value set in the applied voltage of the analog speed limit (VLA).
A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is
shown below.
When the servo motor speed reaches the speed limit value, torque control may become unstable.
Make the set value more than 100r/min greater than the desired speed limit value.
Rated speed
Speed [r/min]
Forward rotation (CCW)
CCW direction
10
0
10
VLA applied voltage [V]
CW direction
Rated speed
Reverse rotation (CW)
The following table indicates the limit direction according to forward rotation selection (RS1) and
reverse rotation selection (RS2) combination.
(Note) External input signals
RS1
1
0
Note. 0: off
1: on
Speed limit direction
Analog speed limit (VLA)
Polarity
Polarity
CCW
CW
CW
CCW
RS2
0
1
Generally, make connection as shown below.
Servo amplifier
2k
2k
Japan resistor
RRS10 or equivalent
3 - 32
SP1
SP2
SG
P15R
VC
LG
SD
Internal speed
commands
CCW
CW
3. SIGNALS AND WIRING
(b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values
Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection
1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the speed
limit command (VLA), as indicated below.
Setting of parameter
No. 43 to 48
(Note) Input signals
SP3
When speed selection
(SP3) is not used
(initial status)
When speed selection
(SP3) is made valid
Speed limit value
SP2
SP1
0
0
Analog speed limit (VLA)
0
1
Internal speed limit 1 (parameter No. 8)
1
0
Internal speed limit 2 (parameter No. 9)
1
1
Internal speed limit 3 (parameter No. 10)
0
0
0
Analog speed limit (VLA)
0
0
1
Internal speed limit 1 (parameter No. 8)
0
1
0
Internal speed limit 2 (parameter No. 9)
0
1
1
Internal speed limit 3 (parameter No. 10)
1
0
0
Internal speed limit 4 (parameter No. 72)
1
0
1
Internal speed limit 5 (parameter No. 73)
1
1
0
Internal speed limit 6 (parameter No. 74)
1
1
1
Internal speed limit 7 (parameter No. 75)
Note. 0: off
1: on
When the internal speed limits 1 to 7 are used to command the speed, the speed does not vary with
the ambient temperature.
(c) Limiting speed (VLC)
VLC turns on when the servo motor speed reaches the speed limited using any of the internal
speed limits 1 to 7 or the analog speed limit (VLA).
3 - 33
3. SIGNALS AND WIRING
3.4.4 Position/speed control change mode
Set "0001" in parameter No. 0 to switch to the position/speed control change mode. This function is not
available in the absolute position detection system.
(1) Control change (LOP)
Use control change (LOP) to switch between the position control mode and the speed control mode
from an external contact. Relationships between LOP and control modes are indicated below.
(Note) LOP
Servo control mode
0
Position control mode
1
Speed control mode
Note. 0: off
1: on
The control mode may be changed in the zero speed status. To ensure safety, change control after the
servo motor has stopped. When position control mode is changed to speed control mode, droop pulses
are reset.
If the signal has been switched on-off at the speed higher than the zero speed and the speed is then
reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown
below.
Position
control mode
Servo motor speed
Zero speed (ZSP)
Control change (LOP)
Speed
control mode
Position
control mode
Zero speed
level
ON
OFF
ON
OFF
(Note)
(Note)
Note. When ZSP is not on, control cannot be changed if LOP is switched on-off.
If ZSP switches on after that, control cannot not be changed.
(2) Torque limit in position control mode
As in section 3.4.1 (5).
3 - 34
3. SIGNALS AND WIRING
(3) Speed setting in speed control mode
(a) Speed command and speed
The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the
speed set in the applied voltage of the analog speed command (VC). A relationship between analog
speed command (VC) applied voltage and servo motor speed and the rotation directions determined
by the forward rotation start (ST1) and reverse rotation start (ST2) are as in section 3.4.2 (1) (a).
Generally, make connection as shown below.
Servo amplifier
2k
2k
Japan resistor
RRS10 or equivalent
SP1
SG
P15R
VC
LG
SD
(b) Speed selection 1 (SP1) and speed command value
Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and
the speed set by the analog speed command (VC) as indicated in the following table.
(Note) External input signals
SP1
Speed command value
0
Analog speed command (VC)
1
Internal speed command 1 (parameter No. 8)
Note. 0: off
1: on
By making speed selection 2 (SP2) speed selection 3 (SP3) usable by setting of parameter No. 43 to
48, you can choose the speed command values of analog speed command (VC) and internal speed
commands 1 to 7.
(Note) External input signals
Speed command value
SP3
SP2
SP1
0
0
0
Analog speed command (VC)
0
0
1
Internal speed command 1 (parameter No. 8)
0
1
0
Internal speed command 2 (parameter No. 9)
0
1
1
Internal speed command 3 (parameter No. 10)
1
0
0
Internal speed command 4 (parameter No. 72)
1
0
1
Internal speed command 5 (parameter No. 73)
1
1
0
Internal speed command 6 (parameter No. 74)
1
1
1
Internal speed command 7 (parameter No. 75)
Note. 0: off
1: on
The speed may also be changed during rotation. In this case, it is increased or decreased according
to the value set in parameter No. 11 or 12.
When the internal speed command 1 is used to command the speed, the speed does not vary with
the ambient temperature.
(c) Speed reached (SA)
As in section 3.4.2 (2).
3 - 35
3. SIGNALS AND WIRING
3.4.5 Speed/torque control change mode
Set "0003" in parameter No. 0 to switch to the speed/torque control change mode.
(1) Control change (LOP)
Use control change (LOP) to switch between the speed control mode and the torque control mode from
an external contact. Relationships between LOP and control modes are indicated below.
(Note) LOP
Servo control mode
0
Speed control mode
1
Torque control mode
Note. 0: off
1: on
The control mode may be changed at any time. A change timing chart is shown below.
Speed
Torque
Speed
control mode control mode control mode
Control change (LOP)
ON
OFF
Servo motor speed
(Note)
Analog torque
command (TC)
10V
Load torque
Forward rotation in driving mode
0
Note: When the start (ST1 ST2) is switched off as soon as the mode is changed to speed control,
the servo motor comes to a stop according to the deceleration time constant.
(2) Speed setting in speed control mode
As in section 3.4.2 (1).
(3) Torque limit in speed control mode
As in section 3.4.1 (5).
3 - 36
3. SIGNALS AND WIRING
(4) Speed limit in torque control mode
(a) Speed limit value and speed
The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value
set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed
limit (VLA) applied voltage and the servo motor speed is as in section 3.4.3 (3) (a).
Generally, make connection as shown below.
Servo amplifier
2k
2k
Japan resistor
RRS10 or equivalent
SP1
SG
P15R
VLA
LG
SD
(b) Speed selection 1 (SP1) and speed limit value
Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and
the speed set by the analog speed limit (VLA) as indicated in the following table.
(Note) External input signals
Speed command value
SP1
0
Analog speed limit (VLA)
1
Internal speed limit 1 (parameter No. 8)
Note. 0: off
1: on
When the internal speed limit 1 is used to command the speed, the speed does not vary with the
ambient temperature.
(c) Limiting speed (VLC)
As in section 3.4.3 (3) (c).
(5) Torque control in torque control mode
As in section 3.4.3 (1).
(6) Torque limit in torque control mode
As in section 3.4.3 (2).
3 - 37
3. SIGNALS AND WIRING
3.4.6 Torque/position control change mode
Set "0005" in parameter No. 0 to switch to the torque/position control change mode.
(1) Control change (LOP)
Use control change (LOP) to switch between the torque control mode and the position control mode
from an external contact. Relationships between LOP and control modes are indicated below.
(Note) LOP
Servo control mode
0
Torque control mode
1
Position control mode
Note. 0: off
1: on
The control mode may be changed in the zero speed status.
To ensure safety, change control after the servo motor has stopped. When position control mode is
changed to torque control mode, droop pulses are reset.
If the signal has been switched on-off at the speed higher than the zero speed and the speed is then
reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown
below.
Speed
Torque
Speed
control mode control mode control mode
Servo motor speed
Analog torque
command (TLA)
Zero speed (ZSP)
Control change (LOP)
Zero speed
level
10V
0V
ON
OFF
ON
OFF
(2) Speed limit in torque control mode
As in section 3.4.3 (3).
(3) Torque control in torque control mode
As in section 3.4.3 (1).
(4) Torque limit in torque control mode
As in section 3.4.3 (2).
(5) Torque limit in position control mode
As in section 3.4.1 (5).
3 - 38
3. SIGNALS AND WIRING
3.5 Alarm occurrence timing chart
When an alarm has occurred, remove its cause, make sure that the operation
signal is not being input, ensure safety, and reset the alarm before restarting
operation.
CAUTION
As soon as an alarm occurs, turn off Servo-on (SON) and power off the main
circuit.
When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a
stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the
control circuit power supply from off to on, press the "SET" button on the current alarm screen, or turn
the reset (RES) from off to on. However, the alarm cannot be reset unless its cause is removed.
(Note)
Main circuit
control circuit
power supply
ON
OFF
Base circuit
ON
OFF
Valid
Dynamic brake
Invalid
Servo-on
(SON)
Ready
(RD)
Trouble
(ALM)
Reset
(RES)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Power off
Brake operation
Power on
Brake operation
about 1s
50ms or more
Alarm occurs.
60ms or more
Remove cause of trouble.
Note. Shut off the main circuit power as soon as an alarm occurs.
(1) Overcurrent, overload 1 or overload 2
If operation is repeated by switching control circuit power off, then on to reset the overcurrent (AL.32),
overload 1 (AL.50) or overload 2 (AL.51) alarm after its occurrence, without removing its cause, the
servo amplifier and servo motor may become faulty due to temperature rise. Securely remove the
cause of the alarm and also allow about 30 minutes for cooling before resuming operation.
(2) Regenerative error
If operation is repeated by switching control circuit power off, then on to reset the regenerative (AL.30)
alarm after its occurrence, the external regenerative resistor will generate heat, resulting in an
accident.
(3) Instantaneous power failure
Undervoltage (AL.10) occurs when the input power is in either of the following statuses.
A power failure of the control circuit power supply continues for 60ms or longer and the control
circuit is not completely off.
The bus voltage dropped to 200VDC or less for the MR-J2S- A, or to 158VDC or less for the MRJ2S- A1.
(4) In position control mode (incremental)
When an alarm occurs, the home position is lost. When resuming operation after deactivating the
alarm, make a home position return.
3 - 39
3. SIGNALS AND WIRING
3.6 Interfaces
3.6.1 Common line
The following diagram shows the power supply and its common line.
CN1A
CN1B
CN1A
CN1B
24VDC
VDD
RA
ALM .etc
COM
DO-1
SON, etc.
DI-1
SG
(Note)
OPC
PG NG
PP NP
SG
SG
15VDC 10%
30mA
P15R
Isolated
OP
LG
LA etc.
Analog input
( 10V/max. current)
Differential line
driver output
35mA max.
LAR
etc.
LG
TLA
VC etc.
SD
MO1
MO2
LG
CN3 Analog monitor output
LG
SD
SDP
SDN
RDP
RS-422
RDN
LG
SD
TXD
RXD
MR
RS-232C
CN2
Servo motor encoder
MRR
Servo motor
LG
SD
M
Ground
Note. For the open collection pulse train input. Make the following connection for the different line driver pulse
train input.
OPC
PG NG
PP NP
SG
3 - 40
3. SIGNALS AND WIRING
3.6.2 Detailed description of the interfaces
This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in
sections 3.3.2.
Refer to this section and connect the interfaces with the external equipment.
(1) Digital input interface DI-1
Give a signal with a relay or open collector transistor.
Source input is also possible. Refer to (7) in this section.
For use of internal power supply
For use of external power supply
Servo amplifier
VDD
COM
(Note)
For a transistor
Do not connect
VDD-COM.
24VDC
Servo amplifier
R: Approx. 4.7
VDD
24VDC
200mA or more COM
SON, etc.
Approx. 5mA
SON, etc.
Switch
TR
SG
Switch
V CES 1.0V
I CEO 100 A
SG
Note. This also applies to the use of the external power supply.
3 - 41
24VDC
R: Approx. 4.7
3. SIGNALS AND WIRING
(2) Digital output interface DO-1
A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush
current suppressing resistor (R) for a lamp load. (Permissible current: 40mA or less, inrush current:
100mA or less) A maximum of 2.6V voltage drop occurs in the servo amplifier.
(a) Inductive load
For use of internal power supply
For use of external power supply
Servo amplifier
24VDC
Servo amplifier
24VDC
VDD
COM
VDD
Do not connect
VDD-COM.
COM
Load
ALM, etc
ALM, etc
SG
Load
(Note)
24VDC
10%
SG
If the diode is not
connected as shown,
the servo amplifier
will be damaged.
If the diode is not
connected as shown,
the servo amplifier
will be damaged.
Note. If the voltage drop (maximum of 2.6V) interferes with the
relay operation, apply high voltage (up to 26.4V) from
external source.
(b) Lamp load
For use of internal power supply
For use of external power supply
Servo amplifier
24VDC
Servo amplifier
24VDC
VDD
COM
VDD
Do not connect
VDD-COM.
COM
R
R
ALM, etc
ALM, etc
SG
SG
(Note)
24VDC
10%
Note. If the voltage drop (maximum of 2.6V) interferes with the
relay operation, apply high voltage (up to 26.4V) from
external source.
3 - 42
3. SIGNALS AND WIRING
(3) Pulse train input interface DI-2
Provide a pulse train signal in the open collector or differential line driver system.
(a) Open collector system
1) Interface
For use of internal power supply
For use of external power supply
Servo amplifier
24VDC
VDD
Do not connect
VDD-OPC.
Max. input pulse
frequency 200kpps
OPC
Servo amplifier
VDD
About 1.2k
OPC
2m (78.74in) or less
24VDC
Max. input pulse
frequency 200kpps
About 1.2k
PP, NP
24VDC 2m (78.74in) or less
(Note)
PP, NP
(Note)
SG
SD
SG
SD
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line.
2) Conditions of the input pulse
tc
PP
tHL
tLH tHL 0.2 s
tc 2 s
tF 3 s
0.9
0.1
tc
tLH
tF
NP
3 - 43
3. SIGNALS AND WIRING
(b) Differential line driver system
1) Interface
Servo amplifier
Max. input pulse
frequency 500kpps
10m (393.70in) or less
PP(NP)
(Note)
Approx. 100
PG(NG)
Am26LS31 or equivalent
VOH: 2.5V
VOL: 0.5V
SD
Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a resistance
to a pulse train signal line.
2) Conditions of the input pulse
tc
PP PG
tHL
tLH tHL 0.1 s
tc 1 s
tF 3 s
0.9
0.1
tc
tLH
tF
NP NG
(4) Encoder pulse output DO-2
(a) Open collector system
Interface
Max. output current : 35mA
Servo amplifier
Servo amplifier
OP
OP
LG
LG
SD
SD
3 - 44
5 to 24VDC
Photocoupler
3. SIGNALS AND WIRING
(b) Differential line driver system
1) Interface
Max. output current: 35mA
Servo amplifier
Servo amplifier
LA
(LB, LZ)
Am26LS32 or equivalent
LA
(LB, LZ)
100
150
LAR
(LBR, LZR)
LAR
(LBR, LZR)
LG
SD
SD
2) Output pulse
Servo motor CCW rotation
LA
LAR
The time cycle (T) is determined by
the setting of the parameter No. 27 and 54.
T
LB
LBR
/2
LZ
LZR
400 s or more
OP
(5) Analog input
Input impedance 10 to 12k
Servo amplifier
15VDC
P15R
2k
Upper limit setting 2k
VC‚ etc
LG
SD
Approx.
10k
(6) Analog output
Output voltage 10V
Max.1mA
Max. output current
Resolution : 10bit
Servo amplifier
MO1
(MO2)
LG
10k
Reading in one or
A
both directions
1mA meter
SD
3 - 45
High-speed photocoupler
3. SIGNALS AND WIRING
(7) Source input interface
When using the input interface of source type, all Dl-1 input signals are of source type. Source output
cannot be provided.
For use of internal power supply
For use of external power supply
Servo amplifier
Servo amplifier
SG
COM
(Note)
For a transistor
Approx. 5mA
SG
R: Approx. 4.7
Switch
Switch
VDD
TR
R: Approx. 4.7
COM
SON,
etc.
SON,etc.
24VDC
24VDC
200mA or more
VCES 1.0V
ICEO 100 A
Note. This also applies to the use of the external power supply.
When using the input interface of source type, all Dl-1 input signals are of source type. Source output
cannot be provided.
For 11kW or more, the source input interface cannot be used with the internal power supply. Always
use the external power supply.
MITSUBISHI
CON2
JP11
CON2
CON2
(Note)
Jumper
JP11
For sink input (factory setting)
Note. The jumper, which is shown black for the convenience of explanation, is actually white.
3 - 46
JP11
(Note)
Jumper
For source input
3. SIGNALS AND WIRING
3.7 Input power supply circuit
CAUTION
Always connect a magnetic contactor (MC) between the main circuit power supply
and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut
down the power supply on the side of the servo amplifier’s power supply. If a
magnetic contactor (MC) is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor
fault or the like may overheat the regenerative resistor, causing a fire.
POINT
For the power line circuit of the MR-J2S-11KA to MR-J2S-22KA, refer to
section 3.13 where the power line circuit is shown together with the servo
motor connection diagram.
3.7.1 Connection example
Wire the power supply and main circuit as shown below so that the servo-on (SON) turns off as soon as
alarm occurrence is detected and power is shut off.
A no-fuse breaker (NFB) must be used with the input cables of the power supply.
(1) For 3-phase 200 to 230VAC power supply
RA
Emergency
stop OFF
ON
MC
MC
SK
NFB
MC
L1
3-phase
Servo amplifier
L2
200 to 230 VAC
L3
L11
L21
Emergency
stop
Servo-on
EMG
SON
VDD
SG
COM
ALM
3 - 47
RA
Trouble
3. SIGNALS AND WIRING
(2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply
(Note 1) Emergency
OFF
stop
RA
ON
MC
MC
SK
Power supply
1-phase 100 to
120VAC or
1-phase 230VAC
NFB
MC
L1
Servo amplifier
L2
L3 (Note 2)
L11
L21
EMG
Emergency stop
Servo-on
SON
SG
VDD
COM
ALM
RA
Trouble
Note 1. Configure the power supply circuit to shut off the magnetic contactor after detecting an alarm occurrence on the
controller side.
2. Not provided for 1-phase 100 to 120VAC.
3 - 48
3. SIGNALS AND WIRING
3.7.2 Terminals
The positions and signal arrangements of the terminal blocks change with the capacity of the servo
amplifier. Refer to section 11.1.
Symbol
Connection Target
(Application)
Description
Supply L1, L2 and L3 with the following power.
For 1-phase 230VAC, connect the power supply to L1, L2 and leave L3 open.
Power supply
L1, L2, L3
Main circuit power supply
Servo amplifier MR-J2S-10A to MR-J2S-100A
70A
to 22kA
3-phase 200 to 230VAC,
50/60Hz
1-phase 230VAC,
50/60Hz
L1
L1
MR-J2S-10A1
to 40A1
L2 L3
L2
1-phase 100 to 120VAC,
50/60Hz
U, V, W
Servo motor output
L1
L2
Connect to the servo motor power supply terminals (U, V, W).
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
Supply L11 and L12 with the following power.
Servo amplifier
Power supply
L11, L21
Control circuit power supply
1-phase 200 to 230VAC,
50/60Hz
1-phase 100 to 120VAC,
50/60Hz
P1
P, C, D
N
MR-J2S-10A to 700A
L11
MR-J2S-10A1 to 40A1
L21
L11
L21
When not using the power factor improving DC reactor, connect P1 and P.
(Factory-wired.)
Power factor improving DC When using the power factor improving DC reactor, disconnect the wiring across
P1-P2 and connect the power factor improving DC reactor across P1-P.
reactor
The power factor improving DC reactor can be used with MR-J2S-11KA to 22KA.
(Refer to section 13.2.4.)
1) MR-J2S-350A or less
When using servo amplifier built-in regenerative resistor, connect P and D.
(Wired by default)
When using regenerative option, disconnect between P-D terminals and
connect regenerative option to P terminal and C terminal.
2) MR-J2S-500A 700A
MR-J2S-500A 700A do not have D terminal.
When using servo amplifier built-in regenerative resistor, connect P terminal
Regenerative option
and C terminal. (Wired by default)
When using regenerative option, disconnect P terminal and C terminal and
connect regenerative option to P terminal and C terminal.
3) MR-J2S-11KA to 22KA
MR-J2S-11KA to 22KA do not have D terminal.
When not using the power supply return converter and the brake unit, make
sure to connect the regenerative option to P terminal and C terminal.
Refer to section 13.1.1.
When using the return converter or brake unit, connect it across P-N.
Return converter
Do not connect it to the servo amplifier of MR-J2S-200A or less.
Brake unit
Refer to sections 13.1.2 and 13.1.3 for details.
Protective earth (PE)
Connect this terminal to the protective earth (PE) terminals of the servo motor
and control box for grounding.
3 - 49
3. SIGNALS AND WIRING
3.7.3 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above section 3.7.1 using the magnetic contactor with
the main circuit power supply (three-phase 200V: L1, L2, L3, single-phase 230V, single-phase
100V: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as
an alarm occurs.
2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the main circuit power supply is
not on, the display shows the corresponding warning. However, by switching on the main circuit
power supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on (SON) about 1 to 2s after the main circuit power
supply is switched on. Therefore, when SON is switched on simultaneously with the main circuit
power supply, the base circuit will switch on in about 1 to 2s, and the ready (RD) will switch on
in further about 20ms, making the servo amplifier ready to operate. (Refer to (2) in this section)
4) When the reset (RES) is switched on, the base circuit is shut off and the servo motor shaft
coasts.
(2) Timing chart
Servo-on (SON) accepted
Main circuit
Control circuit
Power supply
(1 to 2s)
ON
OFF
Base circuit
ON
OFF
Servo-on
(SON)
ON
OFF
Reset
(RES)
ON
OFF
Ready
(RD)
ON
OFF
Trouble (ALM)
10ms
10ms
60ms
60ms
20ms
10ms
20ms
No (ON)
Yes (OFF)
Power-on timing chart
3 - 50
10ms
20ms
10ms
3. SIGNALS AND WIRING
(3) Emergency stop
CAUTION
Provide an external forced stop circuit to ensure that operation can be stopped and
power switched off immediately.
Make up a circuit that shuts off main circuit power as soon as EMG is turned off at an emergency stop.
When EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop. At
this time, the display shows the servo emergency stop warning (AL.E6).
During ordinary operation, do not use the external emergency stop (EMG) to alternate stop and run.
The servo amplifier life may be shortened.
Also, if the forward rotation start (ST1) and reverse rotation start (ST2) are on or a pulse train is input
during an emergency stop, the servo motor will rotate as soon as the warning is reset. During an
emergency stop, always shut off the run command.
Servo amplifier
VDD
COM
Emergency stop
EMG
SG
3 - 51
3. SIGNALS AND WIRING
3.8 Connection of servo amplifier and servo motor
3.8.1 Connection instructions
WARNING
CAUTION
Insulate the connections of the power supply terminals to prevent an electric
shock.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier
and servo motor. Otherwise, the servo motor will operate improperly.
Do not connect AC power supply directly to the servo motor. Otherwise, a fault
may occur.
POINT
Do not apply the test lead bars or like of a tester directly to the pins of the
connectors supplied with the servo motor. Doing so will deform the pins,
causing poor contact.
The connection method differs according to the series and capacity of the servo motor and whether or not
the servo motor has the electromagnetic brake. Perform wiring in accordance with this section.
(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal of the
servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective
earth of the control box. Do not connect them directly to the protective earth of the control panel.
Control box
Servo
amplifier
Servo motor
PE terminal
(2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.
3 - 52
3. SIGNALS AND WIRING
3.8.2 Connection diagram
CAUTION
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
POINT
For the connection diagram of the MR-J2S-11KA to MR-J2S-22KA, refer
to section 3.13 where the connection diagram is shown together with the
power line circuit.
The following table lists wiring methods according to the servo motor types. Use the connection diagram
which conforms to the servo motor used. For cables required for wiring, refer to section 13.2.1. For
encoder cable connection, refer to section 13.1.5. For the signal layouts of the connectors, refer to section
3.8.3.
For the servo motor connector, refer to chapter 3 of the Servo Motor Instruction Manual.
Servo motor
Connection diagram
Servo motor
Servo amplifier
U (Red)
U
V
W
V (White)
W (Black)
Motor
(Green)
(Note 1)
24VDC
B1
HC-KFS053 (B) to 73 (B)
HC-MFS053 (B) to 73 (B)
HC-UFS13 (B) to 73 (B)
B2
EMG
To be shut off when servo-off
or Trouble (ALM)
(Note 2)
Electromagnetic
brake
CN2
Encoder
Encoder cable
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
Servo amplifier
Servo motor
U
V
W
HC-SFS121 (B) to 301 (B)
HC-SFS202 (B) 702 (B)
HC-SFS203 (B) 353 (B)
HC-UFS202 (B) to 502 (B)
HC-RFS353 (B) to 503 (B)
U
V
W
(Note 1)
Motor
24VDC
B1
B2
EMG
To be shut off when servo-off
or Trouble (ALM)
(Note 2)
Electromagnetic
brake
CN2
Encoder cable
Encoder
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
3 - 53
3. SIGNALS AND WIRING
Servo motor
Connection diagram
Servo amplifier
Servo motor
U
V
W
U
V
W
24VDC
(Note 1)
HC-SFS81 (B)
HC-SFS52 (B) to 152 (B)
HC-SFS53 (B) to 153 (B)
HC-RFS103 (B) to 203 (B)
HC-UFS72 (B) 152 (B)
Motor
B1
B2
EMG
To be shut off when servo-off
or Trouble (ALM)
(Note 2)
Electromagnetic
brake
CN2
Encoder
Encoder cable
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
3.8.3 I/O terminals
(1) HC-KFS HC-MFS HC-UFS3000r/min series
Encoder connector signal arrangement
Power supply lead
4-AWG19 0.3m (0.98ft.)
a
Encoder cable 0.3m (0.98ft.)
With connector 1-172169-9
(Tyco Electronics)
Power supply
connector
5557-04R-210
1
3
2
4
View b
Pin
1
2
3
4
b
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
connector
5557-06R-210
Signal
U
V
W
(Earth)
1
4
2
5
3
6
View b
1
2
3
MR
MRR
BAT
4
5
6
MD
MDR
7
8
9
P5
LG
SHD
View a
Pin
1
2
3
4
5
6
Signal
U
V
W
(Earth)
(Note) B1
(Note) B2
Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.
3 - 54
3. SIGNALS AND WIRING
(2) HC-SFS HC-RFS HC-UFS2000 r/min series
Servo motor side connectors
Servo motor
For power supply For encoder
HC-SFS81(B)
HC-SFS52(B) to 152(B)
HC-SFS53(B) to 153(B)
HC-SFS121(B) to 301(B)
HC-SFS202(B) to 502 (B)
HC-SFS203(B)
353(B)
HC-RFS103(B) to 203 (B)
a
Encoder connector
HC-RFS353(B)
b
Brake connector
c
HC-UFS72(B)
Power supply connector
503(B)
152(B)
HC-UFS202(B) to 502(B)
brake connector
The connector
CE05-2A22-
for power is
23PD-B
shared.
CE05-2A2410PD-B
MS3102A10SL4P
CE05-2A32-
HC-SFS702(B)
Electromagnetic
17PD-B
MS3102A20-
CE05-2A22-
29P
23PD-B
The connector
CE05-2A24-
for power is
10PD-B
shared.
CE05-2A2223PD-B
CE05-2A24-
MS3102A10SL-
10PD-B
4P
Power supply connector signal arrangement
CE05-2A22-23PD-B
Key
F
B
H
E
Pin
A
B
C
D
E
F
G
H
A
G
C
D
View c
CE05-2A32-17PD-B
CE05-2A24-10PD-B
Signal
U
V
W
(Earth)
Key
A
F
E
D
B
G
C
View c
(Note) B1
(Note) B2
Pin
A
B
C
D
E
F
G
Signal
U
V
W
(Earth)
(Note) B1
(Note) B2
Key
D
A
C
B
Pin
A
B
C
D
Signal
U
V
W
(Earth)
Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.
Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.
Encoder connector signal arrangement
Electromagnetic brake connector signal arrangement
MS3102A20-29P
MS3102A10SL-4P
Key
L
Key
M
A BC
N
T
P
K
J
H
S
R
G
View a
D
E
F
Pin
A
B
C
D
E
F
G
H
J
Signal
MD
MDR
MR
MRR
BAT
LG
Pin
K
L
M
N
P
R
S
T
Signal
A
SD
B
View b
LG
P5
3 - 55
Pin
A
B
Signal
(Note)B1
(Note)B2
Note. For the motor with
electromagnetic brake,
supply electromagnetic
brake power (24VDC).
There is no polarity.
3. SIGNALS AND WIRING
3.9 Servo motor with electromagnetic brake
Configure the electromagnetic brake operation circuit so that it is activated not only
by the servo amplifier signals but also by an external emergency stop signal.
Contacts must be open when
servo-off, when an trouble (ALM)
and when an electromagnetic brake
interlock (MBR).
Servo motor
Circuit must be
opened during
emergency stop (EMG).
RA EMG
CAUTION
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 the electromagnetic brake
operates properly.
POINT
Refer to the Servo Motor Instruction Manual for specifications such as the
power supply capacity and operation delay time of the electromagnetic
brake.
Note the following when the servo motor equipped with electromagnetic brake is used.
1) Set "
1 " in parameter No.1 to make the electromagnetic brake interlock (MBR) valid. Note
that this will make the zero speed signal (ZSP) unavailable.
2) Do not share the 24VDC interface power supply between the interface and electromagnetic
brake. Always use the power supply designed exclusively for the electromagnetic brake.
3) The brake will operate when the power (24VDC) switches off.
4) While the reset (RES) is on, the base circuit is shut off. When using the servo motor with a
vertical shaft, use the electromagnetic brake interlock (MBR).
5) Switch off the servo-on (SON) after the servo motor has stopped.
(1) Connection diagram
Servo amplifier
RA
VDD
COM
MBR
Emergency
stop
Servo motor
B1
24VDC
RA
B2
3 - 56
3. SIGNALS AND WIRING
(2) Setting
1) Set "
1 " in parameter No.1 to make the electromagnetic brake interlock (MBR) valid.
2) Using parameter No. 33 (electromagnetic brake sequence output), set a time delay (Tb) at servo-off
from electromagnetic brake operation to base circuit shut-off as in the timing chart shown in (3) in
this section.
(3) Timing charts
(a) Servo-on (SON) command (from controller) ON/OFF
Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo
motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may
be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the
like, set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop.
Coasting
Servo motor speed
0 r/min
(60ms)
Base circuit
Electromagnetic
brake interlock
(MBR)
Tb
ON
OFF
(80ms)
Electromagnetic
brake operation
delay time
(Note 1) ON
Servo-on (SON)
OFF
ON
OFF
(Note 3)
Position command
(Note 4)
0 r/min
Electromagnetic
brake
Release
Activate
Release delay time and external relay (Note 2)
Note 1. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of
external circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual.
3. After the electromagnetic brake is released, give the position command from the controller.
4. For the position control mode.
3 - 57
3. SIGNALS AND WIRING
(b) Emergency stop (EMG) ON/OFF
Servo motor speed
(10ms)
Base circuit
Electromagnetic
brake interlock (MBR)
Emergency stop (EMG)
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
Electromagnetic brake release
(180ms)
ON
OFF
(Note) ON
(180ms)
Electromagnetic brake
operation delay time
OFF
Invalid (ON)
Valid (OFF)
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
(c) Alarm occurrence
Dynamic brake
Dynamic brake
Electromagnetic brake
Servo motor speed
Electromagnetic brake
(10ms)
Base circuit
ON
OFF
(Note) ON
Electromagnetic
brake interlock (MBR)
OFF
Electromagnetic brake
operation delay time
No (ON)
Trouble (ALM)
Yes (OFF)
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 58
3. SIGNALS AND WIRING
(d) Both main and control circuit power supplies off
(10ms)
Servo motor speed
Base circuit
(Note 1)
15 to 60ms
ON
OFF
(10ms or less)
(Note 2) ON
Electromagnetic
brake interlock (MBR)
OFF
Trouble (ALM)
Main circuit
power
Control circuit
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
Electromagnetic brake
operation delay time
No (ON)
Yes (OFF)
ON
OFF
Note 1. Changes with the operating status.
2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
(e) Only main circuit power supply off (control circuit power supply remains on)
(10ms)
Servo motor speed
Base circuit
(Note 1)
15ms or more
ON
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
OFF
(Note 3) ON
Electromagnetic
brake interlock (MBR)
OFF
Trouble (ALM)
Main circuit power
supply
Electromagnetic brake
operation delay time
(Note 2)
No (ON)
Yes (OFF)
ON
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 (AL.E9) occurs and the
trouble (ALM) does not turn off.
3. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 59
3. SIGNALS AND WIRING
3.10 Grounding
Ground the servo amplifier and servo motor securely.
WARNING
To prevent an electric shock, always connect the protective earth (PE) terminal of
the servo amplifier with the protective earth (PE) of the control box.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on
the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to
di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always
ground.
To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).
Control box
Servo motor
MC
NFB
Servo amplifier
CN2
(Note)
Power supply
Line filter
L1
Encoder
L2
L3
L11
L21
U
U
V
V
W
W
M
Programmable
controller
CN1A CN1B
Protective earth(PE)
Ensure to connect it to PE
terminal of the servo amplifier.
Do not connect it directly to
the protective earth of
the control panel.
Outer
box
Note. For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification.
3 - 60
3. SIGNALS AND WIRING
3.11 Servo amplifier terminal block (TE2) wiring method
POINT
Refer to Table 13.1 2) and 4) in section 13.2.1 for the wire sizes used for
wiring.
3.11.1 For the servo amplifier produced later than Jan. 2006
(1) Termination of the cables
(a) Solid wire
After the sheath has been stripped, the cable can be used as it is.
Sheath
Core
Approx. 10mm
(b) Twisted wire
1) When the wire is inserted directly
Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a
short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may
cause a contact fault. Alternatively, a bar terminal may be used to put the wires together.
2) When the wires are put together
Using a bar terminal.
Cable Size
Bar Terminal Type
[mm2] AWG
For 1 cable
For 2 cables
1.25/1.5 16 AI1.5-10BK
AI-TWIN 1.5-10BK
2/2.5
14 AI2.5-10BU
Crimping Tool
Manufacturer
CRIMPFOX ZA 3
Phoenix Contact
Cut the wire running out of bar terminal to less than 0.5mm.
Less than 0.5mm
When using a bar terminal for two wires, insert the wires in the direction where the insulation
sleeve does not interfere with the next pole and pressure them.
Pressure
Pressure
3 - 61
3. SIGNALS AND WIRING
(2) Termination of the cables
(a) When the wire is inserted directly
Insert the wire to the end pressing the button with a small flat blade screwdriver or the like.
Button
Small flat blade
screwdriver or the like
When removing the short-circuit bar
from across P-D, press the buttons
of P and D alternately pulling the
short-circuit bar. For the installation,
insert the bar straight to the end.
Twisted wire
(b) When the wires are put together using a bar terminal
Insert a bar terminal with the odd-shaped side of the pressured terminal on the button side.
Bar terminal for one
wire or solid wire
Bar terminal for two wires
When the two wires are inserted into one opening, a bar terminal for two wires is required.
3 - 62
3. SIGNALS AND WIRING
3.11.2 For the servo amplifier produced earlier than Dec. 2005
(1) Termination of the cables
Solid wire: After the sheath has been stripped, the cable can be used as it is.
Approx. 10mm
(0.39inch)
Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to
avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder
the core as it may cause a contact fault. Alternatively, a bar terminal may be used to
put the wires together.
Cable Size
Bar Terminal Type
[mm2] AWG
For 1 cable
For 2 cables
1.25/1.5 16 AI1.5-10BK
AI-TWIN 1.5-10BK
2/2.5
14
AI2.5-10BU
Crimping Tool
Manufacturer
CRIMPFOX ZA 3
or
CRIMPFOX UD 6
Phoenix Contact
(2) Connection
Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that
the cable does not come off. (Tightening torque: 0.3 to 0.4N m(2.7 to 3.5 lb in)) Before inserting the
cable into the opening, make sure that the screw of the terminal is fully loose.
When using a cable of 1.5mm2 or less, two cables may be inserted into one opening.
Flat-blade screwdriver
Tip thickness 0.4 to 0.6mm
Overall width 2.5 to 3.5mm
To loosen.
To tighten.
Cable
Opening
Control circuit terminal block
3 - 63
3. SIGNALS AND WIRING
Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. The
following table indicates the recommended products of the torque screwdriver for tightening torque
management and the flat-blade bit for torque screwdriver. When managing torque with a Phillips bit,
please consult us.
Product
Torque screwdriver
Bit for torque screwdriver
Model
N6L TDK
B-30, flat-blade, H3.5 X 73L
Manufacturer/Representative
Nakamura Seisakusho
Shiro Sangyo
3.12 Instructions for the 3M connector
When fabricating an encoder cable or the like, securely connect the shielded external conductor of the
cable to the ground plate as shown in this section and fix it to the connector shell.
External conductor
Sheath
Core
Sheath
External conductor
Pull back the external conductor to cover the sheath
Strip the sheath.
Screw
Cable
Screw
Ground plate
3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA
CAUTION
Always connect a magnetic contactor (MC) between the main circuit power supply
and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut
down the power supply on the side of the servo amplifier’s power supply. If a
magnetic contactor (MC) is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor
fault or the like may overheat the regenerative resistor, causing a fire.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.
POINT
The power-on sequence is the same as in section 5.7.3.
3 - 64
3. SIGNALS AND WIRING
3.13.1 Connection example
Wire the power supply/main circuit as shown below so that power is shut off and the servo-on signal
turned off as soon as an alarm occurs, a servo emergency stop is made valid, a controller emergency stop,
or a servo motor thermal relay alarm is made valid. A no-fuse breaker (NFB) must be used with the input
cables of the power supply.
Servo motor
thermal relay
RA2
Alarm
RA1
emergency stop
OFF
ON
MC
MC
SK
Servo amplifier
(Note 1)
Dynamic
break
NFB
MC
L1
3-phase
200 to 230VAC
L2
L3
L11
L21
(Note 3)
U
U
V
V
W
W
MR-JHSCBL M
cable
SG
BU
VDD
Cooling fan
RA1
BW
(Note 2)
Trouble
EMG
SON
Encoder
BV
COM
ALM
Emergency stop
servo-on
M
CN2
P
P1
Servo motor
HA-LFS series
24VDC
power supply
OHS1
OHS2 Servo motor
thermal relay
RA2
Note 1. When using the external dynamic break, refer to section 13.1.4.
2. Cooling fan power supply of the HA-LFS11K2 servo motor is 1-phase. Power supply specification of the cooling fan is
different from that of the servo amplifier. Therefore, separate power supply is required.
3. Always connect P1 and P. (Factory-wired). When using the power factor improving DC reactor, refer to section 13.2.4.
3 - 65
3. SIGNALS AND WIRING
3.13.2 Servo amplifier terminals
The positions and signal arrangements of the terminal blocks change with the capacity of the servo
amplifier. Refer to section 11.1.
Symbol
Connection Target
(Application)
L1, L2, L3
Main circuit power supply
U, V, W
Servo motor output
L11, L21
Supply L1, L2 and L3 with three-phase 200 to 230VAC, 50/60Hz power.
Connect to the servo motor power supply terminals (U, V, W).
Control circuit power supply Supply L11 and L21 with single-phase 200 to 230VAC power.
P, C
Regenerative option
N
Return converter
Brake unit
Protective earth (PE)
P1, P
Description
The servo amplifier built-in regenerative resistor is not connected at the time of
shipment.
When using the regenerative option, wire it across P-C.
Refer to section 13.1.1 for details.
When using the return converter or brake unit, connect it across P-N.
Refer to sections 13.1.2 and 13.1.3 for details.
Connect this terminal to the protective earth (PE) terminals of the servo motor
and control box for grounding.
Power factor improving DC P1-P are connected before shipment. When connecting a power factor improving
DC reactor, remove the short bar across P1-P. Refer to section 13.2.4 for details.
reactors
3 - 66
3. SIGNALS AND WIRING
3.13.3 Servo motor terminals
Terminal box
Encoder connector
signal arrangement
MS3102A20-29P
Encoder connector
MS3102A20-29P
Pin
Signal
Pin
A
MD
K
B
MDR
L
C
MR
M
D
MRR
N
Key
L
M
A B
C
N
T
P
D
K
J
S
H
E
R
G
E
F
Signal
SHD
P
F
BAT
R
LG
G
LG
S
P5
H
T
J
Terminal box inside (HA-LFS601, 701M, 11K2)
Thermal sensor
terminal block
(OHS1 OHS2) M4 screw
Motor power supply
terminal block
(U V W) M6 screw
Cooling fan
terminal block
(BU BV) M4 screw
Earth terminal
M6 screw
Terminal block signal arrangement
OHS1OHS2
Encoder connector
MS3102A20-29P
3 - 67
U
V
W
BU
BV
3. SIGNALS AND WIRING
Terminal box inside (HA-LFS801, 12K1, 11K1M, 15K1M, 15K2, 22K2)
Cooling fan terminal
block (BU BV BW)
M4 screw
Thermal sensor terminal
block (OHS1 OHS2)
M4 screw
Terminal block signal arrangement
Motor power supply
terminal block
(U V W) M8 screw
Encoder connector
MS3102A20-29
Earth terminal M6 screw
BU
BV
U
V
BW OHS1OHS2
W
Terminal box inside (HA-LFS15K1, 20K1, 22K1M, 25K1)
Encoder connector
MS3102A20-29P
Motor power supply
terminal block
(U V W) M8 screw
Earth terminal
M6 screw
Earth terminal
M6 screw
Cooling fan
terminal block
(BU BV BW) M4 screw
Thermal sensor
terminal block
(OHS1 OHS2) M4 screw
3 - 68
Terminal block signal arrangement
U
V
W
BU
BV
BW OHS1 OHS2
3. SIGNALS AND WIRING
Signal Name
Power supply
Abbreviation
U
V
W
Description
Connect to the motor output terminals (U, V, W) of the servo amplifier.
Supply power which satisfies the following specifications.
Cooling fan
Motor thermal relay
Earth terminal
Power
consumption
[W]
Rated
current
[A]
1-phase 200 to 220VAC
50Hz
1-phase 200 to 230VAC
60Hz
42(50Hz)
54(60Hz)
0.21(50Hz)
0.25(60Hz)
3-phase 200 to 230VAC
60Hz
62(50Hz)
76(60Hz)
0.18(50Hz)
0.17(60Hz)
HA-LFS-15K1,
20K1, 22K1M
65(50Hz)
85(60Hz)
0.20(50Hz)
0.22(60Hz)
HA-LFS25K1
120(50Hz)
175(60Hz)
0.65(50Hz)
0.80(60Hz)
Servo motor
Voltage
division
HA-LFS601, 701M,
11K2
200V
class
(Note)
BU
BV
BW
HA-LFS801 12K1,
11K1M, 15K1M,
15K2, 22K2
Voltage/frequency
OHS1 OHS2 OHS1-OHS2 are opened when heat is generated to an abnormal temperature.
For grounding, connect to the earth of the control box via the earth terminal of the servo
amplifier.
Note. Cooling fan power supply of the HA-LFS11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different
from that of the servo amplifier. Therefore, separate power supply is required.
3 - 69
3. SIGNALS AND WIRING
MEMO
3 - 70
4. OPERATION
4. OPERATION
4.1 When switching power on for the first time
Before starting operation, check the following.
(1) Wiring
(a) A correct power supply is connected to the power input terminals (L1, L2, L3, L11, L21) of the servo
amplifier.
(b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the
power input terminals (U, V, W) of the servo motor.
(c) The servo motor power supply terminals (U, V, W) of the servo amplifier are not shorted to the
power input terminals (L1, L2, L3) of the servo motor.
(d) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier.
(e) Note the following when using the regenerative option, brake unit or power regeneration converter.
1) For the MR-J2S-350A or less, the lead has been removed from across D-P of the control circuit
terminal block, and twisted cables are used for its wiring.
2) For the MR-J2S-500A or more, the lead has been removed from across P-C of the servo amplifier
built-in regenerative resistor, and twisted cables are used for its wiring.
(f) When stroke end limit switches are used, LSP and LSN are on during operation.
(g) 24VDC or higher voltages are not applied to the pins of connectors CN1A and CN1B.
(h) SD and SG of connectors CN1A and CN1B are not shorted.
(i) The wiring cables are free from excessive force.
(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
(3) Machine
(a) The screws in the servo motor installation part and shaft-to-machine connection are tight.
(b) The servo motor and the machine connected with the servo motor can be operated.
4- 1
4. OPERATION
4.2 Startup
WARNING
Do not operate the switches with wet hands. You may get an electric shock.
CAUTION
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 resistor,
servo motor, etc.since they may be hot while power is on or for some time after
power-off. Their temperatures may be high and you may get burnt or a parts may
damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can
cause injury.
Connect the servo motor with a machine after confirming that the servo motor operates properly alone.
4.2.1 Selection of control mode
Use parameter No. 0 to choose the control mode used. After setting, this parameter is made valid by
switching power off, then on.
4.2.2 Position control mode
(1) Power on
1) Switch off the servo-on (SON).
2) When main circuit power/control circuit power is switched on, the display shows "C (Cumulative
feedback pulses)", and in two second later, shows data.
In the absolute position detection system, first power-on results in the absolute position lost (AL.25)
alarm and the servo system cannot be switched on. This is not a failure and takes place due to the
uncharged capacitor in the encoder.
The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then
switching power off once and on again.
Also in the absolute position detection system, if power is switched on at the servo motor speed of
500r/min or higher, position mismatch may occur due to external force or the like. Power must
therefore be switched on when the servo motor is at a stop.
(2) Test operation 1
Using jog operation in the test operation mode, operate at the lowest speed to confirm that the servo
motor operates. (Refer to section 6.8.2.)
(3) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
the parameter definitions and to sections 6.5 for the setting method.
Parameter No.
Name
0
Control mode, regenerative option
selection
Setting
3 0
Position control mode
MR-RB12 regenerative option is used.
0
1
Function selection 1
2
Auto tuning
3
4
Electronic gear numerator (CMX)
Electronic gear denominator (CDV)
Description
02
Input filter 3.555ms(initial value)
Electromagnetic brake interlock (MBR) is not used.
Used in incremental positioning system.
1
5
Middle response (initial value) is selected.
Auto tuning mode 1 is selected.
1
1
Electronic gear numerator
Electronic gear denominator
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.
4- 2
4. OPERATION
(4) Servo-on
Switch the servo-on in the following procedure.
1) Switch on main circuit/control circuit power supply.
2) Switch on the servo-on (SON)
When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor
is locked.
(5) Command pulse input
Entry of a pulse train from the positioning device rotates the servo motor. At first, run it at low speed
and check the rotation direction, etc. If it does not run in the intended direction, check the input
signal.
On the status display, check the speed, command pulse frequency, load factor, etc. of the servo motor.
When machine operation check is over, check automatic operation with the program of the positioning
device.
This servo amplifier has a real-time auto tuning function under model adaptive control. Performing
operation automatically adjusts gains. The optimum tuning results are provided by setting the
response level appropriate for the machine in parameter No. 2. (Refer to chapter 7)
(6) Home position return
Make home position return as required.
(7) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo
motor.
Refer to section 3.9, (2) for the servo motor equipped with electromagnetic brake. Note that the stop
pattern of stroke end (LSP/LSN) OFF is as described below.
(a) Servo-on (SON) OFF
The base circuit is shut off and the servo motor coasts.
(b) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the
servo motor to a sudden stop.
(c) Emergency stop (EMG) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden
stop. Alarm AL.E6 occurs.
(d) Forward rotation stroke end (LSP), reverse rotation stroke end (LSN) OFF
The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in
the opposite direction.
4- 3
4. OPERATION
4.2.3 Speed control mode
(1) Power on
1) Switch off the servo-on (SON).
2) When main circuit power/control circuit power is switched on, the display shows "r (servo motor
speed)", and in two second later, shows data.
(2) Test operation
Using jog operation in the test operation mode, operate at the lowest speed to confirm that the servo
motor operates. (Refer to section 6.8.2.)
(3) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
the parameter definitions and to sections 6.5 for the setting method.
Parameter No.
Name
0
Control mode, regenerative option
selection
1
Function selection 1
2
Auto tuning
8
9
10
11
12
Internal speed command 1
Internal speed command 2
Internal speed command 3
Acceleration time constant
Deceleration time constant
S-pattern acceleration/deceleration
time constant
Setting
0 2
Description
Position control mode
MR-RB12 regenerative option is used.
12
Input filter 3.555ms(initial value)
Electromagnetic brake interlock (MBR) is not used.
1
13
5
Middle response (initial value) is selected.
Auto tuning mode 1 is selected.
1000
1500
2000
1000
500
0
Set 1000r/min.
Set 1500r/min.
Set 2000r/min.
Set 1000ms
Set 500ms.
Not used
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.
(4) Servo-on
Switch the servo-on in the following procedure.
1) Switch on main circuit/control circuit power supply.
2) Switch on the servo-on (SON).
When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor
is locked.
(5) Start
Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed. Turn on
forward rotation start (ST1) to run the motor in the forward rotation (CCW) direction or reverse
rotation start (ST2) to run it in the reverse rotation (CW) direction. At first, set a low speed and check
the rotation direction, etc. If it does not run in the intended direction, check the input signal.
On the status display, check the speed, load factor, etc. of the servo motor.
When machine operation check is over, check automatic operation with the host controller or the like.
This servo amplifier has a real-time auto tuning function under model adaptive control. Performing
operation automatically adjusts gains. The optimum tuning results are provided by setting the
response level appropriate for the machine in parameter No. 2. (Refer to chapter 7)
4- 4
4. OPERATION
(6) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo
motor.
Refer to section 3.9 (2) for the servo motor equipped with electromagnetic brake. Note that
simultaneous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation start
(ST1) or reverse rotation start (ST2) has the same stop pattern as described below.
(a) Servo-on (SON) OFF
The base circuit is shut off and the servo motor coasts.
(b) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the
servo motor to a sudden stop.
(c) Emergency stop (EMG) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden
stop. Alarm AL.E6 occurs.
(d) Stroke end (LSP/LSN) OFF
The servo motor is brought to a sudden stop and servo-locked. The motor may be run in the
opposite direction.
(e) Simultaneous ON or simultaneous OFF of forward rotation start (ST1) and reverse rotation start
(ST2)
The servo motor is decelerated to a stop.
POINT
A sudden stop indicates deceleration to a stop at the deceleration time
constant of zero.
4.2.4 Torque control mode
(1) Power on
1) Switch off the servo-on (SON).
2) When main circuit power/control circuit power is switched on, the display shows "U (torque
command voltage)", and in two second later, shows data.
(2) Test operation
Using jog operation in the test operation mode, operate at the lowest speed to confirm that the servo
motor operates. (Refer to section 6.8.2.)
(3) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
the parameter definitions and to sections 6.5 for the setting method.
Parameter No.
Name
0
Control mode, regenerative option
selection
1
Function selection 1
8
9
10
11
12
Internal speed command 1
Internal speed command 2
Internal speed command 3
Acceleration time constant
Deceleration time constant
S-pattern acceleration/deceleration
time constant
Torque command time constant
Internal torque limit 1
Setting
0 2
Description
Position control mode
MR-RB12 regenerative option is used.
12
13
14
28
Input filter 3.555ms(initial value)
Electromagnetic brake interlock (MBR) is not used.
1000
1500
2000
1000
500
0
2000
50
Set 1000r/min.
Set 1500r/min.
Set 2000r/min.
Set 1000ms.
Set 500ms.
Not used
Set 2000ms.
Controlled to 50
output.
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.
4- 5
4. OPERATION
(4) Servo-on
Switch the servo-on in the following procedure.
1) Switch on main circuit/control circuit power supply.
2) Switch on the servo-on (SON).
When placed in the servo-on status, the servo amplifier is ready to operate.
(5) Start
Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed. Turn on
forward rotation select (DI4) to run the motor in the forward rotation (CCW) direction or reverse
rotation select (DI3) to run it in the reverse rotation (CW) direction, generating torque. At first, set a
low speed and check the rotation direction, etc. If it does not run in the intended direction, check the
input signal.
On the status display, check the speed, load factor, etc. of the servo motor.
When machine operation check is over, check automatic operation with the host controller or the like.
(6) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo
motor.
Refer to section 3.9 (2) for the servo motor equipped with electromagnetic brake.
(a) Servo-on (SON) OFF
The base circuit is shut off and the servo motor coasts.
(b) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the
servo motor to a sudden stop.
(c) Emergency stop (EMG) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden
stop. Alarm AL.E6 occurs.
(d) Simultaneous ON or simultaneous OFF of forward rotation selection (RS1) and reverse rotation
selection (RS2)
The servo motor coasts.
POINT
A sudden stop indicates deceleration to a stop at the deceleration time
constant of zero.
4.3 Multidrop communication
You can use the RS-422 communication function (parameter No.16) to operate two or more servo
amplifiers on the same bus. In this case, set station numbers to the servo amplifiers to recognize the servo
amplifier to which the current data is being sent. Use parameter No. 15 to set the station numbers.
Always set one station number to one servo amplifier. Normal communication cannot be made if the same
station number is set to two or more servo amplifiers.
For details, refer to chapter 14.
4- 6
5. PARAMETERS
5. PARAMETERS
CAUTION
Never adjust or change the parameter values extremely as it will make operation
instable.
5.1 Parameter list
5.1.1 Parameter write inhibit
POINT
After setting the parameter No. 19 value, switch power off, then on to
make that setting valid.
In the MR-J2S-A servo amplifier, its parameters are classified into the basic parameters (No. 0 to 19),
expansion parameters 1 (No. 20 to 49) and expansion parameters 2 (No.50 to 84) according to their safety
aspects and frequencies of use. In the factory setting condition, the customer can change the basic
parameter values but cannot change the expansion parameter values. When fine adjustment, e.g. gain
adjustment, is required, change the parameter No. 19 setting to make the expansion parameters writeenabled.
The following table indicates the parameters which are enabled for reference and write by the setting of
parameter No. 19. Operation can be performed for the parameters marked .
Parameter No. 19 setting
Operation
0000
(initial value)
Reference
000A
000B
000C
000E
100B
100C
100E
Basic parameters
No. 0 to No. 19
Write
Reference
No. 19 only
Write
No. 19 only
Reference
Write
Reference
Write
Reference
Write
Reference
Write
No. 19 only
Reference
Write
No. 19 only
Reference
Write
No. 19 only
5- 1
Expansion parameters 1
No. 20 to No. 49
Expansion parameters 2
No. 50 to No. 84
5. PARAMETERS
5.1.2 Lists
POINT
For any parameter whose symbol is preceded by *, set the parameter
value and switch power off once, then switch it on again to make that
parameter setting valid.
The symbols in the control mode column of the table indicate the following modes.
P : Position control mode
S : Speed control mode
T : Torque control mode
Basic parameters
(1) Item list
No.
Symbol
0
*STY
1
*OP1
Control
mode
Initial
value
Control mode ,regenerative option selection
P S T
0000
Function selection 1
P S T
0002
P S
7kW or
less: 0105
11kW or
more:0102
Name
Auto tuning
Unit
2
ATU
3
CMX
Electronic gear numerator
P
1
4
CDV
Electronic gear denominator
P
1
5
INP
In-position range
P
100
pulse
rad/s
6
PG1
Position control gain 1
P
7kW or
less: 35
11kW or
more:19
7
PST
Position command acceleration/deceleration time constant
(position smoothing)
P
3
ms
8
SC1
r/min
9
SC2
Internal speed command 1
S
100
Internal speed limit 1
T
100
r/min
Internal speed command 2
S
500
r/min
Internal speed limit 2
T
500
r/min
Internal speed command 3
S
1000
r/min
10
SC3
T
1000
r/min
11
STA
Acceleration time constant
S T
0
ms
12
STB
Deceleration time constant
S T
0
ms
S T
0
ms
T
0
ms
P S T
0
station
Internal speed limit 3
13
STC
S-pattern acceleration/deceleration time constant
14
TQC
Torque command time constant
15
*SNO
Station number setting
16
*BPS
Serial communication function selection, alarm history clear
P S T
0000
17
MOD
Analog monitor output
P S T
0100
18
*DMD Status display selection
P S T
0000
19
*BLK
P S T
0000
Parameter write inhibit
5- 2
Customer
setting
5. PARAMETERS
No.
Name
20
*OP2
Function selection 2
21
*OP3
Function selection 3 (Command pulse selection)
22
*OP4
Function selection 4
23
FFC
Feed forward gain
24
ZSP
Zero speed
25
VCM
26
TLC
27
*ENR
28
TL1
29
VCO
Control
mode
Initial
value
P S
0000
P
0000
P S T
0000
Unit
P
0
%
P S T
50
r/min
Analog speed command maximum speed
S
(Note 1)0 (r/min)
Analog speed limit maximum speed
T
(Note 1)0 (r/min)
Analog torque command maximum output
T
100
%
Encoder output pulses
P S T
4000
pulse
/rev
Internal torque limit 1
P S T
100
%
S
(Note 2)
mV
Analog speed limit offset
T
(Note 2)
mV
Analog torque command offset
T
0
mV
Analog speed command offset
30
TLO
S
0
mV
31
MO1
Analog monitor 1 offset
P S T
0
mV
32
MO2
Analog monitor 2 offset
P S T
0
mV
33
MBR
Electromagnetic brake sequence output
P S T
100
ms
P S
70
0.1
times
P
7kW or
less: 35
11kW or
more:19
rad/s
P S
7kW or
less:177
11kW or
more:96
rad/s
P S
7kW or
less:817
11kW or
more:45
rad/s
ms
34
Expansion parameters 1
Symbol
35
36
37
GD2
PG2
VG1
VG2
Analog torque limit offset
Ratio of load inertia moment to servo motor inertia moment
Position control gain 2
Speed control gain 1
Speed control gain 2
38
VIC
Speed integral compensation
P S
7kW or
less: 48
11kW or
more:91
39
VDC
Speed differential compensation
P S
980
40
For manufacturer setting
0
41
*DIA
Input signal automatic ON selection
P S T
0000
42
*DI1
Input signal selection 1
P S T
0003
43
*DI2
Input signal selection 2 (CN1B-5)
P S T
0111
44
*DI3
Input signal selection 3 (CN1B-14)
P S T
0222
45
*DI4
Input signal selection 4 (CN1A-8)
P S T
0665
46
*DI5
Input signal selection 5 (CN1B-7)
P S T
0770
47
*DI6
Input signal selection 6 (CN1B-8)
P S T
0883
48
*DI7
Input signal selection 7 (CN1B-9)
P S T
0994
49
*DO1
Output signal selection 1
P S T
0000
For notes, refer to next page.
5- 3
Customer
setting
5. PARAMETERS
No.
Symbol
50
51
For manufacturer setting
Initial
value
Function selection 6
53
*OP8
Function selection 8
P S T
P S T
54
*OP9
Function selection 9
P S T
0000
55
*OPA
Function selection A
P
0000
56
SIC
For manufacturer setting
57
Unit
0000
*OP6
52
Expansion parameters 2
Control
mode
Name
0000
0000
Serial communication time-out selection
P S T
For manufacturer setting
0000
0
s
10
58
NH1
Machine resonance suppression filter 1
P S T
0000
59
NH2
Machine resonance suppression filter 2
P S T
0000
60
LPF
Low-pass filter, adaptive vibration suppression control
P S T
0000
61
GD2B
Ratio of load inertia moment to servo motor inertia moment 2
P S
70
0.1
times
62
PG2B
Position control gain 2 changing ratio
P
100
%
63
VG2B
Speed control gain 2 changing ratio
P S
100
%
64
VICB
Speed integral compensation changing ratio
P S
100
%
65
*CDP
Gain changing selection
P S
0000
66
CDS
Gain changing condition
P S
10
(Note 3)
67
CDT
Gain changing time constant
P S
1
ms
68
For manufacturer setting
0
69
CMX2
Command pulse multiplying factor numerator 2
P
1
70
CMX3
Command pulse multiplying factor numerator 3
P
1
71
CMX4
Command pulse multiplying factor numerator 4
P
1
Internal speed command 4
S
Internal speed limit 4
T
72
SC4
73
SC5
74
SC6
75
SC7
76
TL2
77
Internal speed command 5
S
Internal speed limit 5
T
Internal speed command 6
S
Internal speed limit 6
T
Internal speed command 7
S
Internal speed limit 7
T
Internal torque limit 2
P S T
For manufacturer setting
200
r/min
300
r/min
500
r/min
800
r/min
100
%
100
78
10000
79
10
80
10
81
100
82
100
83
100
84
0000
Note 1. The setting of "0" provides the rated servo motor speed.
2. Depends on the servo amplifier.
3. Depends on the parameter No. 65 setting.
5- 4
Customer
setting
5. PARAMETERS
(2) Details list
Class
No. Symbol
0
*STY
Name and function
Control mode, regenerative option selection
Used to select the control mode and regenerative option.
0
0
Basic parameters
Select the control mode.
0:Position
1:Position and speed
2:Speed
3:Speed and torque
4:Torque
5:Torque and position
Selection of regenerative option
00: Regenerative option or regenerative option is
not used with 7kW or less servo amplifier (The
built-in regenerative resistor is used.)
Supplied regenerative resistors or regenerative
option is used with 11kW or more servo
amplifier
01: FR-RC, FR-BU2, FR-CV
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required)
08: MR-RB31
09: MR-RB51 (Cooling fan is required)
0E: When regenerative resistors supplied to 11k to 22kW
are cooled by cooling fans to increase capability
The MR-RB65, 66 and 67 are regenerative options
that have encased the GRZG400-2 ,
GRZG400-1 and GRZG400-0.8 , respectively.
When using any of these regenerative options,
make the same parameter setting as when using
the GRZG400-2 , GRZG400-1 or
GRZG400-0.8 (supplied regenerative resistors or
regenerative option is used with 11kW or more
servo amplifier).
POINT
Wrong setting may cause the regenerative option
to burn.
If the regenerative option selected is not for use
with the servo amplifier, parameter error (AL.37)
occurs.
5- 5
Initial
value
0000
Unit
Setting Control
range
mode
Refer to P S T
Name
and
function
column.
5. PARAMETERS
Class
No. Symbol
Basic parameters
1
*OP1
Name and function
Function selection 1
Used to select the input signal filter, pin CN1B-19 function and
absolute position detection system.
Input signal filter
If external input signal causes chattering due to noise,
etc., input filter is used to suppress it.
0: None
1: 1.777[ms]
2: 3.555[ms]
3: 5.333[ms]
CN1B-pin 19's function selection
0: Zero Speed detection (ZSP)
1: Electromagnetic brake interlock (MBR)
CN1B-pin 18's function selection
0: Alarm (ALM)
1: Dynamic brake interlock (DB)
When using the external dynamic brake with 11kW or
more, make dynamic brake interlock (DB) valid.
Selection of absolute position detection system (Refer
to chapter 15)
0: Used in incremental system
1: Used in absolute position detection system
5- 6
Initial
value
0002
Unit
Setting Control
range
mode
Refer to P S T
Name
and
function.
5. PARAMETERS
Class No. Symbol
2
ATU
Initial
value
Name and function
Auto tuning
7kW or
Used to selection the response level, etc. for execution of auto tuning. less:
Refer to chapter 7.
0105
11kW or
0
0
more:
Basic parameters
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Response
level
Low
response
Setting Control
range
mode
Refer to
P S
Name
and
function
column.
0102
Response level setting
Set
value
Unit
Machine resonance
frequency guideline
15Hz
20Hz
25Hz
30Hz
35Hz
45Hz
55Hz
70Hz
85Hz
105Hz
130Hz
160Hz
200Hz
240Hz
300Hz
Middle
response
High
response
If the machine hunts or generates large gear sound,
decrease the set value.
To improve performance, e.g. shorten the settling time,
increasethe set value.
Gain adjustment mode selection
(For more information, refer to section 7.1.1.)
Set
Gain adjustment mode
Description
value
Interpolation mode
Fixes position control gain 1
0
(parameter No. 6).
Auto tuning mode 1
Ordinary auto tuning.
1
Auto tuning mode 2
Fixes the load inertia moment
2
ratio set in parameter No. 34.
Response level setting can be
changed.
3
Manual mode 1
Simple manual adjustment.
Manual mode 2
4
Manual adjustment of all gains.
3
CMX
Electronic gear 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.
1
0
1
to
65535
P
4
CDV
Electronic gear denominator
Used to set the electronic gear denominator value.
For the setting, refer to section 5.2.1.
1
1
to
65535
P
5- 7
5. PARAMETERS
Class No. Symbol
5
INP
Name and function
In-position range
Used to set the in-position (INP) output range in the command pulse
increments prior to electronic gear calculation.
For example, when you want to set 100 m when the ball screw 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 m per pulse),
set "10" as indicated by the following expression.
100
10
6
PG1
7
PST
10
10
6
3
131072[pulse/rev]
125
16384
Setting Control
range
mode
Initial
value
Unit
100
pulse
0
to
10000
P
7kW or red/s
less: 35
11kW or
more: 19
4
to
2000
P
10
Position control gain 1
Used to set the gain of position loop.
Increase the gain to improve track ability in response to the position
command.
When auto turning mode 1,2 is selected, the result of auto turning is
automatically used.
Position command acceleration/deceleration time constant
(position smoothing)
Used to set the time constant of a low-pass filter in response to the
position command.
You can use parameter No. 55 to choose the primary delay or linear
acceleration/deceleration control system. When you choose linear
acceleration/deceleration, the setting range is 0 to 10ms. Setting of
longer than 10ms is recognized as 10ms.
3
ms
0
to
20000
P
100
r/min
0 to
instantaneous
permissible
speed
S
Basic parameters
POINT
When you have chosen linear acceleration/
deceleration, do not select control selection
(parameter No. 0) and restart after instantaneous
power failure (parameter No. 20). Doing so will
cause the servo motor to make a sudden stop at the
time of position control switching or restart.
Example: When a command is given from a synchronizing detector,
synchronous operation can be started smoothly if started
during line operation.
Synchronizing
detector
Start
Without time
constant setting
Servo motor
speed
Start
8
SC1
Servo motor
Servo amplifier
With time
constant setting
ON
OFF
t
Internal speed command 1
Used to set speed 1 of internal speed commands.
Internal speed limit 1
Used to set speed 1 of internal speed limits.
5- 8
T
5. PARAMETERS
Class
No. Symbol
9
SC2
Initial
value
500
Name and function
Internal speed command 2
Used to set speed 2 of internal speed commands.
Internal speed limit 2
Used to set speed 2 of internal speed limits.
10
SC3
Internal speed command 3
Used to set speed 3 of internal speed commands.
1000
Internal speed limit 3
Used to set speed 3 of internal speed limits.
11
STA
Acceleration time constant
Used to set the acceleration time required to reach the rated speed
from 0r/min in response to the analog speed command and internal
speed commands 1 to 7.
If the preset speed command is
lower than the rated speed,
Speed
acceleration/deceleration time
Rated
will be shorter.
speed
12
STB
13
STC
instantaneous
permissible
speed
r/min
0 to
instantaneous
permissible
speed
T
S
T
ms
0
to
20000
S T
ms
0
to
1000
S T
Time
Parameter
No.11 setting
Parameter
No.12 setting
For example for the servo motor of 3000r/min rated speed, set 3000
(3s) to increase speed from 0r/min to 1000r/min in 1 second.
Deceleration time constant
Used to set the deceleration time required to reach 0r/min from the
rated speed in response to the analog speed command and internal
speed commands 1 to 7.
S-pattern acceleration/deceleration time constant
Used to smooth start/stop of the servo motor.
Set the time of the arc part for S-pattern acceleration/deceleration.
Speed command
Speed
Servo motor
Basic parameters
Zero
speed
0
Setting Control
range
mode
r/min
0 to
S
Unit
0r/min
STC
Time
STA
STC
STC STB STC
STA: Acceleration time constant (parameter No.11)
STB: Deceleration time constant (parameter No.12)
STC: S-pattern acceleration/deceleration time constant (parameter No.13)
Long setting of STA (acceleration time constant) or STB (deceleration time
constant) may produce an error in the time of the arc part for the setting of the
S-pattern acceleration/deceleration time constant.
The upper limit value of the actual arc part time is limited by
2000000
2000000
for acceleration or by
for deceleration.
STA
STB
(Example) At the setting of STA 20000, STB 5000 and STC 200,
the actual arc part times are as follows:
Limited to 100[ms] since
2000000
During acceleration: 100[ms]
100[ms] 200[ms].
20000
200[ms] as set since
During deceleration: 200[ms]
2000000
5000
400[ms] 200[ms].
5- 9
0
0
5. PARAMETERS
Class
No. Symbol
14
TQC
Name and function
Torque command time constant
Used to set the constant of a low-pass filter in response to the torque
command.
Setting Control
range
mode
Initial
value
Unit
0
ms
0
to
20000
T
0
station
0
to
31
P S T
Refer to
P S T
Torque command
Torque
After
filtered
TQC
TQC
Time
Basic parameters
TQC: Torque command time constant
15
*SNO
Station number setting
Used to specify the station number for serial communication.
Always set one station to one axis of servo amplifier. If one station
number is set to two or more stations, normal communication cannot
be made.
16
*BPS
Serial communication function selection, alarm history clear
Used to select the serial communication baud rate, select various
communication conditions, and clear the alarm history.
0000
Name
and
function
column.
Serial baud rate selection
0: 9600 [bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
Alarm history clear
0: Invalid
1: Valid
When alarm history clear is made valid, the alarm
history is cleared at next power-on.
After the alarm history is cleared, the setting is
automatically made invalid (reset to 0).
Serial communication standard selection
0: RS-232C used
1: RS-422 used
Serial communication response delay time
0: Invalid
1: Valid, reply sent after delay time of 800 s or more
5 - 10
5. PARAMETERS
Class
No. Symbol
17
MOD
Initial
value
Name and function
0100
Analog monitor output
Used to selection the signal provided to the analog monitor (MO1)
analog monitor (MO2) output. (Refer to section 5.2.2)
0
Basic parameters
Setting Control
range
mode
Refer to
Name
and
function
0
Setting
Unit
column.
Analog monitor (MO2)
Analog monitor (MO1)
0
Servo motor speed ( 8V/max. speed)
1
Torque ( 8V/max. torque) (Note)
2
Motor speed ( 8V/max. speed)
3
Torque ( 8V/max. torque) (Note)
4
Current command ( 8V/max. current command)
5
Command pulse frequency ( 10V/500kpulse/s)
6
Droop pulses
( 10V/128 pulses)
7
Droop pulses
( 10V/2048 pulses)
8
Droop pulses
( 10V/8192 pulses)
9
Droop pulses ( 10V/32768 pulses)
A
Droop pulses ( 10V/131072 pulses)
B
Bus voltage ( 8V/400V)
Note. 8V is outputted at the maximum torque.
However, when parameter No.28 76 are
set to limit torque, 8V is outputted at the torque highly
limited.
5 - 11
P S T
5. PARAMETERS
Class
No. Symbol
18
Initial
value
Name and function
*DMD Status display selection
Used to select the status display shown at power-on.
Unit
0000
Refer to
P S T
Name
and
0 0
Basic parameters
Setting Control
range
mode
function
Selection of status display at
power-on
0: Cumulative feedback pulses
1: Servo motor speed
2: Droop pulses
3: Cumulative command pulses
4: Command pulse frequency
5: Analog speed command voltage
(Note 1)
6: Analog torque command voltage
(Note 2)
7: Regenerative load ratio
8: Effective load ratio
9: Peak load ratio
A: Instantaneous torque
B: Within one-revolution position low
C: Within one-revolution position high
D: ABS counter
E: Load inertia moment ratio
F: Bus voltage
column.
Note 1. In speed control mode. Analog
speed limit voltage in torque
control mode.
2. In torque control mode. Analog
torque limit voltage in speed or
position control mode.
Status display at power-on in
corresponding control mode
0: Depends on the control mode.
Control Mode
Status display at power-on
Position
Cumulative feedback pulses
Position/speed
Cumulative feedback pulses/servo motor speed
Speed
Servo motor speed
Speed/torque
Servo motor speed/analog torque command voltage
Torque
Analog torque command voltage
Torque/position
Analog torque command voltage/cumulative feedback pulses
1: Depends on the first digit setting of this parameter.
5 - 12
5. PARAMETERS
Class
No. Symbol
19
*BLK
Name and function
Parameter write inhibit
Used to select the reference and write ranges of the parameters.
Operation can be performed for the parameters marked .
Set
value
Basic parameters
0000
(Initial
value)
000A
000B
000C
000E
100B
100C
100E
20
*OP2
Operation
Basic
parameters
No. 0
to No. 19
Unit
Setting Control
range
mode
Refer to P S T
Name
and
function
column.
Expansion
Expansion
parameters 1 parameters 2
No. 20
No. 50
to No. 49
to No. 84
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
No. 19 only
No. 19 only
No. 19 only
No. 19 only
No. 19 only
Function selection 2
Used to select restart after instantaneous power failure,
servo lock at a stop in speed control mode, and slight vibration
suppression control.
0000
Refer to
Name
and
function
column.
0
Expansion parameters 1
Initial
value
0000
Restart after instantaneous power failure
If the power supply voltage has returned to normal
after an undervoltage status caused by the reduction
of the input power supply voltage in the speed control
mode, the servo motor can be restarted by merely
turning on the start signal without resetting the alarm.
0: Invalid (Undervoltage alarm (AL.10) occurs.)
1: Valid
S
Selection of servo lock at stop
In the speed control mode, the servo motor shaft can
be locked to prevent the shaft from being moved by
the external force.
0: Valid (Servo-locked)
The operation to maintain the stop position is
performed.
1: Invalid (Not servo-locked)
The stop position is not maintained.
The control to make the speed 0r/min is performed.
Slight vibration suppression control
Made valid when auto tuning selection is set to
"0400" in parameter No. 2.
Used to suppress vibration at a stop.
0: Invalid
1: Valid
5 - 13
P S
5. PARAMETERS
Class
No. Symbol
21
*OP3
Name and function
Function selection 3 (Command pulse selection)
Used to select the input form of the pulse train input signal.
(Refer to section 3.4.1)
Initial
value
0000
Unit
Setting Control
range
mode
Refer to
P
Name
and
function
0 0
column.
Command pulse train input form
0: Forward/reverse rotation pulse train
1: Signed pulse train
2: A B-phase pulse train
Pulse train logic selection
0: Positive logic
1: Negative logic
Expansion parameters 1
22
*OP4
Function selection 4
Used to select stop processing at forward rotation stroke end (LSP)
reverse rotation stroke end (LSN) off and choose VC/VLA voltage
averaging.
0
0000
Refer to
Name
and
function
column.
0
How to make a stop when forward
rotation stroke end (LSP) reverse rotation stroke end
(LSN) is valid. (Refer to section 5.2.3)
0: Sudden stop
1: Slow stop
VC/VLA voltage averaging
Used to set the filtering time when the analog speed
command (VC) voltage or analog speed limit (VLA) is
imported.
Set 0 to vary the speed to voltage fluctuation in real
time. Increase the set value to vary the speed slower
to voltage fluctuation.
Set
value
0
1
2
3
4
Filtering time [ms]
0
0.444
0.888
1.777
3.555
5 - 14
P S
P S T
5. PARAMETERS
No. Symbol
23
FFC
24
ZSP
25
VCM
26
TLC
27
*ENR
Expansion parameters 1
Class
Name and function
Feed forward gain
Set the feed forward gain. When the setting is 100%, the droop pulses
during operation at constant speed are nearly zero. However, sudden
acceleration/deceleration will increase the overshoot. As a guideline,
when the feed forward gain setting is 100%, set 1s or more as the
acceleration/deceleration time constant up to the rated speed.
Zero speed
Used to set the output range of the zero speed (ZSP).
Analog speed command maximum speed
Used to set the speed at the maximum input voltage (10V) of the
analog speed command (VC).
Set "0" to select the rated speed of the servo motor connected.
Analog speed limit maximum speed
Used to set the speed at the maximum input voltage (10V) of the
analog speed limit (VLA).
Set "0" to select the rated speed of the servo motor connected.
Analog torque command maximum output
Used to set the output torque at the analog torque command voltage
(TC
8V) of 8V on the assumption that the maximum torque is
100[%]. For example, set 50 to output (maximum torque
50/100) at
the TC of 8V.
Encoder output pulses
Used to set the encoder pulses (A-phase, B-phase) output by the
servo amplifier.
Set the value 4 times greater than the A-phase or B-phase pulses.
You can use parameter No. 54 to choose the output pulse setting or
output division ratio setting.
The number of A B-phase pulses actually output is 1/4 times
greater than the preset number of pulses.
The maximum output frequency is 1.3Mpps (after multiplication by
4). Use this parameter within this range.
For output pulse designation
Set " 0
" (initial value) in parameter No. 54.
Set the number of pulses per servo motor revolution.
Output pulse set value [pulses/rev]
At the setting of 5600, for example, the actually output A B-phase
pulses are as indicated below.
5600
A B-phase output pulses
1400[pulse]
4
For output division ratio setting
Set "1
"in parameter No. 54.
The number of pulses per servo motor revolution is divided by the
set value.
Resolution per servo motor revolution
Output pulse
[pulses/rev]
Set value
At the setting of 8, for example, the actually output A B-phase
pulses are as indicated below.
A B-phase output pulses
28
TL1
131072
8
1
4
50
Unit
%
r/min
0
r/min
0
r/min
Setting Control
range
mode
0
P
to
100
0
to
10000
0
1
to
50000
0
1
to
50000
0
to
1000
P S T
S
T
100
%
T
4000
pulse/
rev
1
to
65535
P S T
100
%
0
to
100
P S T
4096[pulse]
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.
(Note)
TL
0
1
Initial
value
0
Torque limit
Internal torque limit 1 (Parameter No. 28)
Analog torque limit internal torque limit 1
: Analog torque limit
Analog torque limit internal torque limit 1
: Internal torque limit 1
Note. 0: off
1: on
When torque is output in analog monitor output, this set value is the
maximum output voltage ( 8V). (Refer to section 3.4.1 (5))
5 - 15
5. PARAMETERS
Class
No. Symbol
29
Expansion parameters 1
30
VCO
TLO
31
MO1
32
MO2
33
MBR
34
GD2
35
PG2
36
VG1
37
VG2
38
VIC
Name and function
Analog speed command offset
Used to set the offset voltage of the analog speed command (VC).
For example, if CCW rotation is provided by switching on forward
rotation start (ST1) with 0V applied to VC, set a negative value.
When automatic VC offset is used, the automatically offset value is
set to this parameter. (Refer to section 6.3)
The initial value is the value provided by the automatic VC offset
function before shipment at the VC-LG voltage of 0V.
Analog speed limit offset
Used to set the offset voltage of the analog speed limit (VLA).
For example, if CCW rotation is provided by switching on forward
rotation selection (RS1) with 0V applied to VLA, set a negative value.
When automatic VC offset is used, the automatically offset value is
set to this parameter. (Refer to section 6.3)
The initial value is the value provided by the automatic VC offset
function before shipment at the VLA-LG voltage of 0V.
Analog torque command offset
Used to set the offset voltage of the analog torque command (TC).
Analog torque limit offset
Used to set the offset voltage of the analog torque limit (TLA).
Analog monitor 1 offset
Used to set the offset voltage of the analog monitor (MO1).
Analog monitor 2 offset
Used to set the offset voltage of the analog monitor (MO2).
Electromagnetic brake sequence output
Used to set the delay time (Tb) between electronic brake interlock
(MBR) and the base drive circuit is shut-off.
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 7.1.1)
In this case, it varies between 0 and 1000.
Position control 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.
Speed control gain 1
Normally this parameter setting need not be changed.
Higher setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning mode 1 2, manual mode and interpolation mode
is selected, the result of auto tuning is automatically used.
Speed control gain 2
Set this parameter when vibration occurs on machines of low rigidity
or 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 of auto tuning is automatically used.
5 - 16
Initial
value
Unit
Depends
mV
on servo
amplifier
Setting Control
range
mode
999
to
999
S
T
0
0
0
mV
mV
mV
100
ms
70
0.1
times
999
to
999
999
to 999
999
to 999
0
to
1000
0
to
3000
T
S
P S T
P S T
P S T
P S
7kW or rad/s
less: 35
11kW or
more: 19
1
to
1000
P
7kW or rad/s
less: 177
11kW or
more: 96
20
to
8000
P S
7kW or rad/s
less: 817
11kW or
more: 45
20
to
20000
P S
1
to
1000
P S
7kW or
less: 48
11kW or
more: 91
ms
5. PARAMETERS
Class
No. Symbol
39
VDC
40
41
Name and function
Speed differential compensation
Used to set the differential compensation.
Made valid when the proportion control (PC) is switched on.
For manufacturer setting
Do not change this value by any means.
*DIA
Input signal automatic ON selection
Used to set automatic Servo-on (SON)
(LSP)
Initial
value
980
Unit
Setting Control
range
mode
0
to
1000
P S
Refer to
P S T
0
0000
forward rotation stroke end
reveres rotation stroke end (LSN).
Name
and
function
0
column.
Servo-on (SON) input selection
0: Switched on/off by external input.
1: Switched on automatically in servo amplifier.
(No need of external wiring)
Expansion parameters 1
Forward rotation stroke end
(LSP) input selection
0: Switched on/off by external input.
1: Switched on automatically in servo amplifier.
(No need of external wiring)
P S
Reverse rotation stroke end (LSN)
input selection
0: Switched on/off by external input.
1: Switched on automatically in servo amplifier.
(No need of external wiring)
42
*DI1
Input signal selection 1
Used to assign the control mode changing signal input pins and to set
the clear (CR).
0003
Refer to
Name
and
function
0 0
column.
Control change (LOP) input pin assignment
Used to set the control mode change signal input
connector pins. Note that this parameter is made valid
when parameter No.
0 is set to select the position/speed, speed/torque or
torque/position change mode.
Set
value
0
1
2
3
4
5
P/S
S/T
T/P
Connector pin No.
CN1B-5
CN1B-14
CN1A-8
CN1A-7
CN1B-8
CN1B-9
Clear (CR) selection
0: Droop pulses are cleared on the leading edge.
1: While on, droop pulses are always cleared.
5 - 17
P
5. PARAMETERS
Class
No. Symbol
43
*DI2
Initial
value
Name and function
Input signal selection 2 (CN1B-5)
This parameter is unavailable when parameter No.42 is set to assign
the control change (LOP) to CN1B-pin 5.
Allows any input signal to be assigned to CN1B-pin 5.
Note that the setting digit and assigned signal differ according to the
control mode.
0111
Unit
Setting Control
range
mode
Refer to
P S T
Name
and
function
column.
0
Position
control mode Input signals of
Speed control
CN1B-pin 5
mode
selected.
Torque control mode
Signals that may be assigned in each control mode are indicated
below by their symbols.
Setting of any other signal will be invalid.
Set value
(Note) Control mode
P
S
T
Expansion parameters 1
0
1
SON
SON
SON
2
RES
RES
RES
3
PC
PC
4
TL
TL
5
CR
CR
CR
6
SP1
SP1
7
SP2
SP2
8
ST1
RS2
9
ST2
RS1
A
SP3
SP3
B
CM1
C
CM2
D
TL1
TL1
TL1
E
CDP
CDP
CDP
Note. P: Position control mode
S: Speed control mode
T: Torque control mode
44
*DI3
Input signal selection 3 (CN1B-14)
Allows any input signal to be assigned to CN1B-pin 14.
The assignable signals and setting method are the same as in input
signal selection 2 (parameter No. 43).
0222
Refer to
Name
and
function
column.
0
Position
control mode
Speed control
mode
Torque control mode
Input signals of
CN1B-pin 14
selected.
This parameter is unavailable when parameter No. 42 is set to
assign the control change (LOP) to CN1B-pin 14.
5 - 18
P S T
5. PARAMETERS
Class
No. Symbol
45
*DI4
Name and function
Input signal selection 4 (CN1A-8)
Allows any input signal to be assigned to CN1A-pin 8.
The assignable signals and setting method are the same as in input
signal selection 2 (parameter No. 43).
Initial
value
0665
function
Input signals of
CN1A-pin 8
selected.
This parameter is unavailable when parameter No. 42 is set to
assign the control change (LOP) to CN1 A-pin 8.
Input signal selection 5 (CN1B-7)
Allows any input signal to be assigned to CN1B-pin 7.
The assignable signals and setting method are the same as in input
signal selection 2 (parameter No. 43).
0770
and
function
Expansion parameters 1
Input signals of
CN1B-pin 7
selected.
This parameter is unavailable when parameter No. 42 is set to
assign the control change (LOP) to CN1 B-pin 7.
Input signal selection 6 (CN1B-8)
Allows any input signal to be assigned to CN1B-pin 8.
The assignable signals and setting method are the same as in input
signal selection 2 (parameter No. 43).
0883
Refer to
P S T
Name
and
function
column.
Position
control mode
Speed control
mode
Torque control mode
*DI7
P S T
Name
0
48
Refer to
column.
Position
control mode
Speed control
mode
Torque control mode
*DI6
P S T
and
0
47
Refer to
column.
Position
control mode
Speed control
mode
Torque control mode
*DI5
Setting Control
range
mode
Name
0
46
Unit
Input signals of
CN1B-pin 8
selected.
This parameter is unavailable when parameter No. 42 is set to
assign the control change (LOP) to CN1B-pin 8.
When "Used in absolute position detection system" is selected in
parameter No. 1, CN1B-pin 8 is in the ABS transfer mode (ABSM).
(Refer to section 15.5)
Input signal selection 7 (CN1B-9)
Allows any input signal to be assigned to CN1B-pin 9.
The assignable signals and setting method are the same as in input
signal selection 2 (parameter No. 43).
0
0994
Refer to
Name
and
function
column.
Position
control mode
Speed control
mode
Torque control mode
Input signals of
CN1B-pin 9
selected.
This parameter is unavailable when parameter No. 42 is set to
assign the control change (LOP) to CN1B-pin 9.
When "Used in absolute position detection system" is selected in
parameter No. 1, CN1B-pin 9 is in the ABS request mode (ABSR).
(Refer to section 15.5)
5 - 19
P S T
5. PARAMETERS
Class No. Symbol
49
*DO1
Initial
value
Name and function
Output signal selection 1
Used to select the connector pins to output the alarm code, warning
(WNG) and battery warning (BWNG).
0
Setting Control
range
mode
Refer to
Name
and
function
Setting of alarm code output
The alarm code output and the following functions are
exclusive, so the simultaneous use is not possible.
If set, the parameter error alarm (AL.37) occurs.
Absolute position detection system
Signal assignment function of the electromagnetic
interlock (MBR) to pin CN1B-19
Set
value
0
1
Expansion parameters 1
0000
Unit
Connector pins
CN1B-19
CN1A-18
CN1A-19
ZSP
INP or SA
RD
Alarm code is output at alarm occurrence.
(Note) Alarm code
Alarm
CN1B CN1A CN1A display
pin 19 pin 18 pin 19
88888
AL.12
AL.13
AL.15
AL.17
0
0
0
AL.19
AL.37
AL.8A
AL.8E
AL.30
0
0
1
AL.33
AL.10
0
1
0
AL.45
AL.46
0
1
1
AL.50
AL.51
AL.24
1
0
0
AL.32
AL.31
AL.35
1
0
1
AL.52
AL.16
AL.1A
1
1
0
AL.20
AL.25
Name
Watchdog
Memory error 1
Clock error
Memory error 2
Board error 2
Memory error 3
Parameter error
Serial communication time-out error
Serial communication error
Regenerative error
Overvoltage
Undervoltage
Main circuit device overheat
Servo motor overheat
Overload 1
Overload 2
Main circuit
Overcurrent
Overspeed
Command pulse frequency error
Error excessive
Encoder error 1
Motor combination error
Encoder error 2
Absolute position erase
Note. 0: off
1: on
Setting of warning (WNG) output
Select the connector pin to output warning. The old
signal before selection will be unavailable.
A parameter error (AL. 27) will occur if the connector
pin setting is the same as that in the third digit.
Set
value
0
1
2
3
4
5
Connector pin No.
Not output
CN1A-19
CN1B-18
CN1A-18
CN1B-19
CN1B-6
Setting of battery warning (BWNG) output
Select the connector pin to output battery warning.
The old signal before selection will be unavailable. Set
this function as in the second digit of this parameter.
Parameter No. 1 setting has priority. A parameter
error (AL. 37) will occur if the connector pin setting is
the same as that in the second digit.
5 - 20
column.
P S T
5. PARAMETERS
Class
No. Symbol
50
51
*OP6
Initial
value
Name and function
For manufacturer setting
Do not change this value by any means.
0000
Function selection 6
Used to select the operation to be performed when the reset (RES)
switches on. This parameter is invalid (base circuit is shut off) in the
absolute position detection system.
0000
0
Unit
Setting Control
range
mode
Refer to
P S T
Name
and
function
column.
0 0
Operation to be performed when the
reset (RES) switches on
0: Base circuit shut off
1: Base circuit not shut off
52
53
*OP8
For manufacturer setting
Do not change this value by any means.
0000
Function selection 8
Used to select the protocol of serial communication.
0000
0
Refer to
P S T
Name
and
0
function
Expansion parameters 2
column.
Protocol checksum selection
0: Yes (checksum added)
1: No (checksum not added)
Protocol checksum selection
0: With station numbers
1: No station numbers
54
*OP9
Function selection 9
Use to select the command pulse rotation direction, encoder output
pulse direction and encoder pulse output setting.
Name
and
column.
Servo motor rotation direction changing
Changes the servo motor rotation
direction for the input pulse train.
Set value
Servo motor rotation direction
At forward rotation
At reverse rotation
pulse input (Note)
pulse input (Note)
0
CCW
CW
1
CW
CCW
Note. Refer to section 3.4.1 (1) (a).
Encoder pulse output phase changing
Changes the phases of A, B-phase encoder pulses output .
Servo motor rotation direction
Set value
1
Refer to
function
0
0
0000
CCW
CW
A-phase
A-phase
B-phase
B-phase
A-phase
A-phase
B-phase
B-phase
Encoder output pulse setting selection (refer to parameter No. 27)
0: Output pulse designation
1: Division ratio setting
5 - 21
P S T
5. PARAMETERS
Class
No. Symbol
55
*OPA
Initial
value
Name and function
Function selection A
Used to select the position command acceleration/deceleration time
constant (parameter No. 7) control system.
0 0
Unit
0000
Setting Control
range
mode
Refer to
P
Name
and
function
0
column.
Position command acceleration/deceleration
time constant control
0: Primary delay
1: Linear acceleration/deceleration
56
SIC
57
58
NH1
Serial communication time-out selection
Used to set the communication protocol time-out period in [s].
When you set "0", time-out check is not made.
0
For manufacturer setting
Do not change this value by any means.
10
Machine resonance suppression filter 1
Used to selection the machine resonance suppression filter.
(Refer to section 8.1)
0
s
0000
P S T
1 to 60
Refer to
P S T
Name
and
function
0
column.
Expansion parameters 2
Notch frequency selection
Set "00" when you have set adaptive vibration
suppression control to be "valid" or "held"
(parameter No. 60: 1
or 2
).
Setting Frequency Setting Frequency Setting Frequency Setting Frequency
value
value
value
value
00
Invalid
08
562.5
10
281.3
18
187.5
01
4500
09
500
11
264.7
19
180
02
2250
0A
450
12
250
1A
173.1
03
1500
0B
409.1
13
236.8
1B
166.7
04
1125
0C
375
14
225
1C
160.1
05
900
0D
346.2
15
214.3
1D
155.2
06
750
0E
321.4
16
204.5
1E
150
07
642.9
0F
300
17
195.7
1F
145.2
Notch depth selection
59
NH2
Setting
value
Depth
Gain
0
Deep
40dB
1
to
14dB
2
3
Shallow
8dB
4dB
Machine resonance suppression filter 2
Used to set the machine resonance suppression filter.
0000
Refer to
Name
and
0
function
column.
Notch frequency
Same setting as in parameter No. 58
However, you need not set "00" if you have
set adaptive vibration suppression control to
be "valid" or "held".
Notch depth
Same setting as in parameter No. 58
5 - 22
P S T
5. PARAMETERS
Class
No. Symbol
60
LPF
Name and function
Low-pass filter adaptive vibration suppression control
Used to selection the low-pass filter adaptive vibration suppression
control. (Refer to chapter 8)
Initial
value
Unit
0000
Setting Control
range
mode
Refer to
P S T
Name
and
function
0
column.
Low-pass filter selection
0: Valid (Automatic adjustment)
1: Invalid
When you choose "valid", the filter of the handwidth
represented by the following expression is set automatically
For 1kW or less
2
VG2 setting 10
[Hz]
(1 GD2 setting 0.1)
For 2kW or more
2
VG2 setting 5
[Hz]
(1 GD2 setting 0.1)
Expansion parameters 2
Adaptive vibration suppression control selection
Choosing "valid" or "held" in adaptive vibration
suppression control selection makes the machine
resonance control filter 1 (parameter No. 58) invalid.
0: Invalid
1: Valid
Machine resonance frequency is always detected
and the filter is generated in response to resonance to
suppress machine vibration.
2: Held
The characteristics of the filter generated so far are held,
and detection of machine resonance is stopped.
Adaptive vibration suppression control sensitivity selection
Used to set the sensitivity of machine resonance detection.
0: Normal
1: Large sensitivity
61
GD2B Ratio of load inertia moment to servo motor inertia moment 2
Used to set the ratio of load inertia moment to servo motor inertia
moment when gain changing is valid.
70
0.1
times
0
to
3000
P S
62
PG2B
Position control gain 2 changing ratio
Used to set the ratio of changing the position control gain 2 when
gain changing is valid.
Made valid when auto tuning is invalid.
100
%
10
to
200
P
63
VG2B
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.
100
%
10
to
200
P S
64
VICB
Speed integral compensation changing ratio
Used to set the ratio of changing the speed integral compensation
when gain changing is valid. Made valid when auto tuning is invalid.
100
%
50
to
1000
P S
5 - 23
5. PARAMETERS
Class
No. Symbol
65
*CDP
Name and function
Gain changing selection
Used to select the gain changing condition. (Refer to section 8.3)
Initial
value
Unit
0000
Refer to
P S
Name
and
0 0 0
function
column.
Gain changing selection
Gains are changed in accordance with the settings
of parameters No. 61 to 64 under any of the following
conditions:
0: Invalid
1: Gain changing (CDP) signal is ON
2: Command frequency is equal to higher than
parameter No. 66 setting or more
3: Droop pulse value is equal to higher than
parameter No. 66 setting or more
4: Servo motor speed is equal to higher than
parameter No. 66 setting or more
Expansion parameters 2
Setting Control
range
mode
66
CDS
Gain changing condition
Used to set the value of gain changing condition (command
frequency, droop pulses, servo motor speed) selected in parameter
No. 65.The set value unit changes with the changing condition item.
(Refer to section 8.5)
10
kpps
pulse
r/min
10
to
9999
P S
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 8.5)
1
ms
0
to
100
P S
For manufacturer setting
Do not change this value by any means.
0
68
69
CMX2 Command pulse multiplying factor numerator 2
Used to set the multiplier for the command pulse.
Setting "0" automatically sets the connected motor resolution.
1
0 1
to
65535
P
70
CMX3 Command pulse multiplying factor numerator 3
Used to set the multiplier for the command pulse.
Setting "0" automatically sets the connected motor resolution.
1
0 1
to
65535
P
71
CMX4 Command pulse multiplying factor numerator 4
Used to set the multiplier for the command pulse.
Setting "0" automatically sets the connected motor resolution.
1
0 1
to
65535
P
r/min 0 to instantaneous
permissible
speed
S
72
SC4
Internal speed command 4
Used to set speed 4 of internal speed commands.
Internal speed limit 4
Used to set speed 4 of internal speed limits.
5 - 24
200
T
5. PARAMETERS
Class
No. Symbol
73
SC5
Name and function
Internal speed command 5
Used to set speed 5 of internal speed commands.
Initial
value
300
Internal speed limit 5
Used to set speed 5 of internal speed limits.
74
SC6
Internal speed command 6
Used to set speed 6 of internal speed commands.
500
Expansion parameters 2
Internal speed limit 6
Used to set speed 6 of internal speed limits.
75
SC7
Internal speed command 7
Used to set speed 7 of internal speed commands.
800
Internal speed limit 7
Used to set speed 7 of internal speed limits.
76
77
78
TL2
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. (Refer to section 3.4.1 (5))
For manufacturer setting
Do not change this value by any means.
100
00
10000
79
10
80
10
81
100
82
100
83
100
84
0000
5 - 25
Setting Control
range
mode
r/min 0 to inS
stantaneous
permiT
ssible
speed
r/min 0 to inS
stantaneous
permiT
ssible
speed
0
to inr/min
S
stantaneous
permiT
ssible
speed
Unit
%
0
to
100
P S T
5. PARAMETERS
5.2 Detailed description
5.2.1 Electronic gear
CAUTION
Wrong setting can lead to unexpected fast rotation, causing injury.
POINT
The guideline of the electronic gear setting range is
1
50
CMX
CDV
500.
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.
Always set the electronic gear with servo off state to prevent unexpected
operation due to improper setting.
CMX
CDV
Input pulse train
(1) Concept of electronic gear
The machine can be moved at any multiplication factor to input pulses.
Parameter No.3
Parameter No.4
Motor
CMX
CDV
Deviation
counter
Feedback pulse
Electronic gear
Encoder
The following setting examples are used to explain how to calculate the electronic gear.
POINT
The following specification symbols are required to calculate the electronic
gear
Pb : Ball screw lead [mm]
n
: Reduction ratio
Pt : Servo motor resolution [pulses/rev]
0:
Travel per command pulse [mm/pulse]
S : Travel per servo motor revolution [mm/rev]
: Angle per pulse [ /pulse]
: Angle per revolution [ /rev]
(a) For motion in increments of 10 m per pulse
n
n NL/NM
1/2
NL
Machine specifications
Pb 10[mm]
Ball screw lead Pb 10 [mm]
Reduction ratio: n 1/2
Servo motor resolution: Pt 131072 [pulses/rev]
CMX
Pt
Pt
3 131072
0
0
10 10
n Pb
CDV
1/2 10
S
Hence, set 32768 to CMX and 125 to CDV.
5 - 26
NM
Servo motor
131072 [pulse/rev]
262144
1000
32768
125
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
CMX
CDV
Pt
0.01
131072 [pulses/rev]
131072
4/64 360
Timing belt : 4/64
65536
................................................................................. (5.1)
1125
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
1125
450
450
CDV
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 (5.2), setting
0 to CMX and 2250 to CDX concludes in the following expression:
CMX/CDV=131072/2250, and electric gear can be set without the
necessity to reduce the fraction to the lowest term.
For unlimited one-way rotation, e.g. an index table, indexing positions will
be missed due to cumulative error produced by rounding off.
For example, entering a command of 36000 pulses in the above example
causes the table to rotate only the following:
36000
26214
450
1
131072
4
360
64
359.995
Therefore, indexing cannot be done in the same position on the table.
(2) Instructions for reduction
The calculated value before reduction must be as near as possible to the calculated value after
reduction.
In the case of (1) (b) in this section, an error will be smaller if reduction is made to provide no fraction
for CDV. The fraction of Expression (5.1) before reduction is calculated as follows.
CMX
CDV
65536
1125
58.25422.................................................................................................................... (5.2)
The result of reduction to provide no fraction for CMX is as follows.
CMX
CDV
65536
1125
32768
562.5
32768
563
58.20249 .................................................................................... (5.3)
The result of reduction to provide no fraction for CDV is as follows.
CMX
CDV
65536
1125
26214.4
450
26214
450
58.25333 .................................................................................. (5.4)
As a result, it is understood that the value nearer to the calculation result of Expression (5.2) is the
result of Expression (5.4). Accordingly, the set values of (1) (b) in this section are CMX 26214,
CDV 450.
5 - 27
5. PARAMETERS
(3) Setting for use of A1SD75P
The A1SD75P also has the following electronic gear parameters. Normally, the servo amplifier side
electronic gear must also be set due to the restriction on the command pulse frequency (differential
400kpulse/s, open collector 200kpulse/s).
AP : Number of pulses per motor revolution
AL : Moving distance per motor revolution
AM: Unit scale factor
A1SD75P
Command
value
Servo amplifier
Control
unit
AL
AP
AM
Electronic gear
Command
pulse
CMX
CDV
Electronic gear
Deviation
counter
Feedback pulse
Servo motor
The resolution of the servo motor is 131072 pulses/rev. For example, the pulse command needed to
rotate the servo motor is as follows.
Servo motor speed [r/min]
Required pulse command
2000
131072
2000/60 4369066 pulse/s
3000
131072
3000/60 6553600 pulse/s
For the A1SD75P, the maximum value of the pulse command that may be output is 200kpulse/s in the
open collector system or 400kpulse/s in the differential line driver system. Hence, either of the servo
motor speeds exceeds the maximum output pulse command of the A1SD75P.
Use the electronic gear of the servo amplifier to run the servo motor under the maximum output pulse
command of the A1SD75P.
5 - 28
5. PARAMETERS
To rotate the servo motor at 3000r/min in the open collector system (200kpulse/s), set the electronic
gear as follows
f
CMX
CDV
N0
60
pt
f : Input pulses [pulse/s]
N0 : Servo motor speed [r/min]
Pt : Servo motor resolution [pulse/rev]
200 10
3
CMX
CDV
3000
131072
60
CMX
CDV
3000
60
131072
200
3000 131072
60 200000
4096
125
The following table indicates the electronic gear setting example (ball screw lead
A1SD75P is used in this way.
Rated servo motor speed
3000r/min
Open
collector
Input system
Servo amplifier
10mm) when the
Max. input pulse frequency [kpulse/s]
Differential
line driver
200
Feedback pulse/revolution [pulse/rev]
2000r/min
500
Open
collector
200
131072
Electronic gear (CMX/CDV)
Differential
line driver
500
131072
4096/125
2048/125
8192/375
4096/375
Command pulse frequency [kpulse/s] (Note)
200
400
200
400
Number of pulses per servo motor revolution as
viewed from A1SD75P[pulse/rev]
4000
8000
6000
12000
AP
1
1
1
1
AL
1
1
1
1
AM
1
1
1
1
AP
4000
8000
6000
12000
AL
100.0[ m]
100.0[ m]
100.0[ m]
100.0[ m]
AM
10
10
10
10
Minimum command unit
1pulse
A1SD75P
Electronic gear
Minimum command unit
0.1 m
Note. Command pulse frequency at rated speed.
5 - 29
5. PARAMETERS
5.2.2 Analog monitor
The servo status can be output to two channels in terms of voltage. The servo status can be monitored
using an ammeter.
(1) Setting
Change the following digits of parameter No.17.
Parameter No. 17
0
0
Analog monitor (MO1) output selection
(Signal output to across MO1-LG)
Analog monitor (MO2) output selection
(Signal output to across MO2-LG)
Parameters No.31 and 32 can be used to set the offset voltages to the analog output voltages. The
setting range is between 999 and 999mV.
Parameter No.
31
32
Description
Setting range [mV]
Used to set the offset voltage for the analog monitor 1 (MO1).
Used to set the offset voltage for the analog monitor 2 (MO2)
output.
5 - 30
999 to 999
5. PARAMETERS
(2) Set content
The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 (MO1) and the
torque to analog monitor (MO2). The setting can be changed as listed below by changing the
parameter No.17 value.
Refer to Appendix 2 for the measurement point.
Setting
0
Output item
Servo motor speed
Description
8[V]
Setting
6
CCW direction
Max. speed
Output item
Droop pulses
(Note 1)
( 10V/128pulse)
Description
10[V]
128[pulse]
0 Max. speed
CW direction
1
Torque (Note 2)
8[V]
0
8[V]
Driving in CCW direction
7
Droop pulses
(Note 1)
( 10V/2048pulse)
10[V]
0 2048[pulse]
8[V]
10[V]
CW direction
Servo motor speed
8
CW
direction 8[V]
CCW direction
2048[pulse]
0 Max. torque
2
128[pulse]
10[V]
CW direction
Max. torque
Driving in CW direction
CCW direction
CCW
direction
Droop pulses
(Note 1)
( 10V/8192pulse)
10[V]
CCW direction
8192[pulse]
0 8192[pulse]
Max. speed
0 Max. speed
10[V]
CW direction
3
Torque(Note2)
9
Driving in
CW direction 8[V]
Driving in
CCW direction
Droop pulses
(Note 1)
( 10V/32768pulse)
10[V]
CCW direction
32768[pulse]
0 32768[pulse]
Max. torque
0 Max. torque
10[V]
CW direction
4
5
Current command
Command pulse
frequency
8[V] CCW direction
Max. command
current
(Max. torque
command)
0 Max. command
current
(Max. torque
command)
8[V]
CW direction
10[V]
CCW direction
A
Droop pulses
(Note 1)
( 10V/131072pulse)
10[V]
CCW direction
131072[pulse]
0
CW direction
B
131072[pulse]
10[V]
Bus voltage
8[V]
500kpps
0
500kpps
0
CW direction
400[V]
10[V]
Note 1. Encoder pulse unit.
2. 8V is outputted at the maximum torque.However, when parameter No.28 76 are set to limit torgue, 8V is outputted at the
torque highly limited.
5 - 31
Command
pulse
Command
pulse frequency
Droop pulse
Position
control
Speed
command
Differential
Servo Motor
speed
Speed
control
Current
command
Torque
Current
control
5 - 32
Encoder
M Servo Motor
Position feedback
Current feedback
PWM
Current
encoder
Bus voltage
5. PARAMETERS
(3) Analog monitor block diagram
5. PARAMETERS
5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern
The stopping pattern is factory-set to make a sudden stop when the forward/reverse rotation stroke end is
made valid. A slow stop can be made by changing the parameter No. 22 value.
Parameter No.22 Setting
0
(initial value)
Stopping method
Sudden stop
Position control mode : Motor stops with droop pulses cleared.
Speed control mode
: Motor stops at deceleration time constant of zero.
Slow stop
Position control mode : The motor is decelerated to a stop in accordance with the
1
parameter No. 7 value.
Speed control mode
: The motor is decelerated to a stop in accordance with the
parameter No. 12 value.
5.2.4 Alarm history clear
The servo amplifier stores one current alarm and five past alarms from when its power is switched on
first. To control alarms which will occur during operation, clear the alarm history using parameter No.16
before starting operation.
Clearing the alarm history automatically returns to "
0 ".
After setting, this parameter is made valid by switch power from OFF to ON.
Parameter No.16
Alarm history clear
0: Invalid (not cleared)
1: Valid (cleared)
5 - 33
5. PARAMETERS
5.2.5 Position smoothing
By setting the position command acceleration/deceleration time constant (parameter No.7), you can run
the servo motor smoothly in response to a sudden position command.
The following diagrams show the operation patterns of the servo motor in response to a position command
when you have set the position command acceleration/deceleration time constant.
Choose the primary delay or linear acceleration/deceleration in parameter No. 55 according to the
machine used.
(1) For step input
Command
: Input position command
: Position command after
filtering for primary delay
: Position command after filtering
for linear acceleration/deceleration
t
t
: Position command acceleration/
deceleration time constant (parameter No. 7)
t
Time
(3t)
(2) For trapezoidal input
(3t)
t
: Input position command
Command
: Position command after filtering
for linear acceleration/deceleration
: Position command after
filtering for primary delay
t
t
(3t)
5 - 34
Time
: Position command acceleration/
deceleration time constant
(parameter No. 7)
6. DISPLAY AND OPERATION
6. DISPLAY AND OPERATION
6.1 Display flowchart
Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display,
parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external
sequences, and/or confirm the operation status. Press the "MODE" "UP" or "DOWN" button once to move to
the next screen.
To refer to or set the expansion parameters, make them valid with parameter No. 19 (parameter write
disable).
button
MODE
Status display
Diagnosis
Alarm
Basic
parameters
Expansion
parameters 1
Expansion
parameters 2
(Note)
Cumulative feedback
pulses [pulse]
Sequence
Current alarm
Parameter No. 0
Parameter No. 20
Parameter No. 50
Motor speed
[r/min]
External I/O
signal display
Last alarm
Parameter No. 1
Parameter No. 21
Parameter No. 51
Droop pulses
[pulse]
Output signal
forced output
Second alarm in past
Cumulative command
pulses [pulse]
Test operation
Jog feed
Third alarm in past
Command pulse
frequency [kpps]
Test operation
Positioning operation
Fourth alarm in past
Parameter No. 18
Parameter No. 48
Parameter No. 83
Speed command voltage
Speed limit voltage[mV]
Test operation
Motor-less operation
Fifth alarm in past
Parameter No. 19
Parameter No. 49
Parameter No. 84
Torque limit voltage
Torque command voltage
[mV]
Test operation
Machine analyzer operation
Sixth alarm in past
Regenerative load
ratio [%]
Software version L
Parameter error No.
Effective load ratio
[%]
Software version H
Peak load ratio
[%]
Automatic VC offset
Instantaneous torque
[%]
Motor series ID
Within one-revolution
position low [pulse]
Motor type ID
Within one-revolution
position, high [100 pulses]
Encoder ID
UP
DOWN
ABS counter
[rev]
Load inertia moment
ratio [times]
Bus voltage [V]
Note. The initial status display at power-on depends on the control mode.
Position control mode: Cumulative feedback pulses(C), Speed control mode: Motor speed(r),
Torque control mode: Torque command voltage(U)
Also, parameter No. 18 can be used to change the initial indication of the status display at power-on.
6- 1
6. DISPLAY AND OPERATION
6.2 Status display
The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or
"DOWN" button to change display data as desired. When the required data is selected, the corresponding
symbol appears. Press the "SET" button to display its data. At only power-on, however, data appears after
the symbol of the status display selected in parameter No. 18 has been shown for 2[s].
The servo amplifier display shows the lower five digits of 16 data items such as the servo motor speed.
6.2.1 Display examples
The following table lists display examples.
Item
Displayed data
Status
Servo amplifier display
Forward rotation at 3000r/min
Servo motor
speed
Reverse rotation at 3000r/min
Reverse rotation is indicated by " ".
Load inertia
moment
15.5 times
11252pulse
Multirevolution
counter
12566pulse
Lit
Negative value is indicated by the lit decimal points in the upper four
digits.
6- 2
6. DISPLAY AND OPERATION
6.2.2 Status display list
The following table lists the servo statuses that may be shown.
Refer to Appendix 2 for the measurement point.
Name
Symbol
Unit
Description
Cumulative feedback
pulses
C
pulse
Servo motor speed
r
r/min
Feedback pulses from the servo motor encoder are counted and
displayed. The value in excess of 99999 is counted, bus since the
servo amplifier display is five digits, it shows the lower five digits of
the actual value. Press the "SET" button to reset the display value to
zero.
Reverse rotation is indicated by the lit decimal points in the upper
four digits.
The servo motor speed is displayed.
The value rounded off is displayed in 0.1r/min.
Droop pulses
E
pulse
Cumulative command
pulses
P
pulse
Command pulse
frequency
n
kpps
Analog speed
command voltage
Analog speed limit
voltage
Analog torque
command voltage
Analog torque limit
voltage
F
V
U
V
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 servo
amplifier display is five digits, it shows the lower five digits of the
actual value. Press the "SET" button to reset the display value to
zero. When the servo motor is rotating in the reverse direction, the
decimal points in the upper four digits are lit.
The frequency of the position command input pulses is displayed.
The value displayed is not multiplied by the electronic gear
(CMX/CDV).
(1) Torque control mode
Analog speed limit (VLA) voltage is displayed.
(2) Speed control mode
Analog speed command (VC) voltage is displayed.
(1) Position control mode, speed control mode
Analog torque limit (TLA) voltage is displayed.
(2) Torque control mode
Analog torque command (TLA) voltage is displayed.
Regenerative load
ratio
L
%
The ratio of regenerative power to permissible regenerative power is
displayed in %.
Effective load ratio
J
%
Peak load ratio
b
%
Instantaneous torque
T
%
Cy1
pulse
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.
Within one-revolution
position low
6- 3
Display
range
99999
to
99999
5400
to
5400
99999
to
99999
99999
to
99999
800
to
800
10.00
to
10.00
0
to
10.00
10.00
to
10.00
0
to
100
0
to
300
0
to
400
400
to
400
0
to
99999
6. DISPLAY AND OPERATION
Description
Display
range
Name
Symbol
Unit
Within one-revolution
position high
Cy2
100
pulse
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.
0
to
1310
ABS counter
LS
rev
Travel value from the home position in the absolute position
detection systems is displayed in terms of the absolute position
detectors counter value.
32768
to
32767
Load inertia moment
ratio
dC
Times
The estimated ratio of the load inertia moment to the servo motor
shaft inertia moment is displayed.
0.0
to
300.0
Bus voltage
Pn
V
The voltage (across P-N) of the main circuit converter is displayed.
0
to
450
6.2.3 Changing the status display screen
The status display item of the servo amplifier display shown at power-on can be changed by changing the
parameter No. 18 settings.
The item displayed in the initial status changes with the control mode as follows.
Control mode
Status display at power-on
Position
Cumulative feedback pulses
Position/speed
Cumulative feedback pulses/servo motor speed
Speed
Servo motor speed
Speed/torque
Servo motor speed/analog torque command voltage
Torque
Analog torque command voltage
Torque/position Analog torque command voltage/cumulative feedback pulses
6- 4
6. DISPLAY AND OPERATION
6.3 Diagnostic mode
Name
Display
Description
Not ready.
Indicates that the servo amplifier is being initialized or an alarm
has occurred.
Sequence
Ready.
Indicates that the servo was switched on after completion of
initialization and the servo amplifier is ready to operate.
External I/O signal
display
Indicates the ON-OFF states of the external I/O signals.
The upper segments correspond to the input signals and the
lower segments to the output signals.
Lit : ON
Extinguished : OFF
The I/O signals can be changed using parameters No. 43 to 49.
Output signal (DO)
forced output
The digital output signal can be forced on/off. For more
information, refer to section 6.7.
Refer to section 6.6.
Jog feed
Positioning
operation
Test
operation
mode
Motorless
operation
Machine
analyzer
operation
Jog operation can be performed when there is no command from
the external command device.
For details, refer to section 6.8.2.
The MR Configurator (servo configuration software MRZJW3SETUP151E) is required for positioning operation. This operation
cannot be performed from the operation section of the servo
amplifier.
Positioning operation can be performed once when there is no
command from the external command device.
Without connection of the servo motor, the servo amplifier
provides output signals and displays the status as if the servo
motor is running actually in response to the external input
signal.
For details, refer to section 6.8.4.
Merely connecting the servo amplifier allows the resonance point
of the mechanical system to be measured.
The MR Configurator (servo configuration software MRZJW3SETUP151E) is required for machine analyzer operation.
Software version low
Indicates the version of the software.
Software version high
Indicates the system number of the software.
Automatic VC offset
If offset voltages in the analog circuits inside and outside the
servo amplifier cause the servo motor to rotate slowly at the
analog speed command (VC) or analog speed limit (VLA) of 0V,
this function automatically makes zero-adjustment of offset
voltages.
When using this function, make it valid in the following
procedure. Making it valid causes the parameter No. 29 value to
be the automatically adjusted offset voltage.
1) Press "SET" once.
2) Set the number in the first digit to 1 with "UP"/"DOWN".
3) Press "SET".
You cannot use this function if the input voltage of VC or VLA
is 0.4V or more.
6- 5
6. DISPLAY AND OPERATION
Name
Display
Description
Motor series
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.
Motor type
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.
Encoder
Press the "SET" button to show the encoder ID of the servo motor
currently connected.
For indication details, refer to the optional MELSERVO Servo
Motor Instruction Manual.
6- 6
6. DISPLAY AND OPERATION
6.4 Alarm mode
The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the
display indicate the alarm number that has occurred or the parameter number in error. Display examples
are shown below.
Name
Display
Description
Indicates no occurrence of an alarm.
Current alarm
Indicates the occurrence of overvoltage (AL.33).
Flickers at occurrence of the alarm.
Indicates that the last alarm is overload 1 (AL.50).
Indicates that the second alarm in the past is overvoltage (AL.33).
Indicates that the third alarm in the past is undervoltage (AL.10).
Alarm history
Indicates that the fourth alarm in the past is overspeed (AL.31).
Indicates that there is no fifth alarm in the past.
Indicates that there is no sixth alarm in the past.
Indicates no occurrence of parameter error (AL.37).
Parameter error No.
Indicates that the data of parameter No. 1 is faulty.
Functions at occurrence of an alarm
(1) Any mode screen displays the current alarm.
(2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation
area. At this time, the decimal point in the fourth digit remains flickering.
(3) For any alarm, remove its cause and clear it in any of the following methods (for clearable alarms,
refer to section 10.2.1).
(a) Switch power OFF, then ON.
(b) Press the "SET" button on the current alarm screen.
(c) Turn on the alarm reset (RES).
6- 7
6. DISPLAY AND OPERATION
(4) Use parameter No. 16 to clear the alarm history.
(5) Pressing "SET" on the alarm history display screen for 2s or longer shows the following detailed
information display screen. Note that this is provided for maintenance by the manufacturer.
(6) Press "UP" or "DOWN" to move to the next history.
6.5 Parameter mode
The parameters whose abbreviations are marked* are made valid by changing the setting and then
switching power off once and switching it on again. Refer to section 5.1.2.
(1) Operation example
The following example shows the operation procedure performed after power-on to change the control
mode (parameter No. 0) to the speed control mode.
Using the "MODE" button, show the basic parameter screen.
The parameter number is displayed.
Press
UP
or
DOWN
to change the number.
Press SET twice.
The set value of the specified parameter number flickers.
Press UP once.
During flickering, the set value can be changed.
Use
(
or
.
UP DOWN
2: Speed control mode)
Press SET to enter.
/
To shift to the next parameter, press the UP DOWN button.
When changing the parameter No. 0 setting, change its set value, then switch power off once and
switch it on again to make the new value valid.
(2) Expansion parameters
To use the expansion parameters, change the setting of parameter No. 19 (parameter write disable).
Refer to section 5.1.1.
6- 8
6. DISPLAY AND OPERATION
6.6 External I/O signal display
The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed.
(1) Operation
Call the display screen shown after power-on.
Using the "MODE" button, show the diagnostic screen.
Press UP once.
External I/O signal display screen
(2) Display definition
CN1B CN1B
15
9
CN1B CN1B
8
7
CN1A CN1B
8
14
CN1B CN1B
5
17
CN1B
16
CN1A
14
CN1B
18
CN1B CN1B
4
6
CN1B CN1A
18
19
CN1A
19
Input signals
Always lit
Output signals
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 signals corresponding to the pins in the respective control modes are indicated below.
6- 9
6. DISPLAY AND OPERATION
(a) Control modes and I/O signals
Connector
(Note 2) Symbols of I/O signals in control modes
Signal
input/output
(Note 1) I/O
Pin No.
P
P/S
S
S/T
T
T/P
Related
parameter
No.43 to 48
8
I
CR
CR/SP1
SP1
SP1
SP1
SP1/CR
14
O
OP
OP
OP
OP
OP
OP
18
O
INP
INP/SA
SA
/INP
No.49
19
O
RD
RD
RD
RD
RD
No.49
(Note 3) 4
O
DO1
DO1
DO1
DO1
DO1
DO1
5
I
SON
SON
SON
SON
SON
SON
No.43 to 48
6
O
TLC
TLC
TLC
TLC/VLC
VLC
VLC/TLC
No.49
LOP
SP2
LOP
SP2
LOP
No.43 to 48
PC
PC/ST1
ST1
ST1/RS2
RS2
RS2/PC
No.43 to 48
CN1A
CN1B
7
I
8
I
SA/
RD
9
I
TL
TL/ST2
ST2
ST2/RS1
RS1
RS1/TL
No.43 to 48
14
I
RES
RES
RES
RES
RES
RES
No.43 to 48
15
I
EMG
EMG
EMG
EMG
EMG
EMG
16
I
LSP
LSP
LSP
LSP/
LSN/
/LSP
17
I
LSN
LSN
LSN
18
O
ALM
ALM
ALM
ALM
ALM
ALM
/LSN
19
O
ZSP
ZSP
ZSP
ZSP
ZSP
ZSP
No.49
No.1
Note 1. I: Input signal, O: Output signal
2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T:
Speed/torque control change mode, T/P: Torque/position control change mode
3. CN1B-4 and CN1A-18 output signals are the same.
(b) Symbol and signal names
Symbol
Signal name
Symbol
EMG
Signal name
SON
Servo-on
LSP
Forward rotation stroke end
LOP
Control change
LSN
Reverse rotation stroke end
TLC
Limiting torque
CR
Clear
VLC
Limiting speed
SP1
Speed selection 1
RD
Ready
SP2
Speed selection 2
ZSP
Zero speed
PC
Proportion control
INP
In position
ST1
Forward rotation start
SA
Speed reached
ST2
Reverse rotation start
ALM
Trouble
RS1
Forward rotation selection
WNG
Warning
RS2
Reverse rotation selection
OP
Encoder Z-phase pulse (open collector)
TL
Torque limit
BWNG
Battery warning
RES
Reset
6 - 10
Emergency stop
49
6. DISPLAY AND OPERATION
(3) Default signal indications
(a) Position control mode
EMG(CN 1 B-15) Emergency stop
TL (CN 1 B-9) Torque limit
PC (CN 1 B-8) Proportional control
CR (CN 1 A-8) Clear
RES (CN 1 B-14) Reset
SON(CN 1 B-5) Servo-on
LSN (CN 1 B-17) Reverse rotation stroke end
Input signals
Output signals
LSP (CN 1 B-16) Forward rotation stroke end
Lit: ON
Extinguished:OFF
RD (CN 1 A-19) Ready
INP (CN 1 A-18) In position
ZSP (CN 1 B-19) Zero speed
TLC (CN 1 B-6) Limiting torque
DO1 (CN 1 B-4) In position
ALM (CN 1 B-18) Trouble
OP (CN 1 A-14) Encoder Z-phase pulse
(b) Speed control mode
EMG(CN 1 B-15) Emergency stop
ST2 (CN 1 B-9) Reverse rotation start
ST1 (CN 1 B-8) For ward rotation start
SP2 (CN 1 B-7) Speed selection 2
SP1 (CN 1 A-8) Speed selection 1
RES (CN 1 B-14) Reset
SON (CN 1 B-5) Servo-on
LSN (CN 1 B-17) External emergency stop
LSP (CN 1 B-16) Forward rotation stroke end
Lit: ON
Extinguished: OFF
Input signals
Output signals
RD (CN 1 A-19) Ready
SA (CN 1 A-18) Limiting speed
ZSP (CN 1 B-19) Zero speed
TLC (CN 1 B-6) Limiting torque
DO1 (CN 1 B-4) Limiting speed
ALM (CN 1 B-18) Trouble
OP (CN 1 A-14) Encoder Z-phase pulse
(c) Torque control mode
EMG(CN 1 B-15) Emergency stop
RS1 (CN 1 B-9) Forward rotation selection
RS2 (CN 1 B-8) Reverse rotation selection
SP2 (CN 1 B-7) Speed selection 2
SP1 (CN 1 A-8) Speed selection 1
RES (CN 1 B-14) Reset
SON (CN 1 B-5) Servo-on
Input signals
Output signals
Lit: ON
Extinguished: OFF
RD (CN 1 A-19) Ready
ZSP (CN 1 B-19) Zero speed
VLC (CN 1 B-6) Speed reached
ALM (CN 1 B-18) Trouble
OP (CN 1 A-14) Encoder Z-phase pulse
6 - 11
6. DISPLAY AND OPERATION
6.7 Output signal (DO) forced output
POINT
When the servo system is used in a vertical lift application, turning on the
electromagnetic brake interlock (MBR) after assigning it to pin CN1B-19
will release the electromagnetic brake, causing a drop. Take drop
preventive measures on the machine side.
The output signal can be forced on/off independently of the servo status. This function is used for output
signal wiring check, etc. This operation must be performed in the servo off state servo-on (SON).
Operation
Call the display screen shown after power-on.
Using the "MODE" button, show the diagnostic screen.
Press UP twice.
Press SET for more than 2 seconds.
CN1A
14
CN1B CN1B CN1B CN1B CN1A CN1A
18
4
6
19
18
19
Switch on/off the signal below the lit segment.
Always lit
Indicates the ON/OFF of the output signal. The correspondences
between segments and signals are as in the output signals of the
external I/O signal display.
(Lit: ON, extinguished: OFF)
Press MODE once.
The segment above CN1A-pin 18 is lit.
Press UP once.
CN1A-pin 18 is switched on.
(CN1A-pin 18-SG conduct.)
Press DOWN once.
CN1A-pin 18 is switched off.
Press SET for more than 2 seconds.
6 - 12
6. DISPLAY AND OPERATION
6.8 Test operation mode
CAUTION
The test operation mode is designed to confirm servo operation and not to confirm
machine operation. In this mode, do not use the servo motor with the machine.
Always use the servo motor alone.
If any operational fault has occurred, stop operation using the emergency stop
(EMG) signal.
POINT
The test operation mode cannot be used in the absolute position detection
system. Use it after choosing "Incremental system" in parameter No. 1.
The MR Configurator (servo configuration software) is required to perform
positioning operation.
Test operation cannot be performed if the servo-on (SON) is not turned
OFF.
6.8.1 Mode change
Call the display screen shown after power-on. Choose jog operation/motor-less operation in the following
procedure. Using the "MODE" button, show the diagnostic screen.
Press UP three times.
Press UP five times.
Press SET for more
than 2s.
When this screen
appears, jog feed can
be performed.
Flickers in the test operation mode.
Press SET for more than 2s.
6 - 13
When this screen is displayed,
motor-less operation can be
performed.
6. DISPLAY AND OPERATION
6.8.2 Jog operation
Jog operation can be performed when there is no command from the external command device.
(1) Operation
Connect EMG-SG to start jog operation and connect VDD-COM to use the internal power supply.
Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the MR
Configurator (servo configuration software), you can change the operation conditions. The initial
conditions and setting ranges for operation are listed below.
Initial setting
Setting range
Speed [r/min]
Item
200
0 to instantaneous permissible speed
Acceleration/deceleration time constant [ms]
1000
0 to 50000
How to use the buttons is explained below.
Button
"UP"
"DOWN"
Description
Press to start CCW rotation.
Release to stop.
Press to start CW rotation.
Release to stop.
If the communication cable is disconnected during jog operation performed by using the MR
Configurator (servo configuration software), the servo motor will be decelerated to a stop.
(2) Status display
You can confirm the servo status during jog operation.
Pressing the "MODE" button in the jog operation-ready status calls the status display screen. With this
screen being shown, perform jog operation with the "UP" or "DOWN" button. Every time you press the
"MODE" button, the next status display screen appears, and on completion of a screen cycle, pressing
that button returns to the jog operation-ready status screen. For full information of the status display,
refer to section 6.2. In the test operation mode, you cannot use the "UP" and "DOWN" buttons to
change the status display screen from one to another.
(3) Termination of jog operation
To end the jog operation, switch power off once or press the "MODE" button to switch to the next
screen and then hold down the "SET" button for 2 or more seconds.
6 - 14
6. DISPLAY AND OPERATION
6.8.3 Positioning operation
POINT
The MR Configurator (servo configuration software) is required to perform
positioning operation.
Positioning operation can be performed once when there is no command from the external command
device.
(1) Operation
Connect EMG-SG to start positioning operation and connect VDD-COM to use the internal power
supply.
Pressing the "Forward" or "Reverse" click on the MR Configurator (servo configuration software) starts
the servo motor, which will then stop after moving the preset travel distance. You can change the
operation conditions on the MR Configurator (servo configuration software). The initial conditions and
setting ranges for operation are listed below.
Item
Initial setting
Travel distance [pulse]
Setting range
10000
0 to 9999999
Speed [r/min]
200
0 to instantaneous permissible speed
Acceleration/deceleration time constant [ms]
1000
0 to 50000
How to use the buttons is explained below.
Button
Description
"Forward"
Click to start positioning operation CCW.
"Reverse"
Click to start positioning operation CW.
"Pause"
Click during operation to make a temporary stop. Click the
"Pause" button again erases the remaining distance.
To resume operation, press the click that was pressed to start
the operation.
If the communication cable is disconnected during positioning operation, the servo motor will come to
a sudden stop.
(2) Status display
You can monitor the status display even during positioning operation.
6 - 15
6. DISPLAY AND OPERATION
6.8.4 Motor-less operation
Without connecting the servo motor, you can provide output signals or monitor the status display as if the
servo motor is running in response to external input signals. This operation can be used to check the
sequence of a host programmable controller or the like.
(1) Operation
After turning off the signal across SON-SG, choose motor-less operation. After that, perform external
operation as in ordinary operation.
(2) Status display
You can confirm the servo status during motor-less operation.
Pressing the "MODE" button in the motor-less operation-ready status calls the status display screen.
With this screen being shown, perform motor-less operation. Every time you press the "MODE" button,
the next status display screen appears, and on completion of a screen cycle, pressing that button
returns to the motor-less operation-ready status screen. For full information of the status display,
refer to section 6.2. In the test operation mode, you cannot use the "UP" and "DOWN" buttons to
change the status display screen from one to another.
(3) Termination of motor-less operation
To terminate the motor-less operation, switch power off.
6 - 16
7. GENERAL GAIN ADJUSTMENT
7. GENERAL GAIN ADJUSTMENT
POINT
For use in the torque control mode, you need not make gain adjustment.
7.1 Different adjustment methods
7.1.1 Adjustment on a single servo amplifier
The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first
execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual
mode 1 and manual mode 2 in this order.
(1) Gain adjustment mode explanation
Gain adjustment mode
Parameter No. 2
setting
Estimation of load inertia
moment ratio
Automatically set
parameters
Manually set parameters
Auto tuning mode 1
(initial value)
010
Always estimated
PG1 (parameter No. 6)
GD2 (parameter No. 34)
PG2 (parameter No. 35)
VG1 (parameter No. 36)
VG2 (parameter No. 37)
VIC (parameter No. 38)
Response level setting of
parameter No. 2
Auto tuning mode 2
020
Fixed to parameter No. PG1 (parameter No. 6)
34 value
PG2 (parameter No. 35)
VG1 (parameter No. 36)
VG2 (parameter No. 37)
VIC (parameter No. 38)
GD2 (parameter No. 34)
Response level setting of
parameter No. 2
Manual mode 1
030
PG2 (parameter No. 35)
VG1 (parameter No. 36)
Manual mode 2
040
Interpolation mode
000
PG1 (parameter No. 6)
GD2 (parameter No. 34)
VG2 (parameter No. 37)
VIC (parameter No. 38)
PG1 (parameter No. 6)
GD2 (parameter No. 34)
PG2 (parameter No. 35)
VG1 (parameter No. 36)
VG2 (parameter No. 37)
VIC (parameter No. 38)
Always estimated
7- 1
GD2 (parameter No. 34)
PG2 (parameter No. 35)
VG2 (parameter No. 37)
VIC (parameter No. 38)
PG1 (parameter No. 6)
VG1 (parameter No. 36)
7. GENERAL GAIN ADJUSTMENT
(2) Adjustment sequence and mode usage
START
Usage
Interpolation
made for 2 or more
axes?
Yes
Interpolation mode
No
Operation
Allows adjustment by
merely changing the
response level setting.
First use this mode to make
adjustment.
Auto tuning mode 1
Operation
Yes
No
OK?
No
OK?
Yes
Auto tuning mode 2
Operation
Yes
OK?
Used when the conditions of
auto tuning mode 1 are not
met and the load inertia
moment ratio could not be
estimated properly, for
example.
This mode permits
adjustment easily with three
gains if you were not
satisfied with auto tuning
results.
No
Manual mode 1
Operation
Yes
Used when you want to
match the position gain
(PG1) between 2 or more
axes. Normally not used for
other purposes.
OK?
You can adjust all gains
manually when you want to
do fast settling or the like.
No
Manual mode 2
END
7.1.2 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.
Function
Description
Adjustment
Machine analyzer
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.
Gain search
Executing gain search under to-and-fro
positioning command measures settling
characteristic while simultaneously
changing gains, and automatically
searches for gains which make settling
time shortest.
Response at positioning settling of a
machine can be simulated from machine
analyzer results on personal computer.
Machine simulation
7- 2
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.
7. GENERAL GAIN ADJUSTMENT
7.2 Auto tuning
7.2.1 Auto tuning mode
The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load
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 servo amplifier.
(1) Auto tuning mode 1
The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter No.
Abbreviation
Name
6
PG1
Position control gain 1
34
GD2
Ratio of load inertia moment to servo motor inertia moment
35
PG2
Position control gain 2
36
VG1
Speed control gain 1
37
VG2
Speed control gain 2
38
VIC
Speed integral compensation
POINT
The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or
less.
Speed is 150r/min or higher.
The ratio of load inertia moment to servo motor inertia moment is 100
times or less.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque
during acceleration/deceleration or on a machine which is extremely loose,
auto tuning may not function properly, either. In such cases, use the auto
tuning mode 2 or manual mode 1,2 to make gain adjustment.
(2) Auto tuning mode 2
Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1.
Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load
inertia moment ratio (parameter No. 34).
The following parameters are automatically adjusted in the auto tuning mode 2.
Parameter No.
Abbreviation
Name
6
PG1
Position control gain 1
35
PG2
Position control gain 2
36
VG1
Speed control gain 1
37
VG2
Speed control gain 2
38
VIC
Speed integral compensation
7- 3
7. GENERAL GAIN ADJUSTMENT
7.2.2 Auto tuning mode operation
The block diagram of real-time auto tuning is shown below.
Load inertia
moment
Automatic setting
Command
Control gains
PG1,VG1
PG2,VG2,VIC
Current
control
Servo
motor
Encoder
Current feedback
Set 0 or 1 to turn on.
Gain
table
Switch
Load inertia
moment ratio
estimation section
Position/speed
feedback
Speed feedback
Parameter No. 34
Load inertia moment
ratio estimation value
Parameter No. 2
Gain adjustment
mode selection
Real-time auto
tuning section
First digit
Response 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 parameter No. 34 (the ratio of load inertia moment to servo motor). These
results can be confirmed on the status display screen of the MR Configurator (servo configuration
software) section.
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly,
chose the "auto tuning mode 2" (parameter No.2:
2
) to stop the estimation of the load inertia
moment ratio (Switch in above diagram turned off), and set the load inertia moment ratio (parameter No.
34) manually.
From the preset load inertia moment ratio (parameter No. 34) value and response level (The first digit of
parameter No. 2), the optimum control gains are automatically set on the basis of the internal gain tale.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since poweron. 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.
POINT
If sudden disturbance torque is imposed during operation, the estimation
of the inertia moment ratio may malfunction temporarily. In such a case,
choose the "auto tuning mode 2" (parameter No. 2: 020 ) and set the
correct load inertia moment ratio in parameter No. 34.
When any of the auto tuning mode 1, auto tuning mode 2 and manual
mode 1 settings is changed to the manual mode 2 setting, the current
control gains and load inertia moment ratio estimation value are saved in
the EEP-ROM.
7- 4
7. GENERAL GAIN ADJUSTMENT
7.2.3 Adjustment procedure by auto tuning
Since auto tuning is made valid before shipment from the factory, simply running the servo motor
automatically sets the optimum gains that match the machine. Merely changing the response level
setting value as required completes the adjustment. The adjustment procedure is as follows.
Auto tuning adjustment
Acceleration/deceleration repeated
Yes
Load inertia moment ratio
estimation value stable?
No
Auto tuning
conditions not satisfied.
(Estimation of load inertia
moment ratio is difficult)
No
Yes
Choose the auto tuning mode 2
(parameter No.2 : 020 ) and set
the load inertia moment ratio
(parameter No.34) manually.
Adjust response level setting
so that desired response is
achieved on vibration-free level.
Acceleration/deceleration repeated
Requested
performance satisfied?
No
Yes
END
To manual mode
7- 5
7. GENERAL GAIN ADJUSTMENT
7.2.4 Response level setting in auto tuning mode
Set the response (The first digit of parameter No.2) of the whole servo system. As the response level
setting is increased, the track ability 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 vibrationfree range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100Hz, adaptive vibration suppression control (parameter No. 60) or machine resonance
suppression filter (parameter No. 58 59) may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to section 8.1 for adaptive
vibration suppression control and machine resonance suppression filter.
Parameter No. 2
Response level setting
Gain adjustment mode selection
Machine characteristic
Response level setting
1
Machine rigidity
Low
Machine resonance
frequency guideline
15Hz
2
20Hz
3
25Hz
4
30Hz
5
35Hz
6
45Hz
7
55Hz
8
Middle
85Hz
A
105Hz
B
130Hz
C
160Hz
D
200Hz
E
240Hz
High
Large conveyor
Arm robot
General machine
tool conveyor
70Hz
9
F
Guideline of corresponding machine
300Hz
7- 6
Precision
working
machine
Inserter
Mounter
Bonder
7. GENERAL GAIN ADJUSTMENT
7.3 Manual mode 1 (simple manual adjustment)
If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with
three parameters.
7.3.1 Operation of manual mode 1
In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and
speed integral compensation (VIC) automatically sets the other gains to the optimum values according to
these gains.
User setting
PG1
VG2
VIC
GD2
Automatic setting
PG2
VG1
Therefore, you can adjust the model adaptive control system in the same image as the general PI control
system (position gain, speed gain, speed integral time constant). Here, the position gain corresponds to
PG1, the speed gain to VG2 and the speed integral time constant to VIC. When making gain adjustment
in this mode, set the load inertia moment ratio (parameter No. 34) correctly.
7.3.2 Adjustment by manual mode 1
POINT
If machine resonance occurs, adaptive vibration suppression control
(parameter No. 60) or machine resonance suppression filter (parameter No.
58 59) may be used to suppress machine resonance. (Refer to section 8.1)
(1) For speed control
(a) Parameters
The following parameters are used for gain adjustment.
Parameter No.
Abbreviation
Name
34
GD2
Ratio of load inertia moment to servo motor inertia moment
37
VG2
Speed control gain 2
38
VIC
Speed integral compensation
(b) Adjustment procedure
Step
1
2
3
4
5
Operation
Description
Set an estimated value to the ratio of load inertia moment to servo
motor inertia moment (parameter No. 34).
Increase the speed control gain 2 (parameter No. 37) within the
vibration- and unusual noise-free range, and return slightly if vibration
takes place.
Decrease the speed integral compensation (parameter No. 38) within
the vibration-free range, and return slightly if vibration takes place.
If the gains cannot be increased due to mechanical system resonance or
the like and the desired response cannot be achieved, response may be
increased by suppressing resonance with adaptive vibration
suppression control or machine resonance suppression filter and then
executing steps 2 and 3.
While checking the settling characteristic and rotational status, fineadjust each gain.
7- 7
Increase the speed control gain.
Decrease the time constant of the speed
integral compensation.
Suppression of machine resonance.
Refer to section 8.2, 8.3.
Fine adjustment
7. GENERAL GAIN ADJUSTMENT
(c)Adjustment description
1) Speed control gain 2 (parameter No. 37)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed loop response
frequency(Hz)
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment) 2
2) Speed integral compensation (VIC: parameter No. 38)
To eliminate stationary deviation against a command, the speed control loop is under
proportional integral control. For the speed integral compensation, set the time constant of this
integral control. Increasing the setting lowers the response level. However, if the load inertia
moment ratio is large or the mechanical system has any vibratory element, the mechanical
system is liable to vibrate unless the setting is increased to some degree. The guideline is as
indicated in the following expression.
Speed integral compensation
setting(ms)
2000 to 3000
Speed control gain 2 setting/ (1 ratio of load inertia moment to
servo motor inertia moment setting 0.1)
(2) For position control
(a) Parameters
The following parameters are used for gain adjustment.
Parameter No.
Abbreviation
Name
6
PG1
Position control gain 1
34
GD2
Ratio of load inertia moment to servo motor inertia moment
37
VG2
Speed control gain 2
38
VIC
Speed integral compensation
(b) Adjustment procedure
Step
Operation
Description
1
Set an estimated value to the ratio of load inertia moment to servo
motor inertia moment (parameter No. 34).
2
Set a slightly smaller value to the position control gain 1 (parameter
No. 6).
3
Increase the speed control gain.
Increase the speed control gain 2 (parameter No. 37) within the
vibration- and unusual noise-free range, and return slightly if vibration
takes place.
4
Decrease the speed integral compensation (parameter No. 38) within
the vibration-free range, and return slightly if vibration takes place.
Decrease the time constant of the speed
integral compensation.
5
Increase the position control gain 1 (parameter No. 6).
Increase the position control gain.
6
If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance.
the like and the desired response cannot be achieved, response may be Refer to section 8.1.
increased by suppressing resonance with adaptive vibration
suppression control or machine resonance suppression filter and then
executing steps 3 to 5.
7
While checking the settling characteristic and rotational status, fineadjust each gain.
7- 8
Fine adjustment
7. GENERAL GAIN ADJUSTMENT
(c) Adjustment description
1) Position control gain 1 (parameter No. 6)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves track ability to a position command but a too high value will make
overshooting liable to occur at the time of settling.
Position control
gain 1 guideline
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment)
( 13 to 15 )
2) Speed control gain 2 (VG2: parameter No. 37)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed loop response
frequency(Hz)
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment) 2
3) Speed integral compensation (parameter No. 38)
To eliminate stationary deviation against a command, the speed control loop is under
proportional integral control. For the speed integral compensation, set the time constant of this
integral control. Increasing the setting lowers the response level. However, if the load inertia
moment ratio is large or the mechanical system has any vibratory element, the mechanical
system is liable to vibrate unless the setting is increased to some degree. The guideline is as
indicated in the following expression.
Speed integral
compensation setting(ms)
2000 to 3000
Speed control gain 2 setting/ (1 ratio of load inertia moment to
servo motor inertia moment 2 setting
0.1)
7.4 Interpolation mode
The interpolation mode is used to match the position control gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the
position control gain 2 and speed control gain 2 which determine command track ability 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 auto tuning.
Parameter No.
Abbreviation
34
35
37
38
GD2
PG2
VG2
VIC
Name
Ratio of load inertia moment to servo motor inertia moment
Position control gain 2
Speed control gain 2
Speed integral compensation
7- 9
7. GENERAL GAIN ADJUSTMENT
(b) Manually adjusted parameters
The following parameters are adjustable manually.
Parameter No.
Abbreviation
6
36
PG1
VG1
Name
Position control gain 1
Speed control gain 1
(2) Adjustment procedure
Step
1
2
3
4
5
6
7
Operation
Description
Set 15Hz (parameter No. 2: 010 ) as the machine resonance frequency of response
in the auto tuning mode 1.
During operation, increase the response level setting (parameter No. 2), and
return the setting if vibration occurs.
Check the values of position control gain 1 (parameter No. 6) and speed control
gain 1 (parameter No. 36).
Set the interpolation mode (parameter No. 2: 000 ).
Set the position control gain 1 of all the axes to be interpolated to the same value.
At that time, adjust to the setting value of the axis, which has the smallest
position control gain 1.
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
three or more times greater than the position control gain 1 setting.
Looking at the interpolation characteristic and rotation status, fine-adjust the
gains and response level setting.
Select the auto tuning mode 1.
Adjustment in auto tuning mode
1.
Check the upper setting limits.
Select the interpolation mode.
Set position control gain 1.
Set speed control gain 1.
Fine adjustment.
(3) Adjustment description
(a) Position control gain 1 (parameter No.6)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves track ability 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)
Droop pulse value (pulse)
131,072(pulse)
60
Position control gain 1 setting
(b) Speed control gain 1 (parameter No. 36)
Set the response level of the speed loop of the model. Make setting using the following expression
as a guideline.
Speed control gain 1 setting Position control gain 1 setting 3
7 - 10
7. GENERAL GAIN ADJUSTMENT
7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super
7.5.1 Response level setting
To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level
setting range from the MELSERVO-J2 series. The following table lists comparison of the response level
setting.
Parameter No. 2
Response level setting
MELSERVO-J2 series
Set value
MELSERVO-J2-Super series
Machine resonance frequency
1
Set value
20Hz
Machine resonance frequency guideline
1
15Hz
2
20Hz
3
25Hz
4
30Hz
5
35Hz
45Hz
2
40Hz
6
7
55Hz
3
60Hz
8
70Hz
4
80Hz
9
85Hz
5
100Hz
A
105Hz
B
130Hz
C
160Hz
D
200Hz
E
240Hz
F
300Hz
Note that because of a slight difference in gain adjustment pattern, response may not be the same if the
resonance frequency is set to the same value.
7.5.2 Auto tuning selection
The MELSERVO-J2-Super series has an addition of the load inertia moment ratio fixing mode. It also has
the addition of the manual mode 1 which permits manual adjustment with three parameters.
Parameter No. 2
1
Gain adjustment mode selection
Gain adjustment mode
Interpolation mode
Auto tuning mode 1
Auto tuning
Auto tuning selection
MELSERVO-J2-Super series
0
0
1
1
Ordinary auto tuning
2
Estimation of load inertia moment
ratio stopped.
Response level setting valid.
3
Simple manual adjustment
4
Manual adjustment of all gains
Auto tuning mode 2
Auto tuning Manual mode 1
invalid
Manual mode 2
Remarks
MELSERVO-J2 series
2
7 - 11
Position control gain 1 is fixed.
7. GENERAL GAIN ADJUSTMENT
MEMO
7 - 12
8. SPECIAL ADJUSTMENT FUNCTIONS
8. SPECIAL ADJUSTMENT FUNCTIONS
POINT
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 7.
If a mechanical system has a natural resonance point, increasing the servo system response level may
cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance
frequency.
Using the machine resonance suppression filter and adaptive vibration suppression control functions can
suppress the resonance of the mechanical system.
8.1 Function block diagram
Speed
control
00
Machine resonance
suppression filter 1
Parameter
No.58
Parameter
No.60
Parameter
No.59
00
0
except
Machine resonance
suppression filter 2
00
Low-pass
filter
0
Parameter Current
No.60 command
Servo
motor
1
except
Encoder
00
Adaptive vibration
suppression control
1
or
2
8.2 Machine resonance suppression filter
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of
the specific frequency to suppress the resonance of the mechanical system. You can set the gain
decreasing frequency (notch frequency) and gain decreasing depth.
Mechanical
system
response
level
Machine resonance point
Frequency
Notch
depth
Notch frequency
8- 1
Frequency
8. SPECIAL ADJUSTMENT FUNCTIONS
You can use the machine resonance suppression filter 1 (parameter No. 58) and machine resonance
suppression filter 2 (parameter No. 59) to suppress the vibration of two resonance frequencies. Note
that if adaptive vibration suppression control is made valid, the machine resonance suppression filter
1 (parameter No. 58) is made invalid.
Machine resonance point
Mechanical
system
response
level
Frequency
Notch
depth
Frequency
Parameter No. 58
Parameter No. 59
POINT
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 (parameter No. 58)
Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter
No. 58)
When you have made adaptive vibration suppression control selection (parameter No. 60) "valid" or
"held", make the machine resonance suppression filter 1 invalid (parameter No. 58: 0000).
Parameter No. 58
Notch frequency
Setting
Setting
Setting
Frequency
Frequency
Frequency
value
value
value
Setting
Frequency
value
00
Invalid
08
562.5
10
281.3
18
01
4500
09
500
11
264.7
19
180
02
2250
0A
450
12
250
1A
173.1
03
1500
0B
409.1
13
236.8
1B
166.7
04
1125
0C
375
14
225
1C
160.1
05
900
0D
346.2
15
214.3
1D
155.2
06
750
0E
321.4
16
204.5
1E
150
07
642.9
0F
300
17
195.7
1F
145.2
Notch depth
Setting
value
Depth (Gain)
0
1
2
3
Deep ( 40dB)
( 14dB)
( 8dB)
Shallow( 4dB)
8- 2
187.5
8. SPECIAL ADJUSTMENT FUNCTIONS
POINT
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency
is set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine
analyzer on the MR Configurator (servo configuration software). This allows
the required notch frequency and depth to be determined.
Resonance may occur if parameter No. 58 59 is used to select a close notch
frequency and set a deep notch.
(b) Machine resonance suppression filter 2 (parameter No. 59)
The setting method of machine resonance suppression filter 2 (parameter No. 59) is the same as
that of machine resonance suppression filter 1 (parameter No. 58). However, the machine
resonance suppression filter 2 can be set independently of whether adaptive vibration suppression
control is valid or invalid.
8.3 Adaptive vibration suppression control
(1) Function
Adaptive vibration suppression control is a function in which the servo amplifier detects machine
resonance and sets the filter characteristics automatically to suppress mechanical system vibration.
Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of
the resonance frequency of a mechanical system. Also, while adaptive vibration suppression control is
valid, the servo amplifier always detects machine resonance, and if the resonance frequency changes,
it changes the filter characteristics in response to that frequency.
Mechanical
system
response
level
Machine resonance point
Mechanical
system
response
Frequency level
Notch
depth
Machine resonance point
Frequency
Notch
depth
Notch frequency
Frequency
When machine resonance is large and frequency is low
Notch frequency
Frequency
When machine resonance is small and frequency is high
POINT
The machine resonance frequency which adaptive vibration suppression
control can respond to is about 150 to 500Hz. Adaptive vibration
suppression control has no effect on the resonance frequency outside this
range. Use the machine resonance suppression filter for the machine
resonance of such frequency.
Adaptive vibration suppression control may provide no effect on a
mechanical system which has complex resonance characteristics or which
has too large resonance.
Under operating conditions in which sudden disturbance torque is imposed
during operation, the detection of the resonance frequency may malfunction
temporarily, causing machine vibration. In such a case, set adaptive
vibration suppression control to be "held" (parameter No. 60: 2
) to fix
the characteristics of the adaptive vibration suppression control filter.
8- 3
8. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameters
The operation of adaptive vibration suppression control selection (parameter No.60).
Parameter No. 60
Adaptive vibration suppression control selection
Choosing "valid" or "held" in adaptive vibration suppression
control selection makes the machine resonance suppression
filter 1 (parameter No. 58) invalid.
0: Invalid
1: Valid
Machine resonance frequency is always detected to
generate the filter in response to resonance, suppressing
machine vibration.
2: Held
Filter characteristics generated so far is held, and detection of
machine resonance is stopped.
Adaptive vibration suppression control sensitivity selection
Set the sensitivity of detecting machine resonance.
0: Normal
1: Large sensitivity
POINT
Adaptive vibration suppression control is factory-set to be invalid
(parameter No. 60: 0000).
Setting the adaptive vibration suppression control sensitivity can change
the sensitivity of detecting machine resonance. Setting of "large sensitivity"
detects smaller machine resonance and generates a filter to suppress
machine vibration. However, since a phase delay will also increase, the
response of the servo system may not increase.
8.4 Low-pass filter
(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of
the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque
command. The filter frequency of this low-pass filter is automatically adjusted to the value in the
following expression.
Filter frequency(Hz)
2
Speed control gain 2 setting 10
(1 Ratio of load inertia moment to servo motor inertia moment setting 0.1)
(2) Parameter
Set the operation of the low-pass filter (parameter No. 60.)
Parameter No. 60
Low-pass filter selection
0: Valid (automatic adjustment)
1: Invalid
initial value
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 level to shorten the settling time.
8- 4
8. SPECIAL ADJUSTMENT FUNCTIONS
8.5 Gain changing function
This function can change the gains. You can change between gains during rotation and gains during stop
or can use an external signal to change gains during operation.
8.5.1 Applications
This function is used when.
(1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.
(2) You want to increase the gains during settling to shorten the stop settling time.
(3) You want to change the gains using an external signal to ensure stability of the servo system since the
load inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).
8.5.2 Function block diagram
The valid control gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions
selected by gain changing selection CDP (parameter No. 65) and gain changing condition CDS (parameter
No. 66).
CDP
Parameter No.65
External signal
CDP
Command pulse
frequency
Droop pulses
Changing
Model speed
CDS
Parameter No.66
Comparator
GD2
Parameter No.34
GD2
Parameter No.61
PG2
Parameter No.35
PG2
PG2B
100
VG2
Parameter No.37
VG2
VG2B
100
VIC
Parameter No.38
VIC
VICB
100
8- 5
Valid
GD2 value
Valid
PG2 value
Valid
VG2 value
Valid
VIC value
8. SPECIAL ADJUSTMENT FUNCTIONS
8.5.3 Parameters
When using the gain changing function, always set "
4 " in parameter No.2 (auto tuning) to choose
the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto
tuning mode.
Parameter Abbrevi
No.
ation
Name
Unit
Description
Position and speed gains of a model used to set the response
level to a command. Always valid.
6
PG1
Position control gain 1
rad/s
36
VG1
Speed control gain 1
rad/s
34
GD2
Ratio of load inertia moment to
servo motor inertia moment
0.1
times
35
PG2
Position control gain 2
rad/s
37
VG2
Speed control gain 2
rad/s
38
VIC
Speed integral compensation
Control parameters before changing
ms
61
GD2B
Ratio of load inertia moment to
servo motor inertia moment 2
62
PG2B
Position control gain 2 changing
ratio
%
Used to set the ratio (%) of the after-changing position
control gain 2 to position control gain 2.
63
VG2B
Speed control gain 2 changing
ratio
%
Used to set the ratio (%) of the after-changing speed control
gain 2 to speed control gain 2.
64
VICB
Speed integral
changing ratio
%
Used to set the ratio (%) of the after-changing speed integral
compensation to speed integral compensation.
65
CDP
Gain changing selection
compensation
66
CDS
Gain changing condition
67
CDT
Gain changing time constant
0.1
times
Used to set the ratio of load inertia moment to servo motor
inertia moment after changing.
Used to select the changing condition.
kpps
pulse
r/min
ms
Used to set the changing condition values.
You can set the filter time constant for a gain change at
changing.
(1) Parameters No. 6, 34 to 38
These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain
2 and speed integral compensation to be changed.
(2) Ratio of load inertia moment to servo motor inertia moment 2 (GD2B: parameter No. 61)
Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia
moment ratio does not change, set it to the same value as ratio of load inertia moment to servo motor
inertia moment (parameter No. 34).
(3) Position control gain 2 changing ratio (parameter No. 62), speed control gain 2 changing ratio (parameter
No. 63), speed integral compensation changing ratio (parameter No. 64)
Set the values of after-changing position control gain 2, speed control gain 2 and speed integral
compensation in ratio (%). 100% setting means no gain change.
For example, at the setting of position control gain 2 100, speed control gain 2 2000, speed integral
compensation 20 and position control gain 2 changing ratio 180%, speed control gain 2 changing
ratio 150% and speed integral compensation changing ratio 80%, the after-changing values are as
follows.
Position control gain 2 Position control gain 2 Position control gain 2 changing ratio /100 180rad/s
Speed control gain 2 Speed control gain 2 Speed control gain 2 changing ratio /100 3000rad/s
Speed integral compensation Speed integral compensation Speed integral compensation changing
ratio /100 16ms
8- 6
8. SPECIAL ADJUSTMENT FUNCTIONS
(4) Gain changing selection (parameter No. 65)
Used to set the gain changing condition. Choose the changing condition in the first digit. If you set "1"
here, you can use the gain changing (CDP) external input signal for gain changing. The gain changing
(CDP) can be assigned to the pins using parameters No. 43 to 48.
Parameter No. 65
Gain changing selection
Gains are changed in accordance with the settings of
parameters No. 61 to 64 under any of the following conditions:
0: Invalid
1: Gain changing (CDP) input is ON
2: Command frequency is equal to higher than parameter No. 66 setting
3: Droop pulse value is equal to higher than parameter No. 66 setting
4: Servo motor speed is equal to higher than parameter No. 66 setting
(5) Gain changing condition (parameter No. 66)
When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing
selection (parameter No.65), set the gain changing level.
The setting unit is as follows.
Gain changing condition
Unit
Command frequency
kpps
Droop pulses
pulse
Servo motor speed
r/min
(6) Gain changing time constant (parameter No. 67)
You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain changing, for example.
8- 7
8. SPECIAL ADJUSTMENT FUNCTIONS
8.5.4 Gain changing operation
This operation will be described by way of setting examples.
(1) When you choose changing by external input
(a) Setting
Parameter No.
Abbreviation
Name
Setting
Unit
6
PG1
Position control gain 1
100
rad/s
36
VG1
Speed control gain 1
1000
rad/s
34
GD2
Ratio of load inertia moment to
servo motor inertia moment
4
0.1 times
35
PG2
Position control gain 2
120
rad/s
37
VG2
Speed control gain 2
3000
rad/s
38
VIC
Speed integral compensation
20
ms
100
0.1 times
61
GD2B
Ratio of load inertia moment to
servo motor inertia moment 2
62
PG2B
Position control gain 2
changing ratio
70
%
63
VG2B
Speed control gain 2 changing
ratio
133
%
64
VICB
Speed integral compensation
changing ratio
250
%
65
CDP
Gain changing selection
67
CDT
Gain changing time constant
0001
(Changed by ON/OFF of
pin CN1A-8)
100
(b) Changing operation
OFF
Gain changing
(CDP)
Change of
each gain
ON
After-changing gain
Before-changing gain
CDT 100ms
Position control gain 1
100
Speed control gain 1
1000
Ratio of load inertia moment
to servo motor inertia moment
OFF
4.0
10.0
4.0
Position control gain 2
120
84
120
Speed control gain 2
3000
4000
3000
20
50
20
Speed integral compensation
8- 8
ms
8. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
Parameter No.
Abbreviation
Setting
Unit
6
PG1
Position control gain 1
100
rad/s
36
VG1
Speed control gain 1
1000
rad/s
GD2
Ratio of load inertia moment to
servo motor inertia moment
40
0.1 times
34
Name
35
PG2
Position control gain 2
120
rad/s
37
VG2
Speed control gain 2
3000
rad/s
38
VIC
Speed integral compensation
20
ms
100
0.1 times
61
GD2B
Ratio of load inertia moment to
servo motor inertia moment 2
62
PG2B
Position control gain 2
changing ratio
70
%
63
VG2B
Speed control gain 2 changing
ratio
133
%
64
VICB
Speed integral compensation
changing ratio
250
%
65
CDP
Gain changing selection
0003
(Changed by droop pulses)
66
CDS
Gain changing condition
50
pulse
67
CDT
Gain changing time constant
100
ms
(b) Changing operation
Command pulse
Droop pulses [pulses] 0
Droop pulses
CDS
CDS
After-changing gain
Change of each gain
Before-changing gain
CDT 100ms
Position control gain 1
100
Speed control gain 1
1000
Ratio of load inertia moment
to servo motor inertia moment
4.0
10.0
4.0
10.0
Position control gain 2
120
84
120
84
Speed control gain 2
3000
4000
3000
4000
20
50
20
50
Speed integral compensation
8- 9
8. SPECIAL ADJUSTMENT FUNCTIONS
MEMO
8 - 10
9. INSPECTION
9. INSPECTION
WARNING
Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P and N is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, always confirm from the front of the servo amplifier
whether the charge lamp is off or not.
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.
POINT
Do not test the servo amplifier with a megger (measure insulation
resistance), or it may become faulty.
Do not disassemble and/or repair the equipment on customer side.
(1) Inspection
It is recommended to make the following checks periodically.
(a) Check for loose terminal block screws. Retighten any loose screws.
(b) Check the cables and the like for scratches and cracks. Perform periodic inspection according to
operating conditions.
(2) Life
The following parts must be changed periodically as listed below. If any part is found faulty, it must be
changed immediately even when it has not yet reached the end of its life, which depends on the
operating method and environmental conditions. For parts replacement, please contact your sales
representative.
Part name
Life guideline
Smoothing capacitor
Servo amplifier
Relay
Cooling fan
Absolute position battery
10 years
Number of power-on and number of
emergency stop times : 100,000 times
10,000 to 30,000hours (2 to 3 years)
Refer to section 15.2
(a) Smoothing capacitor
Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly
depends on ambient temperature and operating conditions. The capacitor will reach the end of its
life in 10 years of continuous operation in normal air-conditioned environment.
(b) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of
their life when the cumulative number of power-on and emergency stop times is 100,000, which
depends on the power supply capacity.
(c) Servo amplifier cooling fan
The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore,
the cooling 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.
9- 1
9. INSPECTION
MEMO
9- 2
10. TROUBLESHOOTING
10. TROUBLESHOOTING
10.1 Trouble at start-up
CAUTION
Excessive adjustment or change of parameter setting must not be made as it will
make operation instable.
POINT
Using the MR Configurator (servo configuration software), you can refer
to unrotated servo motor reasons, etc.
The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.
10.1.1 Position control mode
(1) Troubleshooting
No.
1
2
3
Start-up sequence
Power on
Fault
LED is not lit.
LED flickers.
Investigation
Possible cause
Reference
1. Power supply voltage fault
Not improved if connectors
CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty.
are disconnected.
Improved when connectors
CN1A and CN1B are
disconnected.
Power supply of CNP1 cabling
is shorted.
Improved when connector
CN2 is disconnected.
1. Power supply of encoder
cabling is shorted.
2. Encoder is faulty.
Improved when connector
CN3 is disconnected.
Power supply of CN3 cabling is
shorted.
Alarm occurs.
Refer to section 10.2 and remove cause.
Section 10.2
Switch on servo-on
(SON).
Alarm occurs.
Refer to section 10.2 and remove cause.
Section 10.2
Servo motor shaft is 1. Check the display to see if 1. Servo-on (SON) is not input.
(Wiring mistake)
the servo amplifier is
not servo-locked
2. 24VDC power is not
ready to operate.
(is free).
supplied to COM.
2. Check the external I/O
signal indication to see if
the servo-on (SON) is ON.
Section 6.6
Enter input
command.
(Test operation)
Servo motor does
not rotate.
Check cumulative command 1. Wiring mistake
pulses.
(a) For open collector pulse
train input, 24VDC
power is not supplied to
OPC.
(b) LSP and LSN are not on.
2. No pulses is input.
Section 6.2
1. Mistake in wiring to
controller.
2. Mistake in setting of
parameter No. 54.
Servo motor run in
reverse direction.
10 - 1
Chapter 5
10. TROUBLESHOOTING
No.
4
5
Start-up sequence
Gain adjustment
Cyclic operation
Possible cause
Reference
Rotation ripples
(speed fluctuations)
are large at low
speed.
Fault
Make gain adjustment in the Gain adjustment fault
following procedure.
1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration several times
to complete auto tuning.
Investigation
Chapter 7
Large load inertia
moment causes the
servo motor shaft to
oscillate side to side.
Gain adjustment fault
If the servo motor may be
run with safety, repeat
acceleration and
deceleration several times to
complete auto tuning.
Chapter 7
Position shift occurs
Pulse counting error, etc.
Confirm the cumulative
command pulses, cumulative due to noise.
feedback pulses and actual
servo motor position.
10 - 2
(2) in this
section
10. TROUBLESHOOTING
(2) How to find the cause of position shift
Positioning unit
Servo amplifier
(a) Output pulse
counter
Electronic gear (parameters No. 3, 4)
Machine
Servo motor
Q
P
(A)
(C) Servo-on (SON),
stroke end
(LSP/LSN) input
CMX
M
CDV
L
(d) Machine stop
position M
(B)
(b) Cumulative command
pulses
C
Encoder
(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
2) P
P (positioning unit's output counter
servo amplifier's cumulative command pulses)
CMX(parameter No.3)
CMX(parameter No.4)
C (cumulative command pulses
3) C
electronic gear
M (cumulative feedback pulses
cumulative feedback pulses)
travel per pulse
machine position)
Check for a position shift in the following sequence.
1) When Q P
Noise entered the pulse train signal wiring between positioning unit and servo amplifier,
causing pulses to be miss-counted. (Cause A)
Make the following check or take the following measures.
Check how the shielding is done.
Change the open collector system to the differential line driver system.
Run wiring away from the power circuit.
Install a data line filter. (Refer to section 13.2.6 (2) (a))
CMX
C
CDV
During operation, the servo-on (SON) or forward/reverse rotation stroke end was switched off or
the clear (CR) and the reset (RES) switched on. (Cause C)
If a malfunction may occur due to much noise, increase the input filter setting (parameter No. 1).
2) When P
M
3) When C
Mechanical slip occurred between the servo motor and machine. (Cause B)
10 - 3
10. TROUBLESHOOTING
10.1.2 Speed control mode
No.
1
2
3
4
Start-up sequence
Power on
Fault
LED is not lit.
LED flickers.
Investigation
Possible cause
Reference
1. Power supply voltage fault
Not improved if connectors
CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty.
are disconnected.
Improved when connectors
CN1A and CN1B are
disconnected.
Power supply of CN1 cabling is
shorted.
Improved when connector
CN2 is disconnected.
1. Power supply of encoder
cabling is shorted.
2. Encoder is faulty.
Improved when connector
CN3 is disconnected.
Power supply of CN3 cabling is
shorted.
Alarm occurs.
Refer to section 10.2 and remove cause.
Section 10.2
Switch on servo-on
(SON).
Alarm occurs.
Refer to section 10.2 and remove cause.
Section 10.2
Servo motor shaft is
not servo-locked
(is free).
1. Check the display to see if 1. Servo-on (SON) is not input.
(Wiring mistake)
the servo amplifier is
2. 24VDC power is not
ready to operate.
supplied to COM.
2. Check the external I/O
signal indication to see if
the servo-on (SON) is ON.
Section 6.6
Switch on forward
rotation start (ST1)
or reverse rotation
start (ST2).
Servo motor does
not rotate.
Call the status display and
check the input voltage of
the analog speed command
(VC).
Analog speed command is 0V.
Section 6.2
Call the external I/O signal
display and check the
ON/OFF status of the input
signal.
LSP, LSN, ST1 or ST2 is off.
Section 6.6
Check the internal speed
commands 1 to 7
(parameters No. 8 to 10 72
to 75).
Set value is 0.
Check the internal torque
limit 1 (parameter No. 28).
Torque limit level is too low as
compared to the load torque.
When the analog torque
limit (TLA) is usable, check
the input voltage on the
status display.
Torque limit level is too low as
compared to the load torque.
Gain adjustment
Section
5.1.2 (1)
Rotation ripples
(speed fluctuations)
are large at low
speed.
Make gain adjustment in the Gain adjustment fault
following procedure.
1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration several
times to complete auto
tuning.
Chapter 7
Large load inertia
moment causes the
servo motor shaft to
oscillate side to side.
Gain adjustment fault
If the servo motor may be
run with safety, repeat
acceleration and
deceleration several times to
complete auto tuning.
Chapter 7
10 - 4
10. TROUBLESHOOTING
10.1.3 Torque control mode
No.
1
2
3
Start-up sequence
Power on
Fault
LED is not lit.
LED flickers.
Investigation
Possible cause
Reference
1. Power supply voltage fault
Not improved if connectors
CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty.
are disconnected.
Improved when connectors
CN1A and CN1B are
disconnected.
Power supply of CN1 cabling is
shorted.
Improved when connector
CN2 is disconnected.
1. Power supply of encoder
cabling is shorted.
2. Encoder is faulty.
Improved when connector
CN3 is disconnected.
Power supply of CN3 cabling is
shorted.
Alarm occurs.
Refer to section 10.2 and remove cause.
Section 10.2
Switch on servo-on
(SON).
Alarm occurs.
Refer to section 10.2 and remove cause.
Section 10.2
Servo motor shaft is
free.
Call the external I/O signal
display and check the
ON/OFF status of the input
signal.
1. Servo-on (SON) is not input.
(Wiring mistake)
2. 24VDC power is not
supplied to COM.
Section 6.6
Switch on forward
rotation start (RS1)
or reverse rotation
start (RS2).
Servo motor does
not rotate.
Call the status display and
check the analog torque
command (TC).
Analog torque command is 0V.
Section 6.2
Call the external I/O signal
display and check the
ON/OFF status of the input
signal.
RS1 or RS2 is off.
Section 6.6
Check the internal speed
limits 1 to 7
(parameters No. 8 to 10 72
to 75).
Set value is 0.
Check the analog torque
command maximum output
(parameter No. 26) value.
Torque command level is too
low as compared to the load
torque.
Check the internal torque
limit 1 (parameter No. 28).
Set value is 0.
10 - 5
Section
5.1.2 (1)
10. TROUBLESHOOTING
10.2 When alarm or warning has occurred
POINT
Configure up a circuit which will detect the trouble (ALM) and turn off the
servo-on (SON) at occurrence of an alarm.
10.2.1 Alarms and warning list
When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or
warning has occurred, refer to section 10.2.2 or 10.2.3 and take the appropriate action. When an alarm
occurs, ALM turns off.
Set "
1" in parameter No. 49 to output the alarm code in ON/OFF status across the corresponding
pin and SG. Warnings (AL.92 to AL.EA) have no alarm codes. Any alarm code is output at occurrence of
the corresponding alarm. In the normal status, the signals available before alarm code setting (CN1B-19:
ZSP, CN1A-18: INP or SA, CN1A-19: RD) are output.
After its cause has been removed, the alarm can be deactivated in any of the methods marked
in the
alarm deactivation column.
(Note 2) Alarm code
Display
CN1B-19
pin
CN1A-18
pin
Name
CN1A-19
pin
Alarm deactivation
Press
Alarm
"SET" on
Power
reset
current
OFF ON
(RES)
alarm
screen.
Warnings
Alarms
AL.10
0
1
0
Undervoltage
AL.12
0
0
0
Memory error 1
AL.13
0
0
0
Clock error
AL.15
0
0
0
Memory error 2
AL.16
1
1
0
Encoder error 1
AL.17
0
0
0
Board error
AL.19
0
0
0
Memory error 3
AL.1A
1
1
0
Motor combination error
AL.20
1
1
0
Encoder error 2
AL.24
1
0
0
Main circuit error
AL.25
1
1
0
Absolute position erase
AL.30
0
0
1
Regenerative error
(Note 1)
(Note 1)
(Note 1)
AL.31
1
0
1
Overspeed
AL.32
1
0
0
Overcurrent
AL.33
0
0
1
Overvoltage
AL.35
1
0
1
Command pulse frequency error
AL.37
0
0
0
Parameter error
AL.45
0
1
1
Main circuit device overheat
(Note 1)
(Note 1)
(Note 1)
AL.46
0
1
1
Servo motor overheat
(Note 1)
(Note 1)
(Note 1)
AL.50
0
1
1
Overload 1
(Note 1)
(Note 1)
(Note 1)
AL.51
0
1
1
Overload 2
(Note 1)
(Note 1)
(Note 1)
AL.52
1
0
1
Error excessive
AL.8A
0
0
0
Serial communication time-out error
AL.8E
0
0
0
Serial communication error
88888
0
0
0
Watchdog
AL.92
Open battery cable warning
AL.96
Home position setting warning
AL.9F
Battery warning
AL.E0
Excessive regenerative warning
Removing the cause of occurrence
AL.E1
Overload warning
deactivates the alarm
AL.E3
Absolute position counter warning
automatically.
AL.E5
ABS time-out warning
AL.E6
Servo emergency stop warning
AL.E9
Main circuit off warning
AL.EA
ABS servo-on warning
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. 0: off
1: on
10 - 6
10. TROUBLESHOOTING
10.2.2 Remedies for alarms
When any alarm has occurred, eliminate its cause, ensure safety, then reset the
alarm, and restart operation. Otherwise, injury may occur.
CAUTION
If an absolute position erase (AL.25) occurred, always make home position setting
again. Not doing so may cause unexpected operation.
As soon as an alarm occurs, turn off Servo-on (SON) and power off the main
circuit.
POINT
When any of the following alarms has occurred, always remove its cause
and allow about 30 minutes for cooling before resuming operation. If
operation is resumed by switching control circuit power off, then on to
reset the alarm, the servo amplifier and servo motor may become faulty.
Regenerative error (AL.30)
Overload 1 (AL.50)
Overload 2 (AL.51)
The alarm can be deactivated by switching power off, then on press the
"SET" button on the current alarm screen or by turning on the reset
(RES). For details, refer to section 10.2.1.
When an alarm occurs, the trouble (ALM) switches off and the dynamic brake is operated to stop the
servo motor. At this time, the display indicates the alarm No.
The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. The
optional MR Configurator (servo configuration software) may be used to refer to the cause.
Display
Name
AL.10
Undervoltage
Definition
Power supply
voltage dropped.
MR-J2S- A:
160VAC or less
MR-J2S- A1:
83VAC or less
Cause
Action
Check the power supply.
1. Power supply voltage is low.
2. There was an instantaneous
control power failure of 60ms or
longer.
3. Shortage of power supply capacity
caused the power supply voltage to
drop at start, etc.
4. The bus voltage dropped to
200VDC.
5. Faulty parts in the servo amplifier Change the servo amplifier.
Checking method
Alarm (AL.10) occurs if power is
switched on after disconnection
of all cables but the control
circuit power supply cables.
AL.12
AL.13
Memory error 1 RAM, memory fault Faulty parts in the servo amplifier
Clock error
Printed board fault
Checking method
Alarm (any of AL.12 and AL.13)
occurs if power is switched on
after disconnection of all cables
but the control circuit power
supply cables.
10 - 7
Change the servo amplifier.
10. TROUBLESHOOTING
Display
Name
Definition
AL.15
Memory error 2 EEP-ROM fault
Cause
Action
1. Faulty parts in the servo amplifier Change the servo amplifier.
Checking method
Alarm (AL.15) occurs if power is
switched on after disconnection
of all cables but the control
circuit power supply cables.
AL.16
AL.17
2. The number of write times to EEPROM exceeded 100,000.
Encoder error 1 Communication
1. Encoder connector (CN2)
error occurred
disconnected.
between encoder
2. Encoder fault
and servo amplifier. 3. Encoder cable faulty
(Wire breakage or shorted)
Board error
CPU/parts fault
1. Faulty parts in the servo amplifier.
Connect correctly.
Change the servo motor.
Repair or change the cable.
Change the servo amplifier.
Checking method
Alarm (AL.17) occurs if power is
switched on after disconnection
of all cable but the control circuit
power supply cable.
AL.19
2. The wiring of U, V, W is
The output
disconnected or not connected.
terminals U, V, W of
the servo amplifier
and the input
terminals U, V, W of
the servo motor are
not connected.
Memory error 3 ROM memory fault Faulty parts in the servo amplifier.
Correctly connect the output terminals U,
V, W of the servo amplifier and the input
terminals U, V, W of the servo motor.
Change the servo amplifier.
Checking method
Alarm (AL.19) occurs if power is
switched on after disconnection
of all cable but the control circuit
power supply cable.
AL.1A
AL.20
AL.24
Motor
combination
error
Encoder error 2
Main circuit
error
Wrong combination
of servo amplifier
and servo motor.
Communication
error occurred
between encoder
and servo amplifier.
Wrong combination of servo amplifier Use correct combination.
and servo motor connected.
1. Encoder connector (CN2)
Connect correctly.
disconnected.
2. Encoder cable faulty
Repair or change the cable.
(Wire breakage or shorted)
3. Encoder fault
Change the servo motor.
Encoder detected
4. Excessive acceleration is occurred 1. Decrease the speed control gain 2.
acceleration error.
2. Decrease the auto tuning response
due to oscillation and others.
level.
Ground fault
1. Power input wires and servo motor Connect correctly.
occurred at the
output wires are in contact at
servo motor outputs
main circuit terminal block (TE1).
(U,V and W phases) 2. Sheathes of servo motor power
Change the cable.
of the servo
cables deteriorated, resulting in
amplifier.
ground fault.
3. Main circuit of servo amplifier
Change the servo amplifier.
failed.
Checking method
AL.24 occurs if the servo is
switched on after disconnecting
the U, V, W power cables from
the servo amplifier.
10 - 8
10. TROUBLESHOOTING
Display
Name
AL.25
Absolute
position erase
AL.30
Regenerative
error
Definition
Absolute position
data in error
Cause
Action
1. Reduced voltage of super capacitor After leaving the alarm occurring for a few
in encoder
minutes, switch power off, then on again.
Always make home position setting again.
Change the battery.
2. Battery voltage low
3. Battery cable or battery is faulty. Always make home position setting again.
Power was switched 4. Super capacitor of the absolute
After leaving the alarm occurring for a few
on for the first time
position encoder is not charged
minutes, switch power off, then on again.
in the absolute
Always make home position setting again.
position detection
system.
Permissible
1. Wrong setting of parameter No. 0 Set correctly.
regenerative power 2. Built-in regenerative resistor or
Connect correctly
of the built-in
regenerative option is not
regenerative
connected.
resistor or
3. High-duty operation or continuous 1. Reduce the frequency of positioning.
regenerative option
regenerative operation caused the 2. Use the regenerative option of larger
is exceeded.
permissible regenerative power of
capacity.
the regenerative option to be
3. Reduce the load.
exceeded.
Checking method
Call the status display and check
the regenerative load ratio.
Regenerative
transistor fault
AL.31
Overspeed
4. Power supply voltage is abnormal.
MR-J2S- A:260VAC or more
MR-J2S- A1:135VAC or more
5. Built-in regenerative resistor or
regenerative option faulty.
6. Regenerative transistor faulty.
Check the power supply
Change the servo amplifier or
regenerative option.
Change the servo amplifier.
Checking method
1) The regenerative option has
overheated abnormally.
2) The alarm occurs even after
removal of the built-in
regenerative resistor or
regenerative option.
Speed has exceeded 1. Input command pulse frequency
the instantaneous
exceeded the permissible
permissible speed.
instantaneous speed frequency.
2. Small acceleration/deceleration
time constant caused overshoot to
be large.
3. Servo system is instable to cause
overshoot.
4. Electronic gear ratio is large
(parameters No. 3, 4)
5. Encoder faulty.
10 - 9
Set command pulses correctly.
Increase acceleration/deceleration time
constant.
1. Re-set servo gain to proper value.
2. If servo gain cannot be set to proper
value.
1) Reduce load inertia moment ratio; or
2) Reexamine acceleration/
deceleration time constant.
Set correctly.
Change the servo motor.
10. TROUBLESHOOTING
Display
Name
AL.32
Overcurrent
AL.33
AL.35
Overvoltage
Definition
Current that flew is
higher than the
permissible current
of the servo
amplifier. (When
the alarm (AL.32)
occurs, switch the
power OFF and
then ON to reset the
alarm. Then, turn
on the servo-on.
When the alarm
(AL.32) still occurs
at the time, the
transistor (IPM
IGBT) of the servo
amplifier may be at
fault. Do not switch
the power OFF/ON
repeatedly; check
the transistor
according to the
cause 2 checking
method.)
Current higher than
the permissible
current flew in the
regenerative
transistor.
(MR-J2S-500A only)
Converter bus
voltage exceeded
400VDC.
Command
Input pulse
pulse frequency frequency of the
error
command pulse is
too high.
Cause
1. Short occurred in servo amplifier
output phases U, V and W.
2. Transistor (IPM) of the servo
amplifier faulty.
Action
Correct the wiring.
Change the servo amplifier.
Checking method
Alarm (AL.32) occurs if power is
switched on after U,V and W
are disconnected.
3. Ground fault occurred in servo
amplifier output phases U, V and
W.
4. External noise caused the
overcurrent detection circuit to
misoperate.
Correct the wiring.
5. Improper wiring of the
regenerative option.
Wire the regenerative option correctly.
1. Regenerative option is not used.
2. Though the regenerative option is
used, the parameter No. 0 setting
is “ 00
(not used)”.
3. Lead of built-in regenerative
resistor or regenerative option is
open or disconnected.
4. Regenerative transistor faulty.
5. Wire breakage of built-in
regenerative resistor or
regenerative option
Use the regenerative option.
Make correct setting.
6. Capacity of built-in regenerative
resistor or regenerative option is
insufficient.
7. Power supply voltage high.
8. Ground fault occurred in servo
amplifier output phases U, V and
W.
9. The jumper across BUE-SD of the
FR-BU2 brake unit is removed.
1. Pulse frequency of the command
pulse is too high.
2. Noise entered command pulses.
3. Command device failure
10 - 10
Take noise suppression measures.
1. Change the lead.
2. Connect correctly.
Change the servo amplifier
1. For wire breakage of built-in
regenerative resistor, change the servo
amplifier.
2. For wire breakage of regenerative
option, change the regenerative option.
Add regenerative option or increase
capacity.
Check the power supply.
Correct the wiring.
Fit the jumper across BUE-SD.
Change the command pulse frequency to a
proper value.
Take action against noise.
Change the command device.
10. TROUBLESHOOTING
Display
Name
AL.37
Parameter
error
Definition
Cause
Parameter setting is 1. Servo amplifier fault caused the
wrong.
parameter setting to be rewritten.
2. Regenerative option not used with
servo amplifier was selected in
parameter No.0.
3. The number of write times to EEPROM exceeded 100,000 due to
parameter write, etc.
4.The alarm code output (parameter
No. 49) was set by the absolute
position detection system.
AL.45
Main circuit
Main circuit device
device overheat overheat
AL.46
Servo motor
overheat
AL.50
Overload 1
Servo motor
temperature rise
actuated the
thermal sensor.
Load exceeded
overload protection
characteristic of
servo amplifier.
Action
Change the servo amplifier.
Set parameter No.0 correctly.
Change the servo amplifier.
The absolute position detection system
and the alarm code output function are
exclusive. Set as either one of the two is
used.
5.The alarm code output (parameter The signal assignment function of the
No.49) was set with the
electromagnetic interlock (MBR) to pin
electromagnetic brake interlock
CN1B-19 and the alarm code output
(MBR) assigned to pin CN1B-19.
function are exclusive. Set as either one of
the two is used.
1. Servo amplifier faulty.
Change the servo amplifier.
2. The power supply was turned on
The drive method is reviewed.
and off continuously by overloaded
status.
3. Air cooling fan of servo amplifier 1. Exchange the cooling fan or the servo
stops.
amplifier.
2. Reduce ambient temperature.
1. Ambient temperature of servo
motor is over 40 (104 ).
2. Servo motor is overloaded.
Review environment so that ambient
temperature is 0 to 40 (32 to 104 ).
3. Thermal sensor in encoder is
faulty.
1. Servo amplifier is used in excess
of its continuous output current.
Change the servo motor.
2. Servo system is instable and
hunting.
1. Repeat acceleration/
deceleration to execute auto tuning.
2. Change the auto tuning response
setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
3. Machine struck something.
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
1. Reduce load.
2. Review operation pattern.
3. Use servo motor that provides larger
output.
1. Reduce load.
2. Review operation pattern.
3. Use servo motor that provides larger
output.
4. Wrong connection of servo motor.
Servo amplifier’s output terminals
U, V, W do not match servo
motor’s input terminals U, V, W.
5. Encoder faulty.
Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do
not vary in proportion to the
rotary angle of the shaft but the
indication skips or returns midway.
10 - 11
10. TROUBLESHOOTING
Display
Name
AL.51
Overload 2
Definition
Cause
Machine collision or 1. Machine struck something.
the like caused max.
For the time of the 2. Wrong connection of servo motor.
alarm occurrence,
Servo amplifier's output terminals
refer to the section
U, V, W do not match servo
12.1.
motor's input terminals U, V, W.
3. Servo system is instable and
hunting.
4. Encoder faulty.
Action
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
1. Repeat acceleration/deceleration to
execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do
not vary in proportion to the
rotary angle of the shaft but the
indication skips or returns midway.
AL.52
Error excessive The difference
(Note)
between the model
position and the
actual servo motor
position exceeds 2.5
rotations.
(Refer to the
function block
diagram in section
1.2)
1. Acceleration/deceleration time
constant is too small.
2. Torque limit value (parameter
No.28) is too small.
3. Motor cannot be started due to
torque shortage caused by power
supply voltage drop.
4. Position control gain 1 (parameter
No.6) value is small.
5. Servo motor shaft was rotated by
external force.
6. Machine struck something.
AL.8A
AL.8E
88888
Increase the acceleration/deceleration
time constant.
Increase the torque limit value.
1. Review the power supply capacity.
2. Use servo motor which provides larger
output.
Increase set value and adjust to ensure
proper operation.
1. When torque is limited, increase the
limit value.
2. Reduce load.
3. Use servo motor that provides larger
output.
1. Review operation pattern.
2. Install limit switches.
Change the servo motor.
Connect correctly.
7. Encoder faulty
8. Wrong connection of servo motor.
Servo amplifier's output terminals
U, V, W do not match servo
motor's input terminals U, V, W.
Serial
RS-232C or RS-422 1. Communication cable breakage.
Repair or change the communication cable
communication communication
2. Communication cycle longer than Set correct value in parameter.
time-out error stopped for longer
parameter No. 56 setting.
than the time set in 3. Wrong protocol.
Correct protocol.
parameter No.56.
Serial
Serial
1. Communication cable fault
Repair or change the cable.
communication communication
(Open cable or short circuit)
error
error occurred
2. Communication device (e.g.
Change the communication device (e.g.
between servo
personal computer) faulty
personal computer).
amplifier and
communication
device (e.g. personal
computer).
Watchdog
CPU, parts faulty
Fault of parts in servo amplifier
Change the servo amplifier.
Checking method
Alarm (88888) occurs if power
is switched on after disconnection
of all cables but the control circuit
power supply cable.
Note. The error excessive detection for 2.5 revolutions is available only when the servo amplifier of software version B0 or later is used.
For the servo amplifier of software version older than B0, an error excessive alarm occurs when the deviation (deviation counter
value) between the instructed position and the actual servo motor position exceeds 10 revolutions.
10 - 12
10. TROUBLESHOOTING
10.2.3 Remedies for warnings
CAUTION
If an absolute position counter warning (AL.E3) occurred, always make home
position setting again. Not doing so may cause unexpected operation.
POINT
When any of the following alarms has occurred, do not resume operation
by switching power of the servo amplifier OFF/ON repeatedly. The servo
amplifier and servo motor may become faulty. If the power of the servo
amplifier is switched OFF/ON during the alarms, allow more than 30
minutes for cooling before resuming operation.
Excessive regenerative warning (AL.E0)
Overload warning 1 (AL.E1)
If Servo emergency stop warning (AL.E6) or ABS servo-on warning (AL.EA) occurs, the servo off status is
established. If any other warning occurs, operation can be continued but an alarm may take place or
proper operation may not be performed. Use the optional MR Configurator (servo configuration software)
to refer to the cause of warning.
Display
Name
Definition
Cause
Action
AL.92 Open battery
cable warning
Absolute position
1. Battery cable is open.
Repair cable or changed.
detection system battery 2. Battery voltage supplied from the servo Change the battery.
voltage is low.
amplifier to the encoder fell to about 3.2V
or less. (Detected with the encoder)
AL.96 Home position
setting warning
Home position setting
could not be made.
1. Droop pulses remaining are greater
than the in-position range setting.
Remove the cause of droop pulse
occurrence
2. Command pulse entered after clearing
of droop pulses.
Do not enter command pulse
after clearing of droop pulses.
3. Creep speed high.
Reduce creep speed.
Battery voltage fell to 3.2V or less.
AL.9F Battery warning Voltage of battery for
(Detected with the servo amplifier)
absolute position
detection system reduced.
Change the battery.
Regenerative power increased to 85% or
1. Reduce frequency of
more of permissible regenerative power of
positioning.
built-in regenerative resistor or
2. Change regenerative option
regenerative option.
for the one with larger
capacity.
Checking method
Call the status display and check
3. Reduce load.
regenerative load ratio.
AL.E0 Excessive
regenerative
warning
There is a possibility that
regenerative power may
exceed permissible
regenerative power of
built-in regenerative
resistor or regenerative
option.
AL.E1 Overload
warning
There is a possibility that Load increased to 85% or more of overload Refer to AL.50, AL.51.
alarm 1 or 2 occurrence level.
overload alarm 1 or 2
may occur.
Cause, checking method
Refer to AL.50,51.
AL.E3 Absolute position Absolute position encoder 1. Noise entered the encoder.
counter warning pulses faulty.
2. Encoder faulty.
3. The movement amount from the home
The multi-revolution
position exceeded a 32767 rotation or
counter value of the
absolute position encoder
37268 rotation in succession.
exceeded the maximum
revolution range.
10 - 13
Take noise suppression
measures.
Change the servo motor.
Make home position setting
again.
10. TROUBLESHOOTING
Display
Name
Definition
AL.E5 ABS time-out
warning
Action
Contact the program.
2. Reverse rotation start (ST2) Limiting Connect properly.
torque (TLC) improper wiring
AL.E6 Servo emergency EMG is off.
stop warning
AL.E9 Main circuit off
warning
Cause
1. PLC ladder program wrong.
External emergency stop was made valid. Ensure safety and deactivate
(EMG was turned off.)
emergency stop.
Switch on main circuit power.
Servo-on (SON) was
switched on with main
circuit power off.
AL.EA ABS
Servo-on (SON) turned on 1. PLC ladder program wrong.
servo-on warning more than 1s after servo 2. Servo-on (SON) improper wiring.
amplifier had entered
absolute position data
transfer mode.
10 - 14
1. Correct the program.
2. Connect properly.
11. OUTLINE DIMENSION DRAWINGS
11. OUTLINE DIMENSION DRAWINGS
11.1 Servo amplifiers
(1) MR-J2S-10A to MR-J2S-60A
MR-J2S-10A1 to MR-J2S-40A1
[Unit: mm]
B
6
(0.24)
([Unit: in])
135 (5.32)
Terminal layout
(Terminal cover open)
(0.79)
6 ( 0.24) mounting hole
Approx.70 (2.76)
Approx.
20
A
MITSUBISHI
MITSUBISHI
OPEN
C
N
1
A
C
N
1
B
C
N
2
E
N
C
C
N
3
Rating plate
TE1
C
N
1
A
C
N
1
B
C
N
2
C
N
3
(
168 (6.61)
156 (6.14)
OPEN
L1
L2
L3
(Note)
6 (0.24)
Approx.7 (0.28)
)
E
N
C
U
V
W
TE2
PE terminal
6
(0.24)
4(0.16)
Variable dimensions
Servo amplifier
MR-J2S-10A(1)
MR-J2S-20A(1)
MR-J2S-40A(1)
MR-J2S-60A
A
B
Mass
[kg]([lb])
50 (1.97)
6 (0.24)
0.7 (1.54)
70 (2.76)
22 (0.87)
1.1 (2.43)
Note. This data applies to the 3-phase 200 to 230VAC and 1-phase 230VAC power supply models.
Terminal signal layout
TE1
For 3-phase 200 to 230VAC and 1-phase 230VAC
For 1-phase 100 to 120VAC
L1
L2
L3
L1
U
V
W
U
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
TE2
L2
V
W
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
PE terminals
Front
D
C
P
L21
L11
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
11 - 1
Mounting Screw
Screw Size:M5
Tightening torque:
3.24[N m]
(28.676 [lb in])
11. OUTLINE DIMENSION DRAWINGS
(2) MR-J2S-70A MR-J2S-100A
[Unit: mm]
70(2.76)
Approx.70(2.76)
([Unit: in])
190(7.48)
Approx.
20
6
(0.24)
22
(0.87)
Terminal layout
(0.79)
6 ( 0.24)
mounting hole
(Terminal cover open)
MITSUBISHI
MITSUBISHI
OPEN
6(0.24)
Approx.7 (0.28)
168(6.61)
156(6.14)
OPEN
C
N
1
A
C
N
1
B
C
N
2
E
N
C
C
N
3
L1
L2
L3
U
V
W
Rating plate
PE terminal
6(0.24)
22
42
(0.87) (1.65)
TE2
TE1
6(0.24)
6(0.24)
Mass
[kg]([lb])
Servo amplifier
MR-J2S-70A
1.7
(3.75)
MR-J2S-100A
Terminal signal layout
TE1
L1
L2
L3
U
V
W
Mounting Screw
Screw Size:M5
Tightening torque:3.24[N m](28.676 [lb in])
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
TE2
Front
D
C
P
L21
L11
N
PE terminals
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
11 - 2
C
N
1
A
C
N
1
B
C
N
2
E
N
C
C
N
3
11. OUTLINE DIMENSION DRAWINGS
(3) MR-J2S-200A MR-J2S-350A
[Unit: mm]
([Unit: in])
Approx.70
(2.76)
90(3.54)
78(3.07)
6
(0.24)
195(7.68)
6
(0.24)
6 ( 0.24)
mounting hole
Terminal layout
MITSUBISHI
168(6.61)
156(6.14)
MITSUBISHI
TE2
TE1
PE terminal
Cooling fan wind direction
Mass
[kg]([lb])
Servo amplifier
MR-J2S-200A
2.0
(4.41)
MR-J2S-350A
Terminal signal layout
PE terminals
TE1
L1
L2
L3
U
V
W
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
TE2
L11
L21
D
P
C
N
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])
11 - 3
Mounting Screw
Screw Size:M5
Tightening torque:
3.24[N m]
(28.676 [lb in])
11. OUTLINE DIMENSION DRAWINGS
(4) MR-J2S-500A
[Unit: mm]
([Unit: in])
OPEN
(0.79)
Approx.
(0.24) 130(5.12) (0.24)
70
6
6 (2.76)
118(4.65)
Approx.20
7.5
(0.30)
2- 6 ( 0.24)
mounting hole
200(7.87)
(0.19) 5
MITSUBISHI
235(9.25)
250(9.84)
OPEN
OPEN
TE1
C
N
1
A
C
N
1
B
C
N
1
A
C
N
1
B
C
N
2
C
N
3
C
N
2
C
N
3
TE2
N.P.
N.P.
7.5
(0.30)
Terminal layout
MITSUBISHI
6(0.24)
Servo amplifier
Mass
[kg]([lb])
MR-J2S-500A
4.9(10.8)
Cooling fan
Cooling fan wind direction
Cooling fan
Terminal signal layout
TE1
PE terminals
L1
L2
Built-in regenerative resistor
lead terminal fixing screw
Terminal screw : M4
Tightening torque : 1.2 [N m](10.6[lb in])
L3
C
P
N
U
V
W
Terminal screw : M4
Tightening torque : 1.2 [N m](10.6[lb in])
TE2
L11
L21
Terminal screw : M3.5
Tightening torque : 0.8 [N m](7[lb in])
11 - 4
Mounting Screw
Screw Size:M5
Tightening torque:
3.24[N m]
(28.676 [lb in])
11. OUTLINE DIMENSION DRAWINGS
(5) MR-J2S-700A
2- 6 ( 0.24)
mounting hole
350(13.8)
335(13.2)
(0.39)
Approx.20
200(7.87)
Approx.70
138(5.43)
62
10 (2.76)
180(7.09)
160(6.23)
(0.79)
7.5
(0.30)
(0.39)
10
(2.44)
[Unit: mm]
([Unit: in])
6(0.24)
Terminal layout
MITSUBISHI
MITSUBISHI
OPEN
OPEN
C
N
1
A
C
N
1
B
C
N
1
A
C
N
1
B
C
N
2
C
N
3
C
N
2
C
N
3
TE2
OPEN
Cooling fan
TE1
7.5
(0.30)
6 (0.24)
Cooling fan
Servo amplifier
Mass
[kg]([lb])
MR-J2S-700A
7.2(15.9)
Cooling fan wind direction
Terminal signal layout
PE terminals
TE1
L1
L2
L3
C
P
N
U
V
W
Terminal screw : M4
Tightening torque : 1.2 [N m](10.6[lb in])
Built-in regenerative
resistor lead terminal
fixing screw
Terminal screw : M4
Tightening torque : 1.2 [N m](10.6[lb in])
TE2
L11 Terminal screw : M3.5
Tightening torque : 0.8 [N m](7[lb in])
L21
11 - 5
Mounting Screw
Screw Size:M5
Tightening torque:
3.24[N m]
(28.676 [lb in])
11. OUTLINE DIMENSION DRAWINGS
(6) MR-J2S-11KA 15KA
12(0.47)
[Unit: mm]
([Unit: in])
2- 12 ( 0.47)
mounting hole
Approx.
75
(2.95)
Cooling fan wind direction
MITSUBISHI
CN4
376(14.8)
C
N
3
C
N
1
A
C
N
1
B
400(15.75)
Cooling fan
Cooling fan
TE2
CN2
CON2
CHARGE
Mass
[kg]([lb])
MR-J2S-11KA
15(33.1)
MR-J2S-15KA
16(35.3)
260(10.24)
12(0.47)
3.9(0.15)
Servo amplifier
(0.47)
12(0.47) 236(9.29)
260(10.24)
(0.47)12
12
TE1
Terminal signal layout
TE1
PE terminal
L1
L2
L3
U
V
W
P1
P
C
N
Terminal screw : M6
Tightening torque : 3.0[N m] (26.6[lb in])
Terminal screw : M6
Tightening torque : 6.0[N m] (53.1[lb in])
TE2
L11
L21
Terminal screw : M4
Tightening torque : 1.2[N m] (10.6[lb in])
11 - 6
Mounting Screw
Screw Size:M10
Tightening torque:
26.5[N m]
(234.545[lb in])
11. OUTLINE DIMENSION DRAWINGS
12(0.47)
(7) MR-J2S-22KA
2- 12 ( 0.47)
mounting hole
Approx.
75
(2.95)
[Unit: mm]
([Unit: in])
Cooling fan wind direction
MITSUBISHI
C
N
3
C
N
1
A
C
N
1
B
Cooling fan
400(15.75)
Cooling fan
376(14.8)
CN4
TE2
CON2
CN2 CHARGE
12
326(12.84)
350(13.78)
3.9(0.15)
12(0.47)
Servo amplifier
Mass
[kg]([lb])
MR-J2S-22KA
20(44.1)
260(10.2)
12(0.47)
(0.47)12
(0.47)
TE1
Terminal signal layout
TE1
PE terminal
L1
L2
L3
U
V
W
P1
P
C
N
Terminal screw : M8
Terminal screw : M8
Tightening torque : 6.0[N m] (53.1[lb in])
Tightening torque : 6.0[N m] (53.1[lb in])
TE2
L11
L21
Terminal screw : M4
Tightening torque : 1.2[N m] (10.6[lb in])
11 - 7
Mounting Screw
Screw Size:M10
Tighting torque:
26.5[N m]
(234.545[lb in])
11. OUTLINE DIMENSION DRAWINGS
11.2 Connectors
(1) Servo amplifier side
<3M>
(a) Soldered type
[Unit: mm]
([Unit: in])
: 10120-3000PE
: 10320-52F0-008
22.0 (0.87)
12.0(0.47)
10.0(0.39)
Model
Connector
Shell kit
14.0
(0.55)
39.0 (1.54)
23.8 (0.94)
Logo, etc. are indicated here.
33.3 (1.31)
12.7(0.50)
(b) Threaded type
39.0(1.54)
(0.22)5.7 23.8(0.94)
22.0(0.87)
33.3
(1.31)
14.0
(0.55)
27.4
(1.08)
(0.39)
[Unit: mm]
([Unit: in])
12.0(0.47)
10.0
Model
Connector
: 10120-3000PE
Shell kit
: 10320-52A0-008
Note. This is not available as option
and should be user-prepared.
Logo, etc. are indicated here.
12.7
(0.50)
11 - 8
11. OUTLINE DIMENSION DRAWINGS
(c) Insulation displacement type
Model
Connector
Shell kit
: 10120-6000EL
: 10320-3210-000
11.5
(0.45)
[Unit: mm]
6.7 ( 0.26) ([Unit: in])
20.9(0.82)
Logo, etc. are indicated here.
42.0(1.65)
33.0(1.30)
2- 0.5
(0.02)
29.7
(1.17)
(2) Communication cable connector
<Japan Aviation Electronics Industry >
[Unit: mm]
([Unit: in])
B
A
Fitting fixing screwG
F
E(max. diameter of cable used)
C
D
Type
DE-C1-J6-S6
A
1
B
1
C
0.25
D
1
34.5(1.36)
19(0.75)
24.99(0.98)
33(1.30)
11 - 9
E
6(0.24)
F
Reference
G
18(0.71)
#4-40
11. OUTLINE DIMENSION DRAWINGS
MEMO
11 - 10
12. CHARACTERISTICS
12. CHARACTERISTICS
12.1 Overload protection characteristics
An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier
from overloads. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic
thermal relay protection curve shown in any of Figs 12.1. Overload 2 alarm (AL.51) occurs if the
maximum current flew continuously for several seconds due to machine collision, etc. Use the equipment
on the left-hand side area of the continuous or broken line in the graph.
In a machine like the one for vertical lift application where unbalanced torque will be produced, it is
recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque.
1000
1000
During rotation
During rotation
100
Operation time [s]
Operation time[s]
100
During stop
10
1
0.1
10
During stop
1
0.1
0
50
100
150
200
250
0
300
50
150
200
250
300
(Note) Load ratio [%]
(Note) Load ratio [%]
b. MR-J2S-200A to MR-J2S-350A
a. MR-J2S-10A to MR-J2S-100A
10000
10000
1000
1000
During rotation
Operation time[s]
Operation time[s]
100
During servo lock
100
10
During rotation
100
During servo lock
10
1
1
0
50
100
150
200
250
300
0
100
200
300
(Note) Load ratio [%]
(Note) Load ratio [%]
c. MR-J2S-500A MR-J2S-700A
d. MR-J2S-11KA to MR-J2S-22KA
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor
stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the
electronic thermal relay protection is not activated.
Fig 12.1 Electronic thermal relay protection characteristics
12 - 1
12. CHARACTERISTICS
12.2 Power supply equipment capacity and generated loss
(1) Amount of heat generated by the servo amplifier
Table 12.1 indicates servo amplifiers' power supply capacities and losses generated under rated load.
For thermal design of an enclosure, use the values in Table 12.1 in consideration for the worst
operating conditions. The actual amount of generated heat will be intermediate between values at
rated torque and servo off according to the duty used during operation. When the servo motor is run at
less than the maximum speed, the power supply capacity will be smaller than the value in the table,
but the servo amplifier's generated heat will not change.
Table 12.1 Power supply capacity and generated heat per servo amplifier at rated output
Servo amplifier
MR-J2S-10A(1)
MR-J2S-20A(1)
MR-J2S-40A(1)
MR-J2S-60A
MR-J2S-70A
MR-J2S-100A
Servo motor
Area required for heat dissipation
At rated torque
With servo off
[m2]
[ft2]
0.3
25
15
0.5
5.4
HC-MFS053
0.3
25
15
0.5
5.4
HC-UFS13
0.3
25
15
0.5
5.4
HC-KFS23
0.5
25
15
0.5
5.4
HC-MFS23
0.5
25
15
0.5
5.4
HC-UFS23
0.5
25
15
0.5
5.4
HC-KFS43
0.9
35
15
0.7
7.5
HC-MFS43
0.9
35
15
0.7
7.5
13
HC-UFS43
0.9
35
15
0.7
7.5
HC-SFS52
1.0
40
15
0.8
8.6
HC-SFS53
1.0
40
15
0.8
8.6
HC-LFS52
1.0
40
15
0.8
8.6
HC-KFS73
1.3
50
15
1.0
10.8
HC-MFS73
1.3
50
15
1.0
10.8
HC-UFS72 73
1.3
50
15
1.0
10.8
HC-SFS81
1.5
50
15
1.0
10.8
HC-SFS102
1.7
50
15
1.0
10.8
HC-LFS102
103
1.7
50
15
1.0
10.8
HC-SFS121
2.1
90
20
1.8
19.4
3.5
90
20
1.8
19.4
HC-SFS152
153
2.5
90
20
1.8
19.4
HC-SFS202
203
3.5
90
20
1.8
19.4
HC-RFS103
1.8
50
15
1.0
10.8
HC-RFS153
2.5
90
20
1.8
19.4
HC-UFS152
2.5
90
20
1.8
19.4
HC-LFS152
2.5
90
20
1.8
19.4
4.8
120
20
2.7
29.1
5.5
130
20
2.7
29.1
HC-RFS203
3.5
90
20
1.8
19.4
HC-UFS202
3.5
90
20
1.8
19.4
HC-LFS202
3.5
90
20
1.8
19.4
HC-SFS301
HC-SFS352
MR-J2S-350A
(Note 2)
Servo amplifier-generated heat[W]
HC-KFS053 13
HC-SFS201
MR-J2S-200A
(Note 1)
Power supply
capacity[kVA]
353
12 - 2
12. CHARACTERISTICS
Servo amplifier
MR-J2S-500A
MR-J2S-700A
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
Servo motor
(Note 1)
Power supply
capacity[kVA]
(Note 2)
Servo amplifier-generated heat[W]
Area required for heat dissipation
At rated torque
With servo off
[m2]
[ft2]
HC-SFS502
7.5
195
25
3.9
42.0
HC-RFS353
5.5
135
25
2.7
29.1
HC-RFS503
7.5
195
25
3.9
42.0
HC-UFS352
5.5
195
25
3.9
42.0
HC-UFS502
7.5
195
25
3.9
42.0
HC-LFS302
4.5
120
25
2.4
25.8
HA-LFS502
7.5
195
25
3.9
42.0
HC-SFS702
10.0
300
25
6.0
64.6
HA-LFS702
10.6
300
25
6.0
64.6
HA-LFS11K2
16.0
530
45
11
118.4
HA-LFS801
12.0
390
45
7.8
83.9
HA-LFS12K1
18.0
580
45
11.6
124.8
HA-LFS11K1M
16.0
530
45
11.0
118.4
HA-LFS15K2
22.0
640
45
13
139.0
HA-LFS15K1
22.0
640
45
13
139.0
HA-LFS15K1M
22.0
640
45
13
139.0
HA-LFS22K2
33.0
850
55
17
183.0
HA-LFS20K1
30.1
775
55
15.5
166.8
HA-LFS25K1
37.6
970
55
19.4
208.8
HA-LFS22K1M
33.0
850
55
17.0
193.0
Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value assumes that the power
factor improving reactor is not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the
regenerative option, refer to section 13.1.1.
12 - 3
12. CHARACTERISTICS
(2) Heat dissipation area for enclosed servo amplifier
The enclosed control box (hereafter called the control box) which will contain the servo amplifier
should be designed to ensure that its temperature rise is within 10 at the ambient temperature of
40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 )
limit.) The necessary enclosure heat dissipation area can be calculated by Equation 12.1:
P
............................................................................................................................................. (12.1)
K T
where, A
: Heat dissipation area [m2]
P
: Loss generated in the control box [W]
T : Difference between internal and ambient temperatures [ ]
K : Heat dissipation coefficient [5 to 6]
A
When calculating the heat dissipation area with Equation 12.1, assume that P is the sum of all losses
generated in the enclosure. Refer to Table 12.1 for heat generated by the servo amplifier. "A" indicates
the effective area 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 cooling fan should be considered.
Table 12.1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is
operated at the ambient temperature of 40 (104 ) under rated load.
(Outside)
(Inside)
Air flow
Fig. 12.2 Temperature distribution in enclosure
When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because
the temperature slope inside and outside the enclosure will be steeper.
12 - 4
12. CHARACTERISTICS
12.3 Dynamic brake characteristics
12.3.1 Dynamic brake operation
(1) Calculation of coasting distance
Fig. 12.6 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use Equation 12.2 to calculate an approximate coasting distance to a stop. The dynamic
brake time constant varies with the servo motor and machine operation speeds. (Refer to (2) in this
section.)
Emergency stop(EMG)
ON
OFF
Time constant
V0
Machine speed
Time
te
Fig. 12.3 Dynamic brake operation diagram
Lmax
Lmax
Vo
JM
JL
te
JL
V0
te 1
....................................................................................................................... (12.2)
60
JM
: Maximum coasting distance .................................................................................................[mm][in]
: Machine rapid feed rate ........................................................................................ [mm/min][in/min]
: Servo motor inertial moment................................................................................. [kg cm2][oz in2]
: Load inertia moment converted into equivalent value on servo motor shaft..... [kg cm2][oz in2]
: Brake time constant ........................................................................................................................ [s]
: Delay time of control section........................................................................................................... [s]
For 7kW or less servo, there is internal relay delay time of about 30ms. For 11k to 22kW servo,
there is delay time of about 100ms caused by a delay of the external relay and a delay of the
magnetic contactor built in the external dynamic brake.
16
14
12
10
8
6
4
2
0
0
Time constant [ms]
Time constant
[ms]
(2) Dynamic brake time constant
The following shows necessary dynamic brake time constant for the equations (12.2).
23
053
73
43
13
500 1000 1500 2000 2500 3000
Speed[r/min]
HC-KFS series
20
18
16
14
12
10
8
6
4
2
0
0
23
73
053
43
13
500 1000 1500 2000 2500 3000
Speed [r/min]
HC-MFS series
12 - 5
12. CHARACTERISTICS
40
121
30
201
25
20
301
15
10
81
5
0
0
50
500
Speed [r/min]
45
40
35
Time constant [ms]
Time constant [ms]
35
702
30
352
25
20
202
52
502
15
10
102
5
0
0
1000
HC-SFS1000r/min series
152
500
1000 1500
Speed [r/min]
2000
HC-SFS2000r/min series
100
53
60
353
40
103
20
0
0
50
18
16
14
12
10
8
6
4
2
0
0
Time constant [ms]
203
80
153
500 1000 1500 2000 2500 3000
Speed [r/min]
103
503
153
353
203
500
HC-SFS3000r/min series
1000 1500 2000 2500 3000
Speed [r/min]
HC-RFS series
70
73
100
90
80
70
60
50
40
30
20
10
0
72
Time constant [ms]
Time constant [ms]
60
502
352
50
40
30
43
20
23
13
152
10
202
0
0
500
1000 1500
Speed [r/min]
2000
HC-UFS 2000r/min series
0
50 500 10001500200025003000
Speed [r/min]
HC-UFS3000r/min series
40
40
35
35
Time constant [ms]
Time constant [ms]
Time constant [ms]
120
30
25
15K2
20
15
11K2
10
5
0
0
1000 1500
Speed [r/min]
25
302
20
15
10
5
22K2
500
30
0
2000
HA-LFS series
0
500
1000 1500
Speed [r/min]
HC-LFS series
12 - 6
2000
12. CHARACTERISTICS
12.3.2 The dynamic brake at the load inertia moment
Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia
moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the
load inertia moment may exceed the value, contact Mitsubishi.
Servo amplifier
Load inertia moment ratio [times]
MR-J2S-10A to MR-J2S-200A
MR-J2S-10A1 to MR-J2S-40A1
30
MR-J2S-350A
16
MR-J2S-500A
MR-J2S-700A
15
MR-J2S-11KA to MR-J2S-22KA
(Note) 30
Note. The value assumes that the external dynamic brake is used.
12.4 Encoder cable flexing life
The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values.
1 108
5 107
a
1 107
a : Long flexing-life encoder cable
MR-JCCBL M-H
MR-JHSCBL M-H
MR-ENCBL M-H
5 106
1 106
b : Standard encoder cable
MR-JCCBL M-L
MR-JHSCBL M-L
Flexing life [times]
5 105
1 105
5 104
1 104
b
5 103
1 103
4
7
10
20
40
70 100
Flexing radius [mm]
12 - 7
200
12. CHARACTERISTICS
12.5 Inrush currents at power-on of main circuit and control circuit
The following table indicates the inrush currents (reference value) that will flow when the maximum
permissible voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of
1m.
Servo Amplifier
Inrush Currents (A0-p)
Main circuit power supply (L1, L2, L3)
MR-J2S-10A
20A
30A (Attenuated to approx. 5A in 10ms)
MR-J2S-40A
60A
30A (Attenuated to approx. 5A in 10ms)
MR-J2S-70A
100A
54A (Attenuated to approx. 12A in 10ms)
MR-J2S-200A
350A
120A (Attenuated to approx. 12A in 20ms)
MR-J2S-500A
44A (Attenuated to approx. 20A in 20ms)
MR-J2S-700A
88A (Attenuated to approx. 20A in 20ms)
MR-J2S-11KA
MR-J2S-15KA
235A (Attenuated to approx. 20A in 20ms)
Control circuit power supply (L11, L21)
70 to 100A
(Attenuated to approx. 0A in 0.5 to 1ms)
100 to 130A
(Attenuated to approx. 0A in 0.5 to 1ms)
30A
(Attenuated to approx. 0A in several ms)
MR-J2S-22KA
MR-J2S-10A1
20A1
MR-J2S-40A1
59A (Attenuated to approx. 5A in 4ms)
72A (Attenuated to approx. 5A in 4ms)
100 to 130A
(Attenuated to approx. 0A in 0.5 to 1ms)
Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic
contactors. (Refer to section 13.2.2)
When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped
by an inrush current.
12 - 8
13. OPTIONS AND AUXILIARY EQUIPMENT
13. OPTIONS AND AUXILIARY EQUIPMENT
WARNING
Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
voltage between P and N is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, always confirm from the front of the servo
amplifier whether the charge lamp is off or not.
CAUTION
Use the specified auxiliary equipment and options. Unspecified ones may lead to a
fault or fire.
13.1 Options
13.1.1 Regenerative options
CAUTION
The specified combinations of regenerative options and servo amplifiers may only
be used. Otherwise, a fire may occur.
(1) Combination and regenerative power
The power values in the table are resistor-generated powers and not rated powers.
Regenerative power[W]
Servo amplifier
MR-J2S-10A(1)
MR-J2S-20A(1)
MR-J2S-40A(1)
MR-J2S-60A
MR-J2S-70A
MR-J2S-100A
MR-J2S-200A
MR-J2S-350A
MR-J2S-500A
MR-J2S-700A
Built-in regenerative MR-RB032
resistor
[40 ]
10
10
10
20
20
100
100
130
170
30
30
30
30
30
30
MR-RB12
[40 ]
MR-RB32
[40 ]
100
100
100
100
100
300
300
MR-RB30
[13 ]
(Note)
MR-RB50
[13 ]
300
300
300
500
500
500
MR-RB31
[6.7 ]
(Note)
MR-RB51
[6.7 ]
300
500
Note. Always install a cooling fan.
Servo amplifier
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
External regenerative
resistor (Accessory)
500 (800)
850 (1300)
850 (1300)
(Note) Regenerative power[W]
MR-RB66
MR-RB65
[5 ]
[8 ]
500 (800)
850 (1300)
MR-RB67
[4 ]
850 (1300)
Note. Values in parentheses assume the installation of a cooling fan.
13 - 1
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection of the regenerative option
(a) Simple selection method
In horizontal motion applications, select the regenerative option as described below.
When the servo motor is run without load in the regenerative mode from the running speed to a
stop, the permissible duty is as indicated in section 5.1 of the separately available Servo Motor
Instruction Manual.
For the servo motor with a load, the permissible duty changes according to the inertia moment of
the load and can be calculated by the following formula.
Permissible
duty
Permissible duty for servo motor with no load (value indication Section 5.1 in Servo Motor Instruction Manual)
(m 1)
ratedspeed
running speed
where m
2
[times/min]
load inertia moment/servo motor inertia moment
From the permissible duty, find whether the regenerative option is required or not.
Permissible duty number of positioning times [times/min]
Select the regenerative option out of the combinations in (1) in this section.
Friction
torque
TF
TU
Servo motor speed
M
tf(1 cycle)
No
Up
( )
( )
Time
Down
t1
t2
t3
Tpsd1
Tpsa1
Generated torque
Unbalance torque
(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 option.
a. Regenerative energy calculation
Use the following table to calculate the regenerative energy.
Tpsa2
t4
Tpsd2
1)
(Driving)
2)
4)
8)
5)
6)
3)
(Regenerative)
7)
Formulas for calculating torque and energy in operation
Regenerative power
1)
T1
2)
T2
3)
T3
4), 8)
T4
5)
T5
6)
T6
7)
T7
Torque applied to servo motor [N
(JL JM) N0
1
TU
4
T
psa1
9.55 10
TU TF
(JL JM) N0
1
TU
Tpsd1
9.55 104
TU
(JL JM) N0
1
TU
4
Tpsa2
9.55 10
TU TF
(JL JM) N0
1
TU
Tpsd2
9.55 104
m]
TF
E1
E2
TF
TF
E3
0.1047 N0 T2 t1
0.1047
N0 T3 Tpsd1
2
E4 0 (No regeneration)
0.1047
E5
N0 T5 Tpsa2
2
E6
TF
Energy [J]
0.1047
N0 T1 Tpsa1
2
E7
0.1047 N0 T6 t3
0.1047
N0 T7 Tpsd2
2
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
13 - 2
13. OPTIONS AND AUXILIARY EQUIPMENT
b. Losses of servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in
the regenerative mode.
Servo amplifier
MR-J2S-10A
MR-J2S-10A1
MR-J2S-20A
MR-J2S-20A1
MR-J2S-40A
MR-J2S-40A1
MR-J2S-60A
MR-J2S-70A
MR-J2S-100A
MR-J2S-200A
MR-J2S-350A
MR-J2S-500A
MR-J2S-700A
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
Inverse efficiency[%]
55
55
70
70
85
85
85
80
80
85
85
90
90
90
90
90
Capacitor charging[J]
9
4
9
4
11
12
11
18
18
40
40
45
70
120
170
250
Inverse efficiency ( )
:Efficiency including some efficiencies of the servo motor and servo
amplifier when rated (regenerative) torque is generated at rated speed.
Since the efficiency varies with the speed and generated torque, allow for
about 10%.
Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplifier.
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies
by the inverse efficiency to calculate the energy consumed by the regenerative option.
ER [J]
Es Ec
Calculate the power consumption of the regenerative option on the basis of single-cycle operation
period tf [s] to select the necessary regenerative option.
PR [W] ER/tf
(3) Connection of the regenerative option
Set parameter No.2 according to the option to be used.
The MR-RB65, 66 and 67 are regenerative options that have encased the GRZG400-2 , GRZG400-1
and GRZG400-0.8 , respectively. When using any of these regenerative options, make the same
parameter setting as when using the GRZG400-2 , GRZG400-1 or GRZG400-0.8 (supplied
regenerative resistors or regenerative option is used with 11kW or more servo amplifier).
Parameter No.0
Selection of regenerative
00: Regenerative option or regenerative option is not used with 7kW or
less servo amplifier
Supplied regenerative resistors or regenerative option is used with
11kW or more servo amplifier
01: FR-RC, FR-BU2, FR-CV
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required)
08: MR-RB31
09: MR-RB51 (Cooling fan is required)
0E: When regenerative resistors supplied to 11kW or more are cooled by
cooling fans to increase capability
13 - 3
13. OPTIONS AND AUXILIARY EQUIPMENT
(4) Connection of the regenerative option
POINT
When the MR-RB50 MR-RB51 is used, a cooling fan is required to cool it.
The cooling fan should be prepared by the customer.
The regenerative option will cause a temperature rise of 100 relative to the ambient temperature.
Fully examine heat dissipation, installation position, used cables, etc. before installing the option. For
wiring, use flame-resistant cables and keep them clear of the regenerative option body. Always use
twisted cables of max. 5m (16.4ft) length for connection with the servo amplifier.
(a) MR-J2S-350A or less
Always remove the wiring from across P-D and fit the regenerative option across P-C.
The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option
overheats abnormally.
Servo amplifier
Always remove the lead from across P-D.
Regenerative option
D
P
P
C
C
G3
(Note 2)
G4
5m (16.4 ft) or less
Cooling fan(Note 1)
Note 1. When using the MR-RB50, forcibly cool it with a cooling fan (92 92, minimum air flow: 1.0m3).
2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5A/4.8VDC
Maximum capacity: 2.4VA
For the MR-RB50 install the cooling fan as shown.
[Unit : mm(in)]
Cooling fan installation screw hole dimensions
2-M3 screw hole
Top
Bottom
82.5
(3.25)
Vertical
installation
Horizontal installation
Installation surface
13 - 4
82.5
(3.25)
Thermal relay
133
(for cooling fan installation)
Depth 10 or less
(Screw hole already
machined)
Terminal block
(5.24)
Cooling fan
40 (1.58)
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-J2S-500A MR-J2S-700A
Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit
the regenerative option across P-C.
The G3 and G4 terminals act as a thermal sensor. G3-G4 are opened when the regenerative option
overheats abnormally.
Servo amplifier
Always remove wiring (across P-C) of servo
amplifier built-in regenerative resistor.
Regenerative option
P
P
C
C
G3
(Note 2)
G4
5m(16.4ft) or less
Cooling fan(Note 1)
Note 1. When using the MR-RB50 MR-RB51, forcibly cool it with a cooling fan (92 92, minimum air flow: 1.0m3).
2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5A/4.8VDC
Maximum capacity: 2.4VA
When using the regenerative resistor option, remove the servo amplifier's built-in regenerative
resistor terminals (across P-C), fit them back to back, and secure them to the frame with the
accessory screw as shown below.
Mounting method
Accessory screw
For MR-J2S-500A
For MR-J2S-700A
Accessory screw
Accessory screw
13 - 5
13. OPTIONS AND AUXILIARY EQUIPMENT
For the MR-RB50 MR-RB51 install the cooling fan as shown.
[Unit : mm(in)]
Cooling fan installation screw hole dimensions
2-M3 screw hole
Top
Bottom
82.5
82.5
(3.25)
Thermal relay
133
(for cooling fan installation)
Depth 10 or less
(Screw hole already
machined)
Terminal block
(5.24)
Cooling fan
40 (1.58)
(3.25)
Horizontal installation
Vertical
installation
Installation surface
(c) MR-J2S-11KA to MR-J2S-22KA (when using the supplied regenerative resistor)
When using the regenerative resistors supplied to the servo amplifier, the specified number of
resistors (4 or 5 resistors) must be connected in series. If they are connected in parallel or in less
than the specified number, the servo amplifier may become faulty and/or the regenerative resistors
burn. Install the resistors at intervals of about 70mm. Cooling the resistors with two cooling fans
(92 92, minimum air flow : 1.0m3) improves the regeneration capability. In this case, set "0E
"
in parameter No. 0.
5m or less
Do not remove
the short bar.
(Note) Series connection
Servo amplifier
P1
P
C
Cooling fan
Note. The number of resistors connected in series depends on the resistor type. Install a thermal sensor or like to configure a
circuit that will shut off the main circuit power at abnormal overheat. The supplied regenerative resistor does not have a
built-in thermal sensor. If the regenerative brake circuit fails, abnormal overheat of the resistor is expected to occur. On
the customer side, please also install a thermal sensor for the resistor and provide a protective circuit that will shut off the
main circuit power supply at abnormal overheat. The detection level of the thermal sensor changes depending on the
resistor installation method. Please install the thermal sensor in the optimum position according to the customer's design
standards, or use our regenerative option having built-in thermal sensor (MR-RB65, 66, 67).
Regenerative Power [W]
Regenerative
Resistor
MR-J2S-11KA
GRZG400-2
500
800
8
4
MR-J2S-15KA
GRZG400-1
850
1300
5
5
MR-J2S-22KA
GRZG400-0.8
850
1300
4
5
Normal
Cooling
13 - 6
Resistance
[ ]
Number of
Resistors
Servo Amplifier
13. OPTIONS AND AUXILIARY EQUIPMENT
(d) MR-J2S-11KA-PX to MR-J2S-22KA-PX (when using the regenerative option)
The MR-J2S-11KA-PX to MR-J2S-22KA-PX servo amplifiers are not supplied with regenerative
resistors. When using any of these servo amplifiers, always use the MR-RB65, 66 or 67
regenerative option.
The MR-RB65, 66 and 67 are regenerative options that have encased the GRZG400-2 , GRZG4001 and GRZG400-0.8 , respectively. When using any of these regenerative options, make the
same parameter setting as when using the GRZG400-2 , GRZG400-1 or GRZG400-0.8
(supplied regenerative resistors or regenerative option is used with 11kW or more servo amplifier).
Cooling the regenerative option with cooling fans improves regenerative capability.
The G3 and G4 terminals are for the thermal sensor. G3-G4 are opened when the regenerative
option overheats abnormally.
Servo amplifier
P1
Do not remove
the short bar.
Regenerative option
P
P
C
C
RA
COM
G3
(Note)
ALM
G4
Configure up a circuit which
shuts off main circuit power
when thermal sensor operates.
Note. Specifications of contact across G3-G4
Maximum voltage : 120V AC/DC
Maximum current : 0.5A/4.8VDC
Maximum capacity : 2.4VA
Servo Amplifier
Regenerative
Option Model
Resistance
[ ]
MR-J2S-11KA-PX
MR-RB65
MR-J2S-15KA-PX
MR-J2S-22KA-PX
Regenerative Power [W]
Without
cooling fans
With
cooling fans
8
500
800
MR-RB66
5
850
1300
MR-RB67
4
850
1300
When using cooling fans, install them using the mounting holes provided in the bottom of the
" in parameter No. 0.
regenerative option. In this case, set "0E
Top
MR-RB65 66 67
Bottom
TE1
2 cooling fans
(92 92, minimum air flow: 1.0m3)
Mounting screw
4-M3(0.118)
13 - 7
TE
G4 G3 C
P
13. OPTIONS AND AUXILIARY EQUIPMENT
(5) Outline drawing
(a) MR-RB032 MR-RB12
[Unit: mm (in)]
LA
TE1
Terminal block
5 (0.20)
G3
G4
P
C
6 (0.24)
12 (0.47)
G3
G4
P
C
6 (0.24)
TE1
168 (6.61)
156 (6.14)
MR-RB
144 (5.67)
12 (0.47)
6 (0.24)
6 (0.24) mounting hole
LB
Terminal screw: M3
1.6 (0.06)
20
(0.79)
LD
LC
Tightening torque:
0.5 to 0.6 [N m](4 to 5 [lb in])
Mounting screw
Screw size: M5
Tightening torque:
3.24 [N m](28.676 [lb in])
Variable dimensions
Mass
LA
LB
LC
LD [kg] [lb]
30
15
119
99
MR-RB032
0.5 1.1
(1.18) (0.59) (4.69) (3.9)
40
15
169 149
MR-RB12
1.1 2.4
(1.58) (0.59) (6.65) (5.87)
Regenerative
option
(b) MR-RB30 MR-RB31 MR-RB32
[Unit: mm (in)]
Terminal block
P
C Terminal screw: M4
G3 Tightening torque: 1.2 [N m] (10.6 [Ib in])
G4
7 (0.28)
90 (3.54)
10
(0.39) 100 (3.94)
17
(0.67)
Mounting screw
Screw: M6
Tightening torque: 5.4 [N m] (47.79 [Ib in])
318 (12.5)
335 (13.2)
Regenerative
option
Mass [kg] (Ib)
MR-RB30
MR-RB31
MR-RB32
13 - 8
2.9 (6.4)
13. OPTIONS AND AUXILIARY EQUIPMENT
(c) MR-RB50 MR-RB51
[Unit: mm (in)]
Cooling fan mounting
screw (2-M3 screw)
On opposite side
49
(1.93)
Terminal block
P
C Terminal screw: M4
G3 Tightening torque: 1.2 [N m]
(10.6 [Ib in])
G4
82.5
(3.25)
Mounting screw
Screw: M6
Tightening torque: 5.4 [N m]
(47.79 [Ib in])
7 14
slot
Wind blows in the
arrow direction
Regenerative
option
Mass [kg] (Ib)
MR-RB50
5.6 (12.3)
MR-RB51
2.3
(0.09)
200 (7.87)
217 (8.54)
17
(0.67)
12
(0.47)
7 (0.28)
108 (4.25)
120 (4.73)
Approx.30 (1.18)
8 (0.32)
Terminal block
G4 G3 C
TE1
43 (1.69)
10 (0.39)
230 (9.06)
260 (10.2)
230 (9.06)
15 (0.59)
10 (0.39)
G4G3 CP
P
Terminal screw: M5
Tightening torque: 2.0 [N m] (17 [Ib in])
Mounting screw
Screw: M8
Tightening torque: 13.2 [N m] (116.83 [Ib in])
480 (18.9)
500 (19.7)
427 (16.8)
2- 10 ( 0.39)
monuting hole
[Unit: mm (in)]
30 (1.18)
10 (0.39)
(d) MR-RB65 MR-RB66 MR-RB67
2.3 (0.09)
Mass
Regenerative
option
[kg]
(Ib)
MR-RB65
10
22.0
MR-RB66
11
24.3
MR-RB67
11
24.3
215 (8.47)
82.5
(3.25)
4-M3 screw
Cooling fan mounting
82.5 82.5
(3.25) (3.25)
10
(0.39)
GRZG400-1
Approx.
Approx. 10(0.39)
5.5(0.22)
Approx.330(13.0)
385(15.2)
411(16.2)
GRZG400-0.8 (standard accessories)
Approx.
24(0.95)
9.5
(0.37)
[Unit: mm (in)]
40 Approx.
(1.58) 39(1.54)
(e) GRZG400-2
40(1.58)
Approx. 47(1.85)
13 - 9
Mounting screw
Screw size: M8
Tightening torque: 13.2 [N m](116.83 [lb in])
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.2 FR-BU2 brake unit
POINT
The brake unit and resistor unit of other than 200V class are not
applicable to the servo amplifier. Combination of different voltage class
units and servo amplifier cannot be used.
Install a brake unit and a resistor unit on a flat surface vertically. When
the unit is installed horizontally or diagonally, the heat dissipation effect
diminishes.
Temperature of the resistor unit case rises to higher than 100 . Keep
cables and flammable materials away from the case.
Ambient temperature condition of the brake unit is between 10 (14 )
and 50 (122 ). Note that the condition is different from the ambient
temperature condition of the servo amplifier (between 0 (32 ) and
55 (131 )).
Configure the circuit to shut down the power-supply with the alarm
output of the brake unit and resistor unit under abnormal condition.
Use the brake unit with a combination indicated in (1) of this section.
For executing a continuous regenerative operation, use FR-RC power
regeneration converter or FR-CV power regeneration common converter.
Brake unit and regenerative options (Regenerative resistor) cannot be
used simultaneously.
Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option,
the brake unit can return larger power. Use the brake unit when the regenerative option cannot provide
sufficient regenerative capability.
When using the brake unit, set the parameter No.0 of the servo amplifier to " 01
".
When using the brake unit, always refer to the FR-BU2-(H) Brake Unit Instruction Manual.
(1) Selection
Use a combination of servo amplifier, brake unit and resistor unit listed below.
Brake unit
Resistor unit
Number of
connected
units
Permissible
continuous
power [kW]
Total
resistance
[ ]
Applicable servo
amplifier
FR-BU2-15K
FR-BR-15K
1
0.99
8
MR-J2S-350A
MR-J2S-500A
FR-BU2-30K
FR-BR-30K
1
1.99
4
MR-J2S-500A
MR-J2S-700A
MR-J2S-11KA
MR-J2S-15KA
FR-BU2-55K
FR-BR-55K
1
3.91
2
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
MT-BR5-55K
1
5.5
2
MR-J2S-22KA
13 - 10
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Brake unit parameter setting
Normally, when using the FR-BU2, changing parameters is not necessary. Whether a parameter can
be changed or not is listed below.
Change
possible/
impossible
Parameter
No.
Name
0
Brake mode switchover
1
Monitor display data selection
2
Input terminal function selection 1
3
Input terminal function selection 2
Impossible
77
Parameter write selection
78
Cumulative energization time
carrying-over times
CLr
Parameter clear
ECL
Alarm history clear
C1
Remarks
Do not change the parameter.
Possible
Refer to the FR-BU2-(H) Brake Unit
Instruction Manual.
Impossible
Do not change the parameter.
For manufacturer setting
(3) Connection example
POINT
Connecting PR terminal of the brake unit to P terminal of the servo
amplifier results in brake unit malfunction. Always connect the PR
terminal of the brake unit to the PR terminal of the resistor unit.
(a) Combination with FR-BR resistor unit
(Note 7) Servo motor
thermal relay
RA2
ALM
RA1
EMG
ON
OFF
MC
MC
SK
Servo amplifier
NFB
(Note 1)
Power
supply
MC
L1
L2
L3
L11
L21
CN1B
15
10
3
13
18
P1
(Note 3)
P
D
P
(Note 9)
N
C
EMG
SG
VDD
COM
ALM
RA1
FR-BU2
PR
P/
(Note 4)
N/
(Note 8)
(Note 10)
(Note 2)
13 - 11
P
PR
FR-BR
(Note 5) TH1
TH2
BUE
SD
MSG
SD
A
B
C
(Note 6)
13. OPTIONS AND AUXILIARY EQUIPMENT
Note 1. For power supply specifications, refer to section 1.3.
2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected to the P
and C terminals. For the servo amplifier of 11k to 22kW, do not connect a supplied regenerative resistor to the P and C
terminals.
3. For the servo amplifier of 11k to 22kW, always connect P1 and P (Factory-wired). When using the power factor improving DC
reactor, refer to section 13.2.4.
4. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and
brake unit malfunction.
5. Contact rating 1b contact, 110VAC_5A/220VAC_3A
Normal condition TH1-TH2 is conducting. Abnormal condition TH1-TH2 is not conducting.
6. Contact rating 230VAC_0.3A/30VDC_0.3A
Normal condition B-C is conducting/A-C is not conducting. Abnormal condition B-C is not conducting/A-C is conducting.
7. For the servo amplifier of 11kW or more, connect the thermal relay censor of the servo amplifier.
8. For the servo amplifier of 3.5kW, always disconnect the wiring between P and D terminals.
9. Do not connect more than one cable to each P and N terminals of the servo amplifier.
10. Make sure to connect BUE and SD (Factory-wired).
(b) Combination with MT-BR5 resistor unit
Servo motor
thermal relay
RA2
ALM
RA1
EMG
ON
OFF
RA3
MC
MC
SK
Servo amplifier
NFB
(Note 1)
Power
supply
MC
L1
L2
L3
L11
L21
CN1B
15
10
3
13
18
C
P1
P
EMG
SG
VDD
COM
ALM
RA1
MT-BR5
(Note 4)
TH1
P
TH2
PR
SK
RA3
FR-BU2
(Note 8)
PR
P/
(Note 3)
N/
(Note 2)
(Note 6)
N
(Note 7)
BUE
SD
MSG
SD
A
B
C
(Note 5)
Note 1. For power supply specifications, refer to section 1.3.
2. Make sure to connect P1 and P (Factory-wired). When using the power factor improving DC reactor, refer to section 13.2.4.
3. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and
brake unit malfunction.
4. Contact rating 1a contact, 110VAC_5A/220VAC_3A
Normal condition TH1-TH2 is not conducting. Abnormal condition TH1-TH2 is conducting.
5. Contact rating 230VAC_0.3A/30VDC_0.3A
Normal condition B-C is conducting/A-C is not conducting. Abnormal condition B-C is not conducting/A-C is conducting.
6. Do not connect more than one cable to each P and N terminals of the servo amplifier.
7. Make sure to connect BUE and SD (Factory-wired).
8. For the servo amplifier of 22kW, do not connect a supplied regenerative resistor to the P and C terminals.
13 - 12
13. OPTIONS AND AUXILIARY EQUIPMENT
(c) Precautions for wiring
The cables between the servo amplifier and the brake unit, and between the resistor unit and the
brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times
or more per one meter). Even when the cable is twisted, the cable should be less than 10m. Using
cables longer than 5m without twisting or twisted cables longer than 10m, may result in the brake
unit malfunction.
Servo amplifier
Servo amplifier
Brake unit
P
N
P
N
5m or less
P
PR
Resistor unit
Resistor unit
Brake unit
P
N
P
PR
5m or less
Twist
P
N
P
PR
10m or less
P
PR
Twist
10m or less
(d) Cables
For the brake unit, HIV cable (600V grade heat-resistant PVC insulated wire) is recommended.
a) Main circuit terminal
Brake unit
N/
P/
PR
Terminal block
Main
circuit
terminal
screw
size
Crimping
terminal
Cable size
N/ , P/ ,
PR,
Tightening
torque
[N m]
([lb in])
HIV cables,
etc. [mm2]
AWG
N/ , P/ , PR,
FR-BU2-15K
M4
5.5-4
1.5 (13.3)
3.5
12
FR-BU2-30K
M5
5.5-5
2.5 (22.1)
5.5
10
FR-BU2-55K
M6
14-6
4.4 (38.9)
14
6
b) Control circuit terminal
POINT
Undertightening can cause a cable disconnection or malfunction.
Overtightening can cause a short circuit or malfunction due to damage to
the screw or the brake unit.
A
B
C
Sheath
PC BUE SD RES SD MSG MSG SD SD
Core
Jumper
6mm
Terminal block
Wire the stripped cable after twisting to prevent the cable
from becoming loose. In addition, do not solder it.
Screw size: M3
Tightening torque: 0.5N m to 0.6N m
2
2
Cable size: 0.3mm to 0.75 mm
Screw driver: Small flat-blade screwdriver
(Tip thickness: 0.4mm/Tip width 2.5mm)
13 - 13
13. OPTIONS AND AUXILIARY EQUIPMENT
(e) Crimping terminals for P and N terminals of servo amplifier
POINT
Always use recommended crimping terminals or equivalent since some
crimping terminals cannot be installed depending on the size.
Servo amplifier
Brake unit
Number of
connected
units
Crimping terminal (Manufacturer)
MR-J2S-350A
FR-BU2-15K
1
FVD5.5-S4
MR-J2S-500A
FR-BU2-15K
1
(Japan Solderless Terminal)
FR-BU2-30K
1
MR-J2S-700A
FR-BU2-30K
1
MR-J2S-11KA
MR-J2S-15KA
MR-J2S-22KA
b
FR-BU2-30K
1
FVD5.5-6(Japan Solderless Terminal)
b
FR-BU2-55K
1
FVD14-6(Japan Solderless Terminal)
a
FR-BU2-30K
1
FVD5.5-6(Japan Solderless Terminal)
b
FR-BU2-55K
1
FVD14-6(Japan Solderless Terminal)
a
FR-BU2-55K
1
FVD14-8(Japan Solderless Terminal)
a
Note. Symbols in the applicable tool field indicate the following applicable tools.
Symbol
Applicable tool
Manufacturer
YF-1 E-4
YNE-38
DH-112 DH-122
a
Body
Head
Dice
b
YNT-1210S
Japan Solderless
Terminal
(4) Outline dimension drawings
(a) FR-BU2 brake unit
[Unit: mm]
FR-BU2-15K
5 hole
(Screw size: M4)
Rating
plate
4
5
6
(Note)
Applicable
tool
56
68
18.5
6
13 - 14
52
132.5
62
13. OPTIONS AND AUXILIARY EQUIPMENT
FR-BU2-30K
[Unit: mm]
2- 5 hole
(Screw size: M4)
Rating
plate
6
5
96
108
5
6
18.5
52
129.5
59
FR-BU2-55K
2- 5 hole
(Screw size: M4)
Rating
plate
5
5
6
158
170
13 - 15
6
18.5
52
72
142.5
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) FR-BR resistor unit
[Unit: mm]
2
C
(Note)
Control circuit
terminal
(Note)
Main circuit
terminal
C
C
Approx. 35
W1
Approx. 35
1
For FR-BR-55K, a hanging bolt is placed
on two locations (Indicated below).
Hanging bolt
W
204
5
Note. Ventilation ports are provided on both sides and the top. The bottom is open.
Resistor unit
C
Approximate
mass
[kg] ([lb])
3.2
6
15 (33.1)
4
10
30 (66.1)
3.2
12
70 (154)
W
W1
H
H1
H2
H3
D
D1
FR-BR-15K
170
100
450
410
20
432
220
FR-BR-30K
340
270
600
560
20
582
220
FR-BR-55K
480
410
700
620
40
670
450
(c) MT-BR5- (H) resistor unit
[Unit: mm]
Resistor unit
NP
MT-BR5-55K
M4
M6
193
189
37
60 10 21
480
510
4 15 mounting hole
75
7.5
300
75
450
13 - 16
7.5
Resistance
value
2.0
Approximate
mass
[kg] ([lb])
50 (110)
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.3 Power regeneration converter
When using the power regeneration converter, set "01
" in parameter No.0.
Power
regeneration
converter
Nominal
Regenerative
Power (kW)
Servo Amplifier
FR-RC-15
15
MR-J2S-500A
MR-J2S-700A
FR-RC-30
30
MR-J2S-11KA
MR-J2S-15KA
FR-RC-55K
55
MR-J2S-22KA
Continuous energization time [sec]
(1) Selection
The converters can continuously return 75% of the nominal regenerative power. They are applied to
the servo amplifiers of the MR-J2S-500A to MR-J2S-22KA.
13 - 17
500
300
200
100
50
30
20
0
50
75 100
150
Nominal regenerative power (%)
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Connection example
Servo amplifier
L11
NFB
L21
(Note 3) Power factor improving reactor
MC
FR-BAL
L1
(Note 5)
Power supply
L2
L3
VDD
SG
COM
EMG
ALM
SON
RA2
(Note 2)
N
C
N/
P
P/
P1
(Note 4) 5m(16.4ft) or less
RDY
Ready
A
SE
RDY
output
R/L1
S/L2
B
B
C
C
Alarm
output
T/L3
RX
R
SX
S
(Note 1)
Phase detection
terminals
TX
T
Power regeneration
converter FR-RC
FR-RC
B
C
RA2
EMG
Operation ready
ON
OFF
MC
MC
SK
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the
FR-RC will not operate.
2. For the servo amplifiers of 5k and 7kW, always remove the wiring (across P-C) of the built-in regenerative resistor.
3. Refer to the power return converter FR-RC instruction manual (IB(NA)-66330) for the power factor improving reactor to be
used.
When using FR-RC with the servo amplifier of 11k to 22kW, do not use the power factor improving reactor (FR-BEL) together.
4. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.)
5. Refer to section 1.3 for the power supply specification.
13 - 18
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outside dimensions of the power regeneration converters
[Unit : mm(in)]
Mounting foot (removable)
Mounting foot
movable
E
2- D hole
Rating plate
Display
panel
window
BA
B
Front cover
Cooling fan
D
K
F
EE
AA
C
A
Heat generation area outside mounting dimension
Power
regeneration
converter
A
AA
B
BA
C
D
E
EE
K
F
Approx.
mass [kg(Ib)]
FR-RC-15K
270
(10.6)
200
(7.87)
450
(17.7)
432
(17.0)
195
(7.68)
10
(0.39)
10
(0.39)
8
(0.32)
3.2
(0.13)
87
(3.43)
19
(41.9)
FR-RC-30K
340
(13.4)
270
(10.6)
600
(23.6)
582
(22.9)
195
(7.68)
10
(0.39)
10
(0.39)
8
(0.32)
3.2
(0.13)
90
(3.54)
31
(68.3)
FR-RC-55K
480
(18.9)
410
(16.1)
700
(27.6)
670
(26.4)
250
(9.84)
12
(0.47)
15
(0.59)
15
(0.59)
3.2
(0.13)
135
(5.32)
55
(121)
(4) Mounting hole machining dimensions
When the power regeneration converter is fitted to a totally enclosed type box, mount the heat
generating area of the converter outside the box to provide heat generation measures. At this time, the
mounting hole having the following dimensions is machined in the box.
(AA)
(Mounting hole)
b
(BA)
[Unit : mm(in)]
(2- D hole)
a
13 - 19
Model
a
b
D
AA
BA
FR-RC-15K
260
(10.2)
412
(16.2)
10
(0.39)
200
(7.87)
432
(17.0)
FR-RC-30K
330
(13.0)
562
(22.1)
10
(0.39)
270
(10.6)
582
(22.9)
FR-RC-55K
470
(18.5)
642
(25.3)
12
(0.47)
410
(16.1)
670
(26.4)
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.4 External dynamic brake
POINT
Configure up a sequence which switches off the contact of the brake unit
after (or as soon as) it has turned off the servo on signal at a power failure
or failure.
For the braking time taken when the dynamic brake is operated, refer to
section 12.3.
The brake unit is rated for a short duration. Do not use it for high duty.
(1) Selection of dynamic brake
The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs
or the protective circuit is activated, and is built in the 7kW or less servo amplifier. Since it is not built
in the 11kW or more servo amplifier, purchase it separately if required. Set " 1
" in the parameter
No. 1.
Servo amplifier
Dynamic brake
MR-J2S-11KA
DBU-11K
MR-J2S-15KA
DBU-15K
MR-J2S-22KA
DBU-22K
13 - 20
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Connection example
Servo amplifier
Operation-ready
ON
(Note 1) EMG OFF
MC
CN1B
MC
SK
NFB
3
VDD
13
COM
18
DB
RA1
MC
Servo motor
L1
(Note 3)
Power
supply
L2
U
L3
V
L11
W
U
V
E
L21
P
CN1B
P1
5
SON
15
EMG
10
SG
Plate
SD
(Note 2)
M
W
RA1
EMG
14
13 U
V W
a
RA1
b
Dynamic brake
Note 1. Configure up the circuit so that power is switched off in the external sequence at servo alarm occurrence.
2. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.) When using the power factor
improving DC reactor, refer to section 13.2.4.
3. Refer to section 1.3 for the power supply specification.
Coasting
Coasting
Servo motor rotation
Dynamic brake
Dynamic brake
Present
Alarm
Absent
Base
RA1
Dynamic brake
ON
OFF
ON
OFF
Invalid
Valid
Short
Emergency stop
(EMG)
Open
a. Timing chart at alarm occurrence
b. Timing chart at emergency stop (EMG) validity
13 - 21
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outline dimension drawing
[Unit: mm]
([Unit: in])
D
(0.2)5
100(3.94)
E
B
A
E
5
(0.2)
G
D
C
2.3(0.09)
F
Terminal block
E
a
(GND)
U
b 13 14
V W
Screw : M4
Tightening torque : 1.2 [N m](10.6 [lb in])]
Screw : M3.5
Tightening torque : 0.8 [N m](7 [lb in])]
Dynamic brake
A
B
C
D
E
F
G
Mass
[kg]([Ib])
Connection
wire [mm2]
DBU-11K
200
(7.87)
190
(7.48)
140
(5.51)
20
(0.79)
5
(0.2)
170
(6.69)
163.5
(6.44)
2 (4.41)
5.5
DBU -15K, 22K
250
(9.84)
238
(9.37)
150
(5.91)
25
(0.98)
6
(0.24)
235
(9.25)
228
(8.98)
6 (13.23)
5.5
13 - 22
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.5 Cables and connectors
(1) Cable make-up
The following cables are used for connection with the servo motor and other models. Those indicated
by broken lines in the figure are not options.
9)
Operation
panel
Servo amplifier
Controller
CN1A CN1B
11)
10)
Personal
computer
CN2 CN3
14)
10)
11)
CON2 CN4
(Note 1)
12)
13)
21) (Note 2)
HA-LFS
To U, V, W,
19) 20)
HC-KFS
HC-MFS
HC-UFS 3000r/min
1) 2)
3) 4) 5)
6)
7) 8)
HC-SFS
HC-RFS
HC-UFS 2000r/min
15) 16) 17) 18)
3) 4) 5)
7) 8)
Note 1. Use 12) and 13) with 7kW or less.
2. Use 21) with 11kW or more.
13 - 23
13. OPTIONS AND AUXILIARY EQUIPMENT
No.
Product
Model
Description
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
Application
Standard
Housing
: 1-172161-9
flexing life
Connector pin : 170359-1
(Tyco Electronics or equivalent) IP20
Cable clamp : MTI-0002
(Toa Electric Industry)
1)
Standard encoder MR-JCCBL M-L
cable
Refer to (2) in this
section.
2)
Long flexing life
encoder cable
3)
Standard encoder MR-JHSCBL M-L Connector: 10120-3000PE
cable
Refer to (2) in this Shell kit: 10320-52F0-008
(3M or equivalent)
section.
4)
Long flexing life
encoder cable
MR-JHSCBL M-H
Refer to (2) in this
section.
5)
IP65-compliant
encoder cable
MR-ENCBL M-H
Refer to (2) in this
section.
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
Connector
: D/MS3106A20-29S (D190)
Cable clamp: CE3057-12A-3-D
Back shell: CE02-20BS-S-D
(DDK)
6)
Encoder
connector set
MR-J2CNM
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
Housing
: 1-172161-9
IP20
Connector pin: 170359-1
(Tyco Electronics or equivalent)
Cable clamp : MTI-0002
(Toa Electric Industry)
7)
Encoder
connector set
MR-J2CNS
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
Connector: D/MS3106B20-29S
Cable clamp: D/MS3057-12A
(DDK)
8)
Encoder
connector set
MR-ENCNS
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
MR-JCCBL M-H
Refer to (2) in this
section.
Long flexing
life
IP20
Connector: D/MS3106B20-29S
Cable clamp: D/MS3057-12A
(DDK)
Standard
flexing life
IP20
Long flexing
life
13 - 24
Long flexing
life
IP65
IP67
Not oilresistant.
IP20
Connector
IP65
: D/MS3106A20-29S (D190) IP67
Cable clamp: CE3057-12A-3-D
Back shell: CE02-20BS-S-D
(DDK)
13. OPTIONS AND AUXILIARY EQUIPMENT
No.
9)
10)
11)
Product
16)
17)
18)
19)
Junction
terminal block
cable
MR-J2TBL M
Refer to section
13.1.6.
Connector: HIF3BA-20D-2.54R
(Hirose Electric)
Junction
terminal block
MR-TB20
Refer to section 13.1.6.
Bus cable
MR-J2HBUS M
Refer to section
13.1.7.
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
Maintenance
junction card
MR-J2CN3TM
Refer to section 13.1.7.
Communication
cable
MR-CPCATCBL3M Connector: 10120-6000EL
Refer to (3) in this Shell kit: 10320-3210-000
(3M or equivalent)
section.
Power supply
connector set
MR-PWCNS1
Refer to the Servo
Motor Instruction
Manual.
Connector: CE05-6A22-23SD-D-BSS
Cable clamp:CE3057-12A-2-D
(DDK)
Power supply
connector set
MR-PWCNS2
Refer to the Servo
Motor Instruction
Manual.
Connector: CE05-6A24-10SD-D-BSS
Cable clamp: CE3057-16A-2-D
(DDK)
Power supply
connector set
MR-PWCNS3
Refer to the Servo
Motor Instruction
Manual.
Plug: CE05-6A32-17SD-D-BSS
Cable clamp: CE3057-20A-1-D
(DDK)
Brake connector
set
MR-BKCN
Refer to the Servo
Motor Instruction
Manual.
Plug: D/MS3106A10SL-4S (D190) (DDK)
Cable connector: YS010-5-8 (Daiwa Dengyo)
Power supply
connector set
MR-PWCNK1
Refer to the Servo
Motor Instruction
Manual.
Plug: 5559-04P-210
Terminal: 5558PBT3L (For AWG16)(6 pcs.)
(Molex)
IP20
MR-PWCNK2
Plug: 5559-06P-210
Terminal: 5558PBT3L (For AWG16)(8 pcs.)
(Molex)
For motor
with brake
IP20
Power supply
20) connector set
Monitor cable
21)
Application
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
14)
15)
Description
MR-J2CN1
12)
13)
Model
Control signal
connector set
MR-H3CBL1M
Qty: 2 each
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
For
maintenance
junction
card
connection
Connector: DE-9SF-N
Case: DE-C1-J6-S6
(Japan Aviation Electronics)
For
connection
with PC-ATcompatible
personal
computer
Servo amplifier side connector
(Tyco Electronics)
Housing: 171822-4
13 - 25
For junction
terminal
block
connection
EN
Standardcompliant
IP65 IP67
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Encoder cable
CAUTION
If you have fabricated the encoder cable, connect it correctly.
Otherwise, not doing so may cause unexpected operation.
POINT
The encoder cable is not oil resistant.
Refer to section 12.4 for the flexing life of the encoder cable.
When the encoder cable is used, the sum of the resistance values of the
cable used for P5 and the cable used for LG should be within 2.4 .
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-JCCBL M-L MR-JCCBL M-H
These encoder cables are used with the HC-KFS HC-MFS HC-UFS3000r/min series servo
motors.
1) Model explanation
Model: MR-JCCBL
MSymbol
L
H
Specifications
Standard flexing life
Long flexing life
Symbol (Note) Cable length [m(ft)]
2
2 (6.56)
5
5 (16.4)
10
10 (32.8)
20
20 (65.6)
30
30 (98.4)
40
40 (131.2)
50
50 (164.0)
Note. MR-JCCBL M-H has no 40m(131.2ft)
and 50m(164.0ft) sizes.
2) Connection diagram
For the pin assignment on the servo amplifier side, refer to section 3.3.1.
Encoder cable
supplied to servo motor
Servo amplifier
Encoder connector
Encoder cable
(option or fabricated)
CN2
Servo motor
Encoder
50m(164.0ft) max.
Encoder connector
172161-9
(Tyco Electronics)
1
MR
4
MD
7
P5
30cm
(0.98ft)
13 - 26
2
3
MRR BAT
5
6
MDR
8
9
LG SHD
13. OPTIONS AND AUXILIARY EQUIPMENT
MR-JCCBL10M-L
to
MR-JCCBL30M-L
MR-JCCBL2M-L
MR-JCCBL5M-L
MR-JCCBL2M-H
MR-JCCBL5M-H
Encoder side
Drive unit side
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
MR
MRR
MD
MDR
BAT
LG
7
17
6
16
9
1
7
8
1
2
4
5
3
19
11
20
12
18
2
MR
MRR
MD
MDR
BAT
LG
7
17
6
16
9
1
(Note)
SD
Plate
Encoder side
Drive unit side
P5
LG
P5
LG
P5
LG
MR-JCCBL10M-H
to
MR-JCCBL50M-H
7
8
1
2
4
5
3
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
MR
MRR
MD
MDR
BAT
LG
7
17
6
16
9
1
(Note)
9
SD
Plate
Encoder side
Drive unit side
7
8
1
2
4
5
3
(Note)
9
SD
Plate
9
Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.
When fabricating an encoder cable, use the recommended wires given in section 13.2.1 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 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.
For use of AWG22
Drive unit side
Encoder side
(3M)
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
MR
MRR
7
17
BAT
LG
9
1
SD
Plate
7
8
1
2
3
(Note)
9
Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.
13 - 27
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL M-H
These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors.
1) Model explanation
Model: MR-JHSCBL
MSymbol
L
H
Specifications
Standard flexing life
Long flexing life
Symbol (Note) Cable length [m(ft)]
2
2 (6.56)
5
5 (16.4)
10
10 (32.8)
20
20 (65.6)
30
30 (98.4)
40
40 (131.2)
50
50 (164.0)
Note. MR-JHSCBL M-L has no 40m(131.2ft)
and 50m(164.0ft) sizes.
Model: MR-ENCBL
M-H
Long flexing life
Symbol
2
5
10
20
30
40
50
Cable length [m(ft)]
2 (6.56)
5 (16.4)
10 (32.8)
20 (65.6)
30 (98.4)
40 (131.2)
50 (164.0)
2) Connection diagram
For the pin assignment on the servo amplifier side, refer to section 3.3.1.
Servo amplifier
Encoder connector
Encoder cable
(Optional or fabricated)
CN2
Encoder connector
Servo motor
L
Encoder
50m(164.0ft) max.
13 - 28
K T
J
H
AB
M
N
S
C
P D
E
F
G
R
Pin Signal
A
MD
B MDR
C
MR
D MRR
E
F
BAT
G
LG
H
J
Pin Signal
K
L
M
N SHD
P
R
LG
S
P5
T
13. OPTIONS AND AUXILIARY EQUIPMENT
MR-JHSCBL2M-L
MR-JHSCBL5M-L
MR-JHSCBL2M-H
MR-JHSCBL5M-H
MR-ENCBL2M-H
MR-ENCBL5M-H
Servo amplifier side
Encoder side
P5
LG
P5
LG
MR
MRR
P5
LG
BAT
LG
SD
19
11
20
12
7
17
18
2
9
1
Servo amplifier side
R
C
D
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
F
G
MR
MRR
7
17
BAT
LG
9
1
SD
Plate
S
(Note 1)
Plate
MR-JHSCBL10M-L
to
MR-JHSCBL30M-L
Encoder side
MR-JHSCBL10M-H
to
MR-JHSCBL50M-H
MR-ENCBL10M-H
to
MR-ENCBL50M-H
Servo amplifier side
Encoder side
S
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
R
C
D
MR
MRR
7
17
R
C
D
F
G
BAT
LG
9
1
F
G
N
SD
Plate
S
N
(Note 2) Use of AWG24
(Less than 10m(32.8ft))
(Note 1)
Use of AWG22
(10m(32.8ft) to 50m(164.0ft))
(Note 1)
N
Use of AWG24
(10m(32.8ft) to 50m(164.0ft))
Note 1. This wiring is required for use in the absolute position detection system. This wiring is not needed for use in the incremental
system.
2. AWG28 can be used for 5m(16.4ft) or less.
When fabricating an encoder cable, use the recommended wires given in section 13.2.1 and the
MR-J2CNS connector set for encoder cable fabrication, and fabricate an encoder cable in
accordance with the optional encoder cable wiring diagram given of this section. You can
fabricate an encoder cable of up to 50m(164.0ft) length.
Refer to chapter 3 of the servo motor instruction guide and choose the encode side connector
according to the servo motor installation environment.
13 - 29
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Communication cable
POINT
This cable may not be used with some personal computers. After fully
examining the signals of the RS-232C connector, refer to this section and
fabricate the cable.
(a) Model definition
Model: MR-CPCATCBL3M
Cable length 3[m](10[ft])
(b) Connection diagram
MR-CPCATCBL3M
Personal computer side
Servo amplifier side
Plate
FG
TXD
3
2
1
RXD
LG
RXD
2
12
TXD
GND
RTS
5
7
11
LG
CTS
8
DSR
DTR
6
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.
13 - 30
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.6 Junction terminal block (MR-TB20)
POINT
When using the junction terminal block, you cannot use SG of CN1A-20
and CN1B-20. Use SG of CN1A-10 and CN1B-10.
(1) How to use the junction terminal block
Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MRJ2TBL M) as a set. A connection example is shown below.
Servo amplifier
Junction terminal block
MR-TB20
Cable clamp
(AERSBAN- ESET)
CN1A
or
CN1B
Junction terminal
block cable
(MR-J2TBL05M)
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 13.2.7 (2) (c).
(2) Terminal labels
Among the terminal block labels for the junction terminal block, use the two for the MR-J2S-A(MR-J2A). When changing the input signals in parameters No. 43 to 48, refer to (4) in this section and section
3.3 and apply the accessory signal seals to the labels.
17
19
18
9
8
7
6
5
SG TLA RES LSP ALM SD
4
3
16
15
14
13
12
10
TL P15R COM EMG LSN ZSP
VC DO1 TLC PC
2
6
SD
0
5
11
LG VDD SON
19
OP LAR INP
8
NG
9
17
SG
7
CR
4
18
16
15
13
2
1
0
14
12
10
LB COM OPC PG LZR LBR RD
LZ
NP P15R LA
3
PP
11
LG
2) For CN1B
1
1) For CN1A
(3) Outline drawing
[Unit: mm]
([Unit: in.])
126(4.96)
B10
A1
A10
MITSUBISHI
MR-TB20
16 17 18 19
10 11 12 13 14 15
60(2.36)
B1
50(1.97)
117(4.61)
Terminal
block No.
3
4
5
6
7
8
9
2- 4.5(0.18)
46.2(1.82)
2
13 - 31
(0.28)
1
7
0
Terminal screw: M3.5
Applicable cable: Max. 2mm 2
(Crimping terminal width: 7.2mm (0.283 in) max.)
13. OPTIONS AND AUXILIARY EQUIPMENT
(4) Junction terminal block cable (MR-J2TBL M)
Model: MR-J2TBL
M
Symbol
05
1
Cable length [m(ft)]
0.5 (1.64)
1 (3.28)
Junction terminal block side connector (Hirose Electric)
HIF3BA-20D-2.54R (connector)
Servo amplifier side (CN1A CN1B) connector (3M)
10120-6000EL (connector)
10320-3210-000 (shell kit)
(Note) Symbol
Junction terminal
Position control mode Speed control mode Torque control mode
block terminal No.
For CN1A For CN1B For CN1A For CN1B For CN1A For CN1B
10
LG
LG
LG
LG
LG
LG
0
VC
NP
VC
VLA
11
PP
VDD
VDD
VDD
1
P15R
DO1
P15R
DO1
DO1
P15R
LZ
12
LZ
SON
LZ
SON
SON
2
LA
TLC
TLC
VLC
LA
LA
13
LB
SP2
LB
LB
SP2
3
SP1
SP1
CR
PC
ST1
RS2
14
COM
COM
TLC
COM
ST2
RS1
4
SG
SG
SG
SG
SG
SG
15
P15R
P15R
P15R
OPC
5
TLA
TLA
TC
NG
16
COM
PG
COM
COM
6
OP
OP
RES
OP
RES
RES
17
LZR
EMG
EMG
EMG
LZR
LZR
7
LAR
LAR
LAR
LSP
LSP
18
LBR
LSN
LSN
LBR
LBR
8
ALM
SA
ALM
INP
ALM
19
RD
ZSP
RD
ZSP
RD
ZSP
SD
SD
SD
SD
SD
SD
9
Pin
No.
Pin
No.
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
B7
A7
B8
A8
B9
A9
B10
A10
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Plate
Note. The labels supplied to the junction terminal block are designed for the position control mode. When using the junction terminal
block in the speed or torque control mode, change the signal abbreviations using the accessory signal seals.
13 - 32
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.7 Maintenance junction card (MR-J2CN3TM)
POINT
Cannot be used with the MR-J2S-11KA to MR-J2S-22KA.
(1) Usage
The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and
analog monitor outputs are used at the same time.
Servo amplifier
Communication cable
Maintenance junction card (MR-J2CN3TM)
Bus cable
MR-J2HBUS M
CN3B
CN3
CN3A
CN3C
B3 B2 B1 B5 B6 A5 A6
A1 A2 A3 A4 B4
VDD COM EM1 DI MBR EMGO SG PE
LG
LG
MO1 MO2
Analog monitor 2
Not used.
Analog monitor 1
(2) Connection diagram
B5
CN3A
LG1
2
RXD
LG3
4
MO1
5
RDP
6
7
MO3
8
SDP
9
TRE
10
LG
11
TXD
12
LG
13
MO2
14
15
16
17
18
SDN
19
P5
20
Shell
CN3B
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
CN3C
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Shell
TE1
LG
B6
1
A5
3
4
5
A6
10
A1
LG
MO1
MO2
VDD
A2
13
14
15
COM
A3
EM1
A4
DI
B4
MBR
B3
19
20
EMGO
B2
SG
B1
Shell
Not used.
PE
(3) Outline drawing
[Unit: mm]
([Unit: in])
CN3A
CN3B
CN3C
A1
A6
B1
75(2.95)
MR-J2CN3TM
2- 5.3(0.21)(mounting hole)
B6
TE1
3(0.12)
88(3.47)
41.5(1.63)
100(3.94)
Mass: 110g(0.24Ib)
13 - 33
13. OPTIONS AND AUXILIARY EQUIPMENT
(4) Bus cable (MR-J2HBUS
M)
Model: MR-J2HBUS
M
Symbol
05
1
5
Cable length [m(ft)]
0.5 (1.64)
1 (3.28)
5 (16.4)
MR-J2HBUS05M
MR-J2HBUS1M
MR-J2HBUS5M
10120-6000EL (connector)
10320-3210-000 (shell kit)
10120-6000EL (connector)
10320-3210-000 (shell kit)
1
11
2
12
3
13
4
14
5
15
6
16
7
17
8
18
9
19
10
20
1
11
2
12
3
13
4
14
5
15
6
16
7
17
8
18
9
19
10
20
Plate
Plate
13.1.8 Battery (MR-BAT, A6BAT)
POINT
The revision (Edition 44) of the Dangerous Goods Rule of the
International Air Transport Association (IATA) went into effect on
January 1, 2003 and was enforced immediately. In this rule, "provisions of
the lithium and lithium ion batteries" were revised to tighten the
restrictions on the air transportation of batteries. However, since this
battery is non-dangerous goods (non-Class 9), air transportation of 24 or
less batteries is outside the range of the restrictions. Air transportation of
more than 24 batteries requires packing compliant with the Packing
Standard 903. When a self-certificate is necessary for battery safety tests,
contact our branch or representative. For more information, consult our
branch or representative. (As of Dec., 2007).
Use the battery to build an absolute position detection system.
13 - 34
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.9 MR Configurator (Servo configurations software)
The MR Configurator (servo configuration software MRZJW3-SETUP151E) uses the communication
function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc.
on a personal computer.
(1) Specifications
Item
Description
Communication signal
Baud rate [bps]
Conforms to RS-232C.
57600, 38400, 19200, 9600
Display, high speed monitor, trend graph
Minimum resolution changes with the processing speed of the personal computer.
Monitor
Alarm
Display, history, amplifier data
Diagnostic
Digital I/O, no motor rotation, total power-on time, amplifier version info, motor information,
tuning data, absolute encoder data, automatic voltage control, Axis name setting.
Parameters
Parameter list, turning, change list, detailed information
Test operation
Jog operation, positioning operation, motor-less operation, Do forced output, program operation.
Advanced function
File operation
Others
Machine analyzer, gain search, machine simulation.
Data read, save, print
Automatic demo, help display
(2) System configuration
(a) Components
To use this software, the following components are required in addition to the servo amplifier and
servo motor.
Model
(Note 2)
Personal
computer
OS
Display
Keyboard
Mouse
Printer
Communication
cable
RS-232C/RS-422
converter
(Note 1) Description
IBM PC-AT compatible where the English version of Windows® 95, Windows® 98, Windows® Me,
Windows NT® Workstation 4.0, Windows® 2000 Professional, Windows® XP Professional and Windows®
XP Home Edition operates
Processor: Pentium® 133MHz or more (Windows® 95, Windows® 98, Windows NT® Workstation 4.0,
Windows® 2000 Professional)
Pentium® 150MHz or more (Windows® Me)
Pentium® 300MHz or more (Windows® XP Professional, Windows® XP Home Edition)
Memory: 16MB or more (Windows® 95)
24MB or more (Windows® 98)
32MB or more (Windows® Me, Windows NT® Workstation 4.0, Windows® 2000 Professional)
128MB or more (Windows® XP Professional, Windows® XP Home Edition)
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 800 600 or more and that can provide a high color (16 bit) display.
Connectable with the above personal computer.
Connectable with the above personal computer.
Connectable with the above personal computer. Note that a serial mouse is not used.
Connectable with the above personal computer.
MR-CPCATCBL3M
When this cannot be used, refer to section 13.1.5 (3) and fabricate.
Required for use of the RS-422 multidrop communication function of the servo amplifier.
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.
13 - 35
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Configuration diagram
1) When using RS-232C
Servo amplifier
Personal computer
Communication cable
CN3
CN2
Servo motor
To RS-232C
connector
2) When using RS-422
You can make multidrop connection of up to 32 axes.
Servo amplifier
Personal computer
RS-232C/RS-422
(Note)
converter
Communication cable
CN3
CN2
Servo motor
(Axis 1)
To RS-232C
connector
Servo amplifier
CN3
CN2
Servo motor
(Axis 2)
Servo amplifier
CN3
CN2
(Axis 32)
Note. For cable connection, refer to section 14.1.1.
13 - 36
Servo motor
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.10 Power regeneration common converter
POINT
For details of the power regeneration common converter FR-CV, refer to
the FR-CV Installation Guide (IB(NA)0600075).
Do not supply power to the main circuit power supply terminals (L1, L2, L3)
of the servo amplifier. Doing so will fail the servo amplifier and FR-CV.
Connect the DC power supply between the FR-CV and servo amplifier
with correct polarity. Connection with incorrect polarity will fail the FRCV and servo amplifier.
Two or more FR-CV's cannot be installed to improve regeneration
capability. Two or more FR-CV's cannot be connected to the same DC
power supply line.
When using the power regeneration common converter, set parameter No. 0 to "01
".
(1) Selection
The power regeneration common converter FR-CV can be used with 750 to 22kW servo amplifiers.
There are the following restrictions on use of the FR-CV.
(a) Up to six servo amplifiers can be connected to one FR-CV.
(b) FR-CV capacity [W]
Total of rated capacities [W] of servo amplifiers connected to FR-CV
2
(c) The total of used servo motor rated currents should be equal to or less than the applicable current
[A] of the FR-CV.
(d) Among the servo amplifiers connected to the FR-CV, the servo amplifier of the maximum capacity
should be equal to or less than the maximum connectable capacity [W].
The following table lists the restrictions.
FR-CV-
Item
7.5K
11K
15K
Maximum number of connected servo amplifiers
22K
30K
37K
55K
6
Total of connectable servo amplifier capacities [kW]
3.75
5.5
7.5
11
15
18.5
27.5
Total of connectable servo motor rated currents [A]
33
46
61
90
115
145
215
Maximum servo amplifier capacity [kW]
3.5
5
7
11
15
15
22
When using the FR-CV, always install the dedicated stand-alone reactor (FR-CVL).
Power regeneration common converter
Dedicated stand-alone reactor
FR-CV-7.5K(-AT)
FR-CVL-7.5K
FR-CV-11 K(-AT)
FR-CVL-11K
FR-CV-15K(-AT)
FR-CVL-15K
FR-CV-22K(-AT)
FR-CVL-22K
FR-CV-30K(-AT)
FR-CVL-30K
FR-CV-37K
FR-CVL-37K
FR-CV-55K
FR-CVL-55K
13 - 37
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Connection diagram
NFB
(Note 6)
Power
supply
FR-CVL
MC
FR-CV
R/L11
R2/L12
S/L21
S2/L22
T/L31
T2/L32
Servo amplifier
R2/L1
S2/L2
(Note 5)
Servo motor
L11
U
U
L21
V
V
P1
W
T2/L3 P/L
P
P/L
N
W Thermel
relay
OHS2
(Note 4)
(Note 2)
CN2
OHS1
R/L11
S/L21
T/MC1
P24
SD
SG
RESET
RES
SD
RDYB
RA1
RA2 RA3 RA4 EMG OFF
EMG
RDYA
ON
SE
A
MC
B
MC
C
(Note 3)
SON
(Note 3)
EMG
RSO
(Note 1) (Note 2) (Note 1)
RA1
SON
RA2
(Note
1)
RES
SG
SG
ALM
(Note1)
RA3
RA2
(Note 1)
VIN
SK
24VDC
power
supply
RA4
Note 1. Configure a sequence that will shut off main circuit power in the following cases.
Alarm occurred in the FR-CV or the servo amplifier.
Emergency stop is activated.
2. For the servo motor with thermal relay, configure a sequence that will shut off main circuit power when the thermal relay
operates.
3. For the servo amplifier, configure a sequence that will switch the servo on after the FR-CV is ready.
4. For 7kW or less servo amplifier, always remove the wiring (3.5kW or less: across P-D, 5k 7kW: across P-C) of built-in
regenerative resistor.
5. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.)
6. Refer to section 1.3 for the power supply specification.
(3) Wires used for wiring
(a) Wire sizes
1) Across P-P, N-N
The following table indicates the connection wire sizes of the DC power supply (P, N terminals)
between the FR-CV and servo amplifier. The used wires are based on the 600V vinyl wires.
Total of servo amplifier capacities [kW]
Wires[mm2]
1 or less
2
5
7
11
15
22
2
3.5
5.5
8
14
22
50
13 - 38
13. OPTIONS AND AUXILIARY EQUIPMENT
2) Grounding
For grounding, use the wire of the size equal to or greater than that indicated in the following
table, and make it as short as possible.
Power regeneration common converter
Grounding wire size [mm2]
FR-CV-7.5K TO FR-CV-15K
FR-CV-22K • FR-CV-30K
FR-CV-37K • FR-CV-55K
14
22
38
(b) Example of selecting the wire sizes
When connecting multiple servo amplifiers, always use junction terminals for wiring the servo
amplifier terminals P, N. Also, connect the servo amplifiers in the order of larger to smaller
capacities.
Wire as short as possible.
FR-CV-55K
R2/L1
P/L
S2/L2
N/L
T2/L3
50mm
22mm2
2
22mm2
8mm2
Servo amplifier (7kW)
Second unit:
P
(Note)
22mm2 assuming that the total of servo amplifier
N
capacities is 15kW since 7kW + 3.5kW + 2.0kW =
12.5kW.
5.5mm2
Servo amplifier (3.5kW)
Third unit:
P
(Note)
8mm2 assuming that the total of servo amplifier
N
capacities is 7kW since 3.5kW + 2.0kW = 5.5kW.
R/L11
S/L21
T/MC1
Servo amplifier (15kW)
First unit:
P
50mm2 assuming that the total of servo amplifier
N
capacities is 27.5kW since 15kW + 7kW + 3.5kW
+ 2.0kW = 27.5kW.
8mm2
3.5mm2
3.5mm2
Servo amplifier (2kW)
Fourth unit:
P
(Note)
3.5mm 2 assuming that the total of servo amplifier
N
capacities is 2kW since 2.0kW = 2.0kW.
Junction terminals
Overall wiring length 5m or less
Note. For 7kW or less servo amplifier, always remove the wiring (3.5kW or less: across P-D, 5k
regenerative resistor.
7kW: across P-C) of built-in
(4) Other precautions
(a) Always use the FR-CVL as the power factor improving reactor. Do not use the FR-BAL or FR-BEL.
(b) The inputs/outputs (main circuits) of the FR-CV and servo amplifiers include high-frequency
components and may provide electromagnetic wave interference to communication equipment
(such as AM radios) used near them. In this case, interference can be reduced by installing the
radio noise filter (FR-BIF) or line noise filter (FR-BSF01, FR-BLF).
(c) The overall wiring length for connection of the DC power supply between the FR-CV and servo
amplifiers should be 5m or less, and the wiring must be twisted.
13 - 39
13. OPTIONS AND AUXILIARY EQUIPMENT
(5) Specifications
Power regeneration common converter
FR-CV-
7.5K
11K
15K
22K
30K
37K
55K
Item
Total of connectable servo amplifier capacities
[kW]
3.75
5.5
7.5
11
15
18.5
27.5
Maximum servo amplifier capacity
[kW]
3.5
5
7
11
15
15
22
Total of connectable servo motor rated
currents
[A]
33
46
61
90
115
145
215
Output
Power supply
Regenerative
braking torque
Short-time
rating
Total capacity of applicable servo motors, 300% torque, 60s (Note1)
Continuous
rating
100% torque
Rated input AC voltage/frequency
Three-phase 200 to 220V 50Hz, 200 to 230V 60Hz
Permissible AC voltage fluctuation
Three-phase 170 to 242V 50Hz, 170 to 253V 60Hz
Permissible frequency fluctuation
Power supply capacity(Note2)
[kVA]
5%
17
20
Protective structure (JEM 1030), cooling system
-10
Ambient humidity
Ambience
41
52
66
100
Open type (IP00), forced cooling
Ambient temperature
Environment
28
(14
) to +50
(122
) (non-freezing)
90%RH or less (non-condensing)
Indoors (without corrosive gas, flammable gas, oil mist, dust and dirt)
Altitude, vibration
1000m or less above sea level, 5.9m/s2 or less
No-fuse breaker or leakage current breaker
30AF
30A
50AF
50A
100AF
75A
100AF
100A
225AF
125A
225AF
125A
225AF
175A
Magnetic contactor
S-N20
S-N35
S-N50
S-N65
S-N95
S-N95
S-N125
Note 1. This is the time when the protective function of the FR-CV is activated. The protective function of the servo amplifier is activated
in the time indicated in section 12.1.
2. When connecting the capacity of connectable servo amplifier, specify the value of servo amplifier.
13 - 40
13. OPTIONS AND AUXILIARY EQUIPMENT
13.1.11 Heat sink outside mounting attachment (MR-JACN)
Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier
in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and
reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed.
In the control box, machine a hole having the panel cut dimensions, fit the heat sink outside mounting
attachment to the servo amplifier with the fitting screws (4 screws supplied), and install the servo
amplifier to the control box.
The environment outside the control box when using the heat sink outside mounting attachment should
be within the range of the servo amplifier operating environment conditions.
(1) Panel cut dimensions
4-M10 Screw
125
39.5
(1.555) (4.921)
A
B
C
D
Servo amplifier
236
(9.291)
255
(10.039)
270
(10.63)
203
(7.992)
MR-J2S-11KA
MR-J2S-15KA
Model
MR-JACN15K
510 (20.079)
331 (13.031)
[Unit: mm(in)]
Changeable
dimension
Punched
hole
MR-JACN22K
326
345
360
290
(12.835)
(13.583)
(14.173)
(11.417)
18
(0.709)
39.5
(1.555)
535 (21.063)
D
A
B
C
(2) How to assemble the attachment for a heat sink outside mounting attachment
Screw
(2 places)
Screw
(4 places)
Attachment
MR-JACN15K
Attachment
MR-JACN22K
13 - 41
MR-J2S-22KA
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Fitting method
Attachment
Fit using the
assembling
screws.
Servo
amplifier
Servo
amplifier
Punched
hole
Attachment
Control box
a. Assembling the heat sink outside mounting attachment
b. Installation to the control box
(4) Outline dimension drawing
(a) MR-JACN15K (MR-J2S-11KA, MR-J2S-15KA)
[Unit: mm(in)]
145 (5.709)
194 (7.638)
84
(3.307)
236 (9.291)
280 (11.024)
260 (10.236)
400 (15.748)
Servo amplifier
Servo amplifier
35
(1.378)
510 (20.079)
Panel
Attachment
Attachment
12
(0.472)
580 (22.835)
58
(2.283)
20 (0.787)
4- 12
Mounting hole
Panel
3.2 (0.126)
155 (6.102)
105
(4.134)
260
(10.236)
13 - 42
11.5
(0.453)
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-JACN22K (MR-J2S-22KA)
[Unit: mm(in)]
145(5.709)
194(7.638)
Servo amplifier
370(14.567)
Servo amplifier
35(1.378)
84
(3.307)
326(12.835)
400(15.748)
58
510(20.079)
Panel
Attachment
Attachment
12
(0.472)
580(22.835)
(2.283)
68(2.677)
4- 12
Mounting hole
350(13.78)
Panel
3.2(0.126)
155(6.102)
105
(4.134)
260
(10.236)
13 - 43
11.5
(0.453)
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2 Auxiliary equipment
Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/CUL (CSA) Standard, use the products which conform to the corresponding standard.
13.2.1 Recommended wires
(1) Wires for power supply wiring
The following diagram shows the wires used for wiring. Use the wires given in this section or
equivalent.
3) Motor power supply lead
1) Main circuit power supply lead
Servo motor
Servo amplifier
Power supply
L1
U
U
L2
V
V
L3
W
W Motor
L11
6) Power regeneration
converter lead
L21
2) Control power supply lead
Power regeneration
converter
5) Electromagnetic
brake lead
ElectroB1 magnetic
B2 brake
N
Regenerative option
C
Encoder
P
4) Regenerative option lead
Encoder cable
(refer to section 13.1.5)
Power supply
Cooling fan
BU
BV
BW
Cooling fan lead
The following table lists wire sizes. The wires used assume that they are 600V vinyl wires and the
wiring distance is 30m(98.4ft) max. If the wiring distance is over 30m(98.4ft), choose the wire size in
consideration of voltage drop.
The alphabets (a, b, c) in the table correspond to the crimping terminals (Table 13.2) used to wire the
servo amplifier. For connection with the terminal block TE2 of the MR-J2S-100A or less, refer to
section 3.11.
The servo motor side connection method depends on the type and capacity of the servo motor. Refer to
section 3.8.
To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or
more for wiring.
13 - 44
13. OPTIONS AND AUXILIARY EQUIPMENT
Table 13.1 Recommended wires
Servo amplifier
(Note 1) Wires [mm2]
1) L1
L2
L3
2) L11
L21 3) U
V W
P1
P
4) P
C
N
5) B1 B2
6) BU BV
BW
MR-J2S-10A(1)
MR-J2S-20A(1)
MR-J2S-40A(1)
MR-J2S-60A
1.25 (AWG16) : a
2 (AWG14) : a
MR-J2S-70A
MR-J2S-100A
MR-J2S-200A
MR-J2S-350A
2 (AWG14) : a
3.5 (AWG12) : b
5.5 (AWG10) : b
MR-J2S-500A
1.25
(AWG16)
2 (AWG14) : a
3.5 (AWG12) : b
1.25 (AWG16)
(Note 2)
5.5 (AWG10) : b
5.5 (AWG10) : b
MR-J2S-700A
8 (AWG8) : c
8 (AWG8) : c
MR-J2S-11KA
14 (AWG6) :d
22 (AWG4) :e
MR-J2S-15KA
22 (AWG4) :e
30 (AWG2) :f
MR-J2S-22KA
50 (AWG1/0) :g
60 (AWG2/0) :g
3.5(AWG12) : b
5.5(AWG10) : b
2(AWG14)
Note 1. For the crimping terminals and applicable tools, refer to table 13.2.
2. 3.5mm2 for use of the HC-RFS203 servo motor.
Use wires 6) of the following sizes with the power regeneration converter (FR-RC).
Model
Wires[mm2]
FR-RC-15K
FR-RC-30K
FR-RC-55K
14(AWG6)
14(AWG6)
22(AWG4)
Table 13.2 Recommended crimping terminals
Symbol
a
b
c
d
e
(Note 1 2)
f
g
Servo amplifier side crimping terminals
Crimping terminal
Applicable tool
Manufacturer name
32959
47387
Tyco Electronics
FDV5.5-4
YNT-1210S
Body YF-1 E-4
Head YNE-38
FVD8-5
Dice DH-111 DH-121
Body YF-1 E-4
FVD14-6
Head YNE-38
Dice DH-112 DH-122
Japan Solderless
Body YF-1 E-4
Terminal
FVD22-6
Head YNE-38
Dice DH-113 DH-123
Body YPT-60-21
Dice TD-124 TD-112
38-S6
Body YF-1 E-4
Head YET-60-1
Dice TD-124 TD-112
NOP60
NICHIFU
R38-6S
NOM60
Body YDT-60-21
Dice TD-125 TD-113
Japan Solderless
(Note)R60-8
Body YF-1 E-4
Terminal
Head YET-60-1
Dice TD-125 TD-113
Note 1. Cover the crimped portion with an insulating tape.
2. Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the
size.
13 - 45
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Wires for cables
When fabricating a cable, use the wire models given in the following table or equivalent.
Table 13.3 Wires for option cables
Type
Model
MR-JCCBL M-L
MR-JCCBL M-H
Encoder cable
MR-JHSCBL M-L
MR-JHSCBL M-H
MR-ENCBL M-H
Communication
MR-CPCATCBL3M
cable
Bus cable
MR-J2HBUS M
Length
[m(ft)]
Core size Number
[mm2] of Cores
Characteristics of one core
Structure
Conductor
[Wires/mm] resistance[ /mm]
Wire model
ODd[mm] (Note 1)
(Note 3)
Finishing
OD [mm]
Insulation coating
2 to 10
(6.56 to 32.8)
0.08
12
(6 pairs)
7/0.127
222
0.38
5.6
UL20276 AWG#28
6pair (BLAC)
20 30
(65.6 98.4)
0.3
12
(6 pairs)
12/0.18
62
1.2
8.2
UL20276 AWG#22
6pair (BLAC)
2 5
(6.56 16.4)
0.2
12
(6 pairs)
40/0.08
105
0.88
7.2
(Note 2)
A14B2343 6P
10 to 50
(32.8 to 164)
0.2
14
(7 pairs)
40/0.08
105
0.88
8.0
(Note 2)
A14B0238 7P
2 5
(6.56 16.4)
0.08
8
(4 pairs)
7/0.127
222
0.38
4.7
UL20276 AWG#28
4pair (BLAC)
10 to 30
(32.8 to 98.4)
0.3
12
(6 pairs)
12/0.18
62
1.2
8.2
UL20276 AWG#22
6pair (BLAC)
2 5
(6.56 16.4)
0.2
8
(4 pairs)
40/0.08
105
0.88
6.5
(Note 2)
A14B2339 4P
10 to 50
(32.8 to 164)
0.2
12
(6 pairs)
40/0.08
105
0.88
7.2
(Note 2)
A14B2343 6P
2 5
(6.56 16.4)
0.2
8
(4 pairs)
40/0.08
105
0.88
6.5
(Note 2)
A14B2339 4P
10 to 50
(32.8 to 164)
0.2
12
(6 pairs)
40/0.08
105
0.88
7.2
(Note 2)
A14B2343 6P
3 (9.84)
0.08
6
(3 pairs)
7/0.127
222
0.38
4.6
UL20276 AWG#28
3pair (BLAC)
0.5 to 5
(1.64 to 16.4)
0.08
20
(10 pairs)
7/0.127
222
0.38
6.1
UL20276 AWG#28
10pair (CREAM)
Note 1. d is as shown below.
d
Conductor Insulation sheath
2. Purchased from Toa Electric Industry.
3. Standard OD. Max. OD is about 10% greater.
13 - 46
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2.2 No-fuse breakers, fuses, magnetic contactors
Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse
instead of the no-fuse breaker, use the one having the specifications given in this section.
Servo amplifier
No-fuse breaker
Class
MR-J2S-10A(1)
30A frame 5A
K5
MR-J2S-20A
30A frame 5A
K5
MR-J2S-40A 20A1 30A frame 10A
K5
MR-J2S-60A 40A1 30A frame 15A
K5
MR-J2S-70A
30A frame 15A
K5
MR-J2S-100A
30A frame 15A
K5
MR-J2S-200A
30A frame 20A
K5
MR-J2S-350A
30A frame 30A
K5
MR-J2S-500A
50A frame 50A
K5
MR-J2S-700A
100A frame 75A
K5
MR-J2S-11KA
100A frame 100A K5
MR-J2S-15KA
225A frame 125A K5
MR-J2S-22KA
225A frame 175A K5
Fuse
Current[A] Voltage AC [V]
10
10
15
20
20
25
40
250
70
125
150
200
250
350
Magnetic contactor
S-N10
S-N18
S-N20
S-N35
S-N50
S-N65
S-N95
S-N25
13.2.3 Power factor improving reactors
The input power factor is improved to be about 90%. For use with a 1-phase power supply, it may be
slightly lower than 90%.
[Unit : mm]
NFB
D 5
Installation screw
C
NFB
D1
RXSY T Z
MC
3-phase
200 to 230VAC
H 5
W
Servo amplifier
MR-J2S- A
FR-BAL
MC
(Note)
1-phase
230VAC
R
X
S
Y
T
Z
NFB
1-phase
100 to120VAC
MC
L2
L3
Servo amplifier
MR-J2S- A
FR-BAL
R
X
S
Y
T
Z
W1
L1
L1
L2
L3
Servo amplifier
MR-J2S- A1
FR-BAL
R
X
S
Y
T
Z
L1
L2
Note. For the 1-phase 230V power supply, Connect the power supply to L1, L2 and leave L3 open.
Servo amplifier
Model
MR-J2S-10A(1)/20A
MR-J2S-40A/20A1
MR-J2S-60A/70A/40A1
MR-J2S-100A
MR-J2S-200A
MR-J2S-350A
MR-J2S-500A
MR-J2S-700A/11KA
MR-J2S-15KA
MR-J2S-22KA
FR-BAL-0.4K
FR-BAL-0.75K
FR-BAL-1.5K
FR-BAL-2.2K
FR-BAL-3.7K
FR-BAL-7.5K
FR-BAL-11K
FR-BAL-15K
FR-BAL-22K
FR-BAL-30K
W
W1
135 (5.31)
135 (5.31)
160 (6.30)
160 (6.30)
220 (8.66)
220 (8.66)
280 (11.02)
295 (11.61)
290 (11.41)
290 (11.41)
120 (4.72)
120 (4.72)
145 (5.71)
145 (5.71)
200 (7.87)
200 (7.87)
255 (10.04)
270 (10.62)
240 (9.75)
240 (9.75)
Dimensions [mm (in) ]
H
D
115 (4.53)
115 (4.53)
140 (5.51)
140 (5.51)
192 (7.56)
194 (7.64)
220 (8.66)
275 (10.83)
301 (11.85)
301 (11.85)
59 (2.32)
69 (2.72)
71 (2.79)
91 (3.58)
90 (3.54)
120 (4.72)
135 (5.31)
133 (5.24)
199 (7.84)
219 (8.62)
13 - 47
D1
C
0
)
45-2.5 (1.77-0.098
0
0
57-2.5 (2.24-0.098)
0
0
55-2.5 (2.17-0.098)
0
0
75-2.5 (2.95-0.098)
0
0
70-2.5 (2.76-0.098)
0
0
100-2.5 (3.94-0.098)
0
0
100-2.5 (3.94-0.098)
0
0
110-2.5 (4.33-0.098)
170 5 (6.69 0.2)
190 5 (7.48 0.2)
7.5 (0.29)
7.5 (0.29)
7.5 (0.29)
7.5 (0.29)
10 (0.39)
10 (0.39)
12.5 (0.49)
12.5 (0.49)
25 (0.98)
25 (0.98)
0
Mounting Terminal
screw size screw size
M4
M4
M4
M4
M5
M5
M6
M6
M8
M8
M3.5
M3.5
M3.5
M3.5
M4
M5
M6
M6
M8
M8
Mass
[kg (lb)]
2.0 (4.4)
2.8 (6.17)
3.7 (8.16)
5.6 (12.35)
8.5 (18.74)
14.5 (32.0)
19 (41.9)
27 (59.5)
35 (77.16)
43 (94.79)
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2.4 Power factor improving DC reactors
The input power factor is improved to be about 95%.
(Note 1) Terminal cover
Screw size G
D
C or less
Rating plate
2-F L
Notch
H
B or less
L
E
A or less
F
Mounting foot part
5m or less
Servo amplifier
FR-BEL
P
(Note 2)
P1
Note 1. Fit the supplied terminal cover after wiring.
2. When using the DC reactor, remove the short-circuit bar across P1-P.
Servo amplifier
Power factor
improving DC
reactors
Dimensions [mm (in) ]
A
B
C
D
E
F
L
G
H
Terminal
Mass
screw size [kg (lb)]
Used wire
2
[mm ]
MR-J2S-11KA
FR-BEL-15K 170(6.69) 93(3.66) 170(6.69)2.3(0.09)155(6.10) 6(0.24) 14(0.55)
M8
56(2.21)
M5
3.8(8.38) 22(AWG4)
MR-J2S-15KA
FR-BEL-22K 185(7.28)119(4.69)182(7.17)2.6(0.10)165(6.49) 7(0.28) 15(0.59)
M8
70(2.77)
M6
5.4(11.91) 30(AWG2)
MR-J2S-22KA
FR-BEL-30K 185(7.28)119(4.69)201(7.91)2.6(0.10)165(6.49) 7(0.28) 15(0.59)
M8
70(2.77)
M6
6.7(14.77) 60(AWG1/0)
13 - 48
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2.5 Relays
The following relays should be used with the interfaces.
Interface
Relay used for
(interface DI-1)
digital
input
Selection example
command
signals To prevent defective contacts , use a relay for small signal
(twin contacts).
(Ex.) Omron : type G2A , MY
Relay used for digital output signals (interface DO-1)
Small relay with 12VDC or 24VDC of 40mA or less
(Ex.) Omron : type MY
13.2.6 Surge absorbers
A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent.
Insulate the wiring as shown in the diagram.
Maximum rating
Permissible circuit
voltage
AC[Vma]
Surge
immunity
Energy
immunity
Rated
power
DC[V]
[A]
[J]
[W]
180
(Note)
500/time
140
Note. 1 time
8
5
0.4
Maximum
limit voltage
[A]
25
[V]
360
Static
capacity
(reference
value)
Varistor voltage
rating (range) V1mA
[pF]
[V]
300
220
(198 to 242)
20 s
(Example) ERZV10D221 (Matsushita Electric Industry)
TNR-10V221K (Nippon chemi-con)
Outline drawing [mm] ( [in] ) (ERZ-C10DK221)
4.7 1.0 (0.19 0.04)
Vinyl tube
30.0 (1.18)
or more
0.8 (0.03)
3.0 (0.12)
or less
16.5
(0.65)
13.5 (0.53)
Crimping terminal
for M4 screw
13.2.7 Noise reduction techniques
Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and
those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier
is an electronic device which handles small signals, the following general noise reduction techniques are
required.
Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral devices malfunction due to noises produced by the servo amplifier, noise suppression measures
must be taken. The measures will vary slightly with the routes of noise transmission.
(1) Noise reduction techniques
(a) General reduction techniques
Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle
them together. Separate power lines from signal cables.
Use shielded, twisted pair cables for connection with the encoder and for control signal
transmission, and connect the shield to the SD terminal.
Ground the servo amplifier, servo motor, etc. together at one point (refer to section 3.10).
13 - 49
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Reduction techniques for external noises that cause the servo amplifier to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many
relays which make a large amount of noise) near the servo amplifier and the servo amplifier may
malfunction, the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and
other equipment against large exogenous noise and lightning surge, attaching a varistor to the
power input section of the equipment is recommended.
(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction
Noises produced by the servo amplifier are classified into those radiated from the cables connected
to the servo amplifier and its main circuits (input and output circuits), those induced
electromagnetically or statically by the signal cables of the peripheral devices located near the
main circuit cables, and those transmitted through the power supply cables.
13 - 50
13. OPTIONS AND AUXILIARY EQUIPMENT
Noises produced
by servo amplifier
Noises transmitted
in the air
Noise radiated directly
from servo amplifier
Route 1)
Noise radiated from the
power supply cable
Route 2)
Noise radiated from
servo motor cable
Route 3)
Magnetic induction
noise
Routes 4) and 5)
Static induction
noise
Route 6)
Noises transmitted
through electric
channels
Noise transmitted through
power supply cable
Route 7)
Noise sneaking from
grounding cable due to
leakage current
Route 8)
5)
7)
7)
1)
Instrument
7)
2)
Receiver
Servo
amplifier
2)
Sensor
power
supply
3)
8)
6)
Sensor
4)
Servo motor
13 - 51
M
3)
13. OPTIONS AND AUXILIARY EQUIPMENT
Noise transmission route
Suppression techniques
1) 2) 3)
When measuring instruments, receivers, sensors, etc. which handle weak signals and may
malfunction due to noise and/or their signal cables are contained in a control box together with the
servo amplifier or run near the servo amplifier, such devices may malfunction due to noises
transmitted through the air. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid laying the power lines (Input cables of the servo amplifier) and signal cables side by side or
bundling them together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for signal and power cables or put cables in separate metal conduits.
4) 5) 6)
When the power lines and the signal cables are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and
malfunction may occur. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or
bundling them together.
4. Use shielded wires for signal and power cables or put the cables in separate metal conduits.
7)
When the power supply of peripheral devices is connected to the power supply of the servo
amplifier system, noises produced by the servo amplifier may be transmitted back through the
power supply cable and the devices may malfunction. The following techniques are required.
1. Insert the radio noise filter (FR-BIF) on the power cables (Input cables) of the servo amplifier.
2. Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of the servo amplifier.
8)
When the cables of peripheral devices are connected to the servo amplifier to make a closed loop
circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be
prevented by disconnecting the grounding cable of the peripheral device.
(2) Noise reduction products
(a) Data line filter
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, the ZCAT3035-1330 of TDK and the ESD-SR-25 of NEC Tokin make are available as
data line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below.
This impedances are reference values and not guaranteed values.
10 to 100MHz
100 to 500MHz
80
150
39 1(1.54 0.04)
34 1
(1.34 0.04)
Loop for fixing the
cable band
TDK
Product name
Lot number
Outline drawing (ZCAT3035-1330)
13 - 52
13 1
30 1 (0.51 0.04)
(1.18 0.04)
[Unit: mm]([Unit: in.])
Impedance[ ]
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Surge suppressor
The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic
brake or the like near the servo amplifier is shown below. Use this product or equivalent.
MC
Relay
Surge suppressor
Surge suppressor
Surge suppressor
This distance should be short
(within 20cm(0.79 in.)).
(Ex.) 972A.2003 50411
(Matsuo Electric Co.,Ltd. 200VAC rating)
Outline drawing [Unit: mm] ([Unit: in.])
Rated
voltage
AC[V]
C [ F]
R[ ]
Test voltage AC[V]
200
0.5
50
(1W)
Across
T-C 1000(1 to 5s)
Vinyl sheath
Blue vinyl cord
Red vinyl cord
10(0.39)or less
10 3
(0.39
0.12)
18 1.5
(0.71 0.06)
6(0.24)
10(0.39)or less
4(0.16)
10 3
(0.39
200(7.87) 0.12)
48 1.5
(1.89 0.06) or more
15 1(0.59 0.04)
200(7.87)
or more
Note that a diode should be installed to a DC relay, DC valve or
the like.
Maximum voltage: Not less than 4 times the drive voltage of
the relay or the like
Maximum current: Not less than twice the drive current of
the relay or the like
31(1.22)
RA
Diode
(c) Cable clamp fitting (AERSBAN -SET)
Generally, the earth of the shielded cable may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an earth plate as shown
below.
Install the earth plate near the servo amplifier for the encoder cable. Peel part of the cable sheath
to expose the external conductor, and press that part against the earth plate with the cable clamp.
If the cable is thin, clamp several cables in a bunch.
The clamp comes as a set with the earth plate.
Cable
Strip the cable sheath of
the clamped area.
Earth plate
40(1.57)
Cable clamp
(A,B)
cutter
External conductor
cable
Clamp section diagram
13 - 53
13. OPTIONS AND AUXILIARY EQUIPMENT
Outline drawing
[Unit: mm]
([Unit: in.])
Earth plate
Clamp section diagram
2- 5(0.20) hole
installation hole
A
B
C
AERSBAN-DSET
100
(3.94)
86
(3.39)
30
(1.18)
AERSBAN-ESET
70
(2.76)
56
(2.20)
Accessory fittings
Clamp fitting
L
clamp A: 2pcs.
A
70
(2.76)
clamp B: 1pc.
B
45
(1.77)
13 - 54
(0.940)
0.3
0
24
Note. Screw hole for grounding. Connect it to the earth plate of the control box.
Type
10(0.39)
A
35(1.38)
11(0.43)
(0.24)
C
22(0.87)
6
(Note)M4 screw
L or less
35 (1.38)
24
0
0.2
7 (0.28)
(0.940)
B 0.3(0.01)
3 (0.12)
6 (0.24)
30(1.18)
17.5(0.69)
13. 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
the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current)
especially within 0.5MHz to 5MHz band.
Connection diagram
Outline drawing [Unit: mm] ([Unit: in.])
FR-BSF01 (for MR-J2S-200A or less)
Use the line noise filters for wires of the main power supply
(L1 L2 L3) and of the motor power supply (U V W). Pass
each of the 3-phase wires through the line noise filter an equal
number of times in the same direction. For the main power
supply, the effect of the filter rises as the number of passes
increases, but generally four passes would be appropriate. For
the motor power supply, passes must be four times or less. Do
not pass the grounding (earth) wire through the filter, or the
effect of the filter will drop. Wind the wires by passing through
the filter to satisfy the required number of passes as shown in
Example 1. If the wires are too thick to wind, use two or more
filters to have the required number of passes as shown in
Example 2. Place the line noise filters as close to the servo
amplifier as possible for their best performance.
Example 1
NFB MC
Servo amplifier
4.5(0.18)
Approx.65(2.56)
11.25 0.5
(0.45 0.02)
Approx 22.5 (0.89)
33(1.30)
L1
2.3(0.09) 80(3.15)
Servo amplifier
L1
L2
Line noise
L3
filter
Two filters are used
(Total number of turns: 4)
7(0.28)
130(5.12)
85(3.35)
7(0.28)
31.5(1.24)
FR-BLF (MR-J2S-350A or more)
Line noise
filter
(Number of turns: 4)
Power
supply
Approx.65 (2.56)
L2
L3
Example 2 NFB MC
2- 5(0.20)
35
(1.38)
Power
supply
Approx.110(4.33)
95 0.5(3.74 0.02)
160(6.30)
180(7.09)
(e) Radio noise filter (FR-BIF)...for the input side only
This filter is effective in suppressing noises radiated from the power supply side of the servo
amplifier especially in 10MHz and lower radio frequency bands. The FR-BIF is designed for the
input only.
Connection diagram
Outline drawing (Unit: mm) ([Unit: in.])
Red White Blue
Green
L3
Radio noise
filter FR-BIF
58 (2.28)
5 (0.20)
hole
29 (1.14)
44 (1.73)
13 - 55
4 (0.16)
29 (1.14)
42 (1.65)
L1
L2
Power
supply
Leakage current: 4mA
About 300(11.81)
Make the connection cables as short as possible.
Grounding is always required.
When using the FR-BIF with a single-phase wire,
always insulate the wires that are not used for wiring.
Servo amplifier
MC
NFB
7 (0.28)
13. OPTIONS AND AUXILIARY EQUIPMENT
(f) Varistors for input power supply (Recommended)
Varistors are effective to prevent exogenous noise and lightning surge from entering the servo
amplifier. When using a varistor, connect it between each phase of the input power supply of the
equipment. For varistors, the TND20V-431K and TND20V-471K, manufactured by NIPPON
CHEMI-CON, are recommended. For detailed specification and usage of the varistors, refer to the
manufacturer catalog.
Maximum rating
Varistor
Permissible circuit
voltage
Surge current
immunity
Energy
immunity
Rated
pulse
power
[W]
AC[Vrms]
DC[V]
8/20 s[A]
2ms[J]
TND20V-431K
275
350
10000/1 time
195
TND20V-471K
300
385
7000/2 time
215
1.0
Static
Varistor voltage
Maximum limit capacity
rating (range)
(reference
voltage
V1mA
value)
[A]
100
[V]
[pF]
[V]
710
1300
430(387 to 473)
775
1200
470(423 to 517)
[Unit: mm]
D
T
Model
H
TND20V-431K
TND20V-471K
D
Max.
H
Max.
21.5
24.5
T
Max.
E
1.0
6.4
3.3
6.6
3.5
d
0.05
(Note)L
min.
20
0.8
W
E
L
Note. For special purpose items for lead length (L), contact the manufacturer.
d
13 - 56
W
1.0
10.0
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2.8 Leakage current breaker
(1) Selection method
High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select a leakage current breaker according to the following formula, and ground the servo amplifier,
servo motor, etc. securely.
Make the input and output cables as short as possible, and also make the grounding cable as long as
possible (about 30cm (11.8 in)) to minimize leakage currents.
Rated sensitivity current
10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] ..........(13.1)
K: Constant considering the harmonic contents
Cable
NV
Noise
filter
Ig1 Ign
Leakage current breaker
Mitsubishi
Type
products
Servo
amplifier
Cable
Iga
Ig2
M
NV-SP
NV-SW
NV-CP
NV-CW
NV-HW
BV-C1
NFB
NV-L
Models provided with
harmonic and surge
reduction techniques
Igm
General models
Ig1:
Ig2:
Ign:
Iga:
Igm:
Leakage current
1
3
Leakage current on the electric channel from the leakage current breaker to the input terminals
of the servo amplifier (Found from Fig. 13.1.)
Leakage current on the electric channel from the output terminals of the servo amplifier to the
servo motor (Found from Fig. 13.1.)
Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)
Leakage current of the servo amplifier (Found from Table 13.6.)
Leakage current of the servo motor (Found from Table 13.5.)
Table 13.4 Servo motor's
leakage current
example (Igm)
120
[mA]
K
100
80
60
40
20
0
2 3.5
8 1422 38 80 150
5.5
30 60 100
Cable size[mm2]
Fig. 13.1 Leakage current example
(Ig1, Ig2) for CV cable run
in metal conduit
Table 13.5 Servo amplifier's
leakage current
example (Iga)
Servo motor
output [kW]
Leakage
current [mA]
Servo amplifier
capacity [kW]
Leakage
current [mA]
0.05 to 0.5
0.6 to 1.0
1.2 to 2.2
3 to 3.5
5
0.1
0.1
0.2
0.3
0.5
0.1 to 0.6
0.7 to 3.5
5 7
11 15
0.1
0.15
2
5.5
22
7
7
0.7
11
1.0
15
1.3
22
2.3
13 - 57
Table 13.6 Leakage circuit breaker selection example
Servo amplifier
Rated sensitivity
current of leakage
circuit breaker [mA]
MR-J2S-10A to MR-J2S-350A
MR-J2S-10A1 to MR-J2S-40A1
15
MR-J2S-500A
30
MR-J2S-700A
50
MR-J2S-11KA to MR-J2S-22KA
100
13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection example
Indicated below is an example of selecting a leakage current breaker under the following conditions.
2mm2 5m
2mm2 5m
NV
Servo
amplifier
MR-J2S-60A
Ig1
Iga
Servo motor
M HC-MFS73
Ig2
Igm
Use a leakage current breaker generally available.
Find the terms of Equation (13.1) from the diagram.
Ig1 20
5
1000
0.1 [mA]
Ig2 20
5
1000
0.1 [mA]
Ign
0 (not used)
Iga
0.1 [mA]
Igm
0.1 [mA]
Insert these values in Equation (13.1).
Ig
10 {0.1 0 0.1 1 (0.1 0.1)}
4.0 [mA]
According to the result of calculation, use a leakage current breaker having the rated sensitivity
current (Ig) of 4.0[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NVSP/SW/CP/CW/HW series.
13 - 58
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2.9 EMC filter
For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter.
Some EMC filters are large in leakage current.
(1) Combination with the servo amplifier
Recommended filter
Servo amplifier
MR-J2S-10A to MR-J2S-100A
MR-J2S-10A1 to MR-J2S-40A1
MR-J2S-200A
MR-J2S-350A
Mass [kg]([lb])
Model
Leakage current [mA]
SF1252
38
0.75(1.65)
SF1253
57
1.37(3.02)
MR-J2S-500A
(Note) HF3040A-TM
1.5
5.5(12.1)
MR-J2S-700A
(Note) HF3050A-TM
1.5
6.7(14.8)
MR-J2S-11KA
(Note) HF3060A-TMA
3.0
10.0(22.1)
MR-J2S-15KA
(Note) HF3080A-TMA
3.0
13.0(28.7)
MR-J2S-22KA
(Note) HF3100A-TMA
3.0
14.5(32)
Note: Soshin Electric A surge protector is separately required to use any of these EMC filters. (Refer to the EMC Installation
Guidelines.)
(2) Connection example
EMC filter
(SF1252, SF1253)
NF LINE
LOAD
(Note 1)
Power
supply
(Note 2)
Servo amplifier
NF
MC
L1
L1
L1
L2
L2
L2
L3
L3
L3
EMC filter
(SOSHIN Electric Co., Ltd)
MC
(Note 1)
Power
supply
Servo amplifier
1
4
L1
2
5
L2
3
6
L3
E
L11
L11
L21
L21
1
2
3
1 2 3
Surge protector 1
(RAV-781BYZ-2)
(OKAYA Electric Industries
Co., Ltd.)
Surge protector 2
(RAV-781BXZ-4)
(OKAYA Electric Industries Co., Ltd.)
Note 1. For 1-phase 230VAC power supply, connect the power supply to L1,L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification.
2. Connect when the power supply has earth.
13 - 59
13. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outline drawing
(a) EMC filter
SF1252
[Unit: mm(in)]
SF1253
6.0(0.236)
L1
L2
L3
LINE
LOAD
LABEL
LOAD
L1
L2
L3
168.0(6.614)
156.0(6.142)
140.0(5.512)
LINE
LINE
(input side)
LABEL
168.0(6.614)
6.0(0.236)
209.5(8.248)
LOAD
(output side)
L1'
L2'
L3'
8.5
(0.335)
LINE
(input side)
156.0(6.142)
140.0(5.512)
149.5(5.886)
LOAD
(output side)
L1'
L2'
L3'
16.0(0.63)
8.5
(0.335)
42.0
(1.654)
23.0(0.906)
49.0
(1.929)
HF3040A-TM HF3050A-TM HF3060A-TMA
6-K
3-L
G
F
E
D
1
2
1
2
3-L
C 1
M
J 2
C 1
H 2
B 2
A 5
Model
Dimensions [mm(in)]
A
B
C
D
E
F
G
H
J
HF3040A-TM
260
(10.24)
210
(8.27)
85
(3.35)
155
(6.10)
140
(5.51)
125
(4.92)
44
(1.73)
140
(5.51)
70
(2.76)
HF3050A-TM
290
(11.42)
240
(9.45)
100
(3.94)
190
(7.48)
175
(6.89)
160
(6.29)
44
(1.73)
170
(6.69)
HF3060A-TMA
290
(11.42)
240
(9.45)
100
(3.94)
190
(7.48)
175
(6.89)
160
(6.29)
44
(1.73)
230
(9.06)
13 - 60
K
R3.25
100
(0.13),
(3.94) length
160 8 (0.32)
(6.29)
L
M
M5
M4
M6
M4
M6
M4
13. OPTIONS AND AUXILIARY EQUIPMENT
HF3080A-TMA HF3100A-TMA
8-K
3-L
G
F
E
D
1
2
1
2
3-L
C 1
C 1
M
J 2
C 1
H 2
B 2
A 5
Model
HF3080A-TMA
HF3100A-TMA
Dimensions [mm(in)]
A
B
405
350
(15.95) (13.78)
C
100
(3.94)
D
220
(8.66)
E
200
(7.87)
F
180
(7.09)
13 - 61
G
56
(2.21)
H
210
(8.27)
J
K
R4.25
(0.17),
135
(5.32) length 12
(0.47)
L
M
M8
M6
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) Surge protector
1)
2)
3)
Black Black Black
11 1
0.2
[Unit: mm]
UL-1015AWG16
2
3
28 1.0
1
4.5 0.5
200
30
0
28.5 1.0
4.2
5.5 1
RAV-781BYZ-2
41 1.0
[Unit: mm]
11 1
1)
UL-1015AWG16
1
2
3
4.5 0.5
200
30
0
28.5 1.0
0.2
28 1.0
4.2
5.5 1
RAV-781BXZ-4
41 1.0
13 - 62
2)
3)
4)
13. OPTIONS AND AUXILIARY EQUIPMENT
13.2.10 Setting potentiometers for analog inputs
The following variable resistors are available for use with analog inputs.
(1) Single-revolution type
WA2WYA2SEBK2K (Japan Resistor make)
Rated power Resistance
Dielectric strength
(for 1 minute)
Insulation
resistance
10%
700V A.C
100M or more
2k
25 (0.98)
10 (0.39)
1.6 (0.06)
3
Rotary torque
5
10 to 100g-cm or less
Panel hole machining diagram
[Unit: mm (in)]
[Unit: mm (in)]
30 (1.18)
2.8 (0.11)
3.6 (0.14) hole
12 (0.47)
2.5 (0.10)
10 (0.37) hole
M9 0.75 (0.03)
R2
5
(0
.9
8)
2
300
Outline dimension drawing
20 (0.79)
1
Mechanical
rotary angle
12 (0.47)
Connection diagram
6 (0.24) hole
2W
Resistance
tolerance
3
(0.08)
3- 1.54 (0.56) hole
30
1
30
3
2
(2) Multi-revolution type
Position meter: RRS10M202 (Japan Resistor make)
Analog dial: 23M (Japan Resistor make)
Rated power Resistance
1W
Resistance
tolerance
Dielectric strength
(for 1 minute)
Insulation
resistance
10%
700V A.C
1000M or more
2k
Connection diagram
Mechanical
rotary angle
10
3600
0
Rotary torque
100g-cm or less
Panel hole machining diagram
1
[Unit: mm (in)]
3
Panel thickness: 2 to 6 (0.08 to 0.24)
9.5 (0.37)
CW
2
9 (0.35) hole
2.1 (0.08) hole
23M
[Unit: mm (in)]
2)
30
3)
9.5
(0.37)
22.7 (0.89)
3)
2) 1)
L
(0.3)
1.0
(0.04)
6
(0.24)
M9 0.75 (0.03)
7.5
[Unit: mm (in)]
12.5 (0.49)
15 (0.59)
1)
6(0.24)
Outline dimension drawing
RRS10 M202
12 (0.47) 6 (0.24)
1.2
(0.05)
20.5
(0.81)
23 (0.91)
13 - 63
13. OPTIONS AND AUXILIARY EQUIPMENT
MEMO
13 - 64
14. COMMUNICATION FUNCTIONS
14. COMMUNICATION FUNCTIONS
This servo amplifier has the RS-422 and RS-232C serial communication functions. These functions can be
used to perform servo operation, parameter changing, monitor function, etc.
However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS422 and RS-232C with parameter No.16. (Refer to section 14.2.2)
14.1 Configuration
14.1.1 RS-422 configuration
(1) Outline
Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
Servo amplifier
Servo amplifier
Servo amplifier
MITSUBISHI
MITSUBISHI
MITSUBISHI
Controller such as
personal computer
CHARGE
CHARGE
RS-232C/
RS-422
converter
Axis 1 (Station 0)
CHARGE
To CN3
To CN3
To CN3
Axis 32 (Station 31)
Axis 2 (Station 1)
RS-422
Unavailable as option.
To be prepared by customer.
(2) Cable connection diagram
Wire as shown below.
(Note 3) 30m (98.4ft) or less
(Note 1)
Axis 1 servo amplifier
CN3 connector
Plate SD
RS-422
output unit
(Note 1)
Axis 2 servo amplifier
CN3 connector
Plate
SD
(Note 1)
Axis 32 (last axis)
servo amplifier
CN3 connector
Plate SD
9
SDP
9
SDP
9
SDP
19
SDN
19
SDN
19
SDN
5
RDP
5
RDP
5
RDP
15
RDN
15
RDN
15
RDN
10
TRE
10
TRE
10
TRE (Note 2)
11
LG
11
LG
11
LG
1
LG
1
LG
1
LG
RDP
RDN
SDP
SDN
GND
GND
Note 1. Connector set MR-J2CN1 (3M)
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
2. In the last axis, connect TRE and RDN.
3. 30m (98.4ft) or less in environment of little noise.
14 - 1
14. COMMUNICATION FUNCTIONS
14.1.2 RS-232C configuration
(1) Outline
A single axis of servo amplifier is operated.
Servo amplifier
MITSUBISHI
CHARGE
To CN3
RS-232C
Controller such as
personal computer
(2) Cable connection diagram
Wire as shown below. The communication cable for connection with the personal computer (MRCPCATCBL3M) is available. (Refer to section 13.1.4)
Personal computer
connector D-SUB9 (socket)
(Note 2) 15m (49.2ft) or less
(Note 1)
Servo amplifier
CN3 connector
Plate
TXD
3
FG
2
RXD
1
GND
RXD
2
12
TXD
GND
5
11
GND
RTS
7
CTS
8
DSR
6
DTR
4
Note 1. Connector set MR-J2CN1 (3M)
Connector: 10120-6000EL
Shell kit: 10320-3210-000
2. 15m (49.2ft) or less in environment of little noise. However, this distance should be 3m (9.84ft) or less for use at 38400bps
or more baud rate.
14 - 2
14. COMMUNICATION FUNCTIONS
14.2 Communication specifications
14.2.1 Communication overview
This servo amplifier is designed to send a reply on receipt of an instruction. The 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 (servo amplifier) is called a slave station. When fetching data successively, the
master station repeatedly commands the slave station to send data.
Item
Description
Baud rate
9600/19200/38400/57600 asynchronous system
Transfer code
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
(LSB)
Start
0
(MSB)
1
2
3
4
5
Data
1 frame (11bits)
14 - 3
6
7
Parity
Stop
Next
start
14. COMMUNICATION FUNCTIONS
14.2.2 Parameter setting
When the RS-422/RS-232C communication function is used to operate the servo, set the communication
specifications of the servo amplifier in the corresponding parameters.
After setting the values of these parameters, they are made valid by switching power off once, then on
again.
(1) Serial communication baud rate
Choose the communication speed. Match this value to the communication speed of the sending end
(master station).
Parameter No. 16
Communication baud rate
0: 9600[bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
(2) Serial communication selection
Select the RS-422 or RS-232C communication standard. RS-422 and RS-232C cannot be used together.
Parameter No. 16
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 800 s or "1" to send back data in 800 s or more.
Parameter No. 16
Serial communication response delay time
0: Invalid
1: Valid, reply sent in 800 s or more
(4) Station number setting
Set the station number of the servo amplifier in parameter No. 15. The setting range is stations 0 to 31.
(5) Protocol station number selection
When communication is made without setting station numbers to servo amplifiers as in the MR-J2-A
servo amplifiers, choose "no station numbers" in parameter No. 53. The communication protocol will
be free of station numbers.
Parameter No. 53
Protocol station number selection
0: With station numbers
1: No station numbers
14 - 4
14. COMMUNICATION FUNCTIONS
14.3 Protocol
POINT
Whether station number setting will be made or not must be selected if
the RS-232C communication function is used. Note that choosing "no
station numbers" in parameter No. 53 will make the communication
protocol free of station numbers as in the MR-J2-A servo amplifiers.
Since up to 32 axes may be connected to the bus, add a station number to the command, data No., etc. to
determine the destination servo amplifier of data communication. Set the station number to each servo
amplifier using the parameter. Transmission data is valid for the servo amplifier of the specified station
number or group.
When "*" is set as the station number added to the transmission data, the transmission data is made
valid for all servo amplifiers connected. However, when return data is required from the servo amplifier
in response to the transmission data, set "0" to the station number of the servo amplifier which must
provide the return data.
Servo side
(Slave station)
S
O
H
10 frames (data)
S
T
X
Data
No.
Data*
E
T
X
Check
sum
Station number
S
T
X
Station number
Error code
Controller side
(Master station)
Command
(1) Transmission of data from the controller to the servo
E
T
X
Check
sum
6 frames
Positive response: Error code A
Negative response: Error code other than A
14 - 5
14. COMMUNICATION FUNCTIONS
(2) Transmission of data request from the controller to the servo
S
O
H
S
T
X
Data
No.
E
T
X
Check
sum
Station number
S
T
X
Station number
Servo side
(Slave station)
Error code
Controller side
(Master station)
Command
10 frames
Data*
6 frames (data)
(3) Recovery of communication status by time-out
Controller side
(Master station)
EOT causes the servo to return to
the receive neutral status.
E
O
T
Servo side
(Slave station)
(4) Data frames
The data length depends on the command.
Data
4 frames
or
Data
or 12 frames or 16 frames
8 frames
14 - 6
E
T
X
Check
sum
14. COMMUNICATION FUNCTIONS
14.4 Character codes
(1) Control codes
Code name
Hexadecimal
Personal computer terminal key operation
Description
(ASCII code)
(General)
SOH
01H
start of head
ctrl
A
STX
02H
start of text
ctrl
B
ETX
03H
end of text
ctrl
C
EOT
04H
end of transmission
ctrl
D
(2) Codes for data
ASCII unit codes are used.
b8 to
b5
b8
0
0
0
0
0
0
0
0
b7
0
0
0
0
1
1
1
1
b6
0
0
1
1
0
0
1
1
b5
0
1
0
1
0
1
0
1
0
1
2
3
4
5
6
7
C
b4
b3
b2
b1
0
0
0
0
0
NUL
DLE
Space
0
@
P
`
p
0
0
0
1
1
SOH
DC1
!
1
A
Q
a
q
0
0
1
0
2
STX
DC2
“
2
B
R
b
r
0
0
1
1
3
ETX
DC3
#
3
C
S
c
s
0
1
0
0
4
$
4
D
T
d
t
0
1
0
1
5
%
5
E
U
e
u
0
1
1
0
6
&
6
F
V
f
v
0
1
1
1
7
‘
7
G
W
g
w
1
0
0
0
8
(
8
H
X
h
x
1
0
0
1
9
)
9
I
Y
i
y
1
0
1
0
10
:
J
Z
j
z
1
0
1
1
11
;
K
[
k
{
1
1
0
0
12
l
|
1
1
0
1
13
1
1
1
0
14
.
1
1
1
1
15
/
R
,
L
M
]
m
}
N
^
n
¯
O
_
o
DEL
?
(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
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
ASCII code
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Station number
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
ASCII code
G
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
For example, "30H" is transmitted in hexadecimal for the station number of "0" (axis 1).
14 - 7
14. COMMUNICATION FUNCTIONS
14.5 Error codes
Error codes are used in the following cases and an error code of single-code length is transmitted.
On receipt of data from the master station, the slave station sends the error code corresponding to that
data to the master station.
The error code sent in upper case indicates that the servo is normal and the one in lower case indicates
that an alarm occurred.
Error code
Servo normal
Error name
Servo alarm
Description
Remarks
[A]
[a]
Normal operation
Data transmitted was processed properly.
[B]
[b]
Parity error
Parity error occurred in the transmitted data.
Positive response
[C]
[c]
Checksum error
Checksum error occurred in the transmitted data.
[D]
[d]
Character error
Character not existing in the specifications was
transmitted.
[E]
[e]
Command error
Command not existing in the specifications was
transmitted.
[F]
[f]
Data No. error
Data No. not existing in the specifications was
transmitted.
Negative response
14.6 Checksum
The checksum is a ASCII-coded hexadecimal representing the lower two digits of the sum of ASCII-coded
hexadecimal numbers up to ETX, with the exception of the first control code (STX or SOH).
(Example)
Station number
S
T
X
[0] [A] [1] [2] [5] [F]
E
T
X
[5] [2]
02H 30H 41H 31H 32H 35H 46H 03H
STX or
SOH
ETX
Check
30H 41H 31H 32H 35H 46H 03H
152H
Checksum range
Lower 2 digits 52 is sent after conversion into ASCII code [5][2].
14 - 8
14. COMMUNICATION FUNCTIONS
14.7 Time-out operation
The master station transmits EOT when the slave station does not start reply operation (STX is not
received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the
master station retransmits the message. Time-out occurs if the slave station does not answer after the
master station has performed the above operation three times. (Communication error)
100ms
300ms
E
O
T
100ms
*Time-out
300ms
Message
E
O
T
300ms
Message
100ms
Message
Controller
(Master station)
Message
300ms
E
O
T
Servo
(Slave station)
14.8 Retry operation
Servo
(Slave station)
S
T
X
Station number
*Communication error
Message
Message
Controller
(Master station)
Message
When a fault occurs in communication between the master and slave stations, the error code in the
response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the
master station retransmits the message which was sent at the occurrence of the fault (Retry operation). A
communication error occurs if the above operation is repeated and results in the error three or more
consecutive times.
S
T
X
Station number
S
T
X
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.
14 - 9
14. COMMUNICATION FUNCTIONS
14.9 Initialization
After the slave station is switched on, it cannot reply to communication until the internal initialization
processing terminates. Hence, at power-on, ordinary communication should be started after.
(1) 1s or more time has elapsed after the slave station is switched on; and
(2) Making sure that normal communication can be made by reading the parameter or other data which
does not pose any safety problems.
14.10 Communication procedure example
The following example reads the set value of parameter No.2 "function selection 1" from the servo
amplifier of station 0.
Data item
Value
Description
Station number
0
Servo amplifier station 0
Command
05
Read command
Data No.
02
Parameter No.2
Axis No. Command
Data No.
Start
Data [0] 0 5
Data make-up
STX
02
ETX
[0][0][5] STX [0][2] ETX
Checksum 30H 30H 35H 02H 30H 32H 03H FCH
Checksum calculation and
addition
Transmission data
Addition of SOH to make
up transmission data
SOH
0 05
STX
02
ETX
F C 46H 43H
Master station
slave station
Master station
slave station
Master station
slave station
Data transmission
Data receive
No
Is there receive data?
Yes
300ms elapsed?
No
Yes
3 consecutive times?
Yes
No
Other than error code
[A] [a]?
3 consecutive times?
Yes
No
No
Yes
100ms after EOT transmission
Error processing
Receive data analysis
Error processing
End
14 - 10
14. COMMUNICATION FUNCTIONS
14.11 Command and data No. list
POINT
If the command/data No. is the same, its data may be different from the
interface and drive units and other servo amplifiers.
14.11.1 Read commands
(1) Status display (Command [0][1])
Command
Data No.
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[8][0]
[8][1]
[8][2]
[8][3]
[8][4]
[8][5]
[0][1]
[8][6]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[8][7]
[8][8]
[8][9]
[8][A]
[8][B]
[8][C]
[8][D]
[8][E]
Description
Display item
Status display data value and processing cumulative feedback pulses
information
servo motor speed
droop pulses
cumulative command pulses
command pulse frequency
analog speed command voltage
analog speed limit voltage
analog torque command voltage
analog torque limit voltage
regenerative load ratio
effective load ratio
peak load ratio
Instantaneous torque
within one-revolution position
ABS counter
load inertia moment ratio
Bus voltage
Frame length
12
12
12
12
12
12
12
12
12
12
12
12
12
12
12
(2) Parameter (Command [0][5])
Command
Data No.
Description
Frame length
[0][5]
[0][0] to
[5][4]
Current value of each parameter
The decimal equivalent of the data No. value (hexadecimal) corresponds to the
parameter number.
8
(3) External I/O signals (Command [1][2])
Command
Data No.
[1][2]
[1][2]
[4][0]
[C][0]
Description
Frame length
External input pin statuses
External output pin statuses
8
8
(4) Alarm history (Command [3][3])
Command
Data No.
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[1][0]
[1][1]
[1][2]
[1][3]
[1][4]
[1][5]
[2][0]
[2][1]
[2][2]
[2][3]
[2][4]
[2][5]
Description
Alarm occurrence sequence
Alarm number in alarm history
Alarm occurrence time in alarm history
14 - 11
most recent alarm
first alarm in past
second alarm in past
third alarm in past
fourth alarm in past
fifth alarm in past
most recent alarm
first alarm in past
second alarm in past
third alarm in past
fourth alarm in past
fifth alarm in past
Frame length
4
4
4
4
4
4
8
8
8
8
8
8
14. COMMUNICATION FUNCTIONS
(5) Current alarm (Command [0][2] [3][5])
Command
Data No.
[0][2]
[0][0]
Description
Frame length
Command
Data No.
[3][5]
[8][0]
[3][5]
[8][1]
[3][5]
[8][2]
droop pulses
12
[3][5]
[8][3]
cumulative command pulses
12
[3][5]
[8][4]
command pulse frequency
12
[3][5]
[8][5]
analog speed command voltage
analog speed limit voltage
12
[3][5]
[8][6]
analog torque command voltage
analog torque limit voltage
12
Current alarm number
4
Description
Display item
Status display data value and processing cumulative feedback pulses
information at alarm occurrence
servo motor speed
Frame length
12
12
[3][5]
[8][7]
regenerative load ratio
12
[3][5]
[8][8]
effective load ratio
12
[3][5]
[8][9]
peak load ratio
12
[3][5]
[8][A]
Instantaneous torque
12
[3][5]
[8][B]
within one-revolution position
12
[3][5]
[8][C]
ABS counter
12
[3][5]
[8][D]
load inertia moment ratio
12
[3][5]
[8][E]
Bus voltage
12
(6) Others
Command
Data No.
Description
Frame length
[0][2]
[9][0]
Servo motor end pulse unit absolute position
8
[0][2]
[9][1]
Command unit absolute position
8
[0][2]
[7][0]
Software version
16
14.11.2 Write commands
(1) Status display (Command [8][1])
Command
Data No.
[8][1]
[0][0]
Description
Status display data clear
Setting range
1EA5
Frame length
4
(2) Parameter (Command [8][4])
Command
Data No.
[8][4]
[0][0] to
[5][4]
Description
Each parameter write
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the parameter number.
Setting range
Depends on the
parameter.
Frame length
8
(3) Alarm history (Command [8][2])
Command
Data No.
[8][2]
[2][0]
Description
Alarm history clear
Setting range
1EA5
Frame length
4
(4) Current alarm (Command [8][2])
Command
Data No.
[8][2]
[0][0]
Description
Alarm reset
Setting range
1EA5
14 - 12
Frame length
4
14. COMMUNICATION FUNCTIONS
(5) Operation mode selection (Command [8][B])
Command
Data No.
[8][B]
[0][0]
Description
Operation mode changing
0000: Exit from test operation mode
0001: Jog operation
0002: Positioning operation
0003: Motor-less operation
0004: Output signal (DO) forced output
Setting range
0000 to 0004
Frame length
4
(6) External input signal disable (Command [9][0])
Command
Data No.
[9][0]
[0][0]
Description
Setting range
Frame length
Turns off the external input signals (DI), external analog input 1EA5
signals and pulse train inputs with the exception of EMG, LSP
and LSN, independently of the external ON/OFF statuses.
4
[9][0]
[0][3]
Disables all output devices (DO).
1EA5
4
[9][0]
[1][0]
Enables the disabled external input signals (DI), external analog 1EA5
input signals and pulse train inputs with the exception of EMG,
LSP and LSN.
4
[9][0]
[1][3]
Enables the disabled external output signals (DO).
4
1EA5
(7) Data for test operation mode (Command [9][2] [A][0])
Command
Data No.
[9][2]
[0][0]
Input signal for test operation
Description
Refer to section
14.12.6
8
[9][2]
[A][0]
Forced output from signal pin
Refer to section
14.12.8
8
Command
Data No.
[A][0]
[1][0]
Writes the speed of the test operation mode (jog operation, 0000 to 7FFF
positioning operation).
4
[A][0]
[1][1]
Writes the acceleration/deceleration time constant of the test 00000000 to
operation mode (jog operation, positioning operation).
7FFFFFFF
8
[A][0]
[1][2]
Clears the acceleration/deceleration time constant of the test 1EA5
operation mode (jog operation, positioning operation).
4
[A][0]
[1][3]
Writes the moving distance (in pulses) of the test operation mode 80000000 to
(jog operation, positioning operation).
7FFFFFFF
8
[A][0]
[1][5]
Temporary stop command of the test operation mode (jog 1EA5
operation, positioning operation)
4
Description
14 - 13
Setting range
Setting range
Frame length
Frame length
14. COMMUNICATION FUNCTIONS
14.12 Detailed explanations of commands
14.12.1 Data processing
When the master station transmits a command data No. or a command data No. data to a slave
station, the servo amplifier returns a reply or data according to the purpose.
When numerical values are represented in these send data and receive data, they are represented in
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 display type is 0, the eight-character data is converted from hexadecimal to decimal and a
decimal point is placed according to the decimal point position information.
When the display type is 1, the eight-character data is used unchanged.
The following example indicates how to process the receive data "003000000929" given to show.
The receive data is as follows.
0 0 3 0 0 0 0 0 0 9 2 9
Data 32-bit length (hexadecimal representation)
(Data conversion is required as indicated in the display type)
Display type
0: Data must be converted into decimal.
1: Data is used unchanged in hexadecimal.
Decimal point position
0: No decimal point
1: First least significant digit (normally not used)
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit
6: Sixth least significant digit
Since the display type is "0" in this case, the hexadecimal data is converted into decimal.
00000929H 2345
As the decimal point position is "3", a decimal point is placed in the third least significant digit.
Hence, "23.45" is displayed.
14 - 14
14. COMMUNICATION FUNCTIONS
(2) Writing the processed data
When the data to be written is handled as decimal, the decimal point position must be specified. If it is
not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the
decimal point position.
The data to be sent is the following value.
0
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 9B
Hence, "0200009B" is transmitted.
14 - 15
14. COMMUNICATION FUNCTIONS
14.12.2 Status display
(1) Status display data read
When the master station transmits the data No. (refer to the following table for assignment) to the
slave station, the slave station sends back the data value and data processing information.
1) Transmission
Transmit command [0][1] and the data No. corresponding to the status display item to be read.
Refer to section 14.11.1.
2) Reply
The slave station sends back the status display data requested.
0 0
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
0: No decimal point
1: Lower first digit (usually not used)
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
6: Lower sixth digit
(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
[8][1]
[0][0]
1EA5
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.
14 - 16
14. COMMUNICATION FUNCTIONS
14.12.3 Parameter
(1) Parameter read
Read the parameter setting.
1) Transmission
Transmit command [0][5] and the data No. corresponding to the parameter No.
The data No. is expressed in hexadecimal equivalent of the data No. value corresponds to the
parameter number.
Command
Data No.
[0][5]
[0][0] to
[5][4]
2) Reply
The slave station sends back the data and processing information of the requested parameter
No.
Data is transferred in hexadecimal.
Decimal point position
0: No decimal point
1: Lower first digit
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
0
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/disable
0: Read enable
1: Read disable
Enable/disable information changes according to the setting of parameter No.19 "parameter
write inhibit". When the enable/disable setting is read disable, ignore the parameter data part
and process it as unreadable.
14 - 17
14. COMMUNICATION FUNCTIONS
(2) Parameter write
POINT
If setting values need to be changed with a high frequency (i.e. one time or
more per one hour), write the setting values to the RAM, not the EEPROM. The EEP-ROM has a limitation in the number of write times and
exceeding this limitation causes the servo amplifier to malfunction. Note
that the number of write times to the EEP-ROM is limited to
approximately 100, 000.
Write the parameter setting.
Write the value within the setting range. Refer to section 5.1 for the setting range.
Transmit command [8][4], the data No., and the set data.
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to
the parameter number.
When the data to be written is handled as decimal, the decimal point position must be specified. If it
is not specified, data cannot be written. When the data is handled as hexadecimal, specify 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.
[8][4]
[0][0] to
[5][4]
Set data
See below.
Data is transferred in hexadecimal.
Decimal point position
0: No decimal point
1: Lower first digit
2: Lower second digit
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.
14 - 18
14. COMMUNICATION FUNCTIONS
14.12.4 External I/O pin statuses (DIO diagnosis)
(1) External input pin status read
Read the ON/OFF statuses of the external input pins.
(a) Transmission
Transmit command [1][2] and data No. [4][0].
Command
Data No.
[1][2]
[4][0]
(b) Reply
The ON/OFF statuses of the input pins are sent back.
b31
b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the master
station as hexadecimal data.
bit
External input pin
bit
External input pin
bit
0
1
External input pin
bit
CN1B-16
8
CN1B-9
16
24
CN1B-17
9
17
25
2
CN1B-15
10
18
26
3
CN1B-5
11
19
27
4
CN1B-14
12
20
28
5
CN1A-8
13
21
29
6
CN1B-7
14
22
30
7
CN1B-8
15
23
31
External input pin
(2) External output pin status read
Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [C][0].
Command
Data No.
[1][2]
[C][0]
(b) Reply
The slave station sends back the ON/OFF statuses of the output pins.
b31
b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the master
station as hexadecimal data.
bit
External output pin
bit
0
CN1A-19
8
16
24
1
CN1A-18
9
17
25
2
CN1B-19
10
18
26
3
CN1B-6
11
19
27
4
CN1B-4
12
20
28
5
CN1B-18
13
21
29
6
CN1A-14
7
External output pin
bit
External output pin
bit
14
22
30
15
23
31
14 - 19
External output pin
14. COMMUNICATION FUNCTIONS
14.12.5 Disable/enable of external I/O signals (DIO)
Inputs can be disabled independently of the external I/O signal ON/OFF. When inputs are disabled, the
input signals are recognized as follows. Among the external input signals, EMG, LSP and LSN cannot be
disabled.
Signal
Status
External input signals (DI)
OFF
External analog input signals
Pulse train inputs
0V
None
(1) Disabling/enabling the external input signals (DI), external analog input signals and pulse train
inputs with the exception of EMG, LSP and LSN.
Transmit the following communication commands.
(a) Disable
Command
Data No.
Data
[9][0]
[0][0]
1EA5
(b) Enable
Command
Data No.
Data
[9][0]
[1][0]
1EA5
(2) Disabling/enabling the external output signals (DO)
Transmit the following communication commands.
(a) Disable
Command
Data No.
Data
[9][0]
[0][3]
1EA5
(b) Enable
Command
Data No.
Data
[9][0]
[1][3]
1EA5
14 - 20
14. COMMUNICATION FUNCTIONS
14.12.6 Input devices 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.
Command
Data No.
[9][2]
[0][0]
Set data
See below.
b31
b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the slave
station as hexadecimal data.
bit
Signal abbreviation
bit
0
SON
8
16
24
1
LSP
9
17
25
2
LSN
10
18
26
3
TL
11
ST1
19
27
12
ST2
20
28
4
Signal abbreviation
bit
Signal abbreviation
bit
5
PC
13
21
29
6
RES
14
22
30
7
CR
15
23
31
14 - 21
Signal abbreviation
14. COMMUNICATION FUNCTIONS
14.12.7 Test operation mode
(1) Instructions for test operation mode
The test operation mode must be executed in the following procedure. If communication is interrupted
for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a
stop and servo-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.
Command
Data No.
Data
[9][0]
[0][0]
1EA5
3) Choose the test operation mode.
Command
Data No.
Transmission data
[8][B]
[0][0]
0000
Test operation mode cancel
Selection of test operation mode
[8][B]
[0][0]
0001
Jog operation
[8][B]
[0][0]
0002
Positioning operation
[8][B]
[0][0]
0003
Motor-less operation
[8][B]
[0][0]
0004
DO forced output
4) Set the data needed for test operation.
5) Start.
6) Continue communication using the status display or other command.
(b) Termination of test operation
To terminate the test operation mode, complete the corresponding operation and.
1) Clear the test operation acceleration/deceleration time constant.
Command
Data No.
Data
[A][0]
[1][2]
1EA5
2) Cancel the test operation mode.
Command
Data No.
Data
[8][B]
[0][0]
0000
3) Enable the disabled external input signals.
Command
Data No.
Data
[9][0]
[1][0]
1EA5
14 - 22
14. COMMUNICATION FUNCTIONS
(2) Jog operation
Transmit the following communication commands.
(a) Setting of jog operation data
Command
Data No.
Speed
Item
[A][0]
[1][0]
Write the speed [r/min] in hexadecimal.
Data
Acceleration/deceleration
time constant
[A][0]
[1][1]
Write the acceleration/deceleration time constant [ms] in
hexadecimal.
(b) Start
Turn on the input devices SON LSP LSN by using command [9][2]
Item
data No. [0][0].
Command
Data No.
Forward rotation start
[9][2]
[0][0]
00000807: Turns on SON LSP
Data
LSN
ST1.
Reverse rotation start
[9][2]
[0][0]
00001007: Turns on SON
LSP
LSN
ST2.
Stop
[9][2]
[0][0]
00000007: Turns on SON
LSP and LSN.
(3) Positioning operation
Transmit the following communication commands.
(a) Setting of positioning operation data
Item
Command
Data No.
Data
Speed
[A][0]
[1][0]
Write the speed [r/min] in hexadecimal.
Acceleration/deceleration
time constant
[A][0]
[1][1]
Write the acceleration/deceleration time constant [ms] in
hexadecimal.
Moving distance
[A][0]
[1][3]
Write the moving distance [pulse] in hexadecimal.
(b) Input of servo-on stroke end
Turn on the input devices SON LSP and LSN by using command [9][2]
Item
Command
Data No.
Servo-on
[9][2]
[0][0]
Servo OFF
Stroke end ON
Servo-on
Stroke end ON
[9][2]
[0][0]
[9][2]
[0][0]
data No. [0][0].
Data
00000001: Turns on SON.
00000006: Turns off SON and turns on LSP
LSN.
00000007: Turns on SON LSP LSN.
(c) Start of positioning operation
Transmit the speed and acceleration/deceleration time constant, turn on the servo-on (SON) and
forward/reverse rotation stroke end (LSP LSN), and then send the moving distance to start
positioning operation. After that, positioning operation will start every time the moving distance is
transmitted. To start opposite rotation, send the moving distance of a negative value.
When the servo-on (SON) and forward/reverse rotation stroke end (LSP LSN) are off, the
transmission of the moving distance is invalid. Therefore, positioning operation will not start if the
servo-on (SON) and forward/reverse rotation stroke end (LSP LSN) are turned on after the setting
of the moving distance.
(d) Temporary stop
A temporary stop can be made during positioning operation.
Command
Data No.
Data
[A][0]
[1][5]
1EA5
Retransmit the same communication commands as at the start time to resume operation.
To stop positioning operation after a temporary stop, retransmit the temporary stop communication
command. The remaining moving distance is then cleared.
14 - 23
14. COMMUNICATION FUNCTIONS
14.12.8 Output signal pin ON/OFF output signal (DO) forced output
In the test operation mode, the output signal pins can be turned on/off independently of the servo status.
Using command [9][0], disable the output signals in advance.
(1) Choosing DO forced output in test operation mode
Transmit command [8][B] data No. [0][0] data "0004" to choose DO forced output.
0 0 0 4
Selection of test operation mode
4: DO forced output (output signal forced output)
(2) External output signal ON/OFF
Transmit the following communication commands.
Command
Data No.
[9][2]
[A][0]
Setting data
See below.
b31
b1 b0
1: ON
0: OFF
Command of each bit is sent to the slave station in hexadecimal.
bit
External output pin
bit
0
CN1A-19
8
External output pin
16
bit
External output pin
24
bit
1
CN1A-18
9
17
25
2
CN1B-19
10
18
26
3
CN1B-6
11
19
27
4
CN1B-4
12
20
28
5
CN1B-18
13
21
29
6
CN1A-14
14
22
30
15
23
31
7
14 - 24
External output pin
14. COMMUNICATION FUNCTIONS
14.12.9 Alarm history
(1) Alarm No. read
Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 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 [1][5]. Refer to section 14.11.1.
(b) Reply
The alarm No. corresponding to the data No. is provided.
0 0
Alarm No. is transferred in decimal.
For example, “0032” means AL.32 and “00FF” means AL._ (no alarm).
(2) Alarm occurrence time read
Read the occurrence time of alarm which occurred in the past.
The alarm occurrence time corresponding to the data No. is provided in terms of the total time
beginning with operation start, with the minute unit omitted.
(a) Transmission
Send command [3][3] and data No. [2][0] to [2][5].
Refer to section 14.11.1.
(b) Reply
The alarm occurrence time is transferred in decimal.
Hexadecimal must be converted into decimal.
For example, data “01F5” means that the alarm occurred in 501 hours after start of operation.
(3) Alarm history clear
Erase the alarm history.
Send command [8][2] and data No. [2][0].
Command
Data No.
Data
[8][2]
[2][0]
1EA5
14 - 25
14. COMMUNICATION FUNCTIONS
14.12.10 Current alarm
(1) Current alarm read
Read the alarm No. which is occurring currently.
(a) Transmission
Send command [0][2] and data No. [0][0].
Command
Data No.
[0][2]
[0][0]
(b) Reply
The slave station sends back the alarm currently occurring.
0 0
Alarm No. is transferred in decimal.
For example, “0032” means AL.32 and “00FF” means AL._ (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][E] corresponding to the status display item to
be read. Refer to section 14.11.1.
(b) Reply
The slave station sends back the requested status display data at alarm occurrence.
0 0
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
0: No decimal point
1: Lower first digit (usually not used)
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
6: Lower sixth digit
(3) Current alarm clear
As by the entry of the reset (RES), reset the servo amplifier alarm to make the servo amplifier ready to
operate. After removing the cause of the alarm, reset the alarm with no command entered.
Command
Data No.
Data
[8][2]
[0][0]
1EA5
14 - 26
14. COMMUNICATION FUNCTIONS
14.12.11 Other commands
(1) Servo motor end pulse unit absolute position
Read the absolute position in the servo motor end pulse unit.
Note that overflow will occur in the position of 16384 or more revolutions from the home position.
(a) Transmission
Send command [0][2] and data No. [9][0].
Command
Data No.
[0][2]
[9][0]
(b) Reply
The slave station sends back the requested servo motor end pulses.
Absolute value is sent back in hexadecimal in
the servo motor end pulse unit.
(Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the motor end pulse unit.
(2) Command unit absolute position
Read the absolute position in the command unit.
(a) Transmission
Send command [0][2] and data No. [9][1].
Command
Data No.
[0][2]
[9][1]
(b) Reply
The slave station sends back the requested command pulses.
Absolute value is sent back in hexadecimal in the
command unit.
(Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the command unit.
(3) Software version
Reads the software version of the servo amplifier.
(a) Transmission
Send command [0][2] and data No.[7][0].
Command
Data No.
[0][2]
[7][0]
(b) Reply
The slave station returns the software version requested.
Space
Software version (15 digits)
14 - 27
14. COMMUNICATION FUNCTIONS
MEMO
14 - 28
15. ABSOLUTE POSITION DETECTION SYSTEM
15. ABSOLUTE POSITION DETECTION SYSTEM
CAUTION
If an absolute position erase alarm (AL.25) or an absolute position counter warning
(AL.E3) has occurred, always perform home position setting again. Not doing so
may cause unexpected operation.
POINT
When configuring an absolute position detection system using the QD75P/D
PLC, refer to the Type QD75P/QD75D Positioning Module User's Manual
(SH (NA) 080058).
15.1 Outline
15.1.1 Features
For normal operation, as shown below, the encoder consists of a detector designed to detect a position
within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it
battery-backed, independently of whether the general-purpose programmable controller power is on or
off. Therefore, once the home position is defined at the time of machine installation, home position return
is not needed when power is switched on thereafter.
If a power failure or a fault occurs, restoration is easy.
Also, the absolute position data, which is battery-backed by the super capacitor in the encoder, can be
retained within the specified period (cumulative revolution counter value retaining time) if the cable is
unplugged or broken.
General purpose programmable
controller
Positioning module
Current
position
data
Changing the
current position
data
I/O module
Input
Output
Pulse train
(command)
Home position data
EEPROM memory
LSO
1XO
Backed up in the
case of power failure
Current
position
data
LS
1X
Detecting the Detecting the
number of
position within
revolutions
one revolution
Position control
Speed control
CPU
Servo amplifier
Battery MR-BAT
Servo motor
1 pulse/rev Accumulative
revolution counter
Super capacitor
High speed serial
communication
Within-one-revolution counter
(Position detector)
15.1.2 Restrictions
The absolute position detection system cannot be configured under the following conditions. Test
operation cannot be performed in the absolute position detection system, either. To perform test
operation, choose incremental in parameter No.1.
(1) Speed control mode, torque control mode.
(2) Control switch-over mode (position/speed, speed/torque, torque/position).
(3) Stroke-less coordinate system, e.g. rotary shaft, infinitely long positioning.
(4) Changing of electronic gear after home position setting.
(5) Use of alarm code output.
15 - 1
15. ABSOLUTE POSITION DETECTION SYSTEM
15.2 Specifications
(1) Specification list
Item
Description
System
Electronic battery backup system
Battery
1 piece of lithium battery ( primary battery, nominal
Type: MR-BAT or A6BAT
Maximum revolution range
Home position
(Note 1) Maximum speed at power failure
500r/min
(Note 2) Battery backup time
Approx. 10,000 hours (battery life with power off)
(Note 3) Data holding time during battery
replacement
2 hours at delivery, 1 hour in 5 years after delivery
Battery storage period
5 years from date of manufacture
3.6V)
32767 rev.
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like.
2. Time to hold data by a battery with power off. It is recommended to replace the battery in three years independently of whether
power is kept on or off.
3. Period during which data can be held by the super capacitor in the encoder after power-off, with the battery voltage low or the
battery removed, or during which data can be held with the encoder cable disconnected.
Battery replacement should be finished within this period.
(2) Configuration
Positioning module
I/O module
A1SD71S2 A1SD71S7
A1SD75
AX40 41 42
AY40 41 42
FX2N-1GP FX2N-10PG FX2N-10GM
FX2N-20GM
FX2N(C) series, FX3U(C) series
Programmable controller
Servo amplifier
A1SD75 etc.
CN1A
CN2
I/O
CN1B
CON1
Servo motor
Battery (MR-BAT)
(3) Parameter setting
Set " 1
" in parameter No.1 to make the absolute position detection system valid.
Parameter No. 1
1
Selection of absolute position detection system
0: Incremental system
1: Absolute position detection system
15 - 2
15. ABSOLUTE POSITION DETECTION SYSTEM
15.3 Battery installation procedure
Before installing a battery, turn off the main circuit power while keeping the control
circuit power on. Wait for 15 minutes or more until the charge lamp turns off. Then,
confirm that the voltage between P and N is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, always confirm from the front
of the servo amplifier whether the charge lamp is off or not.
WARNING
POINT
The internal circuits of the servo amplifier may be damaged by static electricity.
Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical
parts, directly by hand.
(1) Open the operation window. (When the model used is the MR-J2S-200A MR-J2S-350A or more, also
remove the front cover.)
(2) Install the battery in the battery holder.
(3) Install the battery connector into CON1 until it clicks.
Battery connector
Operation window
Battery connector
CON1
CON1
Battery
Battery
Battery holder
Battery holder
For MR-J2S-200A MR-J2S-350A
For MR-J2S-100A or less
CON1
Battery connector
CON1
Battery holder
Battery connector
Battery holder
Battery
Battery
For MR-J2S-500A MR-J2S-700A
For MR-J2S-11KA or more
15 - 3
15. ABSOLUTE POSITION DETECTION SYSTEM
15.4 Standard connection diagram
Servo amplifier
(Note 2) Stroke end in forward rotation
Stroke end in reverse rotation
External torque control
Reset
EMG (Note 1)
Electromagnetic
brake output
Emergency stop
Servo-on
Output
ABS transmission
mode
ABS request
ABS bit 0
ABS bit 1
Send data ready
RA2
Reset
Input
VDD
COM
LSP
LSN
TL
RES
SG
CN1B-3
CN1B-13
CN1B-16
CN1B-17
CN1B-7 (Note 3)
CN1B-14
CN1B-10
EMG CN1B-15
SON CN1B-5
ABSM CN1B-8
ABSR CN1B-9
DO1 CN1B-4
ZSP CN1B-19
TLC CN1B-6
I/O module
Near-zero point signal
Stop signal
Dog
Stop
Power supply (24V)
Positioning
module
Ready
Zero-point
signal
Clear
Command
pulses
(for differential
line driver type)
Upper limit setting
SG CN1A-10
VDD
RD
P15R
OP
CR
SG
CN1B-3
CN1A-19
CN1A-4
CN1A-14
CN1A-8
CN1A-20
PP
PG
NP
NG
CN1A-3
CN1A-13
CN1A-2
CN1A-12
P15R CN1B-11
TLA CN1B-12
LG CN1B-1
SD
Plate
Torque limit
10V/max.torque
Note 1. Always install the emergency stop switch.
2. For operation, always turn on forward rotation stroke end (LSP)/reverse rotation stroke end (LSN).
3. When using the torque limit signal (TL), set "
4" in parameter No.46 to assign TL to pin CN1B-7.
15 - 4
15. ABSOLUTE POSITION DETECTION SYSTEM
15.5 Signal explanation
When the absolute position data is transferred, the signals of connector CN1 change as described in this
section. They return to the previous status on completion of data transfer. The other signals are as
described in section 3.3.2.
For the I/O interfaces (symbols in the I/O Category column in the table), refer to section 3.6.
Code
Pin No.
Function/Application
I/O
category
ABS transfer
mode
ABSM
(Note)
CN1B-8
While ABSM is on, the servo amplifier is in the ABS transfer
mode, and the functions of ZSP, TLC, and D01 are as
indicated in this table.
DI-1
ABS request
ABSR
(Note)
CN1B-9
Turn on ABSR to request the ABS data in the ABS transfer
mode.
DI-1
CN1B-4
Indicates the lower bit of the ABS data (2 bits) which is sent
from the servo to the programmable controller in the ABS
transfer mode.
If there is a signal, D01 turns on.
DO-1
DO-1
Signal name
ABS bit 0
D01
P
(Position
control)
ABS bit 1
ZSP
Indicates the upper bit of the ABS data (2 bits) which is sent
from the servo to the programmable controller in the ABS
CN1B-19
transfer mode.
If there is a signal, ZSP turns on.
Send data ready
TLC
CN1B-6
Indicates that the data to be sent is being prepared in the
ABS transfer mode. At the completion of the ready state, TLC
turns on.
DO-1
CR
CN1A-8
When CR is turned on, the position control counter is cleared
and the home position data is stored into the non-volatile
memory (backup memory).
DI-1
Home position
setting
Control
mode
Note. When "Used in absolute position detection system" is selected in parameter No. 1, pin CN1B-8 acts as the ABS transfer mode
(ABSM) and pin CN1B-9 as the ABS request (ABSR). They do not return to the original signals if data transfer ends.
15 - 5
15. ABSOLUTE POSITION DETECTION SYSTEM
15.6 Startup procedure
(1) Battery installation.
Refer to section 15.3 installation of absolute position backup battery.
(2) Parameter setting
"in parameter No. 1 of the servo amplifier and switch power off, then on.
Set "1
(3) Resetting of absolute position erase (AL.25)
After connecting the encoder cable, the absolute position erase (AL.25) occurs at first power-on. Leave
the alarm as it is for a few minutes, then switch power off, then on to reset the alarm.
(4) Confirmation of absolute position data transfer
When the servo-on (SON) is turned on, the absolute position data is transferred to the programmable
controller. When the ABS data is transferred properly.
(a) The ready output (RD) turns on.
(b) The programmable controller/ABS data ready contact (M3 for A1SD71, M99 for 1PG) turns on.
(c) The MR Configurator (servo configuration software) ABS data display window (refer to section
15.9) and programmable controller side ABS data registers (D3, D4 for A1SD71, D106, D107 for
1PG) show the same value (at the home position address of 0).
If any warning such as ABS time-out warning (AL.E5) or programmable controller side transfer
error occurs, refer to section 15.10 or chapter 10 and take corrective action.
(5) Home position setting
The home position must be set if.
(a) System setup is performed.
(b) The servo amplifier has been changed.
(c) The servo motor has been changed; or
(d) The absolute position erase (AL.25) occurred.
In the absolute position system, the absolute position coordinates are made up by making home
position setting at the time of system setup.
The servo motor may operate unexpectedly if positioning operation is performed without home
position setting. Always make home position setting before starting operation.
For the home position setting method and types, refer to section 15.7.3.
15 - 6
15. ABSOLUTE POSITION DETECTION SYSTEM
15.7 Absolute position data transfer protocol
POINT
After switching on the ABS transfer mode (ABSM), turn on the servo-on
signal (SON). When the ABS transfer mode is off, turning on the servo-on
signal (SON) does not switch on the base circuit.
15.7.1 Data transfer procedure
Each time the servo-on (SON) is turned ON (when the power is switched ON for example), the
programmable controller reads the position data (present position) of the servo amplifier.
Time-out monitoring is performed by the programmable controller.
Servo amplifier
Programmable controller
Send data ready ON
ABS request ON
Transmission data set
Send data ready OFF
Watch dog timer
Reading 2 bits
ABS request OFF
Shift and addition
<Current position data>
The data is read in units of
2 bits; the read data is written
to the lowest bits, and the
register is shifted right until
32-bit data is configured.
Repeated to configure 32-bit data
DI0 allocation change
16 times
Repeated to configure 6-bit data
Every time the SON is
turned ON, the ABS transfer
mode signal is turned ON
to set the data to be
transmitted.
ABS transfer mode ON
Start processing
Servo-on (SON) ON
3 times
Send data ready ON
ABS request ON
Transmission data set
Send data ready OFF
Watch dog timer
Reading 2 bits
ABS request OFF
<Sum check data>
The data is read in units of
2 bits; the read data is written
to the lowest bits, and the
register is shifted right until
6-bit data is configured.
Shift and addition
Setting the current
position
ABS transfer mode OFF
DI0 allocation change
Sum check
TLC (send data ready) OFF
15 - 7
A sum check is executed
for the received 32-bit data.
After making sure that
there are no errors in the data,
the current position is set.
End processing
Send data ready ON
15. ABSOLUTE POSITION DETECTION SYSTEM
15.7.2 Transfer method
The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the
servo-on (SON) going OFF, an emergency stop (EMG), or alarm (ALM), is explained below. In the
absolute position detection system, every time the servo-on (SON) is turned on, the ABS transfer mode
(ABSM) should always be turned on to read the current position in the servo amplifier to the controller.
The servo amplifier transmits to the controller the current position latched when the ABS transfer mode
(ABSM) switches from OFF to ON. At the same time, this data is set as a position command value inside
the servo amplifier. Unless the ABS transfer mode (ABSM) is turned ON, the base circuit cannot be
turned ON.
(1) At power-on
(a) Timing chart
Power
supply
ON
OFF
If SON is turned ON before ABSM is input
Servo-on
(SON)
ON
OFF
ON
4)
ABS transfer mode
(ABSM)
OFF
ABS request
(ABSR)
Send data ready
(TLC)
ON
2), 3)
During transfer of ABS
During transfer of ABS
(Note)
(Note)
(Note)
(Note)
OFF
ON
OFF
(Note)
Transmission
(ABS) data
D01:bit1
ZSP:bit2
(Note)
ABS data
ABS data
80[ms]
80[ms]
ON
Base circuit
OFF
Ready
(RD)
ON
OFF
1)
Operation
enabled
Note. For details, refer to (1) (b) in this section.
15 - 8
Operation
enabled
15. ABSOLUTE POSITION DETECTION SYSTEM
1) The ready (RD) is turned ON when the ABS transfer mode (ABSM) is turned OFF after
transmission of the ABS data.
While the ready (RD) is ON, the ABS transfer mode (ABSM) input is not accepted.
2) Even if the servo-on (SON) is turned ON before the ABS transfer mode (ABSM) is turned ON,
the base circuit is not turned ON until the ABS transfer mode (ABSM) is turned ON.
If a servo alarm has occurred, the ABS transfer mode (ABSM) is not received.
The ABS transfer mode (ABSM) allows data transmission even while a servo warning is
occurring.
3) If the ABS transfer mode (ABSM) is turned OFF during the ABS transfer mode, the ABS
transfer mode is interrupted and the ABS time-out warning (AL.E5) occurs.
If the servo-on (SON) is turned OFF, the reset (RES) is turned ON, and the emergency stop
(EMG) is turned OFF during the ABS transfer mode, the ABS time-out warning (AL.E5) occurs.
4) The functions of output signals such as ZSP, TLC, D01, and INP change depending on the
ON/OFF state of the ABS transfer mode (ABSM).
Note that if the ABS transfer mode (ABSM) is turned ON for a purpose other than ABS data
transmission, the output signals will be assigned the functions of ABS data transmission.
Symbol
(Note)
D01
Pin No.
CN1B-4
Output signal
ABS transfer mode (ABSM): OFF
ABS transfer mode (ABSM): ON
Positioning completion
ABS data bit 0
ZSP
CN1B-19
Zero speed
ABS data bit 1
TLC
CN1B-6
During torque limit control
Send data ready
CN1A-18
Positioning completion
ABS data bit 0
(Note)
INP
Note. CN1B-4 and CN1A-18 output the same signals. (To enter the positioning completion signal into INPS of the A1SD75,
connect CN1A-18.)
5) The ABS transfer mode (ABSM) is not accepted while the base circuit is ON
For re-transferring, turn OFF the servo-on (SON) signal and keep the base circuit in the off state
for 20ms or more.
15 - 9
15. ABSOLUTE POSITION DETECTION SYSTEM
(b) Detailed description of absolute position data transfer
Servo-on
(programmable
controller)
Servo-on
(SON)
ON
OFF
ON
OFF
(Note)
ABS transfer mode
(ABSM)
ABS request
(ABSR)
Send data ready
(TLC)
ON
7)
1)
During transfer of ABS
OFF
3)
ON
5)
OFF
ON
OFF
Transmission (ABS) data
2)
4)
6)
1
2
Lower
2 bits
18
19
Checksum
Upper 2 bits
Note. If the servo-on (SON) is not turned ON within 1 second after the ABS transfer mode (ABSM) is turned ON, an SON
time-out warning (AL.EA) occurs. This warning, however, does not interrupt data transmission.
It is automatically cleared when the servo-on (SON) is turned ON.
1) The programmable controller turns ON the ABS transfer mode (ABSM) and servo-on (SON) at
the leading edge of the internal servo-on (SON).
2) In response to the ABS transfer mode (ABSM), the servo detects and calculates the absolute
position and turns ON the send data ready (TLC) to notify the programmable controller that the
servo is ready for data transmission.
3) After acknowledging that the ready to send (TLC) has been turned ON, the programmable
controller turns ABS request (ABSR) ON.
4) In response to ABS request (ABSR), the servo outputs the lower 2 bits of the ABS data and the
ready to send (TLC) in the OFF state.
5) After acknowledging that the ready to send (TLC) has been turned OFF, which implies that 2
bits of the ABS data have been transmitted, the programmable controller reads the lower 2 bits
of the ABS data and then turns OFF the ABS request (ABSR).
6) The servo turns ON the ready to send (TLC) so that it can respond to the next request.
Steps 3) to 6) are repeated until 32-bit data and the 6-bit checksum have been transmitted.
7) After receiving of the sum check, the programmable controller confirms that the 19th ABS
transmission data ready (ABST) is turned ON, and then turns OFF the ABS transfer mode
(ABSM). If the ABS transfer mode (ABSM) is turned OFF during data transmission, the ABS
transfer mode (ABSM) is interrupted and the ABS time-out warning (AL.E5) occurs.
15 - 10
15. ABSOLUTE POSITION DETECTION SYSTEM
(c) Checksum
The checksum is the code which is used by the programmable controller to check for errors in the
received ABS data. The 6-bit checksum is transmitted following the 32-bit ABS data.
At the programmable controller, calculate the sum of the received ABS data using the ladder
program and compare it with the checksum code sent from the servo.
The method of calculating the checksum is shown. Every time the programmable controller
receives 2 bits of ABS data, it adds the data to obtain the sum of the received data. The checksum
is 6-bit data.
Negative data is available for the FX-1PG and unavailable for the A1SD71.
Example: ABS data:
10 (FFFFFFF6H)
10 b
01 b
11 b
11 b
11 b
11 b
11 b
11 b
11 b
11 b
11 b
11 b
11 b
11 b
11 b
11 b
101101 b
<Appendix>
Decimal
10
FFFF FFF6
Hexadecimal
Binary
1111 1111 1111
0110
When the binary data of each 2bits of the
ABS data is added up, "10 1101b " is obtained.
Therefore, the checksum of " 10" (ABS data) is "2Db"
15 - 11
15. ABSOLUTE POSITION DETECTION SYSTEM
(2) Transmission error
(a) Time-out warning(AL.E5)
In the ABS transfer mode, the time-out processing shown below is executed at the servo. If a timeout error occurs, an ABS time-out warning (AL.E5) is output.
The ABS time-out warning (AL.E5) is cleared when the ABS transfer mode (ABSM) changes from
OFF to ON.
1) ABS request OFF-time time-out check (applied to 32-bit ABS data in 2-bit units checksum)
If the ABS request signal is not turned ON by the programmable controller within 5s after the
send data ready (TLC) is turned ON, this is regarded as a transmission error and the ABS timeout warning (AL.E5) is output.
ON
ABS transfer mode
OFF
5s
ON
ABS request
OFF
Signal is not turned ON
ON
Send data ready
OFF
Yes
AL.E5 warning
No
2) ABS request ON-time time-out check (applied to 32-bit ABS data in 2-bit units checksum)
If the ABS request signal is not turned OFF by the programmable controller within 5s after the
send data ready (TLC) is turned OFF, this is regarded as the transmission error and the ABS
time-out warning (AL.E5) is output.
ON
ABS transfer mode
OFF
5s
ON
ABS request
OFF
Signal is not turned OFF
ON
Send data ready
OFF
Yes
AL.E5 warning
No
15 - 12
15. ABSOLUTE POSITION DETECTION SYSTEM
3) ABS transfer mode finish-time time-out check
If the ABS transfer mode (ABSM) is not turned OFF within 5s after the last ready to send signal
(19th signal for ABS data transmission) is turned ON, it is regarded as the transmission error
and the ABS time-out warning (AL.E5) is output.
5s
ON
ABS transfer mode
OFF
ON
Signal is not turned OFF
1
2
3
4
18
19
ABS request
OFF
ON
Send data ready
1
OFF
2
3
4
18
19
Yes
AL.E5 warning
No
4) ABS transfer mode (ABSM) OFF check during the ABS transfer
When the ABS transfer mode is turned ON to start transferring and then the ABS transfer
mode is turned OFF before the 19th send data ready signal is turned ON, the ABS time-out
warning (AL.E5) occurs, regarding it as a transfer error.
ON
ABS transfer mode
OFF
ON
1
2
3
4
18
19
ABS request
OFF
ON
1
2
Send data ready
OFF
AL.E5 warning
Yes
No
15 - 13
3
4
18
19
15. ABSOLUTE POSITION DETECTION SYSTEM
5) Servo-on (SON) OFF, Reset (RES) ON, Emergency stop (EMG) OFF check during the ABS
transfer
When the ABS transfer mode is turned ON to start transferring and then the servo-on (SON) is
turned OFF, the reset (RES) is turned ON, or the emergency stop (EMG) is turned ON before
the 19th send data ready signal is turned ON, the ABS time-out warning (AL.E5) occurs,
regarding it as a transfer error.
ON
Servo-on (SON)
OFF
ON
ABS transfer mode
OFF
ON
1
2
3
4
18
19
ABS request
OFF
ON
1
2
Send data ready
OFF
Yes
AL.E5 warning
No
15 - 14
3
4
18
19
15. ABSOLUTE POSITION DETECTION SYSTEM
(b) Checksum error
If the checksum error occurs, the programmable controller should retry transmission of the ABS data.
Using the ladder check program of the programmable controller, turn OFF the ABS transfer mode
(ABSM). After a lapse of 10ms or more, turn OFF the servo-on (SON) (OFF time should be longer than
20ms) and then turn it ON again.
If the ABS data transmission fails to end normally even after retry, regard this situation as an ABS
checksum error and execute error processing.
The start command should be interlocked with the ABS data ready signal to disable positioning
operation when an checksum error occurs.
20ms
or more
20ms
or more
20ms
or more
ON
Servo-on
Retry 1
OFF
10ms
or more
10ms
or more
ON
ABS transfer mode
OFF
ON
ABS request
OFF
ON
ABS send data ready
OFF
Yes
ABS checksum error
No
15 - 15
Retry 2
10ms
or more
Retry 3
10ms
or more
15. ABSOLUTE POSITION DETECTION SYSTEM
(3) At the time of alarm reset
If an alarm occurs, turn OFF the servo-on (SON) by detecting the alarm output (ALM).
If an alarm has occurred, the ABS transfer mode (ABSM) cannot be accepted.
In the reset state, the ABS transfer mode (ABSM) can be input.
Servo-on
(SON)
Reset
(RES)
ABS transfer mode
(ABSM)
ABS request
(ABSR)
Send data ready
(TLC)
ON
OFF
ON
OFF
ON
During transfer of ABS
OFF
ON
OFF
ON
OFF
Transmission
(ABS) data
ABS data
80[ms]
ON
Base circuit
OFF
Alarm output
(ALM)
Ready
(RD)
ON
OFF
ON
Operation
enabled
OFF
Occurrence of alarm
15 - 16
15. ABSOLUTE POSITION DETECTION SYSTEM
(4) At the time of emergency stop reset
(a) If the power is switched ON in the emergency stop state
The emergency stop state can be reset while the ABS data is being transferred.
If the emergency stop state is reset while the ABS data is transmitted, the base circuit is turned
ON 80[ms] after resetting. If the ABS transfer mode (ABSM) is OFF when the base circuit is
turned ON, the ready (RD) is turned ON 20[ms] after the turning ON of the base circuit. If the ABS
transfer mode (ABSM) is ON when the base circuit is turned ON, it is turned OFF and then the
ready (RD) is turned ON. The ABS data can be transmitted after the emergency stop state is reset.
The current position in the servo amplifier is updated even during an emergency stop. When servoon (SON) and ABS transfer mode (ABSM) are turned ON during an emergency stop as shown
below, the servo amplifier transmits to the controller the current position latched when the ABS
transfer mode (ABSM) switches from OFF to ON, and at the same time, the servo amplifier sets
this data as a position command value. However, since the base circuit is OFF during an
emergency stop, the servo-lock status is not encountered. Therefore, if the servo motor is rotated by
external force or the like after the ABS transfer mode (ABSM) is turned ON, this travel is
accumulated in the servo amplifier as droop pulses. If the emergency stop is cleared in this status,
the base circuit turns ON and the motor returns to the original position rapidly to compensate for
the droop pulses. To avoid this status, reread the ABS data before clearing the emergency stop.
Power
supply
ON
OFF
Servo-on
(SON)
Emergency stop
(EMG)
ABS transfer mode
(ABSM)
ABS request
(ABSR)
Send data ready
(TLC)
ON
OFF
Reset
ON
OFF
ON
During transfer of ABS
OFF
ON
OFF
ON
OFF
ABS data
Send (ABS) data
80[ms]
ON
Base circuit
OFF
Ready
(RD)
20[ms]
ON
Operation
enabled
OFF
15 - 17
15. ABSOLUTE POSITION DETECTION SYSTEM
(b) If emergency stop is activated during servo-on
The ABS transfer mode (ABSM) is permissible while in the emergency stop state. In this case, the
base circuit and the ready (RD) are turned ON after the emergency stop state is reset.
Servo-on
(SON)
Emergency stop
(EMG)
ABS transfer mode
(ABSM)
ABS request
(ABSR)
Send data ready
(TLC)
ON
OFF
ON
OFF
ON
During transfer of ABS
OFF
ON
OFF
ON
OFF
ABS data
Send (ABS) data
80[ms]
ON
Base circuit
OFF
Ready
(RD)
ON
Operation
enabled
OFF
15 - 18
15. ABSOLUTE POSITION DETECTION SYSTEM
15.7.3 Home position setting
(1) Dog type home position return
Preset a home position return creep speed at which the machine will not be given impact. On detection
of a zero pulse, the home position setting (CR) is turned from off to on. At the same time, the servo
amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the nonvolatile memory as the home position ABS data.
The home position setting (CR) should be turned on after it has been confirmed that the in-position
(D01 or INP) is on. If this condition is not satisfied, the home position setting warning (AL.96) will
occur, but that warning will be reset automatically by making home position return correctly.
The number of home position setting times is limited to 1,000,000 times.
Servo Motor
Near-zero point dog
Dog signal
(DOG)
Completion of
positioning
(D01 or INP)
Home position
setting (CR)
ON
OFF
ON
OFF
ON
OFF
20 [ms] or more
Home position
ABS data
20 [ms] or more
Update
15 - 19
15. ABSOLUTE POSITION DETECTION SYSTEM
(2) Data set type home position return
POINT
Never make home position setting during command operation or servo motor
rotation. It may cause home position sift.
It is possible to execute data set type home position return when the servo
off.
Move the machine to the position where the home position is to be set by performing manual operation
such as jog operation to turn the motor shaft more than one revolution. When the home position
setting (CR) is on for longer than 20ms, the stop position is stored into the non-volatile memory as the
home position ABS data.
The home position setting (CR) should be turned on after it has been confirmed that the in-position
(D01 or INP) is on. If this condition is not satisfied, the home position setting warning (AL.96) will
occur, but that warning will be reset automatically by making home position return correctly.
The number of home position setting times is limited to 1,000,000 times.
Manual feed (JOG, etc.)
(more than 1 revolution
of the motor shaft)
Servo Motor
Completion of
positioning
(D01 or INP)
Home position
setting (CR)
ON
OFF
ON
OFF
20 [ms] or more
Home position
ABS data
Update
15 - 20
15. ABSOLUTE POSITION DETECTION SYSTEM
15.7.4 Use of servo motor with electromagnetic brake
The timing charts at power on/off and servo-on (SON) on/off are given below.
Preset "
1 " in parameter No. 1 to make the electromagnetic brake interlock (MBR) usable. When the
ABS transfer mode is ON, the electromagnetic brake interlock (MBR) is used as the ABS data bit 1.
Hence, make up an external sequence which will cause the electromagnetic brake torque to be generated
by the ABS mode (ABSM) and electromagnetic brake interlock (MBR).
Power
supply
ON
OFF
Servo-on
(SON)
ABS transfer mode
(ABSM)
ABS request
(ABSR)
ABS transmission
data ready
(ABST)
ON
OFF
ON
OFF
During transmission
of ABS
During transmission
of ABS
ABS data
ABS data
ON
OFF
ON
OFF
Send (ABS) data
80 [ms]
80 [ms]
ON
Base circuit
OFF
20 [ms]
Ready
(RD)
20 [ms]
ON
OFF
Tb
Electromagnetic
brake interlock
(MBR)
Electromagnetic
brake torque
ON
OFF
ON
OFF
15 - 21
Tb
15. ABSOLUTE POSITION DETECTION SYSTEM
15.7.5 How to process the absolute position data at detection of stroke end
The servo amplifier stops the acceptance of the command pulse when stroke end (LSP LSN) is detected,
clears the droop pulses to 0 at the same time, and stops the servo motor rapidly.
At this time, the programmable controller keeps outputting the command pulse. Since this causes a
discrepancy between the absolute position data of the servo amplifier and the programmable controller, a
difference will occur between the position data of the servo amplifier and that of the programmable
controller.
To prevent this difference in position data from occurring, do as described below. When the servo
amplifier has detected the stroke end, perform jog operation or the like to clear the stroke end. After that,
switch the servo-on (SON) off once, then on again, or switch the power off once, then on again. This causes
the absolute position data of the servo amplifier to be transferred to the programmable controller,
restoring the normal data.
15 - 22
15. ABSOLUTE POSITION DETECTION SYSTEM
15.8 Examples of use
15.8.1 MELSEC-A1S (A1SD71)
(1) Instructions
The absolute coordinate system (programmable controller coordinate system) of the A1SD71 (AD71)
only covers the range in which the address increases (positive coordinate values) on moving away from
the machine home position (the position reached in the home position return operation). Therefore, if
the motor enters the range where the coordinate value is negative due to the load torque or a fall on a
vertical axis when the power is turned ON/OFF at a point near the machine home position, the system
fails to detect the absolute position. To prevent this problem, it is necessary to set the home position
(operation home position) for positioning in addition to the machine home position.
(a) The home position should be set in the direction in which the position address of the programmable
controller coordinate system increases on moving away from machine home position, as illustrated
below. Note that the home position for positioning must be more than one revolution of the servo
motor shaft from the machine home position.
If the address of the machine home position is changed to any value other than "0", the home
position should be set in the direction in which the position address increases on moving away from
the machine home position (machine home position after changing the home position address) and
at a point removed from the machine home position by more than one revolution of the motor shaft.
Machine home position
Programmable
controller coordinate
system
ABS
coordinate
system
20000
Home position
(operation home position)
50000
0 10000
0
50000
Direction in which
address increases
Home position
Programmable
controller coordinate
system
ABS
coordinate
system
More than 1 revolution
of motor shaft
50000
Machine home
position
10000 0
0
50000
Direction in which
address increases
20000
More than 1 revolution
of motor shaft
a) If revolution direction parameter (Pr. 14) 0
b) If revolution direction parameter (Pr. 14) 1
(b) In the range where the address decreases on moving away from the machine home position, do not
turn the power supply to the programmable controller or the servo amplifier, the servo-on
pushbutton switch, or the PC-RESET switch, ON/OFF. If any of these operations are attempted,
the ABS coordinate error (Y4B) is output since the absolute position cannot be detected.
Machine home position
Programmable
controller coordinate
system
ABS
20000
coordinate
ABS coordinate
system
value error occurs
if power is turned
on within this range
Home position
0 10000
0
Home position
50000
50000
Direction in which
address increases
Programmable
controller coordinate 50000
system
ABS
coordinate
system
Absolute position data can be
detected
10000 0
50000
Direction in which
address increases
Absolute position data can be
detected
a) If revolution direction parameter (Pr. 14) 0
Machine
home position
0
20000
ABS coordinate
value error occurs
if power is turned
on within this range
b) If revolution direction parameter (Pr. 14) 1
15 - 23
15. ABSOLUTE POSITION DETECTION SYSTEM
If the address of the machine home position is changed to any coordinate value other than "0", the
programmable controller coordinate system will be as illustrated below.
The power should be turned ON/OFF in the range in which the address increases on moving away
from the home position.
Machine home position Home position
Programmable
controller coordinate
0
20000 30000
system
ABS
coordinate
system
20000
0
Machine home position Home position
Programmable
controller coordinate
70000
0
30000 20000
system
70000
ABS
coordinate
system
50000
Direction in which
address increases
50000
Direction in which
address increases
Absolute position data can be detected
0
20000
Absolute position data can be detected
ABS coordinate value error occurs if
power is turned on within this range
ABS coordinate value error occurs if
power is turned on within this range
* Home position address changed to "2000"
a) If revolution direction parameter (Pr. 14)
* Home position address changed to "2000"
0
b) If revolution direction parameter (Pr. 14) 1
(c) In a positioning program, the address of the positioning point should be determined by adding the
home position address to the target position address.
Example) After home position return, execute positioning at 1) to 3).
1) Positioning at position address 80000
(PC coordinate 140000)
2) Positioning at position address 130000
(PC coordinate 190000)
3) Positioning at position address 0
(PC coordinate 60000)
1)
(80000 60000)
ABS coordinate
error region
Programmable
controller
coordinate
system
ABS coordinate
system
Machine home position Home position (operation home
position)
0 10000
50000
50000 60000
100000
0
50000
Stroke limit
2)
(130000 60000)
150000
(0 60000)
3)
* Home position address changed to "50000"
Mechanical limit
If revolution direction parameter (Pr. 14) 0
15 - 24
Direction in which
address increases
15. ABSOLUTE POSITION DETECTION SYSTEM
(d) Slot arrangement
The sequence programs presented in this section show I/O numbers (X, Y) assuming the
arrangement of modules on the main base unit is as illustrated below. A1SD71 is mounted at I/O
slots 0 and 1, a 16-point input module at slot 2, and 16-point output module at slot 3. If the actual
arrangement of the modules differs from this arrangement, change the X and Y numbers
accordingly.
The numbers of the devices (M, D, T, etc.) used in the program can be changed as required.
I/O slot No.
0
A1S
1
3
2
4
5
6
7
A1SD71
Power
CPU
supply
16-point output module
16-point input module
[Numbers used] X, X0-X, Y2F
Example arrangement of modules
(e) Points
1) The A1SD71 has 48 I/O points and occupies 2 slots. For I/O allocation using the GPP function,
follow the instructions given below.
First slot: Vacant slot 16 points
Second slot: Special function module 32 points
2) To execute the FROM/TO instruction for the A1SD71, use the head I/O number of the second
slot.
X30 to X3F
Y40 to Y4F
A1SD71
16-point input
module
16-point output
module
A1S
CPU
Note: The program example given
in (3) in this section is for 1-axis
control. Slot allocations are as
illustrated to the left. To use the
system for 2-axis control,
increase the number of I/O
points.
X,Y000 X,Y010
to
to
X,Y00F X,Y02F
I/O numbers to be set
with FROM/TO instruction
Therefore, the I/O number to be set with the FROM/TO instruction is head I/O number allocated
to the A1SD71 010H.
3) By setting "0 point of vacant slot" for the first slot of the A1SD71 in the "I/O allocation" of the
GPP function, the 16 points in the first slot can be saved.
In this case, the I/O number to be set with the FROM/TO instruction is the same number as the
head I/O number allocated to the A1SD71.
A1S
CPU
X,Y000
to
X,Y00F
A1SD71
I/O numbers to be set with FROM/TO instruction
15 - 25
15. ABSOLUTE POSITION DETECTION SYSTEM
(2) Connection diagram
Servo amplifier
General purpose
programmable controller
A1S62P
LG
Power
supply
CN1B
24
24G
FG
VDD
COM
SG
SG
3
13
10
20
DO1
ZSP
TLC
ALM
EMG
4
19
6
18
15
SON
ABSM
ABSR
RES
5
8
9
14
INPUT
AC100/200
A1SCPU
A1SX40
0
1
2
3
4
5
6
7
COM
8
9
A
B
C
D
E
F
ABS bit 0/Completion of positioning
ABS bit 1/Zero speed
Send data ready/Torque limit control
Trouble
Alarm reset
Emergency stop
Servo-on
Home position return
Operation mode I
Operation mode II
Position start
Position stop
(Note 3)
JOG
JOG
COM
NC
NC
A1SY40
0
1
2
3
4
5
6
7
Servo-on
ABS transfer mode
ABS request
Alarm reset
RA2
Electromagnetic
brake output
(Note 4)
COM1
8
9
A
B
(Note 2)
COM2
A1SD71-S2
(Note 1)
DOG
STOP
6B
6A
5A
RDY
5B
9A
PGO
9B
12A
CLEAR
12B
Power supply 17A
PULSE- 15A
F
15B
PULSE- 16A
R
16B
CN1A
Power supply
RD
P15R
OP
CR
SG
OPC
PP
SG
NP
SD
19
4
14
8
10
11
3
20
2
Plate
Note 1. To be connected for dog type home position setting. The connection in Note 2 is not required.
2. To be connected for data set type home position setting. The connection in Note 1 is not required.
3. This circuit is for reference only.
4. The electromagnetic brake interlock (MBR) output should be controlled by connecting the programmable controller output to a relay.
15 - 26
15. ABSOLUTE POSITION DETECTION SYSTEM
(3) Sequence program example
(a) Conditions
This sample program is an ABS sequence program example for a single axis (X axis).
To transmit the ABS data using the OFF-to-ON change of the servo-on (SON) as the trigger.
1) When the servo-on (SON) and the GND of the power supply are shorted, the ABS data is
transmitted when the power to the servo amplifier power is turned ON, or at the leading edge of
the RUN signal after a PC reset operation (PC-RESET). The ABS data is also transmitted when
an alarm is reset, or when the emergency stop state is reset.
2) If a checksum discrepancy is detected in the transmitted data, ABS data transmission is retried
up to three times. If the checksum discrepancy is still detected after retrying, the ABS checksum
error is generated (Y4A ON).
3) The following time periods are measured and if the ON/OFF state does not change within the
specified time, the ABS communication error is generated (Y4A ON).
ON period of ABS transfer mode (Y41)
ON period of ABS request (Y42)
OFF period of ready to send ABS data (X32).
4) If the relationship between the polarity ( ) of the received ABS data and the setting value for
parameter No. 14 (rotating direction) of A1SD71 involves negative coordinate values, which
cannot be handled by the A1SD71, the ABS coordinate error is generated (Y4B ON).
(b) Device list
X30
X31
X32
X33
X34
X35
X36
X37
X38
X39
D0
D1
D2
D3
D4
D5
D6
D7
D8
D9
D10
D100
D101
T0
T1
T2
T3
T10 (Note 1)
T200
X input contact
ABS bit 0 / completion of positioning
ABS bit 1 / zero speed
Send ABS data ready / torque limit control
Servo alarm
Error reset
Servo emergency stop
Servo-on
Home position return start
Operation mode I
Operation mode II
D register
ABS data transmission counter
Checksum transmission counter
Checksum addition counter
ABS data: Lower 16 bits
ABS data: Upper 16 bits
ABS data 2-bit receiving buffer
Check data in case of checksum error
Retry frequency
Forward rotation direction
Home position address: Lower 16 bits
Home position address: Upper 16 bits
Received shift data: Lower 16 bits
Received shift data: Upper 16 bits
T timer
ABS transfer mode timer
ABS request response timer
Retry wait timer
Ready to send response timer
Clear (CR) ON timer
Transmitted data read 10ms delay timer
Y40
Y41
Y42
Y43
X44 (Note 2)
Y45 (Note 1)
Y48
Y49
Y4A
Y4B
M0
M1
M2
M3
M4
M5
M6
M7
M8
M9
M10
M11
M12
M13
M20 (Note 1)
M21 (Note 2)
C0
C1
C2
Note 1. Necessary when data set type home position return is executed.
2. Necessary in the event of electromagnetic brake output.
15 - 27
Y output contact
Servo-on
ABS transfer mode
ABS request
Alarm reset
Electromagnetic brake output
Clear
Servo alarm
ABS communication error
ABS checksum error
ABS coordinate error
M contact
ABS data transmission start
Sum check completion
Sum check discrepancy
ABS data ready
Transmission data read enabled
Checksum 2 bits read completion
ABS 2 bits read completion
ABS 2 bits request
Servo-on request
Servo alarm
ABS data transmission retry start pulse
Retry flag setting
Retry flag reset
PLS processing command
Clear (CR) ON timer request
Data set type home position return request
C counter
ABS data receive frequency counter
Checksum receive frequency counter
Retry counter
15. ABSOLUTE POSITION DETECTION SYSTEM
(c) ABS data transfer program for X axis
This sequence program example assumes the following conditions.
Parameters of the A1SD71-S2 positioning module
1) Unit setting
: 3 pulse (PLS)
2) Travel per pulse : 1 1 pulse
To select the unit other than the pulse, conversion into the unit of the feed command value per
pulse is required. Hence, add the following program to the area marked Note in the sequence
program.
<Additional program>
D*P K
D3 D3
Item
mm
inch
degree
Unit setting
0
1
2
Travel per pulse
0.1 to 1.0 to
Unit of travel
10.0
0.00001 0.0001
to
m/PLS
Constant K for
conversion into
unit of travel
1 to
10 to
to
0.001
100
1 to
10 to
3
0.00001 0.0001
to
to
inch/PLS
pulse
0.001
to
to
degree/PLS
100
1 to
10 to
PLS
100
None
Reference
For 1 m/PLS, set constant K to 10
For 5 m/PLS, set constant K to 50
When the unit setting is pulse, the additional program is not required.
M9038
TOP
Initial
pulse
ON
K1
A1SD71 error reset
D7
Setting retry count (3 times)
A0
Loading received shift data
SET
M8
Servo-on request
RST
M3
Resetting ready to send
RST
M8
Resetting servo-on request
RST
C0
Resetting ABS transfer
counter at servo OFF
RST
C1
Resetting checksum transfer
counter at servo OFF
Y40
Servo-on output
M0
ABS I/F start
H0001 K201 K1
MOV
K3
Initial setting
M9039
DMOV D100
PC RUN
X36
Servo-on PB
X36
Servo-on
PB
M8
M9
M11
Servo-on
request
Error
flag
Retry flag
setting
PLS
1
(To be continued)
15 - 28
1
Servo-on control
15. ABSOLUTE POSITION DETECTION SYSTEM
1
(Continued from preceding page)
1
M8
PLS
M12
Setting retry flag
RST
C2
Resetting retry counter
Y43
Alarm reset output
M9
Error flag output
RST
M3
Resetting ready to send
RST
M8
Resetting servo-on request
Y48
Servo alarm
Servo-on request
M12
ABS data
transmission
retry control
Retry flag reset request
X34
M9
Error reset Error flag
PB
Y43
Alarm reset
X35
Emergency
stop PB
X33
Servo alarm
detection, alarm
reset control
Servo alarm
M0
ABS data
transfer
start
MOV
K16
D0
Initializing ABS data transfer
counter
MOV
K3
D1
Initializing checksum transfer
counter
MOV
K0
D2
Initializing checksum register
MOV
K0
D5
Initializing ABS data register
DMOV K0
D9
Initializing ABS data register
DMOV K0
A0
Initializing ABS data register
RST
Y4B
Resetting error for ABS
coordinate
RST
C0
Resetting ABS transfer
counter
RST
C1
Resetting checksum transfer
counter
Y41
ABS transfer mode
ABS transfer
mode
Initial setting
M0
ABS data transfer
start
Y41
C1
2
ABS Checksum
transfer counter
mode
ABS transfer
mode control
(To be continued)
15 - 29
2
15. ABSOLUTE POSITION DETECTION SYSTEM
2
(Continued from preceding page)
C0
C1
Y41
DMOVP A0
D3
Saving ABS 32-bit data
MOVP K0
A0
Clearing register
FROMP H0001 K7872 D8
K1
*1 Reading X-axis rotating
direction parameter
WAND H0004
D8
Rotation direction parameter
mask
WAND H8000
A1
ABS data sign mask
PLS
M13
PLS processing command
NEG
D4
Reversing polarity of upper
16 bits
K1
D4
Subtraction for upper 16 bits
Counter Checksum ABS
counter
transfer
mode
M13
2
Rotation direction
judgement
D8 K4
PLS processing
command
K0
M4
NEG
D3
Reversing polarity of lower
16 bits
K1
D4
Lower 16 bits 0
D4 1 D4
K1X30
D5
Reading 4 bits
WAND H0003
D5
Masking 2 bits
WOR D5
A0
Adding 2 bits
K2
Right rotation of A0 2 bits
D1
C1
Counting checksum data
reception frequency
D3
Detecting absolute
position polarity
and A1SD71
rotating direction
Reversing polarity of
absolute position
C0
MOV
Read
ABS data
enabled counter
ROR
PLS
3
(To be continued)
15 - 30
Completion of reading, 2 bits
of checksum
M5
3
Reading checksum
6 bits
(2 bit 3 times)
15. ABSOLUTE POSITION DETECTION SYSTEM
3
(Continued from preceding page)
M4
3
C0
K1X30
D5
Reading 4 bits
WAND H0003
D5
Masking 2 bits
WOR D5
A0
Adding 2 bits
DROR
K2
Right rotation of A0 2 bits
D2
D2
Adding checksum
D0
C0
Counting frequency of ABS
data reception
MOV
Read
ABS data
enabled counter
D5
PLS
M6
Completion of reading: 2 bits
of ABS data
RORP
K10
Right rotation of A0 10 bits
A0
Masking checksum
M1
Sum check OK
Reading ABS data
32 bits
(2 bits 16 times)
C1
Check
sum
counter
WAND H003F
D2
A0
Detecting ABS data
checksum error
D2
M2
Sum check NG
D6
Sum check memory
Y4A
ABS checksum error
RST
Y42
Resetting ABS request
PLS
M7
ABS 2 bits request
A0
MOV
A0
C2
Retry counter
M6
ABS 2 bits read
completion
M5
Checksum 2 bits read completion
Y41
X32
ABS transfer Send data
mode
ready
M7
ABS request
control
SET
Y42
Setting ABS request
K1
T200
10ms delay timer
ABS 2 bits request
Y42
ABS
request
Y42
X32
Send data ready
X32
T200
Transmission data read
enabled
M4
10ms delay timer
4
(To be continued)
15 - 31
4
15. ABSOLUTE POSITION DETECTION SYSTEM
4
(Continued from preceding page)
4
M1
DFROP H0001 K7912 D9
K1
*1 A1SD71: reading home
position address
Checksum OK
(Note)
D
M1
K0
D*P
K
D3
D3
Inserting constant K for conversion Restoring absolute
into the unit of feed per pulse
position data
D P
D3
D9
D3
Adding home position address
to absolute position
SET
Y4B
Setting ABS coordinate error
D3
K1
*1 X-axis: Present position
change ABS data "ready"
D3
Y4B
DTOP H0001 K41
Checksum ABS coordinate error
OK
Y49
SET
M3
ABS data "ready"
RST
Y41
Resetting ABS transfer mode
K50
T0
ABS transfer mode timer (5s)
Detecting ABS
coordinate error
Writing ABS data
to A1SD71
X36
ABS commu- Servo-on PB
nication error
Y41
ABS transfer mode
Y41
ABS transfer
mode
Y41
ABS transfer
mode
Y42
K10
T1
ABS request response timer
(1s)
K10
T3
Ready to send response
timer (1s)
Y49
ABS communication error
ABS request
X32
Send data ready
ABS communication
error detecting
T0
ABS transfer NG
T1
ABS request NG
T3
Send data ready NG
5
(To be continued)
5
Note. When the unit setting parameter value of the A1SD71 positioning module is changed from "3" (pulse) to "0" (mm), the unit is
0.1 m for the input value. To change the unit to
1 m, and this program to multiple the feed value by 10.
15 - 32
15. ABSOLUTE POSITION DETECTION SYSTEM
5
(Continued from preceding page)
5
M2
PLS
M10
ABS transfer retry start pulse
SET
M11
Setting retry flag
D7
C2
Retry counter
Checksum NG
M10
C2
Retry start Retry
pulse
counter
M11
ABS transfer
retry control
K1
T2
Retry wait timer (100ms)
M11
Resetting retry flag
D100
Saving received shift data
Retry flag set
T2
RST
Retry wait timer
M9039
DMOV A0
PC RUN
END
POINT
When absolute position data is received at power ON, for example, if a
negative coordinate position which cannot be handled by the A1SD71 is
detected, the ABS coordinate error (Y4B ON) is generated. If this error is
generated, move the axis into the positive coordinate zone in JOG operation.
Then, turn OFF the servo-on pushbutton switch and turn it ON again.
15 - 33
15. ABSOLUTE POSITION DETECTION SYSTEM
(d) X-axis control program
This precludes execution of the X-axis start program while M3 (ready to send the ABS data) is
OFF.
Positioning X-axis start
mode
command M3
X-axis start program
Ready to
send the
ABS date
When M3 (ready to send the ABS data)
is turned ON, the X-axis start command
executes the X-axis start program.
(e) Dog type home position return
For an example of a program for the dog type home position return operation, refer to the home
position return program presented in the User's Manual for A1SD71.
(f) Data set type home position return
After jogging the machine to the position where the home position (e.g.500) is to be set, choose the
home position return mode set the home position with the home position return start (PB ON).
After switching power on, rotate the servo motor more than 1 revolution before starting home
position return.
Do not turn ON the clear (CR) (Y45) for an operation other than home position return. Turning it
ON in other circumstances will cause position shift.
M9039
Home position return mode
PC RUN
Home position
return mode Y41
X30
Y2D
Programmable controller ready
M20
Clear (CR) ON timer request
K1
T10
Clear (CR) 100ms ON timer
SET
M21
Setting data set type home position return request
RST
M21
Resetting data set type home position return request
Y45
Clear (CR) ON
D9
Setting X-axis home position address "500"
(Note 1)
in the data register
DTOP H0001 K7912 D9
K1
*1:Changing X-axis home position address
DFROP H0001 K7912 D9
K1
DTOP H0001 K41
K1
X37
PLS
M20
(Note 1)
ABS
Positioning Home position
transfer completion return start PB
mode
Clear (CR) ON
timer request
M21
Data set type home
position return request
T10
Clear signal 100ms ON timer
M21
Data set type home
position return request
DMOVP K500
D9
(Note 2)
*1:Changing X-axis present position data
Note 1. If data of the home position address parameter is not written by using an A6GPP programming tool, etc. before starting a
program for data set type home position return, the circuits indicated by Note 1 are necessary and the circuit indicated by Note
2 is not necessary.
2. Contrary to Note 1 above, if the home position address is written in the home position address parameter the circuit indicated
by Note 3 is necessary and the circuits indicated by Note 1 are not necessary.
15 - 34
15. ABSOLUTE POSITION DETECTION SYSTEM
(g) Electromagnetic brake output
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Set "1 1 "in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock
(MBR).
Y41
X31
Y44
Electromagnetic brake output
ABS
Brake (MBR)
transfer
mode
(h) Positioning completion
To create the status information for servo positioning completion.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Y41
X30
M
Completion of servo positioning
ABS transfer Positioning
mode
completion
Y41
ABS transfer
mode
(i) Zero speed
To create the status information for servo zero speed
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Y41
X31
M
Servo zero speed
ABS transfer Zero
mode
speed
Y41
ABS transfer
mode
(j) Torque limiting
To create the status information for the servo torque limiting mode
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the torque
limiting must be off.
Y41
X32
M
ABS transfer Torque limiting
mode
mode
15 - 35
Servo torque limiting mode
15. ABSOLUTE POSITION DETECTION SYSTEM
(4) Sequence program - 2-axis control
The following program is a reference example for creation of an ABS sequence program for the second
axis (Y axis) using a single A1SD71 module. Create a program for the third axis in a similar manner.
(a) Y-axis program
Refer to the X-axis ABS sequence program and create the Y-axis program.
Assign the X inputs, Y outputs, D registers, M contacts, T timers and C counters of the Y axis so
that they do not overlap those of the X axis.
The buffer memory addresses of the A1SD71 differ between the X and Y axes. The instructions
marked *1 in the program of section 15.8.1 (3) (c) should be changed as indicated below for use with
the Y axis.
[FROMP H0001 K7872 D8 K1]
[DFROP H0001 K7912 D9 K1]
[DTOP H0001 K41 D3 K1]
[FROMP H0001 K7892 D8 K1]
[DFROP H0001 K7922 D9 K1]
[DTOP H0001 K341 D3 K1]
[Program configuration]
X-axis ABS sequence program
(Program in section 15.8.1 (3) (f))
Y-axis ABS sequence program
(Refer to the X-axis program and write the Y-axis
program)
(b) Data set type home position return
Arrange the data set type home position return programs given in section 15.8.1 (3) (f) in series to
control two axes.
Refer to the X-axis data set type home position return program and create the Y-axis program.
Assign the X inputs, Y outputs, D registers, M contacts and T timers of the Y axis so that they do
not overlap those of the X axis.
The buffer memory addresses of the A1SD75 differ between the X and Y axes. The instructions
marked *1 in the program of section 15.8.1 (3) (f) should be changed as indicated below for use with
the Y axis.
[DTOP H0001 K7912 D9 K1]
[DTOP H0001 K41 D9 K1]
[DTOP H0001 K7922 D9 K1]
[DTOP H0001 K341 D9 K1]
[Program configuration]
X-axis data set type home position return program
(Program in section 15.8.1 (3) (f))
Y-axis data set type home position return program
(Refer to the X-axis program and write the Y-axis
program)
15 - 36
15. ABSOLUTE POSITION DETECTION SYSTEM
15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG)
(1) Connection diagram
(a) FX-32MT (FX-1PG)
Servo amplifier
FX-32MT
L
24V
COM
3.3k
Power supply
CN1B
N
RUN
X0
X1
X2
X3
X4
X5
X6
X7
X10
X11
X12
X13
X14
X15
SG
PC-RUN
ABS bit 0/Completion of positioning
DO1 4
ZSP 19
TLC 6
ALM 18
ABS bit 1/Zero speed
Send data ready/Torque limit control
Alarm
Servo ready
Alarm reset
Emergency stop
Servo-on
10
RD
CN1A
19
JOG( )
JOG( )
Position start
Position stop
Home position return start
1PG error reset
COM1
EMG 15
SON 5
ABSM 8
ABSR 9
RES 14
Servo-on
ABS transfer mode
ABS request
Alarm reset
Y0
Y1
Y2
Y3
COM2
Y4
Y5
Y6
Y7
COM3
Y10
Y11
Y12
Y13
24
SG
FX-1PG
3.3k
SG
S/S
DOG
RA2
Servo alarm
ABS communication
error
ABS checksum error
Electromagnetic
brake output
(Note 3)
(Note 2)
COM 13
DOG
24V
STOP
3.3k
VH
VL
FPO
FP
COM0
3.3k
RP
RPO
COM1
CLR
PGO
PGO
VDD
SD
3
CN1A
OPC 11
PP 3
SG 20
NP 2
(Note 1)
Pulse train for forward rotation
Pulse train for reverse rotation
SG
CR
10
8
P15R 4
OP 14
SD Plate
Clear
Z-phase pulse
15V
SD
Note 1. To be connected for the dog type home position setting. At this time, do not connect the portions marked (Note 2).
2. To be connected for the data set type home position setting. At this time, do not connect the portions marked (Note 1).
3. The electromagnetic brake interlock (MBR) should be controlled by connecting the programmable controller output to a relay.
15 - 37
15. ABSOLUTE POSITION DETECTION SYSTEM
(b) FX2N-32MT (FX2N-1PG)
Servo amplifier
FX2N-32MT
L
24V
3.3k
Power supply
N
SG
COM
X0
X1
X2
X3
X4
X5
X6
X7
X10
X11
X12
X13
X14
X15
ABS bit 0/Completion of positioning
DO1 4
ZSP 19
TLC 6
ALM 18
ABS bit 1/Zero speed
Send data ready/Torque limit control
Alarm
Servo ready
Alarm reset
Emergency stop
Servo-on
CN1B
10
RD
CN1A
19
JOG( )
JOG( )
Position start
Position stop
Home position return start
1PG error reset
COM1
EMG 15
SON 5
ABSM 8
ABSR 9
RES 14
Servo-on
ABS transfer mode
ABS request
Alarm reset
Y0
Y1
Y2
Y3
COM2
Y4
Y5
Y6
Y7
COM3
Y10
Y11
Y12
Y13
24
RA2
Servo alarm
ABS communication
error
ABS checksum error
Electromagnetic
brake output
(Note 3)
(Note 2)
COM 13
FX2N-1PG
3.3k
S/S
DOG
SD
DOG
24V
STOP
VIN
VDD
(Note 1)
3.3k
FP
COM0
3.3k
RP
COM1
CLR
PGO
PGO
OPC
PP
SG
NP
Pulse train for forward rotation
Pulse train for reverse rotation
3
CN1A
11
3
20
12
SG
CR
10
8
P15R 4
OP 14
SD Plate
Clear
Z-phase pulse
15V
SD
Note 1. To be connected for the dog type home position setting. At this time, do not connect the portions marked (Note 2).
2. To be connected for the data set type home position setting. At this time, do not connect the portions marked (Note 1).
3. The electromagnetic brake interlock (MBR) should be controlled by connecting the programmable controller output to a relay.
15 - 38
15. ABSOLUTE POSITION DETECTION SYSTEM
(2) Sequence program example
(a) Conditions
1) Operation pattern
ABS data transfer is made as soon as the servo-on switch is turned on. After that, positioning
operation is performed as shown below.
Home position
3)
300000
1)
0
300000
address
2)
After the completion of ABS data transmission, JOG operation is possible using the JOG or
JOG switch, and dog type home position return is possible using the home position return
switch.
2) Buffer memory assignment
For BFM#26 and later, refer to the FX2(N)-1PG User's Manual.
BMF No.
Upper 16 Lower 16
bits
bits
#2
#5
#8
#10
#14
#18
#20
#22
#24
-
#0
#1
#3
#4
#6
#7
#9
#11
#12
#13
#15
#16
#17
#19
#21
#23
#25
Name and symbol
Pulse rate
A
Feed rate
B
Parameter
Max. speed
Vmax
Bias speed
Vbia
JOG operation
Vjog
Home position return speed (high speed)
VRT
Home position return speed (creep)
VCL
Home position return zero-point signal count N
Home position address
HP
Acceleration/deceleration time
Ta
Not usable
Target address (I)
P(I)
Operation speed (I)
V(I)
Target address (II)
P(II)
Operation speed (II)
V(II)
Operation command
Set value
2000
1000
H0000
100000PPS
0PPS
10000PPS
50000PPS
1000PPS
2 pulses
0
200ms
0
100000
0
10
H0000
Remark
Command unit: Pulses
Initial value: 10
Initial value: 100
Initial value: 10
3) Instructions
When the servo-on switch and the COM of the power supply are shorted, the ABS data is
transmitted when the servo amplifier power is turned ON, or at the leading edge of the RUN
signal after a PC reset operation (PC-RESET). The ABS data is also transmitted when an alarm
is reset, or when the emergency stop state is reset.
If checksum discrepancy is detected in the transmitted data, the ABS data transmission is
retried up to three times. If the checksum discrepancy is still detected after retrying, the ABS
checksum error is generated (Y12 ON).
The following time periods are measured and if the ON/OFF state does not change within the
specified time, the ABS communication error is generated (Y11 ON).
ON period of ABS transfer mode (Y1)
ON period of ABS request (Y2)
OFF period of ready to send the ABS data (X2).
15 - 39
15. ABSOLUTE POSITION DETECTION SYSTEM
(b) Device list
X input contact
Y output contact
X0
X1
X2
X3
X4
X5
X6
X7
X10
X11
X12
X13
X14
X15
ABS bit 0 / completion of positioning
ABS bit 1 / zero speed
Send ABS data ready/ torque limit control
Servo alarm
Alarm reset switch
Servo emergency stop
Servo-on switch
Servo ready
JOG ( ) switch
JOG ( ) switch
Position start switch
Position stop switch
Home position return start switch
1PG error reset
D0
D1
D2
D3
D4
ABS data: Lower 16 bits
ABS data: Upper 16 bits
Checksum addition counter
Check data in case of checksum error
Transmission retry count in checksum
discrepancy
Home position address: Lower 16 bits
Home position address: Upper 16 bits
1PG present position address: Lower 16 bits
1PG present position address: Upper 16 bits
Y0
Y1
Y2
Y3
Y4 (Note 2)
Y5 (Note 1)
Y10
Y11
Y12
Servo-on
ABS transfer mode
ABS request
Alarm reset
Electromagnetic brake output
Clear
Servo alarm
ABS communication error
ABS checksum error
M0
M1
M2
M3
M4
Error flag
ABS data transmission start
Retry command
ABS data read
Servo-on request reset permission
M5
M6
M10
M11
M12
M13
M20
Servo-on request
Retry flag
D register
D24
D25
D106
D107
M contact
ABS data 2 bit receiving buffer
ABS data 32 bit buffer
M51
M52
Checksum 6 bit buffer
M57
M58
M59
T timer
T200
T201
T202
T203
T204
T210 (Note 1)
Retry wait timer
ABS transfer mode timer
ABS request response timer
Ready to send response timer
ABS data waiting timer
Clear (CR) ON timer
T211
Retry ABS transfer mode OFF wait timer
M62
Sum check discrepancy (greater)
M63
M64
M70 (Note 1)
M71 (Note 1)
M99
Sum check discrepancy
Sum check discrepancy (less)
Clear (CR) ON timer request
Data set type home position return request
ABS data ready
C counter
C0
C1
C2
Note 1. Necessary when data set type home position return is executed.
2. Necessary in the event of electromagnetic brake output.
15 - 40
For checksum comparison
All data reception frequency counter (19 times)
Checksum reception frequency counter
ABS data reception frequency counter (16 times)
15. ABSOLUTE POSITION DETECTION SYSTEM
(c) ABS data transfer program for X-axis
M8002
DMOV K0
D24
Setting home position address
to 0
K1
Setting 1PG pulse command
unit
Initial
pulse
1
TO
K0
K3
K0
DTO
K0
K4
K100000 K1
1PG max. speed: 100 kpps
DTO
K0
K7
K10000
K1
1PG Jog speed: 10 kpps
DTO
K0
K9
K50000
K1
1PG home position return
speed: 50 kpps
TO
K0
K11
K1000
K1
1PG creep speed: 1 kpps
TO
K0
K12
K2
K1
1PG home position return
zero-point count: twice
DTO
K0
K13
D24
K1
1PG home position address
setting
TO
K0
K15
K200
K1
1PG acceleration/deceleration
time: 200ms
DTO
K0
K19
K100000 K1
1PG operation speed:
100kpps
DMOV K300000 D100
Position move account 1:
300000 pulses
DMOV K 250000 D102
Position move account 2:
250000 pulses
DMOV K0
D104
Position move account 3:
0 pulses
DMOV K0
Z
Clearing index registers V, Z
DMOV K4
D4
Setting "4 times" for checksum
error transmission frequency
(To be continued)
15 - 41
1
Initial setting
15. ABSOLUTE POSITION DETECTION SYSTEM
(Continued from preceding page) 1
1
X6
M6
Servo-on
switch
M5
Retry
M5
Servo-on request
Y0
Servo-on output
PLS
M1
ABS data transmission start
RST
C1
Clearing retry counter
RST
M99
Resetting ready to send ABS
data
RST
M5
Resetting servo-on request
RST
Y1
Resetting ABS transfer mode
RST
Y2
Resetting ABS request
RST
M6
Resetting retry flag
ZRST M62
M64
Resetting checksum
judgement flag
ZRST C0
C2
Resetting communication
counter
SET
Y12
Servo-on ABS check
request
error
M0
Error
flag
Y11
ABS
communication
error
M1
X6
M6
Retry
ABS
transmission
start
Servo-on switch
Y12
2
(To be continued) 2
15 - 42
Servo-on and
retry control
15. ABSOLUTE POSITION DETECTION SYSTEM
2
(Continued from preceding page)
X4
2
M0
Y3
Alarm reset output
C1
Clearing retry counter
ZRST M0
M64
Clearing ABS data receiving
area
ZRST D0
D3
Clearing ABS receive data
buffer
RST
C2
Resetting ABS data reception
counter
RST
C0
Resetting all data reception
counter
M0
Error flag output
Y10
Servo alarm output
RST
Y1
Resetting ABS transfer mode
RST
Y2
Resetting ABS request
RST
M99
Resetting ready to send
RST
M5
Resetting servo-on request
RST
M6
Resetting retry flag
SET
Y1
ABS transfer mode ON
ZRST M10
M64
Clearing ABS data reception
area
ZRST D0
D2
Clearing ABS receiver data
buffer
RST
C2
Resetting ABS data reception
counter
RST
C0
Resetting all data reception
counter
Alarm reset Error flag
switch
Y3
RST
Alarm reset
X5
Emergency stop
switch
X3
Servo alarm
detection, alarm
reset control
Servo alarm
M1
ABS data
transmission start
3
(To be continued) 3
15 - 43
ABS transfer
mode
Initial setting
15. ABSOLUTE POSITION DETECTION SYSTEM
(Continued from preceding page)
3
C0
Y1
ABS
transfer
mode
All data
receptin
counter
3
X2
PLS
M3
Resetting ABS data
SET
Y2
ABS request ON
ABS data 32 bits
(2 bits 16 times)
K1
T204
ABS data waiting timer 10ms
Checksum 6 bits
(2 bits 3 times)
Send data ready
M3
ABS data read
Y2
X2
ABS
Send data
request ready
T204
WANDP K1X0
H0003
K1M10
Masking ABS data 2 bits
K38
K2
Right shift (2 bits) of ABS data
D2
Checksum addition
ABS data waiting timer
SFTR M10
M20
C2
ADDP
C0
K1M10 D2
K16
C2
Updating ABS data reception
counter
K19
C0
Updating all data reception
counter
RST
Y2
Resetting ABS request
RST
Y1
Resetting ABS transfer mode
WANDP H003F D2
D2
Masking checksum 6 bits
CMPP
M62
Comparison of checksum
X2
ABS data Send data
reception ready
counter
K2M52 D2
C1
Y12
ABS data checksum error
M2
Retry command
K2
T211
Setting retry ABS transfer
mode OFF wait timer: 20ms
Retry counter
M62
C1
PLS
Retry
counter
M64
MOV
K2M52
D3
Storing checksum value in the
case of checksum error
SET
M6
Retry flag ON
PLS
M4
Servo-on request reset
permission
RST
M5
Servo-on request
K10
T211
Setting retry wait timer: 100ms
T211
Setting retry ABS transfer mode
OFF wait timer: 20ms
M4
Servo-on request reset permission
M5
Servo-on
request
4
M6
Retry flag
(To be continued)
15 - 44
4
Detection of ABS
checksum error,
retry control
15. ABSOLUTE POSITION DETECTION SYSTEM
(Continued from preceding page)
4
4
M63
D0
ABS data
D24
D0
Adding 1PG home position
address
D0
K1
ABS data
SET
M99
Setting ABS data ready
ZRST M62
M64
Clearing checksum judging
area
RST
M6
Resetting retry flag
RST
Y1
Detecting ABS
communication error
RST
Y2
Resetting ABS request
K500
T201
ABS transfer mode 5s timer
DMOVP K8M20
Check
sum
match
DADDP D0
DTOP K0
Y11
K26
X6
Servo-on
ABS
communi- switch
cation error
Y1
D0, D1
1PG
Writing absolute
position data to
1PG
ABS transfer mode
Y1
Y2
ABS transfer ABS request
mode
Y1
X2
K100
T202
ABS request response
1s timer
K100
T203
Ready to send response
1s timer
Y11
ABS communication error
D4
C1
Counting retry frequency
ABS transfer Send data ready
mode
T201
Detecting ABS
communication
error
ABS transmission NG
T202
ABS request NG
T203
Send data ready NG
M2
Retry command
T200
M6
Retry
wait
timer
Retry
ABS transfer
retry control
SET
5
M5
(To be continued) 5
15 - 45
Setting servo-on request
15. ABSOLUTE POSITION DETECTION SYSTEM
(Continued from preceding page) 5
5
M8000
M109
Normally
OFF
M110
M111
1PG control
command
(not used)
M112
M102
M103
X7
X12
M99
M120
Start command pulse
M104
1PG JOG command
M105
1PG JOG command
M106
1PG home position return
start
D100Z
K1
Setting motion distance
SET
108
1PG start
DINC
Z
DINC
Z
PLS
Servo
ready
ABS data
Position
start switch ready
X10
JOG
X11
(Note)
Operation
command
control
JOG
X7
X14
Servo ready Home position return start switch
M120
DTO
K0
K17
Position
start
command
pulse
Index processing
DCMP Z
K6
M121
Position
command
control
M122
DMOV K0
Z
INDX 6
X13
M101
1PG stop command
M100
1PG error reset
Position stop
switch
M0
Error flag
X16
1PG error reset
6
(To be continued) 6
Note. Program example for the dog type home position return. For the data set type home position return, refer to the program example
in (2) (d) in this section.
15 - 46
15. ABSOLUTE POSITION DETECTION SYSTEM
6
(Continued from preceding page) 6
M8000
K0
K25
K4M100
K1
FX2 1PG
Transmission of control signals
FROM K0
K28
K3M200
K1
1PG FX2
Transmission of status
DFROMK0
K26
D106
K1
RST
M108
1PG FX2
Transmission of present
position D106, D107
1PG
Resetting start command
TO
Normally
ON
M200
END
(d) Data set type home position return
After jogging the machine to the position where the home position (e.g.500) is to be set, choose the
home position return mode set the home position with the home position return start switch (X14)
ON. After switching power on, rotate the servo motor more than 1 revolution before starting home
position return.
Do not turn ON the clear (CR) (Y5) for an operation other than home position return. Turning it
ON in other circumstances will cause position shift.
Y1
X0
X14
M70
Clear (CR) ON timer request
K10
T210
Clear (CR) 100ms ON timer
SET
M71
Setting data set type home position return request
RST
M71
Resetting data set type home position return request
Y5
Clear (CR) ON
DMOVP K500
D24
Setting X-axis home position address "500"
in the data register
DTOP K0
K13
D24
K1
Changing X-axis home position address
DTOP K0
K26
D24
K1
Changing X-axis present position data
PLS
ABS transfer Positioning Home position return
mode
completion start swiitch
M70
Clear signal ON
timer request
M71
Date set type home position return request
T210
Clear signal 100ms ON timer
M71
Data set type
home position
return request
15 - 47
15. ABSOLUTE POSITION DETECTION SYSTEM
(e) Electromagnetic brake output
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock
(MBR).
Y1
X1
Y4
Electromagnetic brake output
ABS transfer Brake (MBR)
mode
(f) Positioning completion
To create the status information for positioning completion.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Y1
X0
M
ABS transfer Positioning
mode
completion
Y1
Completion of positioning
ABS transfer
mode
(g) Zero speed
To create the status information for zero speed.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Y1
X1
M
ABS transfer Zero speed
mode
Y1
Zero speed
ABS transfer
mode
(h) Torque limiting
To create the status information for the torque limiting mode.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the torque
limiting must be off.
Y1
X2
M
ABS transfer Torque limiting mode
mode
15 - 48
Torque limiting mode
15. ABSOLUTE POSITION DETECTION SYSTEM
15.8.3 MELSEC A1SD75
(1) Connection diagram
Servo amplifier
A1S62P
600mA
LG
Power
supply
24
24G
FG
VDD
COM
SG
SG
CN1B
3
13
10
20
DO1
ZSP
TLC
ALM
4
19
6
18
EMG
15
LSP
LSN
16
17
SON
ABSM
ABSR
RES
5
8
9
14
COM
RD
INP
CN1A
9
19
18
INPUT
AC100/200
A1SCPU
A1SX40
0
1
2
3
4
5
6
7
COM
ABS data bit 0/Positioning completion
ABS data bit 1/zero speed
Readying to send data/Torque limiting
Trouble
Alarm reset
Emergency stop
Servo-on
Home position return
Upper limit
Operation mode I
8 Operation mode II
9
Position start
A
Position stop
B
JOG
C
JOG
D
E
F
Lower limit
(Note 3)
Operation
mode
II
OFF
ON
ON
OFF
ON
ON Positioning
COM
NC
NC
A1SY40
Operating
status
I
OFF
OFF
JOG
Home
position
return
Servo-on
ABS transfer mode
ABS request
Alarm reset
0
1
2
3
4
5
6
7
RA2
Electromagnetic
brake output
(Note 4)
COM1
8
9
A
B
Servo alarm
ABS communication error
ABS checksum error
COM2
(Note 1)
Proximity signal
A1SD75-P
DOG
PLS
RLS
STOP
CHG
START
COMMON
COMMON
(Note 2)
11
12
13
14
15
16
35
36
RDY
INPS
7
8
COMMON 26
CLEAR 5
(Note 2)
COMMON 23
24
25
PULSE- 21
F
3
PULSE- 22
R
4
PLS COM 19
PLS COM 20
Servo ready
Positioning completion
PGO
(Note 6)
(Note 6)
15 - 49
(Note 5)
CR
SG
SG
LZ
LZR
PG
PP
NG
NP
LG
SD
8
10
20
5
15
13
3
12
2
1
Plate
15. ABSOLUTE POSITION DETECTION SYSTEM
Note 1. For the dog type home position return. Need not be connected for the data set type home position return.
2. If the servo motor provided with the zero point signal is started, the A1SD75 will output the deviation counter clear (CR). Therefore,
do not connect the clear (CR) of the MR-J2-A to the A1SD75 but connect it to the output module of the programmable controller.
3. This circuit is provided for your reference.
4. The electromagnetic brake output should be controlled via a relay connected to the programmable controller output.
5. Use the differential line driver system for pulse input. Do not use the open collector system.
6. To reinforce noise suppression, connect LG and pulse output COM.
(2) Sequence program example
(a) Conditions
The ABS data is transmitted using the leading edge of the servo-on switch as a trigger.
1) When the servo-on switch and power supply GND are shorted, the ABS data is transmitted at
power-on of the servo amplifier or on the leading edge of the RUN signal after a PC reset
operation (PC-RESET). The ABS data is also transmitted when an alarm is reset or when an
emergency stop is reset.
Before starting the ABS data transfer, confirm that it is the servo-on (SON) ON state (refer to
section 3.3.2).
2) If a checksum mismatch is detected in the transmitted data, data transmission is retried up to
three times. If the checksum mismatch still persists after the retries, the ABS checksum error
occurs (Y3A ON).
3) The following time periods are measured. If the ON/OFF state does not change within the
specified time, the ABS communication error occurs change within the specified time, the ABS
communication error occurs (Y39 ON).
ON period of ABS transfer mode (Y31)
ON period of ABS request (Y32)
OFF period of reading to send ABS data (X22)
15 - 50
15. ABSOLUTE POSITION DETECTION SYSTEM
(b) Device list
X input contact
1)
X20
X21
X22
X23
X24
X25
X26
X27
X28
X29
Y output contact
ABS bit 0 / positioning completion
2)
ABS bit 1 / zero speed
Reading to send ABS data / limiting torque
Servo alarm
Alarm reset switch
Servo emergency stop
Servo-on switch
Home position return start switch
Operation mode
Operation mode
Y30
Y31
Y32
Y33
Y34 (Note 2)
Y35 (Note 1)
Y38
Y39
Y3A
D register
3)
Servo-on
ABS transfer mode
ABS request
Alarm reset
Electromagnetic brake output
Clear
Servo alarm
ABS communication error
ABS checksum error
M contact
D0
D1
D2
D3
D4
D5
D6
D7
D8
D9
D10
D11
D12
D110
D111
ABS data transmission counter
Checksum transmission counter
Checksum addition register
ABS data: Lower 16 bits
ABS data: Upper 16 bits
ABS data 2-bit receiving buffer
Check data in case of checksum error
Number of retries
Forward rotation direction
Home position address: Lower 16 bits
Home position address: Upper 16 bits
Drive unit ready data
Home position return completion data
Received shift data: Lower 16 bits
Received shift data: Upper 16 bits
T0
T1
T2
T3
T10 (Note 1)
T200
T201
ABS transmission mode timer
ABS request response timer
Retry wait timer
ABS data send reading response timer
Clear (CR) ON timer
Transmitted data read 10ms delay timer
Retry ABS transfer mode OFF wait timer
4)
T timer
M5
M6
M7
M8
M9
M10
M11
M12
M13
M14
M15
M16
M17
M18
M20 (Note 1)
M21 (Note 1)
M22
M23
M24
ABS data transmission start
Sum check completion
Sum check mismatch
ABS data ready
Transmission data read enabled
Checksum 2 bits read completion
ABS 2 bits read completion
ABS 2 bits request
Servo-on request
Servo alarm
ABS data transmission retry start pulse
Retry flag set
Retry flag reset
PLS processing command
Clear (CR) ON timer request
Data set type home position return request
Home position return processing instruction
Current position change processing instruction
Current position change flag
M26
ABS transfer mode OFF permission
C counter
C0
C1
C2
Note 1. Required for data set type home position return.
2. Required for electromagnetic brake output.
15 - 51
ABS data receive times counter
Checksum receive times counter
Retry counter
15. ABSOLUTE POSITION DETECTION SYSTEM
(c) ABS data transfer program for X axis
This sequence program example assumes the following conditions.
Parameters of the A1SD75-P1 positioning module
1) Unit setting
:3 pulse (PLS)
2) Travel per pulse :1 1 pulse
To select the unit other than the pulse, conversion into the unit of the feed value per pulse is
required. Hence, add the following program to the area marked (Note) in the sequence program.
<Additional program>
D*PK
D3 D3
Item
mm
inch
degree
pulse
Unit setting
0
1
2
3
Travel per pulse
0.1 to 1 to
Unit of travel
Constant K for
conversion into unit of
travel
10 to
100
0.00001 0.0001
to
m/PLS
1 to
10 to
100
to
to
0.001
to
0.01
to
0.00001 0.0001
to
inch/PLS
1000
1 to
10 to 100 to 1000
1 to
to
0.001 0.01
to
to
degree/PLS
PLS
100
to
1000 None
10 to
Reference
For 1 m/PLS, set constant K to 10
For 5 m/PLS, set constant K to 50
The additional program is not required for the unit setting is PLS.
5)
M101
MOV
K0
K3
Y30
Output signal reset
K1
A1SD75 error reset
Error reset
completion
TO
H0000 K1151 K1
MOV
Initial
6) setting
Setting the number of retries
(to 3 times)
K3
D7
SET
M101
Error reset completion flag
A0
Loading received shift data
M9039
DMOV D110
PC RUN
1
(To be continued) 1
15 - 52
15. ABSOLUTE POSITION DETECTION SYSTEM
1
(Continued from preceding page) 1
X26
SET
M13
Servo-on request
D11
K1
Reading A1SD75 1-axis RDY
signal
D11
Masking RDY signal
M23
Current position change
processing instruction
PLS
M24
Current position change flag
RST
M8
Resetting ready
RST
M13
Resetting servo-on request
RST
C0
Resetting ABS transmission
counter at servo OFF
RST
C1
Resetting checksum
transmission counter at servo
OFF
Y30
Servo-on output
PLS
M5
ABS interface start
PLS
M17
Setting retry flag
Servo-on
switch
FROM H0000 K816
WAND H0001
7)
M23
D11 K1
Processing instruction RDY signal ON judgement
X26
Servo-on
switch
M13
M14
M16
Servo-on
request
Error
flag
Retry flag
set
Servo-on
control
M13
Servo-on
request
M17
ABS transfer
retry control
C2
Resetting retry counter
Y33
Alarm reset output
M14
Error flag output
RST
M8
Resetting ready
RST
M13
Resetting servo-on request
Y38
Servo alarm
RST
Retry flag
reset request
X24
M14
Error reset
switch
Error flag
Y33
Alarm reset
X25
Emergency stop
switch
X23
Servo alarm
2
(To be continued) 2
15 - 53
Servo alarm
detection,
alarm reset
control
15. ABSOLUTE POSITION DETECTION SYSTEM
(Continued from preceding page) 2
2
M5
MOV
K16
D0
Initializing ABS data
transmission counter
MOV
K3
D1
Initializing checksum
transmission counter
MOV
K0
D2
Initializing checksum register
MOV
K0
D5
Initializing ABS data register
ABS data
transfer
start
ABS transfer mode
initial setting
DMOV K0
D9
Initializing ABS data register
DMOV K0
A0
Initializing ABS data register
RST
C0
Resetting ABS transmission
counter
RST
C1
Resetting checksum
transmission counter
RST
M26
ABS transfer mode OFF
permission
Y31
ABS transfer mode
M5
ABS data
transfer start
Y31
M26
ABS transfer mode
control
ABS transfer ABS transfer mode
OFF permission
mode
C0
C1
Y31
Counter
DMOVPA0
D3
Saving ABS 32-bit data
MOVP K0
A0
Clearing register
K1
*1 Reading x-axis rotation
direction parameter
WAND H0001
D8
Masking rotation direction
parameter
WAND H8000
A1
Masking ABS data sign
PLS
M18
PLS processing command
NEG
D4
Reversing polarity of upper
16 bits
K1
D4
Decrementing upper 16 bits
by 1
Sum
ABS transfer
counter mode
FROMPH0000 K5
M18
Rotation direction
judgement
D8
D8
Absolute position
polarity,A1SD75
rotation direction
setting detection
9)
10)
K1
PLS
processing
command
K0
3
8)
D3
NEG
D3
Reversing polarity of lower
16 bits
K1
D4
Lower 16 bits 0
D4 1 D4
(To be continued) 3
15 - 54
Reversing absolute
position polarity
15. ABSOLUTE POSITION DETECTION SYSTEM
3
11)
(Continued from preceding page) 3
M9
C0
K1X20
D5
Reading 4 bits
WAND H0003
D5
Masking 2 bits
WOR
D5
A0
Adding 2 bits
ROR
K2
Right rotation of A0 2 bits
D1
C1
Counting the number of
checksum data
MOV
Read
ABS data
enabled counter
M9
PLS
M10
Completion of reading
checksum 2 bits
K1X20
D5
Reading 4 bits
WAND H0003
D5
Masking 2 bits
WOR
D5
A0
Adding 2 bits
DROR
K2
Right rotation of A0 2 bits
D2
D2
Adding checksum
D0
C0
Counting the number of ABS
data
C0
MOV
Read
ABS data
enabled counter
D5
C1
Reading checksum
6bits
(2 bits 3 times)
PLS
M11
Completion of reading ABS
2 bits data
RORP
K10
Right rotation of A0 10 bits
A0
Masking sum check
M6
Sum check OK
11)
Reading ABS data
32 bits
(2 bits 16 times)
X22
Checksum Ready to
counter
send ABS
data
WAND H003F
D2
A0
Detecting ABS
checksum error
D2
M7
Sum check NG
A0
D6
Sum check memory
SET
M26
ABS transfer mode OFF
permission
Y3A
ABS checksum error
A0
MOV
C2
Retry counter
4
(To be continued) 4
15 - 55
15. ABSOLUTE POSITION DETECTION SYSTEM
(Continued from preceding page) 4
4
M11
RST
Y32
ABS request reset
PLS
M12
ABS 2 bits request
ABS 2 bits
completion
M10
Checksum 2 bits completion
Y31
X22
C1
ABS transfer Ready to Checksum
send ABS counter
mode
data
M12
ABS request
control
SET
Y32
ABS request set
K1
T200
10ms delay timer
ABS 2 bits request
Y32
X22
ABS request
Y32
Ready to send ABS data
X22
T200
M9
Ready to send 10ms delay timer
ABS
request ABS data
M6
DFROP H0000 K0072 D9
K1
*1: Reading A1SD75 home
position address (Note 2)
Checksum
OK
(Note 1)
Transmitted data read enabled
12)
D*P
K
D3
D3
Inserting constant K for conversion
into the unit of feed per pulse
D P
D3
D9
D3
Adding home position address
to absolute position
7)
M6
M24
Checksum
OK
Change
flag
13)
M8
ABS data ready
DTOP H0000 K1154 D3
K1
*1: Changing X-axis current
position
TO
K1
*1: Writing No. 9003 data for
changing current value
SET
Y10
Positioning start
RST
Y10
Switching start signal off on
completion of positioning
SET
Y10
X1
Positioning Start comstart
pletion
Restoring absolute
position data.
H0000 K1150 K9003
X4
BUSY
14)
Writing absolute
position data to
A1SD75
XA
Error detection
5
(To be continued) 5
15)
Note 1. When the unit setting parameter value of the A1SD75 positioning module is changed from "3" (pulse) to "0" (mm), the unit is
0.1 m for the input value. To set the unit to 1 m, add this program to multiple the feed value by 10.
2. The home position address loaded from flash ROM of normal positioning module can be obtained.
For updating the home position address by the home position setting, refer to (2)(f) Data set type home position return in this
section.
15 - 56
15. ABSOLUTE POSITION DETECTION SYSTEM
(Continued from preceding page) 5
5
Y39
X26
RST
ABS communi- Servo-on switch
cation error
Y31
Y31
Resetting ABS transfer mode
K50
T0
ABS transfer mode 5s timer
ABS transfer mode
Y31
Y32
ABS transfer ABS request
mode
Y31
X22
K10
T1
ABS request response
1s timer
K10
T3
ABS data send ready
response 1s timer
Y39
ABS communication error
M15
Setting ABS transfer retry
start flag
ABS transfer Ready to send
mode
ABS data
T0
Detecting ABS
communication
error
ABS transfer NG
T1
ABS request NG
T3
Readying to send ABS data NG
M7
PLS
Sum check NG
Y31
M15
K2
T201
Retry ABS transfer mode
OFF wait timer 20ms
M16
Setting retry flag
D7
C2
Retry counter
ABS transfer ABS transfer
mode
retry start
T201
C2
SET
Retry ABS
transfer
mode OFF
wait timer
Retry
counter
RST
M16
M15
Setting ABS transfer retry
start flag
K1
T2
Retry waiting timer (100ms)
M16
Resetting retry flag
D110
Saving received shift data
Retry flag set
T2
RST
Retry waiting timer
M9039
DMOV A0
PC RUN
END
15 - 57
ABS transfer
retry control
15. ABSOLUTE POSITION DETECTION SYSTEM
(d) X-axis program
Do not execute the X-axis program while the ABS ready (M8) is off.
Positioning X-axis start
mode
command
(Note)
M8
X-axis start program
Ready to
send ABS
data
When "M8" (ready to send ABS data) switches on,
the X-axis start program is executed by the X-axis
start command.
(e) Dog type home position return
Refer to the home position return program in the A1SD75 User’s Manual.
Note that this program requires a program which outputs the clear (CR) (Y35) after completion of
home position return.
Add the following program.
16)
Home position return
start command
FROM H0000 K817
D12
WAND K0016
K1
Reading 1-axis home position return
completion signal
D12
Masking home position return completion
M22
Home position return processing instruction
Y35
Switching clear (CR) on
M22
Processing
instruction
D12 K16
Home position return
completion judgement
15 - 58
15. ABSOLUTE POSITION DETECTION SYSTEM
(f) Data set type home position return
After jogging the machine to the position where the home position (e.g. 500) is to be set, choose the
home position return mode and set the home position with the home position return start switch
(X27) ON.
After switching power on, rotate the servo motor more than 1 revolution before starting home
position return.
Do not turn ON the clear (CR) (Y35) for an operation other than home position return. Turning it
on in other circumstances will cause position shift.
M9039
PC RUN
Home position
return mode Y31
X20
Y1D
Programmable controller ready
M20
Clear (CR) ON timer request
K1
T10
Clear (CR) 100ms ON timer
SET
M21
Setting data set type home position return request
RST
M21
Resetting data set type home position return
request
Y35
Switch clear (CR) on
D9
Setting X-axis home position address 500
in data register
17)
18)
X27
PLS
ABS transfer Positioning
mode
completion
Home position
return start switch
M20
Clear signal ON
timer request
M21
Data set type home position return request
T10
Clear signal 100ms ON timer
M21
Data set type home position
return request
DMOVP K500
(Note 1)
Y10
X1
X4
Positioning
start
Start
completion
BUSY
DTOP
H0000 K72
D9
K1
*1: Changing X-axis home position address
(Note 2)
DTOP
H0000 K1154 D9
K1
*1: Changing X-axis current value
TO
H0000 K1150 K9003
K1
*1: Writing positioning data No. 9003
SET
Y10
Starting positioning
RST
Y10
Switching BUSY signal off to switch start
signal off.
XA
Error detection
19)
Note 1. When the data of the home position address parameter is not written from GX Developer or the like before starting the data set
type home position return program, this sequence circuit is required.
When the home position address is written in the home position address parameter, change to the following circuit.
17)
DFROP H0000 K72
D9
K1
2. Changes are stored temporarily to buffer memory at this time. An additional processing is required when changes should be
reflected to memory for OS or flash ROM. For details, refer to the positioning module user's manual.
15 - 59
15. ABSOLUTE POSITION DETECTION SYSTEM
(g) Electromagnetic brake output
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock
(MBR).
Y31
X21
Y34
Electromagnetic brake output
ABS transfer Brake (MBR)
mode
(h) Positioning completion
To create the status information for positioning completion.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Y31
X20
M
ABS transfer Positioning
mode
completion
Y31
Positioning completion
ABS transfer
mode
(i) Zero speed
To create the status information for zero speed.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo
motor must be at a stop.
Y31
X21
M
ABS transfer Zero
mode
speed
Y31
Zero speed
ABS transfer
mode
(j) Torque limiting
To create the status information for the torque limiting mode.
During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the torque
limiting must be off.
Y31
X22
M
ABS transfer Torque limiting
mode
mode
15 - 60
Torque limiting mode
15. ABSOLUTE POSITION DETECTION SYSTEM
(3) Sequence program - 2-axis control
The following program is a reference example for creation of an ABS sequence program for the second
axis (Y axis) using a single A1SD75 module. Create a program for the third axis in a similar manner.
(a) Y-axis program
Refer to the X-axis ABS sequence program and create the Y-axis program.
Assign the X inputs, Y outputs, D registers, M contacts, T timers and C counters of the Y axis so
that they do not overlap those of the X axis.
The buffer memory addresses of the A1SD75 differ between the X and Y axes. The instructions
marked *1 in the program of section 15.8.3 (2) (c) should be changed as indicated below for use with
the Y axis.
[FROMP H0000 K5
K1]
[FROMP H0000 K155 D8
K1]
[DFROP H0000 K0072 D9 K1]
[DFROP H0000 K222 D9
K1]
[DTOP H0000 K1154 D3
[DTOP
H0000 K1204 D3
K1]
[TO
H0000 K1200 K9003 K1]
[TO
D8
K1]
H0000 K1150 K9003 K1]
[Program configuration]
20)
X-axis ABS sequence program
(Program in section 15.8.3 (2) (c))
Y-axis ABS sequence program
(Refer to the X-axis program and write the Y-axis
program)
(b) Data set type home position return
Arrange the data set type home position return programs given in section 15.8.3 (2) (f) in series to
control two axes.
Refer to the X-axis data set type home position return program and create the Y-axis program.
Assign the X inputs, Y outputs, D registers, M contacts and T timers of the Y axis so that they do
not overlap those of the X axis.
The buffer memory addresses of the A1SD75 differ between the X and Y axes. The instructions
marked *1 in the program of section 15.8.3 (2) (f) should be changed as indicated below for use with
the Y axis.
[DTOP H0000 K72
D9
[DTOP H0000 K1154 D9
[TO
K1]
K1]
H0000 K1150 K9003 K1]
[DTOP H0000 K222
D9
K1]
[DTOP H0000 K1204 D3
K1]
[TO H0000 K1200 K9003 K1]
[Program configuration]
20)
X-axis data set type home position return program
(Program in section 15.8.3 (2) (f))
Y-axis data set type home position return program
(Refer to the X-axis program and write the Y-axis
program)
15 - 61
15. ABSOLUTE POSITION DETECTION SYSTEM
(4) Differences between A1SD71
The sequence programs shown in (2) in this section differ from those for the A1SD71 in the following
portions. 1) to 20) in the following sentences indicate the numbers in the programs given in (2) in this
section.
(a) Devices used
Since the A1SD75 is a one-slot module which occupies 32 I/O points, the I/O devices are different,
as indicated by 1) and 2), from those of the two-slot A1SD71 which occupies 48 point. The A1SD75
uses the devices indicated in the following table, and its D registers and M contacts are different as
indicated by 3) and 4).
Device name
Devices
Axis 1
Axis 2
X0
Input
Output
A1SD75 ready
:Data at ON
:Stored data
Not ready/ WDT error
X4
X5
X6
BUSY
BUSY(running)
XB
XC
Error detection
Error detection
Y10
Y11
Y12
Positioning start
Start being requested
Y13
Y14
Y1C
Axis stop
Stop being requested
Y16
Y18
Y1A
Forward rotation jog start
Forward rotation being started
Y17
Y19
Y1B
Reverse rotation jog start
Reverse rotation being started
Programmable controller ready
Programmable controller CPU
normal
M0
Parameter setting completion flag
Setting complete
M1
Flash ROM registration processing
flag
Processing
M2
Axis error reset requesting flag
Requesting
M100
M3
M4
A1SD75 normal flag
A1SD75 normal
M101
Initial error reset completion flag
Error reset complete
M102
All BUSY signal OFF flag
All BUSY signal OFF
M103
A1SD75 operable flag
Operable
D100
Data register
Bit device
Data register
XA
Y1D
internal relay
Application
Axis 3
D101
D102
D103
Flash ROM registration results
Registration results
Axis error code
Error code
D104
D105
D106
Axis warning code
Warning code
D107
D108
D109
Axis error reset results
Axis error reset results
(b) ABS sequence program example
1) Initial setting
To reset the error of the A1SD75, the program 5) is added to reset all output signals at start-up.
The axis error reset buffer memory address is changed from 201 to 1154 (axis 1) and the slot
number from H0001 (slot number 1) to H0000 (slot number 2) 6).
2) Absolute position polarity, A1SD75 rotation direction setting detection
The slot number and buffer memory of the X-axis rotation direction parameter reading area are
changed from [FROMP H0001 K7872 D8 K1] to [FROMP H0000 K5 D8 K1] 8).
The rotation direction parameter masking area is changed from [WAND H0004 D8] to [WAND
H0001 D8] 9).
3) Reversing absolute position polarity
The rotation direction judging area is changed from [ D8 K4] to [ D8 K1] 10).
4) Reading checksum 6 bits, reading ABS data 32 bits
The 4 bits reading area is changed from [MOV K1 X30D5] to [MOV K1X20 D5] 11).
15 - 62
15. ABSOLUTE POSITION DETECTION SYSTEM
5) Restoring absolute position data
The slot number and buffer address of the A1SD75 home position address reading area are
changed from [DFROP H0001 K7912 D9 K1] to [DFROP H0000 K72 D9 K1] 12).
6) Writing absolute position data to A1SD75
The slot number and buffer address of the X-axis current value changing area are changed from
[DTOP H0001 K41 D3 K1] to [DTOP H0000 K1154 D3 K1] 14). When the current value is changed
in the A1SD75, the current feed value is changed at the start of positioning data No.9003.
Therefore, the starting program for positioning data No.9003 15) is added.
7) X-axis data set type home position return program
The slot numbers and buffer addresses of the X-axis home position address changing area are
changed from [DTOP H0001 K7912 D9 K1] to [DTOP H0000 K72 D9 K1] and from [DFROP
H0001 K7912 D9 K1] to [DFROP H0000 K72 D9 K1] 17).
The slot number and buffer address of the X-axis current value changing area are changed from
[DTOP H0001 K41 D3 K1] to [DTOP H0000 K1154 D3 K1] 18). When the current value is changed
in the A1SD75, the current feed value is changed at the start of positioning data No.9003.
Therefore, the starting program for positioning data No.9003 19) is added.
8) Y-axis sequence program, Y-axis data set type home position return program.
The slot numbers and buffer addresses are changed as indicated by 20).
9) Writing absolute position data to A1SD75
The A1SD75 allows the current position to be changed only when the ready (RD) of the Servo
amplifier is on. Therefore, if the CPU scan is fast, the program for A1SD71 may change the
current position before the ready (RD) switches on. 7) is added because the current position must
be changed after it has been confirmed that the drive unit ready (RD) of the A1SD75 (D75) has
switched on/off.
10) ABS coordinate error detection
As the A1SD75 can handle the negative-polarity coordinate position that the A1SD71 could
not handle, the program for ABS coordinate error detection is deleted 13).
11) Dog type home position return program
Due to the changes in wiring described in (4) (a) 4) in this section, the program for outputting
the clear (CR) (Y35) after completion of a home position return is required 16).
15 - 63
15. ABSOLUTE POSITION DETECTION SYSTEM
15.9 Confirmation of absolute position detection data
You can confirm the absolute position data with MR Configurator (servo configuration software).
Crick "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen.
(1) Cricking "Diagnostics" in the menu opens the sub-menu as shown below.
(2) By cricking "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window
appears.
(3) Crick the "Close" button to close the absolute encoder data display window.
15 - 64
15. ABSOLUTE POSITION DETECTION SYSTEM
15.10 Absolute position data transfer errors
15.10.1 Corrective actions
(1) Error list
The number within parentheses in the table indicates the output coil or input contact number of the
A1SD71.
Name
(Note)
ABS
communication
error
ABS data
checksum
error
Output coil
AD71 1PG
Y49
Y4A
ABS
coordinate
error
Y4B
Servo alarm
Y48
Description
Cause
Y11 1. The ABS data transfer mode
signal (Y41) is not completed
within 5s.
2. The ready to send signal
(X32) is not turned OFF
within 1s after the ABS data
request signal (Y42) is turned
ON.
3. The ready to send signal
(X32) remains OFF for longer
than 1s.
Y12
ABS data sumcheck resulted
in mismatch four times
consecutively.
The motor position is in the
negative coordinate value
range when the servo is
turned ON or when power
supply is turned ON.
Y10
Alarm occurred in the servo
amplifier.
1. Wiring for ABS transfer mode
signal, ABS data request
signal, or ready to send signal
is disconnected or connected to
the SG terminal.
2. PLC ladder program wrong.
3. Faulty PLC output or input
module.
4. Faulty printed board in the
servo amplifier.
5. Power supply to the servo
amplifier is OFF.
1. Wiring for the ABS data
signal (ABS bit 0 (PF), bit 1
(ZSP)) is disconnected or
connected to the SG terminal.
2. PLC ladder program wrong.
3. Faulty PLC input module.
4. Faulty printed board in the
servo amplifier.
1. The servo is turned ON or the
power supply is turned ON
near the machine home
position or in the zone in
which addresses decrease.
Action
Correct the wiring.
Correct the ladder.
Change the input or output
module.
Change the amplifier
Turn on the power to the servo
amplifier.
Correct the wiring.
Correct the ladder.
Change the input module.
Change the amplifier.
1. Reconsider the position
where the servo is turned
ON.
2. Set the home position for
positioning apart from the
machine home position.
Change the electromagnetic
2. The machine falls on a
vertical axis when the servo- brake operation sequence.
on (SON) is turned ON/OFF.
1. Emergency stop (EMG) of the After ensuring safety, turn
servo amplifier was turned
EMG on.
off.
2. Trouble (ALM) of the servo
Refer to section 10.2.2 and take
amplifier was turned on.
action.
Note. Refer to (2) in this section for details of error occurrence definitions.
15 - 65
15. ABSOLUTE POSITION DETECTION SYSTEM
(2) ABS communication error
(a) The OFF period of the send data ready signal output from the servo amplifier is checked.
If the OFF period is 1s or longer, this is regarded as a transfer fault and the ABS communication
error is generated.
The ABS communication error occurs if the ABS time-out warning (AL.E5) is generated at the
servo amplifier due to an ABS request ON time time-out.
ON
ABS transfer mode
OFF
1s
ON
ABS request
OFF
ON
Send data ready
OFF
The signal does not come ON
ABS communication
error
YES
NO
(b) The time required for the ABS transfer mode signal to go OFF after it has been turned ON (ABS
transfer time) is checked.
If the ABS transfer time is longer than 5s, this is communication error occurs if the ABS time-out
warning (AL.E5) is generated at the servo amplifier due to an ABS transfer mode completion time
time-out.
5s
ON
ABS transfer mode
The signal does not go OFF
OFF
ON
1
2
3
4
18
19
ABS request
OFF
ON
Send data ready
OFF
ABS communication
error
1
2
YES
NO
15 - 66
3
4
18
19
15. ABSOLUTE POSITION DETECTION SYSTEM
(c) To detect the ABS time-out warning (AL.E5) at the servo amplifier, the time required for the ABS
request signal to go OFF after it has been turned ON (ABS request time) is checked. If the ABS
request remains ON for longer than 1s, it is regarded that an fault relating to the ABS request
signal or the send data ready (TLC) has occurred, and the ABS communication error is generated.
The ABS communication error occurs if the ABS time-out warning (AL.E5) is generated at the
servo amplifier due to an ABS request OFF time time-out.
ON
ABS transfer mode
OFF
1s
ON
ABS request
OFF
The signal does
not go OFF
ON
Send data ready
OFF
YES
ABS communication
error
NO
15.10.2 Error resetting conditions
Always remove the cause of the error before resetting the error.
Name
Output coil
Servo status
Resetting condition
AD71
1PG
ABS communication error
Y49
Y11
Ready (RD) off
Reset when servo-on (SON) switch
(X36) signal turns off.
ABS checksum error
Y4A
Y12
Ready (RD) on
For AD71
Reset when servo-on (SON) switch
(X36) signal turns from off to on.
For FX-1PG
Reset when servo-on (SON) switch
(X36) signal turns off.
ABS coordinate error
Y4B
Servo alarm
Y48
Y10
Ready (RD) on
Reset when servo-on (SON) switch
(X36) signal turns from off to on
after a motion to ( ) coordinate is
made by jog operation.
Ready (RD) on
Reset when alarm reset switch
turns on or power switches from off
to on.
15 - 67
15. ABSOLUTE POSITION DETECTION SYSTEM
MEMO
15 - 68
APPENDIX
App 1. Signal arrangement recording sheets
(1) Position control mode
CN1A
1
2
NP
4
P15R
6
LA
8
LG
3
PP
5
LZ
7
LB
11
12
NG
14
OP
16
LAR
18
9
10
COM
SG
CN1B
OPC
13
PG
15
LZR
LG
3
4
DO1
VDD
TLA
14
7
P15R
13
COM
15
16
8
19
12
5
6
17
LBR
11
1
2
LSP
18
9
EMG
17
LSN
19
20
10
20
SG
SG
SG
(2) Speed control mode
CN1A
1
2
LG
11
12
3
4
P15R
6
LA
8
5
13
LZ
7
LB
OP
16
LAR
18
COM
SG
1
2
14
9
10
CN1B
VC
4
15
LZR
DO1
COM
15
16
7
P15R
13
14
5
8
19
11
12
3
VDD
6
17
LBR
LG
LSP
18
9
EMG
17
LSN
19
20
10
20
SG
SG
SG
(3) Torque control mode
CN1A
1
2
LG
11
12
3
4
P15R
6
LA
8
5
13
LZ
7
LB
OP
16
LAR
18
SG
COM
1
2
14
9
10
CN1B
VLA
4
15
LZR
DO1
3
VDD
11
12
TC
14
5
6
17
LBR
LG
7
19
13
COM
15
16
8
P15R
EMG
17
18
9
19
20
10
20
SG
SG
SG
App - 1
Command
pulse
PP, NP
Command
pulse frequency
App - 2
Cumulative
feedback pulse
CDV
CMX
Electronic gear
Cumulative
command pulses
Position
control
Load inertia
moment ratio
Auto
tuning section
Droop pulse
Differential
M
Within
one-revolution
ABS counter
ABS counter
PWM
Peak hold
Effective
value calculation
Absolute
position
detection
encoder
Servo
motor
Bus voltage
Peak
load ratio
Effective
load ratio
Current
control
low
Within onerevolution position high
Speed
control
Present
position
calculation
Speed
feedback
Servo
motor speed
Instantaneous
torque
APPENDIX
App 2. Status display block diagram
APPENDIX
App 3. Combination of servo amplifier and servo motor
The servo amplifier software versions compatible with the servo motors are indicated in the parentheses.
The servo amplifiers whose software versions are not indicated can be used regardless of the versions.
Servo motor
Servo amplifier
(Software version)
Servo motor
Servo amplifier
(Software version)
HC-KFS053
MR-J2S-10A
MR-J2S-10A1
HC-RFS103
MR-J2S-200A
HC-RFS153
MR-J2S-200A
HC-KFS13
MR-J2S-10A
MR-J2S-10A1
HC-RFS203
MR-J2S-350A (Version B0 or later)
HC-RFS353
MR-J2S-500A (Version B0 or later)
HC-KFS23
MR-J2S-20A
MR-J2S-20A1
HC-RFS503
MR-J2S-500A (Version B0 or later)
HC-UFS72
MR-J2S-70A
HC-KFS43
MR-J2S-40A
MR-J2S-40A1
HC-UFS152
MR-J2S-200A
HC-UFS202
MR-J2S-350A (Version B0 or later)
HC-KFS73
MR-J2S-70A (Version A4 or later)
HC-UFS352
MR-J2S-500A (Version B0 or later)
HC-MFS053
MR-J2S-10A
MR-J2S-10A1
HC-UFS502
MR-J2S-500A (Version B0 or later)
HC-UFS13
HC-MFS13
MR-J2S-10A
MR-J2S-10A1
MR-J2S-10A
MR-J2S-10A1
HC-UFS23
MR-J2S-20A
MR-J2S-20A1
HC-UFS43
MR-J2S-40A
MR-J2S-40A1
HC-MFS23
MR-J2S-20A
MR-J2S-20A1
HC-MFS43
MR-J2S-40A
MR-J2S-40A1
HC-UFS73
MR-J2S-70A
HC-MFS73
MR-J2S-70A
HC-LFS52
MR-J2S-60A (Version B3 or later)
HC-SFS81
MR-J2S-100A (Version A1 or later)
HC-LFS102
MR-J2S-100A (Version B3 or later)
HC-SFS121
MR-J2S-200A (Version A1 or later)
HC-LFS152
MR-J2S-200A (Version B3 or later)
HC-SFS201
MR-J2S-200A (Version A1 or later)
HC-LFS202
MR-J2S-350A (Version B3 or later)
HC-SFS301
MR-J2S-350A (Version A1 or later)
HC-LFS302
MR-J2S-500A (Version B3 or later)
HC-SFS52
MR-J2S-60A
HA-LFS801
MR-J2S-11KA
HC-SFS102
MR-J2S-100
HA-LFS12K1
MR-J2S-11KA
HC-SFS152
MR-J2S-200A
HA-LFS15K1
MR-J2S-15KA
HC-SFS202
MR-J2S-200A
HA-LFS20K1
MR-J2S-22KA
HC-SFS352
MR-J2S-350A
HA-LFS25K1
MR-J2S-22KA
HC-SFS502
MR-J2S-500A (Version B0 or later)
HA-LFS11K1M
MR-J2S-11KA
HC-SFS702
MR-J2S-700A (Version B0 or later)
HA-LFS15K1M
MR-J2S-15KA
HC-SFS53
MR-J2S-60A (Version A1 or later)
HA-LFS502
MR-J2S-500A (Version B0 or later)
HC-SFS103
MR-J2S-100A (Version A1 or later)
HA-LFS702
MR-J2S-700A (Version B0 or later)
HC-SFS153
MR-J2S-200A (Version A1 or later)
HA-LFS11K2
MR-J2S-11KA
HC-SFS203
MR-J2S-200A (Version A1 or later)
HA-LFS15K2
MR-J2S-15KA
HC-SFS353
MR-J2S-350A (Version A1 or later)
HA-LFS22K2
MR-J2S-22KA
App - 3
APPENDIX
App 4. Change of connector sets to the RoHS compatible products
Connector sets (options) in the following table are changed to the RoHS compatible products after September,
2006 shipment.
Please accept that the current products might be mixed with RoHS compatible products based on availability.
Model
Current Product
RoHS Compatible Product
MR-J2CNM
MR-J2CN1
Amplifier connector (3M or equivalent)
10120-3000VE (connector)
Amplifier connector (3M or equivalent)
10120-3000PE (connector)
MR-J2CNS
Amplifier connector (3M or equivalent)
10120-3000VE (connector)
Encoder connector (DDK)
MS3057-12A (Cable clump)
MS3106B20-29S (Straight plug)
Amplifier connector (3M or equivalent)
10120-3000PE (connector)
Encoder connector (DDK)
D/MS3057-12A (Cable clump)
D/MS3106B20-29S (Straight plug)
MR-ENCNS
Amplifier connector (3M or equivalent)
10120-3000VE (connector)
MS3106A20-29S (D190) (Plug, DDK)
CE3057-12A-3 (D265) (Cable clump, DDK)
CE02-20BS-S (Back shell, DDK)
Amplifier connector (3M or equivalent)
10120-3000PE (connector)
D/MS3106A20-29S (D190) (Plug, DDK)
CE3057-12A-3-D (Cable clump, DDK)
CE02-20BS-S-D (Back shell, DDK)
MR-PWCNS1
Power supply connector (DDK)
CE05-6A22-23SD-B-BSS (Connector and back
shell)
CE3057-12A-2 (D265) (Cable clump)
Power supply connector (DDK)
CE05-6A22-23SD-D-BSS (Connector and back
shell)
CE3057-12A-2-D (Cable clump)
MR-PWCNS2
Power supply connector (DDK)
CE05-6A24-24SD-B-BSS (Connector and back
shell)
CE3057-16A-2 (D265) (Cable clump)
Power supply connector (DDK)
CE05-6A24-10SD-B-BSS (Connector and back
shell)
CE3057-16A-2-D (Cable clump)
MR-PWCNS3
Power supply connector (DDK)
CE05-6A32-17SD-B-BSS (Connector and back
shell)
CE3057-20A-1 (D265) (Cable clump)
Power supply connector (DDK)
CE05-6A32-17SD-D-BSS (Connector and back
shell)
CE3057-20A-1-D (Cable clump)
MR-BKCN
Electromagnetic brake connector
MS3106A10SL-4S (D190) (Plug, DDK)
Electromagnetic brake connector
D/MS3106A10SL-4S (D190) (Plug, DDK)
App - 4
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print data
*Manual number
Nov.,1999
SH(NA)030006-A
First edition
Revision
Sep.,2000
SH(NA)030006-B
Addition of single-phase 100VAC specifications
Compatible Servo Configuration software model name change
Compliance with EC Directives 1: Review of sentence
Section 1.2: Review of function block diagram
Section 1.3: Moving of servo amplifier standard specifications
Review of torque limit description in position control mode
Review of torque limit description in speed control mode
Deletion of torque linearity in torque limit mode
Addition of speed limit in torque control mode
Section 3.1.1 (1): Addition of encoder Z-phase pulse connection
Addition of Note for use of junction terminal block
Section 3.1.1 (2): Addition of Note for increased noise immunity
Section 3.1.2: Addition of Note for input of negative voltage
Section 3.1.3: Addition of Note for input of negative voltage
Section 3.3.1 (2): Review of Note
Section 3.4.1 (4): Addition of description about electronic gear switching
Section 3.4.3 (1)(a): Review of description for low voltage
Section 3.5: Change in timing chart
Section 3.5 3): Review of description
Section 3.6.2 (7): Review of connection
Section 3.9: Review of POINT
Section 3.9 (3)(b),(c): Change in timing chart
Section 3.9 (3)(d),(e): Addition
Section 5.1.2 (2): Deletion of description as to parameter No. 22 TC, TLA
Addition of parameter No. 27 setting example
Correction of parameter No. 35 setting range
Review of parameter No. 47, 48 sentences
Section 5.2.5: Correction of operation pattern diagram
Section 6.2.2: Review of within one-revolution position sentence
Section 6.3: Review of automatic VC offset description
Section 6.6 (2)(a): Review of Note
Section 6.8: Review of PL sentence
Chapter 7: Addition of POINT
Section 7.3.2 (1), (2): Review of sentence makeup
Section 7.4: Addition
Section 8.1.1: Addition
Section 8.3.2: Addition
Section 10.1.1 (1): Addition of Investigation item at power-on
Section 10.1.2: Addition of Investigation item at power-on
Addition of Investigation item at on of ST1 or ST2
Section 10.1.3: Addition of Investigation item at power-on
Addition of Investigation item at on of ST1 or ST2
Section 10.2: Addition of POINT
Section 10.2.2: Review of Cause of AL.10
Deletion of Cause 4 of AL.16
Review of Cause and Action of AL.24
Addition of description to AL.25
Print data
*Manual number
Revision
Sep.,2000
SH(NA)030006-B
Section 10.2.2: Addition of description to AL.30
Addition of Cause to AL.33
Chapter 11: Changed to only outline dimensional drawing
Section 11.2 (2): Addition
Section 12.2 (1): Review of Note for Table 12.1
Section 12.3: Correction of dynamic brake time constant graph
Chapter 13: Deletion of MR-CPC98CBL3M communication cable
Section 13.1.1 (4)(c): Review of outline drawing
Section 13.1.2 (1): Deletion of MR-PWCNF power supply connector set
Section 13.1.2 (1)1), 6): Change of encoder side connector models
Section 13.1.2 (1)19), 20): Change of terminal models
Section 13.1.2 (2)(a)2): Addition of description for fabrication
Section 13.1.3: Addition of POINT
Section 13.1.3 (4): Addition of cable length
Change in connection diagram
Section 13.2.1 (1): Addition of Note for recommended wires
Section 13.2.8 (1): Addition of leakage current to recommended filter
Section 14.1.2 (2): Deletion of MR-CPC98CBL3M communication cable
Section 14.11.1 (6): Addition
Section 14.11.2 (8): Addition
Section 15.7: Addition of POINT
Section 15.8.1 (1)(b): Change in b) Coordinates when zero address is changed
to other than 0
Section 15.8.2 (1)(b): Review of connection diagram
Section 15.9: Change of display screen
Section 15.10.1 (1): Deletion of Cause 5 of ABS checksum error
Feb.,2001
SH(NA)030006-C
Addition of MR-J2S-500A, 700A servo amplifiers
Addition of HC-KFS73, HC-SFS502, HC-SFS702, HC-RFS353, HC-RFS503,
HC-UFS502, HC-UFS353 servo motors
Section 1.2: Function block diagram modification
Section 1.7: Overall reexamination
Section 3.7.1(2): Addition of single-phase 100 to 120VAC
Section 3.7.2: Addition of regenerative brake converter and brake unit
Section 5.1.2(2): No. 0, Item addition to regenerative option selection
No. 5, Example addition
No. 27, Setting range change
No. 49, AL.26 addition
Section 5.2.2: Overall reexamination
Section 7.4(1): Reexamination
Chapter 8: Hierarchy reexamination
Section 10.2.2: AL.30, Reexamination
AL.8E, Reexamination of Cause and Action
Section 11.1(4)(5): Addition
Section 11.2(3): Addition
Section 12.1(3): Addition
Chapter 13: Hierarchy reexamination
Section 13.1.4(1): Connection diagram change
Cable addition
Section 13.1.4(3): Reexamination
Section 13.2.1(1): Connection diagram change
Wire table addition
Chapter 15: Addition of Note on AL.25
Print data
*Manual number
Revision
Oct.,2002
SH(NA)030006-D Servo amplifier: Addition of MR-J2S-11KA, MR-J2S-15KA and MR-J2S-22KA
Servo motor: Addition of HA-LFS11K2, HA-LFS15K2, HA-LFS22K2 and
HC-LFS
SAFETY INSTRUCTIONS: Addition of About processing of waste
Addition of FOR MAXIMUM SAFETY
Addition of EEP-ROM life
Compliance with EC Directives 2: Addition of Note to (3)
Reexamination of sentences in (4)(a)
Conformance with UL/C-UL Standard: Addition of (6) Attachment of servo motor
Addition of (7) About wiring protection
Section 1.4: Change made to the contents of the test operation mode
Section 1.7.2 (4): Addition
Section 1.8 (5): Addition
Section 2.3 (3): Sentence change
Section 3.1.1 (1), (2): Addition of Note 14
Section 3.1.2: Addition of Note 14
Section 3.1.3: Addition of Note 12
Section 3.2: Addition of Note
Section 3.5: Addition of Note
Section 3.7: Addition of POINT
Section 3.8.2: Addition of POINT
Overall reexamination
Section 3.8.3: Addition of Note
Section 3.11: Overall reexamination
Section 3.13: Addition
Section 4.2.3: POINT sentence change
Section 4.2.4: POINT sentence change
Section 5.2 (2): Addition of regenerative option to parameter No. 0
Addition of CN1B-pin 19's function selection to parameter No. 1
Modification made to the contents of parameter No. 5
Reexamination of the contents of parameter No. 23
Addition of AL. 37-related sentences to parameter No. 49
Section 5.2.1 (3): Reexamination of some servo motor speeds
Section 5.2.2: Changed to analog monitor
Section 7.2.2: POINT sentences addition
Section 10.2.1: Sentence addition
Section 10.2.2: Addition of 4. to alarm 16
Addition of 3. to alarm 20
Addition of 6. to alarm 33
Changing of occurrence factor and checking method of alarm 50
Changing of occurrence factor and checking method of alarm 51
Section 11.2 (1): Overall change
Section 12.1 (4): Addition
Note sentence addition
Section 12.3: Note sentence addition
Section 13.1.1 (1): Regenerative option addition
Section 13.1.1 (3): Parameter setting addition
Section 13.1.1 (4): Reexamination
Section 13.1.1 (5): Outline drawing addition
Section 13.1.2: Addition of FR-BU-55K brake unit
Section 13.1.3: Addition of FR-BU-55K brake unit
Section 13.1.4: Addition
Print data
*Manual number
Revision
Oct.,2002
SH(NA)030006-D Section 13.1.5 (1): Configuration diagram reexamination
Note sentence addition
Addition of connector sets and monitor cables
Section 13.1.5 (2): POINT sentence addition
Section 13.1.9 (2)(a): Reexamination
Section 13.2.1 (1): Reexamination
Section 13.2.3: Reexamination
Section 13.2.4: Addition
Section 13.2.8 (1): Leakage current breaker addition
Section 13.2.9 (1): EMC filter addition
Section 14.1.2 (2): Personal computer connector corrected to D-SUB9
Section 14.11: Addition of POINT
Section 14.12.7 (2)(d): Addition
Jun., 2003
SH(NA)030006-E
Safety Instructions 1. To prevent electric shock: Sentence addition
3. To prevent injury: Sentence addition
4. Additional instructions: Partial sentence change
COMPLIANCE WITH EC DIRECTIVES 2. (6) (a): Addition
Section 1.3: Inrush current addition
Section 3.6.2 (3) (a) 1): Partial figure change
Section 3.6.2 (3) (b) 1): Partial figure change
Section 3.8.3: Partial figure change
Section 3.13.3: Partial terminal box inside figure change
Section 4.2: CAUTION sentence addition
Section 5.1.2 (2): Parameter No. 0 Addition of (The built-in regenerative
resistor is used.) to "Regenerative option is
not used"
Addition of FR-CV to the setting of 01 in
Selection of regenerative option
Partial sentence deletion
Parameter No. 20 Addition of sentence to Slight vibration
suppression control
Section 5.2.1 (3): Servo amplifier, Electronic gear, 3000r/min changed to
2048/125
Servo amplifier, Electronic gear, 2000r/min changed to
4096/375
Section 6.4 (2): Sentence change
Section 6.6 (3) (a): In position LNP changed to INP
Section 10.2.1: Partial sentence change
Section 10.2.2: AL. 12 to 15 Contents reexamination
AL. 37 Addition of Cause 3
AL. 50 Partial contents change
AL. 51 Addition of "During rotation: 2.5s or more"
Section 12.3: Change of sentence that explains "te"
Section 12.5: Addition
Section 13.1.1 (4) (d): Partial connection diagram change
Section 13.1.2: Addition of "When using the brake unit, set "01
" in
parameter No. 0"
Section 13.1.3: Addition of "When using the power regeneration converter, set
"01
" in parameter No. 0"
Section 13.1.3 (2): Partial connection diagram change
Section 13.1.4 (2): Partial connection diagram change
Section 13.1.10: Addition
Print data
*Manual number
Revision
Jun., 2003
SH(NA)030006-E
Section 13.2.1 (1): Correction of the AWG of the recommended wire 60mm2 to
2/0
Section 13.2.10 (2) (3): Correction of the position meter model name to
RRS10M202
Section 14.12.7 (2) (b): Addition of ST1 to the Forward rotation start data
Addition of ST1 to the Reverse rotation start data
Section 14.12.7 (3) (b): Servo-on Stroke end changed to ON
Section 15.4: Correction of the Command pulses of the positioning module to
differential line driver type
Oct., 2003
SH(NA)030006-F
Reexamination of Servo Configuration software representation
Safety Instructions 3. To prevent injury: Reexamination of some sentences
COMPLIANCE WITH EC DIRECTIVES (3) (4): Change to IEC60664-1
Section 3.6.2 (7): Addition of explanation on JP11 in the case of 11kW or more
Section 5.1.2 (2): Reexamination of part of parameter No.20
Classification of automatic setting in Low-pass filter selection
of parameter No. 60 Reexamination of part of parameter No.
76 sentences
Section 5.2.1 (3): Addition of 103 to expression
Section 10.2.2: Addition of Definition, Cause and Action to AL.32
Section 12.5: Change of wiring length to 1m
Section 13.1.1 (4): Sentence reexamination
Section 13.1.1 (5) (b) (c): Regenerative option outline dimension drawing
reexamination
Section 13.1.9 (2) (a): Reexamination of Windows trademarks
Section 13.2.9 (3): Reexamination of outline dimension drawings of HF3040ATM/HF3050A-TM/HF3060A-TMA and HF3080-TMA/
HF3100A-TMA
Section 15.8.1 (3) (c): Correction to error in writing
Section 15.8.3 (2) (a) 3): Correction to error in writing
Oct., 2004
SH(NA)030006-G Section 1.2: Partial diagram reexamination
Section 1.3: Addition of Note
Section 1.5 (2): Partial addition/change
Section 3.1.1 (1): Partial diagram change
Section 3.1.1 (2): Partial diagram and Note change
Section 3.1.2: Partial diagram change
Section 3.1.3: Partial diagram change
Section 3.3.2 (2): Functions/Applications of Speed reached is changed
Section 3.4.1 (5): Addition of CAUTION
Section 3.4.2 (1) (a): Addition of Note2
Section 3.4.4 (3) (b): Partial addition of table
Section 3.5: Addition of CAUTION
Section 3.5 (3): Change of text
Section 3.6.1: Partial diagram reexamination
Section 3.9 (3) (d): Partial diagram reexamination
Section 3.9 (3) (e): Partial diagram reexamination
Section 3.11: Addition of POINT
Section 4.2.4 (4) 2): Partial text deletion
Section 5.1.2 (2): Partial parameterNo.20 change
Section 5.2.1 (1) (b): POINT sentence addition
Section 10.2.2: CAUTION sectence addition,AL.12 partial Cause change,AL.52
addition of Note/change of Definition, AL.17 partial addition
Section 12.1: Change of Note
Print data
*Manual number
Oct., 2004
SH(NA)030006-G Section 12.3: HC-LFS series of graph is addition
Section 13.1.1 (b)b.: Partial table value of reexamination
Section 13.1.1 (4): Addition of POINT
Section 13.1.1 (4) (b): Note sentence addition
Section 13.1.1 (4) (c): Partial diagram change
Section 13.1.1 (4) (d): Partial text change
Section 13.1.1 (5) (c): Change of diagram
Section 13.1.2 (2): Partial change of Note2
Section 13.1.3 (2): Addition of Note2
Section 13.1.4 (1): Partial sentence delection
Section 13.1.9 (2): Partial reexamination
Section 13.1.9 (2) (a): Partial addition of Note
Section 13.1.10 (2): Addition of Note4
Section 13.1.10 (3) (d): Addition of Note
Section 13.1.11: Addition
Section 13.2.3: Partial diagram/dimensions reexamination
Section 13.2.7 (2) (d): Partial diagram change
Section 13.2.7 (2) (e): Partial diagram change
Section 13.2.9 (2): Partial Note deletion
Section 13.2.9 (3): Partial diagram change
Section 15.7.4: Partial diagram reexamination
SH(NA)030006-H Safety Instructions:Sentence addition
FOR MAXIMUM SAFETY: Addition of sentence
Section 1.5:Change of Note for power supply
Section 1.8: Change of Note2
Chapter 2:Addition of CAUTION
Section 3.1.1 (1): Partial change of connection diagram, Change of Note5
Section 3.1.1 (2):Partial change of connection diagram, Change of Note5 and
13
Section 3.1.2:Partial change of connection diagram, Change of Note5
Section 3.1.3:Partial change of connection diagram, Change of Note5
Section 3.3.1 (3):Change of Note4
Section 3.3.2 (2):SA explanation change
Section 3.6.2 (4) (b) 2): Diagram reexamination
Section 3.7.1:Diagram reexamination
Section 3.7.2:L1, L2, L3 partial reexamination in the table
Section 3.9:Addition of CAUTION
Section 3.9 (3) (d):Change of time from power OFF to base circuit OFF
Section 3.11.1:Addition
Section 3.13.3:Change of drawing of servo motor terminal box outside
Section 4.2.2 (3):Change of parameter No. 3 setting value in the table
Section 5.1.2 (2):Addition of Note for parameter No.17
Partial reexamination of sentence for parameter No.19
Section 5.2.2:Change of sentence
Section 5.2.2 (2):Addition of Note
Section 6.6 (2) (a):Change of Note3
Section 10.2.1:AL. 45, 46 addition of Note
Section 10.2.2:AL. 37 addition of Cause
Section 10.2.3:Addition of POINT, AL.92 addition of Cause
Section 12.1:Reexamination of Note
Section 13.1.1 (5):(b), (e) change of outline drawing
Section 13.1.2 (2):Diagram addition of P1 terminal, Reexamination of Note
Dec.,2005
Revision
Print data
*Manual number
Revision
Dec., 2005
SH(NA)030006-H Section 13.1.3 (2):Diagram addition of P1 terminal, Reexamination of Note
Section 13.1.4 (2):Diagram addition of P1 terminal, Reexamination of Note
Section 13.1.10 (2):Diagram addition of P1 terminal, Reexamination of Note
Section 13.1.10 (5): Partial table change
Section 13.2.7 (2) (d):FR-BSF01 change of dimensions
Section 14.12.3 (2):Reexamination of POINT
Section 15.1.1:Reexamination of diagram
Section 15.7.3 (2):Addition of POINT
Section 15.7.4:Partial reexamination of diagram
Section 15.8.3 (2) (c), (d):Addition of Note2
Dec., 2007
SH(NA)030006-J
Safety Instructions 1.To prevent electric shock: Change of sentence
2.To prevent fire: Change of sentence
4.Additional instructions (2) Wiring: Change of diagram
Section 1.2: Partial change of function block diagram
Section 1.3: Correction to error in writing in specifications
Section 1.7.2: Change of WARNING sentence
Section 1.8 (1) (a) (b): Addition of Note
Section 1.8 (2) (3) (4) (5): Addition of Note
Chapter 2: Addition of CAUTION sentence and correction to error in writing
Chapter 3: Change of WARNING sentence
Addition of CAUTION sentence
Section 3.4.1 (1) (b) 1): Addition of Note
Section 3.4.1 (1) (b) 2): Addition of Note
Section 3.4.2 (1)(a): Partial change of sentence
Section 3.5 (2): Correction to error in writing
Section 3.6.2 (2) (a): Addition of sentence and Note
Section 3.6.2 (2) (b): Addition of Note
Section 3.6.2 (3) (a) 1): Addition of Note
Section 3.6.2 (3) (b) 1): Addition of Note
Section 3.7: Change of CAUTION sentence
Section 3.7.1 (2): Addition of Note
Section 3.7.2: Addition of sentence
Correction to error in writing of servo amplifier model
Section 3.7.3 (3): Addition of CAUTION sentence
Section 3.8.2: Addition of CAUTION sentence
Section 3.9 (3) (a): Change of timing chart
Section 3.9 (3) (b)(c) (d) (e): Addition of Note
Section 3.10: Addition of Note sentence
Section 3.13: Addition of CAUTION sentence
Section 3.13.1: Partial change of Note
Section 3.13.3: Addition of diagram
Change of power supply specification table of cooling fan
Partial change of Note
Section 5.1.2 (1): Partial change of name for parameters No.6, No.35, No.36,
and No.37
Section 5.1.2 (2): Partial change of parameter No.0 notation
Partial change of parameter No.20 sentence
Partial change of name for parameters No.6, No.35, No.36,
and No.37
Section 6.2.2: Partial change of item in Display range
Section 7.4 (2): Change of sentence for Step 5
Chapter 9: Change of WARNING sentence
Print data
*Manual number
Revision
Dec., 2007
SH(NA)030006-J
Section 10.2.2: Addition of sentence for AL.20
Correction to error in writing of name for AL.30
Addition of sentence for AL.32
Addition of Cause for AL.33
Addition of reference for alarm occurrence time in Definition for
AL.51
Section 11.2 (1) (a): Change of figure
Section 11.2 (2): Deletion of figure and moving up (3)
Section 12.3: Reexamination of whole paragraph
Chapter 13: Change of WARNING sentence
Section 13.1.1 (2) (b): Partial change of energy formula
Section 13.1.1 (3): Partial addition of parameter setting
Section 13.1.1 (4): Change of POINT and sentence
Section 13.1.1 (5) (b): Change of outline drawing
Section 13.1.1 (5) (c): Change of outline drawing
Section 13.1.2: Change to FR-BU2
Section 13.1.3 (2): Addition of Note
Section 13.1.4: Addition of POINT
Section 13.1.4 (2): Addition of Note
Section 13.1.4 (3): Deletion of POINT
Section 13.1.5 (1): Change of list to RoHS compatible products
Section 13.1.6 (3): Change of outline drawing
Section 13.1.9 (2): Change of specification for personal computer and OS
Section 13.1.10 (2): Addition of Note
Section 13.2.1 (1): Partial change of Table 13.2 Recommended crimping
terminals
Section 13.2.7 (1) (b): Addition of sentence
Section 13.2.7 (2) (d): Change of sentence for connection diagram
Section 13.2.7 (3) (f): Addition of item of input power supply varistor
(recommended)
Section 13.2.9 (2): Addition of diagram
Addition of Note
Section 13.2.9 (3) (b): Addition of surge protector
Section 14.1.1: Change of connector in Note to RoHS compatible product
Section 14.12.3 (2): Change of POINT
Section 14.12.6: Change of title to “Input devices”
Section 15.2 (2): Change of configuration module
Section 15.3: Change of WARNING sentence
Section 15.7.2 (1) (a): Addition of sentence for 3) and 5)
Section 15.7.2 (1) (b): Change of sentence for 7)
Section 15.7.2 (2) (b): Addition of diagram and sentence
Partial change of sentence and diagram
Section 15.8.2 (2) (b): Correction to error in writing in Device list and addition
of T211
Section 15.8.2 (2) (c): Partial change and addition of ladder diagram
Section 15.8.3 (2) (a) (b): Addition of sentence and addition of M26 and T201 in
Device list
Section 15.8.3 (2) (c): Partial change and addition of ladder diagram
Section 15.8.3 (2) (f): Partial change and addition of ladder diagram and Note
Appendix: Addition of list of RoHS compatible products
SH(NA)030006-J
General-Purpose AC Servo
J2-Super Series
General-Purpose Interface
MODEL
MR-J2S-A GIJUTU SIRYOU
MODEL
CODE
1CW501
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
Printed in Japan
This Instruction Manual uses recycled paper.
Specifications subject to change without notice.
J
SH (NA) 030006-J (0712) MEE
J2-Super Series MR-J2S- A Servo Amplifier Instruction Manual
MODEL
MR-J2S- A
SERVO AMPLIFIER
INSTRUCTION MANUAL
J