Mitsubishi MR-J2S-_A Instruction manual

MODEL MR-J2S-A GIJUTU SIRYOU

MODEL

CODE

1CW501

SH (NA) 030006-J (0712) MEE Printed in Japan

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

Specifications subject to change without notice.

General-Purpose AC Servo

J2-Super

Series

General-Purpose Interface

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

CAUTION

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

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 L 1, L 2, and L 3 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.

Environment

Servo amplifier

Conditions

Servo motor

Ambient temperature

Ambient humidity

Ambience

Altitude

(Note)

Vibration

In [ ] 0 to 55 (non-freezing) operation [ ] 32 to 131 (non-freezing)

[ ] 20 to 65 (non-freezing)

In storage

In operation

In storage

[ ] 4 to 149 (non-freezing)

90%RH or less (non-condensing)

0 to 40 (non-freezing)






Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt

Max. 1000m (3280 ft) above sea level

[m/s 2 ] 5.9 or less

HC-KFS Series

HC-MFS Series

HC-UFS13 to 73

HC-SFS81

HC-SFS52 to 152

HC-SFS53 to 153

HC-RFS Series

HC-UFS 72 152

HC-SFS121 201

HC-SFS202 352

HC-SFS203 353

HC-UFS202 to 502

HC-SFS301

HC-SFS502 to 702

HA-LFS11K2 to 22K2

X Y : 49

X Y : 24.5

X : 24.5

Y : 49

X : 24.5

Y : 29.4

X : 11.7

Y : 29.4

[ft/s 2 ] 19.4 or less

HC-KFS Series

HC-MFS Series

HC-UFS 13 to 73

HC-SFS81

HC-SFS52 to 152

HC-SFS53 to 153

HC-RFS Series

HC-UFS 72 152

HC-SFS121 201

HC-SFS202 352

HC-SFS203 353

HC-UFS202 to 502

HC-SFS301

HC-SFS502 to 702

HA-LFS11K2 to 22K2

X Y : 161

X Y : 80

X : 80

Y : 161

X : 80

Y : 96

X : 38

Y : 96

Note. Except the servo motor with reduction gear.

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

U

Servo motor Servo amplifier

U

U

Servo motor

V V

V M V M

W W

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

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

RA EMG

Circuit must be opened during emergency stop (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 :MR-J2S-10A to MR-J2S-22KA

MR-J2S-10A1 to MR-J2S-40A1

Servo motor :HC-KFS

HC-MFS

HC-SFS

HC-RFS

HC-UFS

HA-LFS

HC-LFS

(2) Configuration

Control box

(Note)

Reinforced insulating transformer

No-fuse breaker

NFB

Magnetic contactor

MC

Reinforced insulating type

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 ) of the servo amplifier to the protective earth (PE) of the control box.

(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the cables to the terminals one-to-one.

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 :MR-J2S-10A to MR-J2S-22KA


Servo motor :HC-KFS

HC-MFS

HC-SFS

HC-RFS

HC-UFS

HA-LFS

HC-LFS

(2) Installation

Install a cooling fan of 100CFM (2.8m

3 /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

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

Discharge time

[min]

3

5

4

6

8

1

2

(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 MR-

J2S-A safely.

Relevant manuals

Manual name

MELSERVO-J2-Super Series To Use the AC Servo Safely

MELSERVO Servo Motor Instruction Manual

EMC Installation Guidelines

Manual No.

IB(NA)0300010

SH(NA)3181

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


1.1 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


1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) MR-J2S-350A or less

Regenerative option

(Note 2)

Power supply

NFB MC

Servo amplifier

L

1

Diode stack Relay

L

L

2

3

P C D

(Note 1)

CHARGE lamp

Regenerative

TR

(Note 3)Cooling fan

L

11

L

21

Control circuit power supply

Current detector

Dynamic brake

Base amplifier

Voltage detection

Overcurrent protection

Current detection

U

V

W

Servo motor

U

V

W

M

B1

B2


Encoder

Pulse input

Model position control

Model speed control

Virtual motor

Virtual encoder

Model position

Actual position control

Model speed

Actual speed control

Model torque

Current control

Analog

(2 channels)

A/D

I/F

CN1A CN1B

RS-232C

RS-422 D/A

CN3

D I/O control

Servo on

Start

Failure, etc.

Analog monitor

(2 channels)

Controller

RS-422/RS-232C

MR-BAT

Optional battery

(for absolute position

detection system)

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 L

1

, L

2

and leave L

3

open.

L

3

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


(2) MR-J2S-500A MR-J2S-700A

Regenerative option

(Note)

Power supply

NFB MC

Servo amplifier

L

1

Diode stack Relay

L

2

L

3

L

L

11

21

P C N


CHARGE lamp

Regenerative

TR

Cooling fan

Current detector

Dynamic brake

Base amplifier

Voltage detection


Current detection

U

V

W

Servo motor

U

V

W

M

B1

B2


Encoder

Pulse input


Model speed control

Virtual motor

Virtual encoder

Model position


Model speed


Model torque

Current control

Analog

(2 channels)

A/D

I/F

CN1A CN1B

RS-232C

RS-422 D/A

CN3

D I/O control

Servo on

Start

Failure, etc.

Analog monitor

(2 channels)

Controller

RS-422/RS-232C

Note. Refer to section 1.3 for the power supply specification.

MR-BAT

Optional battery


detection system)

1 - 3


(3) MR-J2S-11KA or more

Regenerative option

(Note)

Power supply

NFB MC

Servo amplifier P

1

L

1

Diode stack

Thyristor

L

2

L

3

L

L

11

21

P C N


CHARGE lamp

Regenerative

TR

Cooling fan

Current detector

Dynamic brake

Base amplifier

Voltage detection


Current detection

U

V

W

Servo motor

U

V

W

M

B1

B2


Encoder

Pulse input


Model speed control

Virtual motor

Virtual encoder

Model position


Model speed


Model torque

Current control

Analog

(2 channels)

A/D

I/F

CN1A CN1B

RS-232C

RS-422 D/A

CN3

D I/O control

Servo on

Start

Failure, etc.

Analog monitor

(2 channels)

Controller

RS-422/RS-232C


MR-BAT

Optional battery


detection system)

1 - 4


1.3 Servo amplifier standard specifications

Servo Amplifier

MR-J2S10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA 10A1 20A1 40A1

Item

Voltage/frequency

Permissible voltage fluctuation

Permissible frequency fluctuation

Power supply capacity

Inrush current

Control system

Dynamic brake

Protective functions

Max. input pulse frequency

Command pulse multiplying factor

3-phase 200 to 230VAC,

50/60Hz or 1-phase

230VAC, 50/60Hz

3-phase 200 to 230VAC:

170 to 253VAC

1-phase 230VAC: 207 to

253VAC

3-phase 200 to 230VAC, 50/60Hz

3-phase 170 to 253VAC

Within 5%

Refer to section12.2

Refer to section 12.5

Sine-wave PWM control, current control system

1-phase 100 to

120VAC

50/60Hz

1-phase

85 to 127VAC

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

500kpps (for differential receiver), 200kpps (for open collector)

Electronic gear A:1 to 65535 131072 B:1 to 65535, 1/50 A/B 500

In-position range setting

Error excessive

0 to 10000 pulse (command pulse unit)

(Note) 2.5 revolutions

Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)

Speed control range Analog speed command 1: 2000, internal speed command 1: 5000

Analog speed command input

Speed fluctuation ratio

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

Set by parameter setting or external analog input (0 to 10VDC/maximum torque) Torque limit

Torque control mode

Analog torque command input

Speed limit

0 to 8VDC / Maximum torque (input impedance 10 to 12k )

Set by parameter setting or external analog input (0 to 10VDC/Rated speed)

Structure Self-cooled, open (IP00) Force-cooling, open (IP00)

Self-cooled, open(IP00)

Ambient temperature

In operation

In storage

[ ]

[ ]

[ ]

[ ]





Ambient humidity

In operation

In storage


Ambient

Altitude

Vibration

Mass

Indoors (no direct sunlight)

Free from corrosive gas, flammable gas, oil mist, dust and dirt

Max. 1000m (3280ft) above sea level

5.9 [m/s 2 ] or less

19.4 [ft/s 2 ] or less

[kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9

15 16 16 20 0.7 0.7 1.1

[lb] 1.5 1.5 2.4 2.4 3.75 3.75 4.4 4.4 10.8 33.1 35.3 35.3 44.1 1.5 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


1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the reference field.

Function

Position control mode

Speed control mode

Torque control mode

Description

This servo is used as position control servo.

This servo is used as speed control servo.

This servo is used as torque control servo.

Position/speed control change mode

Speed/torque control change mode

Torque/position control change mode

High-resolution encoder

Absolute position detection system

Gain changing function

Adaptive vibration suppression control

Low-pass filter

Machine analyzer function

Machine simulation

Gain search function

Slight vibration suppression control

Electronic gear

Auto tuning

Position smoothing

S-pattern acceleration/ deceleration time constant

Using external input signal, control can be switched between position control and speed control.

Using external input signal, control can be switched between speed control and torque control.

Using external input signal, control can be switched between torque control and position control.

High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder.

Merely setting a home position once makes home position return unnecessary at every power-on.

You can switch between gains during rotation and gains during stop or use an external signal to change gains during operation.

Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration.

Suppresses high-frequency resonance which occurs as servo system response is increased.

Analyzes the frequency characteristic of the mechanical system by simply connecting a MR Configurator (servo configuration software ) installed personal computer and servo amplifier.

Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results.

Personal computer changes gains automatically and searches for overshoot-free gains in a short time.

Suppresses vibration of 1 pulse produced at a servo motor stop.

Input pulses can be multiplied by 1/50 to 50.

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.

Speed can be increased smoothly in response to input pulse.

Speed can be increased and decreased smoothly.

Regenerative option

Brake unit

Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated.

Used when the regenerative option cannot provide enough regenerative power.

Can be used with the MR-J2S-500A to MR-J2S-22KA.

(Note)

Control mode

P

S

T

P/S

Reference

Section 3.1.1

Section 3.4.1

Section 4.2.2

Section 3.1.2

Section 3.4.2

Section 4.2.3

Section 3.1.3

Section 3.4.3

Section 4.2.4

Section 3.4.4

S/T

T/P

P, S, T

P

P, S

P, S, T

P, S, T

P

P

P

P

P

P, S

P

S, T

P, S, T

P, S, T

Section 3.4.5

Section 3.4.6

Chapter 15

Section 8.5

Section 8.3

Section 8.4

Section 7.5

Parameters No. 3, 4

Chapter 7

Parameter No. 7

Parameter No. 13

Section 13.1.1

Section 13.1.2

1 - 6


Function Description

(Note)

Control mode

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.

Alarm history is cleared.

Alarm history clear

Restart after instantaneous power failure

If the input power supply voltage had reduced to cause an alarm but has returned to normal, the servo motor can be restarted by merely switching on the start signal.

Command pulse selection

Input signal selection

Command pulse train form can be selected from among four different types.

Forward rotation start, reverse rotation start, servo-on

(SON) and other input signals can be assigned to any pins.

P, S, T

P, S, T

S

P

Section 13.1.3

Parameter No. 16

Parameter No. 20

Parameter No. 21

Torque limit

Speed limit

Servo motor torque can be limited to any value.

Servo motor speed can be limited to any value.

P, S, T

P, S

T

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

Status display

External I/O signal display

Output signal (DO) forced output

Automatic VC offset

Test operation mode

Servo status is shown on the 5-digit, 7-segment LED display

ON/OFF statuses of external I/O signals are shown on the display.

Output signal can be forced on/off independently of the servo status.

Use this function for output signal wiring check, etc.

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.

JOG operation positioning operation motor-less operation

DO forced output.

Servo status is output in terms of voltage in real time.

Analog monitor output

MR Configurator

(Servo configuration software)

Using a personal computer, parameter setting, test operation, status display, etc. can be performed.

Alarm code output

If an alarm has occurred, the corresponding alarm number is output in 3-bit code.

P, S, T

P, S, T

P, S, T

S, T

P, S, T

P, S, T

P, S, T

P, S, T

Section 6.2

Section 6.6

Section 6.7

Section 6.3

Section 6.8

Parameter No. 17

Section 13.1.9

Section 10.2.1

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

POWER :

INPUT :

600W

3.2A 3PH 1PH200-230V 50Hz

3PH 1PH200-230V 60Hz

5.5A 1PH 230V 50/60Hz

OUTPUT :

SERIAL :

170V 0-360Hz 3.6A

A5

TC3 AAAAG52

PASSED

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

Model

Capacity

Applicable power supply

Rated output current

Serial number

1 - 7


(2) Model

Series

MR–J2S–100A or less

With no regenerative resistor

Symbol

-PX

Description

Indicates a servo amplifier of 11k to 22kW that does not use a regenerative resistor as standard accessory.

Power supply

Symbol

None

Power supply


(Note 1) 1-phase 230VAC

(Note 2)

1


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

Symbol

Rated output [kW]

70

100

200

350

10

20

40

60

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

Rating plate

MR-J2S-500A

MR-J2S-11KA 15KA

MR–J2S–200A 350A

MR-J2S-700A

Rating plate

MR-J2S-22KA

Rating plate

Rating plate Rating plate

1 - 8


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 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

HC-KFS

053 13

23

43

(Note 1) 73

HC-MFS

053 13

23

43

73

(Note 1)

1000r/min

Servo motors

HC-SFS

2000r/min

(Note 1)

3000r/min

HC-RFS

HC-UFS

2000r/min 3000r/min

13

23

43

52 53

72

81 102 103

121 201 152 202 153 203

301 352 353

(Note 1)

502

(Note 1)

702

103 153 152

(Note 1) 203 (Note 1) 202

(Note 1)

353 503

(Note 1)

352 502

73

Servo amplifier

1000r/min

Servo motors

HA-LFS

1500r/min 2000r/min

(Note 1)

HC-LFS

MR-J2S-60A

MR-J2S-100A

MR-J2S-200A

MR-J2S-350A

MR-J2S-500A

MR-J2S-700A

MR-J2S-11KA

MR-J2S-15KA

MR-J2S-22KA

52

102

152

202

302 (Note 1) 502

(Note 2) 601 (Note 2)701M (Note 1)702

801 12K1

15K1

20K1 25K1

11K1M

15K1M

22K1M

11K2

15K2

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


1.7 Structure

1.7.1 Parts identification


POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2.

MODE UP DOWN SET

Name/Application

Battery holder

Contains the battery for absolute position data backup.

Reference

Section 15.3

Battery connector (CON1)

Used to connect the battery for absolute position data backup.

Display

The 5-digit, seven-segment LED shows the servo status and alarm number.

Operation section

Used to perform status display, diagnostic, alarm and parameter setting operations.

Section 15.3

Chpater 6

MODE UP DOWN SET

Used to set data.

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)


Communication connector (CN3)

Used to connect a command device (RS-422/RS-232C) and output analog monitor data.

Rating plate

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.

Chapter 6

Section 3.3

Section 3.3

Section 3.3

Section 13.1.5

Chapter 14

Section 1.5

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

Fixed part(2places)

(For MR-J2S-70A 100A 3 places)

1 - 10


(2) MR-J2S-200A MR-J2S-350A

POINT


Cooling fan

Fixed part

(4 places)

MODE UP DOWN SET

Name/Application

Battery holder


Reference

Section 15.3



Display


Section 15.3

Chpater 6

Operation section


MODE UP DOWN SET

Used to set data.









Rating plate

Charge lamp









Ground terminal.

Chapter 6

Section 3.3

Section 3.3

Section 3.3

Section 13.1.5

Chapter 14

Section 1.5

Section 3.3

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 - 11


(3) MR-J2S-500A

POINT


MODE UP DOWN SET

Fixed part

(4 places)

Cooling fan

Name/Application



Battery holder


Display


Operation section


Reference

Section 15.3

Section 15.3

Chpater 6

MODE UP DOWN SET

Used to set data.











Charge lamp






Rating plate


Ground terminal.

Chapter 6

Section 3.3

Section 3.3

Section 3.3

Section 13.1.5

Chapter 14

Section 3.3

Section 13.1.5

Section 3.7

Section 11.1

Section 13.1.1

Section 3.7

Section 11.1

Section 1.5

Section 3.10

Section 11.1

1 - 12


(4) MR-J2S-700A

Cooling fan

POINT


MODE UP DOWN SET

Fixed part

(4 places)

Name/Application



Battery holder


Display


Operation section


Reference

Section 15.3

Section 15.3

Chpater 6

MODE UP DOWN SET

Used to set data.









Charge lamp



Used to connect the control circuit power supply.



Rating plate


Used to connect the input power supply, regenerative option and servo motor.


Ground terminal.

Chapter 6

Section 3.3

Section 3.3

Section 3.3

Section 13.1.5

Chapter 14

Section 3.7

Section 11.1

Section 3.3

Section 13.1.5

Section 1.5

Section 3.7

Section 11.1

Section 13.1.1

Section 3.10

Section 11.1

1 - 13



Cooling fan

POINT


MODE UP DOWN SET

Fixed part

(4 places)

Name/Application

Battery holder


Display


Operation section


Reference

Section 15.3

Chapter 6

MODE UP DOWN SET

Used to set data.





Monitor output terminal (CN4)

Used to output monitor values as analog signals for two channels.


Used to connect a command device (RS232C)





Charge lamp

Lit to indicate that the main circuit is charged.

While this lamp is lit, do not reconnect the cables.

Chapter 6

Section 15.3

Section 3.3

Section 11.1

Section 3.3

Section 13.1.5

Section 3.3

Section 3.3


Used to connect the control circuit power supply.



Manufacturer adjusting connector (CON2)

Keep this connector open.

Section 3.7

Section 11.1

Section 13.1.1

Section 3.3

Section 13.1.5

Rating plate

Section 1.5


Used to connect the input power supply, regenerative option and servo motor.


Ground terminal.

Section 3.7

Section 11.1

Section 13.1.1

Section 3.10

Section 11.1

1 - 14


1.7.2 Removal and reinstallation of the front cover

CAUTION

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.

(1) For MR-J2S-350A or less

Removal of the front cover

1)

Reinstallation of the front cover

2)

Front cover hook

(2 places)

2)

Front cover

1) Hold down the removing knob.

2) Pull the front cover toward you.

1)

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.

(2) For MR-J2S-500A


1)

2)


Front cover hook

(2 places)

2)

1)

Front cover

1) Hold down the removing knob.


1 - 15

Front cover socket

(2 places)

1) Insert the front cover hooks into the front cover sockets of the servo amplifier.



(3) For MR-J2S-700A

Removal of the front cover Reinstallation of the front cover

Front cover hook

(2 places)

B)

2)

A)

2)

1)

A)

1) Push the removing knob A) or B), and put you finger into the front hole of the front cover.


1)

Front cover socket

(2 places)

1) Insert the two front cover hooks at the bottom into the sockets of the servo amplifier.


1 - 16


(4) For MR-J2S-11KA or more


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



Mounting screws

(2 places)

1) Insert the front cover in the direction of arrow.


2) Fix it with the mounting screws (2 places).

Mounting screws (2 places)

3) Fit the front cover and fix it with the mounting screws (2 places).

1 - 18


1.8 Servo system with auxiliary equipment

WARNING

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.


(a) For 3-phase 200V to 230VAC or 1-phase 230V

(Note 2)

Power supply

Options and auxiliary equipment Reference

No-fuse breaker Section 13.2.2

Magnetic contactor

MR Configurator


Section 13.2.2

Section 13.1.9


Regenerative option Section 13.1.1

Cables

Power factor improving reactor

Section 13.2.1

Section 13.2.3

No-fuse breaker

(NFB) or fuse

Servo amplifier

To CN1A

Command device

Junction terminal block

Magnetic contactor

(MC)


(FR-BAL)

CHARGE

To CN1B

To CN3

To CN2

L

1

L

2

L

3

U V W

Personal computer

MR Configurator

(Servo configuration software

MRZJW3-SETUP151E)

(Note 1)

Encoder cable

(Note 1)

Power supply lead

D

Control circuit terminal block

L

21

L

11

P

Regenerative option

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 L

1

L

2

and leave L

3

open.

Refer to section 1.3 for the power supply specification.

Servo motor

1 - 19


(b) For 1-phase 100V to 120VAC

(Note 2)

Power supply


No-fuse breaker

Magnetic contactor

MR Configurator


Section 13.2.2

Section 13.2.2

Section 13.1.9


Regenerative option

Cables

Section 13.1.1

Section 13.2.1

Power factor improving reactor Section 13.2.3

No-fuse breaker

(NFB) or fuse

Servo amplifier

To CN1A

Command device


Magnetic contactor

(MC)

To CN1B

To CN3


(FR-BAL)

To CN2

L

1

L

2

CHARGE

U V W

Personal computer

MR Configurator


MRZJW3-SETUP151E)

(Note 1)

Encoder cable

(Note 1)

Power supply lead


L

21

L

11

D

Regenerative option

P

C

Note 1. The HC-SFS, HC-RFS series have cannon connectors.

2. Refer to section 1.3 for the power supply specification.

Servo motor

1 - 20


(2) MR-J2S-200A MR-J2S-350A or more

(Note)

Power supply


No-fuse breaker

Magnetic contactor

MR Configurator


Section 13.2.2

Section 13.2.2

Section 13.1.9

No-fuse breaker

(NFB) or fuse

Servo amplifier


Regenerative option

Cables

Section 13.1.1

Section 13.2.1


To CN1A

Command device


Magnetic contactor

(MC)


(FR-BAL)

To CN2

L

11

L

21

L

1

L

2

L

3

To CN1B

To CN3

U V W P C

Regenerative option

Personal computer

MR Configurator


MRZJW3-

SETUP151E)


1 - 21


(3) MR-J2S-500A

(Note 2)

Power supply


No-fuse breaker

Magnetic contactor

MR Configurator


Section 13.2.2

Section 13.2.2

Section 13.1.9


Regenerative option

Cables

Section 13.1.1

Section 13.2.1


No-fuse breaker

(NFB) or fuse

Magnetic contactor

(MC)


(FA-BAL)

L

1

L

2

L

3

(Note 1) C P

Regenerative option

U

V

W

L

11

L

21

Servo amplifier

To CN1A

To CN1B

To CN3

Command device


Personal computer

MR Configurator


MRZJW3-

SETUP151E)

To CN2

Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.


1 - 22


(4) MR-J2S-700A

(Note 2)

Power supply


No-fuse breaker

Magnetic contactor

MR Configurator


Section 13.2.2

Section 13.2.2

Section 13.1.9


Regenerative option

Cables

Section 13.1.1

Section 13.2.1


No-fuse breaker

(NFB) or fuse

Magnetic contactor

(MC)


(FA-BAL)

L

3

L

2

L

1

L

21

L

11

Servo amplifier

To CN1A

To CN1B

To CN3

U

V

W

To CN2

Command device


Personal computer

MR Configurator


MRZJW3-

SETUP151E)

C P

(Note 1) Regenerative option

Note 1. When using the regenerative option, remove the lead wires of the built-in regenerative resistor.


1 - 23



(Note 3)

Power supply

No-fuse breaker

(NFB) or fuse


No-fuse breaker

Magnetic contactor

MR Configurator


Section 13.2.2

Section 13.2.2

Section 13.1.9


Regenerative option

Cables

Section 13.1.1

Section 13.2.1


Power factor improving

DC reactor

Section 13.2.4

Personal computer

MR Configurator


MRZJW3-

SETUP151E)

L

21

L

11

To CN3

Magnetic contactor

(MC)

(Note 2)


(FA-BAL)

MITSUBISHI

To CN4

Analog monitor

Command device

To CN1A

L

3

L

2

L

1 To CN1B


(Note 1)

BV

BW

BU U V W

C

To CN2

Regenerative option

P

(Note 2)

Power factor improving DC reactor

(FR-BEL)

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.


1 - 24

2. INSTALLATION

2. INSTALLATION

CAUTION

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.)

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

Ambient

Ambient humidity

Environment temperature

In [ ] 0 to 55 (non-freezing) operation [ ] 32 to 131 (non-freezing)

In storage

[ ]

[ ]



In operation

In storage


Ambience

Altitude

Vibration

Conditions

Indoors (no direct sunlight)

Free from corrosive gas, flammable gas, oil mist, dust and dirt

Max. 1000m (3280 ft) above sea level

[m/s

2

] 5.9 [m/s

2

] or less

[ft/s

2

] 19.4 [ft/s

2

] 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

10mm

(0.4 in.) or more

10mm

(0.4 in.) or more

Wiring clearance

70mm

(2.8 in.)

Top

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

Servo amplifier

10mm

(0.4 in.) or more

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


WARNING

Any person who is involved in wiring should be fully competent to do the work.

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.

CAUTION

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.

Servo amplifier

COM

(24VDC)

Servo amplifier

COM

(24VDC)


RA


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


3.1 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

SVRDY

COM2

COM2

SVEND

COM4

PG0

1

2

12

11

14

13

24

VC

FPO

FP

COM5

RP

RP0

CLR

COM3

7,17

8,18

5

6

9,19

16

15

3

4

Servo amplifier

RD

COM

INP

(Note 4, 9) (Note 4)

CN1A CN1B

19

9

18

3

13

VDD

COM

P15R

OP

4

14

18 ALM

19 ZSP

OPC

COM

11

9

6 TLC

PP

SG

NP

3

10

2

(Note 12)

(Note 2, 5)

RA1

RA2

RA3

10m (32ft) or less

START

ST-

ZRN

FWD

RVS

DOG

LSF

LSR

COM1

3

4

5

1

2

6

7

8

9,19

(Note 3, 6) Emergency stop

Servo-on

Reset

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 10) 2m(6.5ft) max.

10m(32ft) max.

CR

SG

SD

8

20

Plate

(Note 13)

(Note 4, 9)

CN1A

6

16

7

17

LG

5

15

Plate

LA

LAR

LB

LBR

1

LZ

LZR

SD

EMG

SON

RES

PC

TL

LSP

LSN

SG

P15R

TLA

LG

SD

10

11

12

1

Plate

16

17

8

9

(Note 4, 9)

CN1B

(Note 4, 9,14)

CN3

15 4 MO1

5

14

3

14

LG

MO2

13

Plate

LG

SD

A

A

2m (6.5ft) max.

10k

10k

(Note 11)

MR Configurator


Personal computer

2m(6.5ft) max.

(Note 8)

Communication cable

(Note 4, 9)

CN3 (Note 1)

(Note 7)

Trouble

Zero speed

Limiting torque

Encoder A-phase pulse

(differential line driver)

Encoder B-phase pulse


Control common

Encoder Z-phase pulse


(Note 8)

Analog monitor

Max. 1mA

Reading in both directions

3 - 2


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


(2) AD75P (A1SD75P )

Positioning module

AD75P

(A1SD75P )

Ready

COM

INPS

7

26

8

(Note 10) 10m(32ft) max.

RD

COM

INP

Servo amplifier

(Note 4,9)

CN1A

19

9

18

(Note 4)

CN1B

3 VDD

13 COM

(Note 12)

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

(Note 2,5)

RA1

(Note 7)

Trouble

LZ

LZR

CR

SG

PG

PP

NG

NP

LG

SD

5

15

8

10

13

3

12

2

1

Plate

18

19

6

ALM

ZSP

TLC

RA2

RA3

10m(32ft) or less

Zero speed

Limiting torque

(Note 13)


Servo-on

Reset

Proportion control




(Note 11)

MR Configurator


PULSE F

PULSE COM

PULSE R

PULSE COM

DOG

FLS

RLS

STOP

CHG

START

COM

COM

1

19

2

20

11

12

13

14

15

16

35

36

Upper limit setting

Analog torque limit

10V/max. torque

Personal computer

DC24V

2m(6.5ft) max.

(Note 8)

Communication cable

(Note 4,9)

CN1A

10m(32ft) or less

EMG

SON

RES

PC

TL

LSP

LSN

SG

P15R

TLA

LG

SD

(Note 4,9)

CN1B

15

16

17

10

11

8

9

5

14

12

1

Plate

6

16

7

17

1

14

4

Plate

LA

LAR

LB

LBR

LG

OP

P15R

SD

2m(6.5ft) or less

(Note 4,9,14)

CN3

4

3

MO1

LG

14

13

Plate

MO2

LG

SD

A

A

10k

10k





Control common

Control common


(open collector)

(Note 8)

Analog monitor

Max. 1mA


(Note 4,9)

CN3

2m(6.5ft) max.

(Note 1)

3 - 4










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.



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.




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


3.1.2 Speed control mode

(Note 11)

MR Configurator


Speed selection 1


Servo-on

Reset

Speed selection 2

Forward rotation start

Reverse rotation start



(Note 13)

Upper limit setting

Analog speed command

10V/rated speed

Upper limit setting

(Note 10) Analog torque limit

10V/max. torque

Personal computer

Servo amplifier

(Note 4)

CN1B

SP1

SG

(Note 4,9)

CN1A

8

10

3

13

18

VDD

COM

ALM

(Note 12)

(Note 2,5)

RA1

(Note 7)

Trouble

Zero speed

19 ZSP RA2

Limiting torque

10m(32ft) max.

6 TLC RA3

(Note 4,9) (Note 4,9)

CN1B CN1A

10m(32ft) or less

2m(6.5ft) max.

(Note 8)

Communication cable

EMG

SON

RES

SP2

ST1

ST2

LSP

LSN

SG

P15R

VC

LG

TLA

SD

15

5

9 COM

14

7

18 SA RA5

19 RD RA4

8

9

16

17

5

15

6

LZ

LZR

LA

LAR

10

11

2

1

16

7

17

LB

LBR

12

Plate

1

14

4

Plate

(Note 4,9,14)

CN3

4

(Note 4,9)

CN3

3

14

LG

OP

P15R

SD

2m(6.5ft) or less

MO1

LG

MO2

A

A

13

Plate

LG

SD

2m(6.5ft) max.

10k

10k

Speed reached

Ready







Control common

Control common


(open collector)

(Note 8)

Analog monitor

Max. 1mA


(Note 1)

3 - 6










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)


10. By setting parameters No.43 to 48 to make TL available, TLA can be used.




13. Use an external power supply when inputting a negative voltage.


CN4

1 MO1 A

2 MO2 A

4 LG

2m (6.5ft) or less

3 - 7


3.1.3 Torque control mode

(Note 9)

MR Configurator


Speed selection 1

(Note 3) Emergency stop

Servo-on

Reset

Speed selection 2



Upper limit setting

Analog torque command

(Note 11) 8V/max. torque

Upper limit setting

Analog speed limit

0 to 10V/rated speed

Personal computer

Servo amplifier

(Note 4)

CN1B

3 VDD

SP1

SG

(Note 4,8)

CN1A

8

10

13

18

COM

ALM

19 ZSP

(Note 10)

(Note 2,5)

RA1

RA2

(Note 6)

Trouble

Zero speed

Limiting torque

10m(32ft) max.

6 VLC RA3

2m(6.5ft) max.

(Note 7)

Communication cable

EMG

SON

RES

SP2

RS1

RS2

SG

P15R

TC

LG

(Note 4,8) (Note 4,8)

CN1B CN1A

9

8

10

11

12

1

15

5

14

7

9

19

5

15

6

16

7

17

COM

RD

LZ

LZR

LA

LAR

LB

LBR

10m(32ft) or less

RA4 Ready







Control common

VLA

SD

2

Plate

1

14

4

Plate

LG

OP

P15R

SD

Control common


(open collector)

2m(6.5ft) or less

(Note 4,8)

CN3

(Note 4,8,12)

CN3

4

3

14

13

Plate

MO1

LG

MO2

LG

SD

A

A

2m(6.5ft) max.

10k

10k

(Note 7)

Analog monitor

Max. 1mA


(Note 1)

3 - 8


Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the ( ) servo amplifier to the protective earth



3. The emergency stop switch(normally closed contact) must be installed.





6. Trouble (ALM) turns on in normal alarm-free condition.






11. Use an external power supply when inputting a negative voltage.


CN4

1 MO1 A

2 MO2 A

4 LG

2m (6.5ft) or less

3 - 9


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

VDD

CN1B

3

COM 13

(Note 1)

P S T

COM COM COM

CR SP1 SP1

CN1A

9

8

SG

(Note 1)

P

SG

S

SG

T

SON SON SON

SP2 SP2

10,20

CN1B

5

7

OPC

PG

PP

NG

NP

SD

PC ST1 RS2

TL ST2 RS1

RES

EMG

RES RES

EMG EMG

LSP

LSN

LSP

LSN

SG

(Note 1)

P

SG

S

SG

T

16

17

10,20

CN1A

14

15

8

9

SD SD

11

13

Approx. 100k

3

12

2

Case

Approx. 100k

24VDC

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 4.7k

Approx. 1.2k

Approx. 1.2k

(Note 1)

P S T CN1B

TLA

VC VLA

TC

P15R P15R 11

2

12

LG

SD

LG 1

SD Case

P15R

CN1A

4

15VDC

(Note 1)

CN1A

18

P

INP

S

SA

T

19

CN1B

6

RD

TLC

RD

(Note 1)

P S

TLC

RD

T

VLC

18

19

ALM ALM ALM

ZSP ZSP ZSP

4 DO1 DO1 DO1

CN1A

6

16

7

17

5

15

14

1

CN3

4 MO1

LA

LAR

LB

LBR

LZ

LZR

OP

LG

14 MO2

2 RXD

12

9

TXD

SDP

19 SDN

5 RDP

15 RDN

PE

(Note 2)

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


3.3 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

CN1A

2

4

6

8

10

1

3

5

7

9

11

12

13

14

15

16

17

18

20

19

MITSUBISHI

MELSERVO-J2

CN1B

2

4

6

8

10

1

3

5

7

9

11

12

13

14

15

16

17

18

20

19

CN2

2

LG

4

1

LG

3

12

LG

14

11

LG

13

6

MD

8

10

5

7

MR

9

BAT

P5

15

16

MDR

18

17

MRR

19

20

P5

P5

The connector frames are

connected with the PE (earth)

terminal inside the servo amplifier.

CN3

2

RXD

4

MO1

6

1

LG

12

3

LG

TXD

14

5

RDP

MO2

16

11

LG

13

LG

15

RDN

7 17

8 18

10

TRE

9

SDP

20

P5

19

SDN

3 - 11


(b) MR-J2S-11KA or more

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

2

LG

4

1

LG

3

12

LG

14

11

LG

13

6

MD

8

10

5

7

MR

9

BAT

15

16

MDR

18

P5

20

17

MRR

19

P5

P5

CHARGE

The connector frames are

connected with the PE (earth)

terminal inside the servo amplifier.

CN4

1 MO1

2 MO2

4 LG

MITSUBISHI

CN3

2

RXD

4

1

LG

3

12

TXD

14

11

LG

13

6

8

5

RDP

7

16

15

RDN

17

18

9

10

TRE

SDP

20

P5

19

SDN

CON2

For manufacturer adjustment.

Keep this open.

3 - 12


(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.

19

20

1

2

15

16

17

18

3

(Note 4) 4

11

12

13

14

9

10

7

8

3

4

1

2

5

6

9

10

7

8

5

6

11

Connector

CN1A

CN1B

Pin No.

12

13

14

15

16

17

18

19

20

(Note 1)

I/O

I

I

O

O

O

I

I

I

O

O

O

O

O

O

I

O

I

O

I

I

I

I

I

I

I

I

O

O

P

LG

NP

PP

P15R

LZ

LA

LB

CR

COM

SG

OPC

NG

PG

OP

LZR

LAR

LBR

INP

RD

SG

LG

VDD

DO1

SON

TLC

PC

TL

SG

P15R

TLA

COM

RES

EMG

LSP

LSN

ALM

ZSP

SG

P/S

(Note 2) I/O Signals in control modes

S S/T

LG LG

T

LG

VDD

DO1

SON

TLC

LOP

PC/ST1

TL/ST2

SG

LZR

LAR

LBR

INP/SA

RD

SG

LG

/VC

LG

NP/

PP/

P15R/P15R

LZ

LA

LB

CR/SP1

COM

SG

OPC/

NG/

PG/

OP

P15R

(Note 3)

TLA/TLA

COM

RES

EMG

LSP

LSN

ALM

ZSP

SG

P15R

LZ

LA

LB

SP1

COM

SG

P15R

(Note 3)

TLA

COM

RES

EMG

LSP

LSN

ALM

VDD

DO1

SON

TLC

SP2

ST1

ST2

SG

ZSP

SG

OP

RD

SG

LG

VC

LZR

LAR

LBR

SA

P15R

LZ

LA

LB

SP1/SP1

COM

SG

OP

LZR

LAR

LBR

SA/

RD

SG

LG

VC/VLA

VDD

DO1

SON

TLC/VLC

LOP

ST1/RS2

ST2/RS1

SG

P15R

(Note 3)

TLA/TC

COM

RES

EMG

LSP/

LSN/

ALM

ZSP

SG

P15R

LZ

LA

LB

SP1

COM

SG

OP

LZR

LAR

LBR

RD

SG

LG

VLA

VDD

DO1

SON

VLC

SP2

RS2

RS1

SG

P15R

TC

COM

RES

EMG

ALM

ZSP

SG

T/P

TC/TLA

COM

RES

EMG

/LSP

/LSN

ALM

ZSP

SG

Related parameter

No.43 to 48

No.49

No.1, 49

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 CN1A-

18.

LG

/NP

/PP

P15R

LZ

LA

LZR

LAR

LBR

/INP

RD

SG

LG

VLA/

LB

SP1/CR No.43 to 48

COM

SG

/OPC

/NG

/PG

OP

No.49

No.49

VDD

DO1

SON

VLC/TLC

No.43 to 48

No.49

LOP No.43 to 48

RS2/PC No.43 to 48

RS1/TL No.43 to 48

SG

P15R

3 - 13


Symbol

ST2

TL

RES

EMG

LOP

VC

VLA

TLA

SON

LSP

LSN

CR

SP1

SP2

PC

ST1

TC

RS1

RS2

PP

NP

PG

NG

TLC

(3) Symbols and signal names

Signal name

Servo-on

Forward rotation stroke end


Clear

Speed selection 1

Speed selection 2

Proportion control




Reset

Emergency stop

Control change


Analog speed limit

Analog torque limit


Forward rotation selection

Reverse rotation selection

Forward/reverse rotation pulse train

Limiting torque

Symbol

VDD

COM

OPC

SG

P15R

LG

SD

OP

MBR

LZ

LZR

LA

LAR

LB

LBR

VLC

RD

ZSP

INP

SA

ALM

WNG

BWNG

Signal name

Limiting speed

Ready

Zero speed

In position

Speed reached

Trouble

Warning

Battery warning

Encoder Z-phase pulse (open collector)

Electromagnetic brake interlock







I/F internal power supply

Digital I/F power supply input

Open collector power input

Digital I/F common

15VDC power supply

Control common

Shield

3 - 14


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

Reset


Signal

Servo-on


Symbol

Connector pin No.

SON

RES

LSP

CN1B

5

CN1B

14

CN1B

16

Functions/Applications

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.

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.

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.)

I/O division

Control mode

P S T

DI-1

DI-1

DI-1

LSN CN1B

17

(Note) Input signals

LSP LSN

Operation

CCW direction

CW direction

1

0

1

0

1

1

0

0

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

1

1

Automatic ON

LSP

LSN

3 - 15


Signal

External torque limit selection

Internal torque limit selection



Symbol

Connector pin No.

TL

TL1

ST1

ST2


CN1B

9

CN1B

8

CN1B

9

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).

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).

Used to start the servo motor in any of the following directions.


ST2 ST1

0

0

1

1

Note. 0: off

1: on

0

1

0

1

Servo motor starting direction

Stop (servo lock)

CCW

CW

Stop (servo lock)



RS1

RS2

CN1B

9

CN1B

8

If both ST1 and ST2 are switched on or off during operation, the servo motor will be decelerated to a stop according to the parameter No. 12 setting and servo-locked.

Used to select any of the following servo motor torque generation directions.


RS2 RS1

0 0

0

1

1

0

1

Torque generation direction

Torque is not generated.

Forward rotation in driving mode / reverse rotation in regenerative mode

Reverse rotation in driving mode / forward rotation in regenerative mode


1

Note. 0: off

1: on

I/O division

Control mode

P S T

DI-1

DI-1

DI-1

DI-1

3 - 16


Signal

Speed selection 1

Symbol

SP1

Connector pin No.

CN1A

8


<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.

Speed selection 2 SP2 CN1B

7

Speed selection 3 SP3

Setting of (Note) Input parameter signals

No. 43 to 48 SP3 SP2 SP1

0

Speed command

0 Analog speed command (VC)

When speed selection

(SP3) is not used

(initial status)

0

0

1

1

0

1

0

Internal speed command 1

(parameter No. 8)


(parameter No. 9)

1


(parameter No. 10)

0 Analog speed command (VC)


(SP3) is made valid

0

0

0

1

1

1

1

0

1

1

0

0

1

1

1

0

1

0

1

0

1


(parameter No. 8)


(parameter No. 9)


(parameter No.10)


(parameter No. 72)


(parameter No. 73)


(parameter No. 74)


(parameter No. 75)

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 (Note) Input parameter signals

No. 43 to 48 SP3 SP2 SP1

Speed limit

0


(SP3) is not used

(initial status)


(SP3) is made valid

0

0

0

0

1

1

1

1

0

1

1

0

0

1

1

0

0

1

1

0 Analog speed limit (VLA)

1

0

1

0


(parameter No. 8)


(parameter No. 9)

1


(parameter No. 10)

0 Analog speed limit (VLA)

1

0


(parameter No. 8)


(parameter No. 9)


(parameter No.10)


(parameter No. 72)

1

0

1


(parameter No. 73)


(parameter No. 74)


(parameter No. 75)

Note. 0: off

1: on

I/O division

DI-1

Control mode

P S T

DI-1

DI-1

3 - 17


Clear

Signal

Proportion control

Emergency stop

Electronic gear selection 1

Electronic gear selection 2

Gain changing

Symbol

Connector pin No.

PC CN1B

8

EMG

CR

CM1

CM2

CDP

CN1B

15

CN1A

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.

Turn EMG off (open EMG-common) to bring the motor to an emergency stop state, in which the base circuit is shut off and the dynamic brake is operated.

Turn EMG on (short EMG-common) in the emergency stop state to reset that state.

Turn CR on to clear the position control counter droop 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.

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.


CM2 CM1

1

1

0

0

0

1

0

1

Electronic gear molecule

Parameter No. 3

Parameter No. 69

Parameter No. 70

Parameter No. 71

Note. 0: off

1: on

When using this signal, make it usable by the setting of parameter No. 43 to 48.

Turn CDP on to change the load inertia moment ratio into the parameter No. 61 setting and the gain values into the values multiplied by the parameter No. 62 to 64 settings.

I/O division

DI-1

Control mode

P S T

DI-1

DI-1

DI-1

DI-1

DI-1

3 - 18


Signal

Control change

Symbol

Connector pin No.

LOP CN1B

7


<Position/speed control change mode>

Used to select the control mode in the position/speed control change mode.

(Note) LOP

0

1

Note. 0: off

1: on

Control mode

Position

Speed

<Speed/torque control change mode>

Used to select the control mode in the speed/torque control change mode.

(Note) LOP

0

1

Note. 0: off

1: on

Control mode

Speed

Torque

<Torque/position control mode>

Used to select the control mode in the torque/position control change mode.

(Note) LOP

0

1

Note. 0: off

1: on

Control mode

Torque

Position

I/O division

DI-1

Control mode

P S T

Refer to

Functions/

Applications.

Analog torque limit



TLA

TC

VC

Analog speed limit

Forward rotation pulse train

Reverse rotation pulse train

VLA

PP

NP

PG

NG

CN1B

12

CN1B

2

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.

Analog input

Analog input

Analog input

Analog input

DI-2

3 - 19


(2) Output signals

Signal

Trouble

Dynamic brake interlock

Ready

In position

Speed reached

Limiting speed

Limiting torque

Zero speed


Warning

Symbol

Connector pin No.

ALM

DB

RD

INP

SA

VLC

TLC

ZSP

MBR

WNG

Battery warning BWNG

CN1B

18

CN1A

19

CN1A

18

CN1B

6

CN1B

19

CN1B

19


ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit.

Without alarm occurring, ALM turns on within about 1s after power-on.

This signal can be used with the 11kW or more servo amplifier.

When using this signal, set " 1 " in parameter No. 1.

When the dynamic brake is operated, DB turns off. (Refer to section 13.1.4.)

RD turns on when the servo is switched on and the servo amplifier is ready to operate.

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.

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.

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.

TLC turns on when the torque generated reaches the value set to the internal torque limit 1 (parameter No. 28) or analog torque limit (TLA).

ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No. 24.

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.

To use this signal, assign the connector pin for output using parameter No.49. The old signal before assignment will be unusable.

When warning has occurred, WNG turns on.

When there is no warning, WNG turns off within about 1s after power-on.

To use this signal, assign the connector pin for output using parameter No.49. The old signal before assignment will be unusable.

BWNG turns on when battery cable breakage warning (AL. 92) or battery warning (AL. 9F) has occurred.

When there is no battery warning, BWNG turns off within about

1s after power-on.

I/O division

Control mode

P S T

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

3 - 20


Signal

Alarm code

Symbol

Connector pin No.

ACD 0

ACD 1

ACD 2

CN1A

19

CN1A

18

CN1B

19


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.

I/O division

Control mode

P S T

DO-1

(Note) Alarm code

CN1B

19 Pin

CN1A

18 Pin

CN1A

19 Pin

Alarm display

0

0

0

0

1

1

1

0

0

1

1

0

0

1

0

1

0

1

0

1

0

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

3. SIGNALS AND WIRING pulse

Signal

Encoder Z-phase

(Open collector)

Encoder A-phase

Pulse

(Differential line driver)

LA

LAR





LB

LBR

LZ

LZR

Analog monitor 1 MO1

Analog monitor 2

Symbol

OP

MO2

CN1A

6

CN1A

16

CN1A

7

CN1A

17

CN1A

5

CN1A

15

CN3

4

CN3

14

Connector pin No.

7kW or less

CN1A

14

CN1A

6

CN1A

16

CN1A

7

CN1A

17

CN1A

5

CN1A

15

CN4

1

CN4

2


11kW or more

CN1A

14

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 position return using this pulse, set the creep speed to

100r/min. or less.

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.

The same signal as OP is output in the differential line driver system.

Used to output the data set in parameter No.17 to across

MO1-LG in terms of voltage. Resolution 10 bits

Used to output the data set in parameter No.17 to across

MO2-LG in terms of voltage. Resolution 10 bits

I/O division

DO-2

DO-2

DO-2

Analog output

Analog output

Control mode

P S T

(3) Communication

POINT

Refer to chapter 14 for the communication function.

I/O division

Control mode

P S T

Signal

RS-422 I/F

RS-422 termination

RS-232C I/F

Symbol

Connector pin No.

SDP

SDN

RDP

RDN

TRE

CN3

9

CN3

19

CN3

5

CN3

15

CN3

10

RXD

TXD

CN3

2

CN3

12


RS-422 and RS-232C functions cannot be used together.

Choose either one in parameter No. 16.

Termination resistor connection terminal of RS-422 interface.

When the servo amplifier is the termination axis, connect this terminal to RDN (CN3-15).

RS-422 and RS-232C functions cannot be used together.

Choose either one in parameter No. 16.

3 - 22


(4) Power supply

I/F internal power supply

Open collector power input

Digital I/F common

15VDC power supply

Shield

Signal

Digital I/F power supply input

Control common

SG CN1A

10

20

CN1B

10

20

P15R CN1A

4

CN1B

11

LG CN1A

1

CN1B

1

CN3

1, 11

3, 13

Connector pin No.

Symbol

7kW or less

VDD CN1B

3

COM

OPC

SD

CN1A

9

CN1B

13

CN1A

11

Plate

11kW or more

CN1B

3

CN1A

9

CN1B

13

CN1A

11


Used to output 24V 10% to across VDD-SG.

When using this power supply for digital interface, connect it with COM.

Permissible current : 80mA

Used to input 24VDC for input interface.

Connect the positive terminal of the 24VDC external power supply.

24VDC 10%

When inputting a pulse train in the open collector system, supply this terminal with the positive ( ) power of 24VDC.

Common terminal for input signals such as SON and

EMG. Pins are connected internally.

Separated from LG.

CN1A

10

20

CN1B

10

20

CN1A

4

CN1B

11

CN1A

1

CN1B

1

CN3

1, 11

3, 13

CN4

4

Outputs 15VDC to across P15R-LG. Available as power for TC, TLA, VC, VLA.

Permissible current: 30mA

Common terminal for TLA, TC, VC, VLA, FPA, FPB, OP

,MO1, MO2 and P15R.

Pins are connected internally.

Plate Connect the external conductor of the shield cable.

I/O division

Control mode

P S T

3 - 23


3.4 Detailed description of the signals


(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



Forward rotation command

PP

NP

PP

Reverse rotation command

Parameter No. 21

(Command pulse train)

0010

Pulse train sign 0011

L H

NP

PP

A-phase pulse train

B-phase pulse train

0012

NP



PP

NP

0000

Pulse train sign

PP

NP

H L

0001

PP

A-phase pulse train

B-phase pulse train

NP

0002

3 - 24


(b) Connections and waveforms

1) Open collector system

Connect as shown below.

(Note)

Servo amplifier

VDD

OPC

PP

NP

SG

SD

Approx.

1.2k

Approx.

1.2k

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.


(transistor)

(OFF) (ON) (OFF) (ON) (OFF)


(transistor)

(OFF) (ON) (OFF) (ON) (OFF) (ON)

Forward rotation command Reverse rotation command

3 - 25


2) Differential line driver system

Connect as shown below.

(Note)

PP

Servo amplifier

PG

NP

NG

SD



The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010).

For the differential line driver, the waveforms in the table 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.


PP

PG


NP

NG

Forward rotation command Reverse rotation command

3 - 26


(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)

ON

OFF

Alarm

Yes

No

In-position range

Droop pulses

In position (INP)

ON

OFF

(3) Ready (RD)

Servo-on (SON)

ON

OFF

Alarm

Ready (RD)

Yes

No

ON

OFF

80ms or less 10ms or less 10ms or less

(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

CM2 CM1

0

0

1

1

Note. 0: off

1: on

0

1

0

1

Electronic gear molecule

Parameter No. 3

Parameter No. 69

Parameter No. 70

Parameter No. 71

3 - 27


(5) Torque limit

CAUTION

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.

(a) Torque limit and torque

By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation. A relationship between the limit value and servo motor torque is shown below.

Max. torque

0

0 100

Torque limit value [%]

A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit value of the servo motor is shown below. Torque limit values will vary about 5% relative to the 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.

100 Servo amplifier

5%

0

0 0.05

10

TLA application voltage [V]

TLA application voltage vs.

torque limit value

2k

2k

Japan resistor

RRS10 or equivalent

TL

SG

P15R

TLA

LG

SD

(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

Torque limit value made valid

0

1

1

1

0

1

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



(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

CCW direction

0 10

VC applied voltage [V]

Rated speed [r/min]

Forward rotation (CCW)

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

ST2

0

0

1

1

ST1

0

1

0

1

Polarity

Stop

(Servo lock)

CCW

CW

Stop

(Servo lock)

(Note 2) Rotation direction

Analog speed command (VC)

0V Polarity

Stop

(Servo lock)

Stop

(No servo lock)

Stop

(Servo lock)

Stop

(Servo lock)

CW

CCW

Stop

(Servo lock)

Internal speed commands

Stop

(Servo lock)

CCW

CW

Stop

(Servo lock)

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

ST1

ST2

SG

P15R

VC

LG

SD

3 - 29


(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).


SP2 SP1

0

0

1

1

Note. 0: off

1: on

0

1

0

1

Speed command value


Internal speed command 1 (parameter No. 8)



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.


SP3 SP2 SP1

1

1

1

1

0

0

0

0

1

1

0

0

1

1

0

0

0

1

0

1

0

1

0

1

Note. 0: off

1: on

Speed command value









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.

Set speed selection



Start (ST1,ST2)

Servo motor speed

ON

OFF

Speed reached (SA)

ON

OFF

(3) Torque limit

As in section 3.4.1 (5).

3 - 30



(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.

Max. torque

Generated torque

8 0.05

CCW direction

CW direction

0.05

8

TC applied voltage [V]

Max. torque



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.


RS2

0

0

1

RS1

0

1

0

1

Rotation direction

Torque control command (TC)

0V Polarity


CCW (reverse rotation in driving mode/forward rotation in regenerative mode)

CW (forward rotation in driving mode/reverse rotation in regenerative mode)



Polarity


CW (forward rotation in driving mode/reverse rotation in regenerative mode)

CCW (reverse rotation in driving mode/forward rotation in regenerative mode)


1

Note. 0: off

1: on


8 to 8V

Servo amplifier

RS1

RS2

SG

TC

LG

SD

3 - 31


(b) Analog torque command offset

Using parameter No. 30, the offset voltage of 999 to 999mV can be added to the TC applied voltage as shown below.

Max. torque

Parameter No.30 offset range

999 to 999mV

0

TC applied voltage [V]

8( 8)

(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]

10

CW direction

CCW direction

0 10

VLA applied voltage [V]

Rated speed


The following table indicates the limit direction according to forward rotation selection (RS1) and reverse rotation selection (RS2) combination.


RS1

1

0

Note. 0: off

1: on

RS2

0

1

Polarity

CCW

CW

Speed limit direction

Analog speed limit (VLA)

Polarity

CW

CCW

Internal speed commands

CCW

CW


Servo amplifier

2k

2k

Japan resistor

RRS10 or equivalent

SP1

SP2

SG

P15R

VC

LG

SD

3 - 32


(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


(SP3) is not used

(initial status)


(SP3) is made valid 1

1

0

0

1

1

0

0


SP3 SP2 SP1

0

0

1

1

1

1

1

1

0

0

0

0

0

1

0

1

0

1

0

1

0

1

0

1

Speed limit value


Internal speed limit 1 (parameter No. 8)











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


3.4.4 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

0

1

Note. 0: off

1: on

Servo control mode


Speed control mode

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.


Speed control mode


Servo motor speed

Zero speed level

Zero speed (ZSP)

ON

OFF

ON

Control change (LOP)

OFF

(Note) (Note)

Note. When ZSP is not on, control cannot be changed if LOP is switched on-off.

If ZSP switches on after that, control cannot not be changed.

(2) Torque limit in position control mode


3 - 34


(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).


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.


SP1

0

1

Note. 0: off

1: on

Speed command value



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.

1

1

1

1

0

0

0

0

Note. 0: off

1: on


SP3 SP2 SP1

1

1

0

0

1

1

0

0

0

1

0

1

0

1

0

1

Speed command value









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)


3 - 35


3.4.5 Speed/torque control change mode

Set "0003" in parameter No. 0 to switch to the speed/torque control change mode.


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

0

1

Note. 0: off

1: on

Servo control mode

Speed control mode

Torque control mode

The control mode may be changed at any time. A change timing chart is shown below.

Speed control mode

Torque control mode

Speed control mode


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


(3) Torque limit in speed control mode


3 - 36


(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).


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.


SP1

0

1

Note. 0: off

1: on

Speed command value



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


(6) Torque limit in torque control mode


3 - 37


3.4.6 Torque/position control change mode

Set "0005" in parameter No. 0 to switch to the torque/position control change mode.


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

0

1

Note. 0: off

1: on

Servo control mode

Torque control mode


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 control mode

Torque control mode

Speed control mode

Servo motor speed

Zero speed level

10V

Analog torque command (TLA)

0V

ON

Zero speed (ZSP)

OFF

ON


OFF

(2) Speed limit in torque control mode


(3) Torque control in torque control mode


(4) Torque limit in torque control mode


(5) Torque limit in position control mode


3 - 38


3.5 Alarm occurrence timing chart

CAUTION

When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation.

As soon as an alarm occurs, turn 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

Base circuit

Power off

Power on

Dynamic brake

Servo-on

(SON)

Ready

(RD)

Trouble

(ALM)

Reset

(RES)

ON

OFF

ON

OFF

Valid

Invalid

ON

OFF

ON

OFF

ON

OFF

ON

OFF about 1s

Alarm occurs.

Brake operation

50ms or more

Brake operation

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 MR-

J2S- 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


3.6 Interfaces

3.6.1 Common line

The following diagram shows the power supply and its common line.

DI-1

(Note)

CN1A

CN1B VDD

COM

SON, etc.

SG

OPC

PG NG

PP NP

SG

24VDC

ALM .etc

SG

CN1A

CN1B

RA

DO-1

Analog input

( 10V/max. current)

Servo motor

M

15VDC 10%

30mA

P15R

Isolated

TLA

VC etc.

LG

SD

OP

LG

LA etc.

LAR etc.

LG

SD

MO1

MO2

LG

SDP

SDN

RDP

RDN

LG

SD

TXD

RXD

CN3

Differential line driver output

35mA max.

Analog monitor output

RS-422

MR

MRR

LG

SD

RS-232C

Servo motor encoder

CN2

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


3.6.2 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

Servo amplifier

24VDC

VDD

COM

R: Approx. 4.7

For use of external power supply

Do not connect

VDD-COM.

Servo amplifier

24VDC

200mA or more

VDD

COM

24VDC

R: Approx. 4.7

(Note)

For a transistor

Approx. 5mA

SON, etc.

TR

V

CES

1.0V

I

CEO

100 A

Switch

SG

SON, etc.

Switch

SG

Note. This also applies to the use of the external power supply.

3 - 41


(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


Servo amplifier

24VDC

VDD


Servo amplifier

24VDC

VDD

Do not connect

VDD-COM.

COM

COM

ALM, etc

Load

ALM, etc

Load

(Note)

24VDC

10%

SG 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


Servo amplifier

24VDC

VDD

COM

R

ALM, etc

SG


Servo amplifier

24VDC

VDD

Do not connect

VDD-COM.

COM

R

ALM, etc

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) 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


(Note)


VDD

Servo amplifier

24VDC

OPC

Max. input pulse frequency 200kpps

About 1.2k

2m (78.74in) or less

PP, NP

SG

(Note)

Do not connect

VDD-OPC.

24VDC 2m (78.74in) or less

VDD

Servo amplifier

24VDC

OPC


About 1.2k

PP, NP

SD

SG

SD



2) Conditions of the input pulse tc tHL

PP 0.9

0.1

tLH tHL 0.2 s tc 2 s tF 3 s tc tLH tF

NP

3 - 43


(b) Differential line driver system

1) Interface

(Note)

Servo amplifier

10m (393.70in) or less


PP(NP)

PG(NG)

Approx. 100

Am26LS31 or equivalent

V

OH

: 2.5V

V

OL

: 0.5V

SD



2) Conditions of the input pulse tc tHL

PP PG 0.9

0.1

tLH tHL 0.1 s tc 1 s tF 3 s tc tLH tF

NP NG

(4) Encoder pulse output DO-2

(a) Open collector system

Interface

Max. output current : 35mA

Servo amplifier

OP

LG

SD

Servo amplifier

OP

LG

SD

5 to 24VDC

Photocoupler

3 - 44


(b) Differential line driver system

1) Interface

Max. output current: 35mA

Servo amplifier

LA

(LB, LZ)

Am26LS32 or equivalent

Servo amplifier

LA

(LB, LZ)

150

LAR

(LBR, LZR)

LG

SD

LAR

(LBR, LZR)

SD

2) Output pulse

Servo motor CCW rotation

LA

LAR

LB

LBR

/2

LZ

LZR

OP

T

400 s or more

(5) Analog input

Input impedance 10 to 12k

Servo amplifier

2k

Upper limit setting 2k

15VDC

P15R

VC‚ etc

LG

SD

Approx.

10k

The time cycle (T) is determined by the setting of the parameter No. 27 and 54.

100

High-speed photocoupler

(6) Analog output

Output voltage 10V

Max.1mA

Max. output current

Resolution : 10bit

Servo amplifier

MO1

(MO2)

LG

10k

Reading in one or both directions

1mA meter

A

SD

3 - 45


(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.


Servo amplifier

SG

R: Approx. 4.7

(Note)

For a transistor

Approx. 5mA

COM

SON,

etc.


Servo amplifier

SG

COM

R: Approx. 4.7

Switch

Switch

24VDC

SON,etc.

VDD

TR

V

CES

1.0V

I

CEO

100 A

24VDC

200mA or more

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 CON2

CON2

JP11 (Note)

JP11

Jumper

For sink input (factory setting)

JP11 (Note)

Jumper

For source input

Note. The jumper, which is shown black for the convenience of explanation, is actually white.

3 - 46


3.7 Input power supply circuit

CAUTION

Always connect a magnetic contactor (MC) between the main circuit power supply and L

1 , L

2 , and L

3 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

3-phase

200 to 230 VAC

L

1

L

2

L

3

L

11

L

21

Servo amplifier

Emergency stop

Servo-on

EMG

SON

SG

VDD

COM

ALM RA Trouble

3 - 47


(2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply

(Note 1) Emergency

RA stop OFF

ON

MC

Power supply

1-phase 100 to

120VAC or

1-phase 230VAC

NFB

Emergency stop

Servo-on

MC

L

1

Servo amplifier

L

2

L

3

(Note 2)

L

11

L

21

EMG

SON

SG

VDD

COM

ALM

MC

SK

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


3.7.2 Terminals

The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to section 11.1.

Symbol

L

1

, L

2

, L

3

Connection Target

(Application)

Main circuit power supply

Description

Supply L

1

, L

2

and L

3

with the following power.

For 1-phase 230VAC, connect the power supply to L

1

, L

2

and leave L

3

open.

Power supply

Servo amplifier MR-J2S-10A to

70A


50/60Hz

1-phase 230VAC,

50/60Hz


50/60Hz

L

1

L

2

L

1

MR-J2S-100A to 22kA

L

2

L

3

MR-J2S-10A1 to 40A1

L

1

L

2

U, V, W Servo motor output

L

11

, L

21


Connect to the servo motor power supply terminals (U, V, W).


Supply L

11

and L

12

with the following power.

Servo amplifier

Power supply


50/60Hz


50/60Hz

MR-J2S-10A to 700A MR-J2S-10A1 to 40A1

L

11

L

21

L

11

L

21

P

N

1

P, C, D

Power factor improving DC reactor

Regenerative option

Return converter

Brake unit

When not using the power factor improving DC reactor, connect P

1

and P.

(Factory-wired.)

When using the power factor improving DC reactor, disconnect the wiring across

P

1

-P

2

and connect the power factor improving DC reactor across P

1

-P.

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 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.


When using the return converter or brake unit, connect it across P-N.

Do not connect it to the servo amplifier of MR-J2S-200A or less.

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


3.7.3 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: L 1 , L 2 , L 3 , single-phase 230V, single-phase

100V: L 1 , L 2 ). 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 L 11 , L 21 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

Main circuit

Control circuit

Power supply

Base circuit

Servo-on

(SON)

Reset

(RES)

Ready

(RD)

ON

OFF

ON

OFF

Trouble (ALM)

No (ON)

Yes (OFF)

ON

OFF

ON

OFF

ON

OFF

Servo-on (SON) accepted

(1 to 2s)

20ms

10ms

60ms

10ms 20ms

Power-on timing chart

10ms 60ms

10ms 20ms 10ms

3 - 50


(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

Emergency stop

VDD

COM

EMG

SG

3 - 51


3.8 Connection of servo amplifier and servo motor

3.8.1 Connection instructions

WARNING

Insulate the connections of the power supply terminals to prevent an electric shock.

CAUTION

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


3.8.2 Connection diagram

CAUTION


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

HC-KFS053 (B) to 73 (B)

HC-MFS053 (B) to 73 (B)

HC-UFS13 (B) to 73 (B)

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)

Connection diagram

Servo amplifier

U

V

W

U (Red)

V (White)

W (Black)

(Green)

Servo motor

Motor

(Note 1) 24VDC

B1

EMG

B2

To be shut off when servo-off or Trouble (ALM)

(Note 2)


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.

Servo amplifier Servo motor

U

V

W

U

V

W

Motor

(Note 1) 24VDC

B1

B2

EMG


(Note 2)


CN2

Encoder cable

Encoder



3 - 53


Servo motor

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)

Connection diagram

Servo amplifier

U

V

W

U

V

W

Servo motor

Motor

(Note 1)

24VDC

B1

B2

EMG


(Note 2)


CN2

Encoder cable

Encoder



3.8.3 I/O terminals

(1) HC-KFS HC-MFS HC-UFS3000r/min series 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

Signal

U

V

W

(Earth)

Power supply lead

4-AWG19 0.3m (0.98ft.)

Power supply connector (Molex)

Without electromagnetic brake

5557-04R-210 (receptacle)

5556PBTL (Female terminal)

With electromagnetic brake

5557-06R-210 (receptacle)

5556PBTL (Female terminal)


5557-06R-210

1 4

2 5

3 6

View b

Encoder connector signal arrangement

1

MR

4

MD

7

P5

2 3

MRR BAT

6 5

MDR

8

LG

9

SHD

View a

5

6

3

4

Pin

1

2

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


(2) HC-SFS HC-RFS HC-UFS2000 r/min series a

Encoder connector b

Brake connector c


Servo motor

HC-SFS81(B)

HC-SFS52(B) to 152(B)



HC-SFS202(B) to 502 (B)

HC-SFS203(B) 353(B)

HC-SFS702(B)

Servo motor side connectors

For power supply For encoder

Electromagnetic brake connector

CE05-2A22-

23PD-B

CE05-2A24-

10PD-B

CE05-2A32-

17PD-B

HC-RFS103(B) to 203 (B)

CE05-2A22-

23PD-B

HC-RFS353(B) 503(B)

HC-UFS72(B) 152(B)

HC-UFS202(B) to 502(B)

CE05-2A24-

10PD-B

CE05-2A22-

23PD-B

CE05-2A24-

10PD-B

MS3102A20-

29P

The connector for power is shared.

MS3102A10SL-

4P

The connector for power is shared.

MS3102A10SL-

4P

Power supply connector signal arrangement

CE05-2A22-23PD-B CE05-2A24-10PD-B CE05-2A32-17PD-B

Key

F

G

H

E

D

View c

A

B

C

Pin

D

E

F

A

B

C

G

H

Signal

U

V

W

(Earth)

E

F

D

Key

G

View c

(Note) B1

(Note) B2






A

C

B


MS3102A20-29P

Key

L

M

K

J

T

H

N

A

S

G

R

P

B

C

F

E

D

View a

Pin

A

B

C

D

E

G

H

J

Signal

MD

MDR

MR

MRR

BAT

LG

Pin

P

R

S

T

K

L

M

N

Signal

SD

LG

P5

Pin

A

B

C

D

E

F

G

Signal

U

V

W

(Earth)

(Note) B1

(Note) B2

D

C

Key






A

B

Pin

A

B

C

D

Signal

U

V

W

(Earth)

Electromagnetic brake connector signal arrangement

MS3102A10SL-4P

Key

A

View b

B

Pin

A

B

Signal

(Note) B1

(Note) B2






3 - 55


3.9 Servo motor with electromagnetic brake

CAUTION

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

RA EMG

Circuit must be opened during emergency stop (EMG).

24VDC


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

VDD

COM

MBR RA

24VDC

RA

Emergency

stop

B1

Servo motor

B2

3 - 56


(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.

Servo motor speed 0 r/min

(60ms)

Coasting

Tb

Base circuit

ON

OFF


(MBR)

(Note 1) ON

OFF

Servo-on (SON)

ON

OFF

Position command

(Note 4)


0 r/min

Release

Activate

(80ms)

(Note 3)

Electromagnetic brake operation delay time

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


(b) Emergency stop (EMG) ON/OFF

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR)

ON

OFF

(10ms)

(Note) ON

OFF

Emergency stop (EMG)

Invalid (ON)

Valid (OFF)

Note. ON: Electromagnetic brake is not activated.


(c) Alarm occurrence

Dynamic brake

Dynamic brake



Electromagnetic brake release

(180ms)


Dynamic brake

Dynamic brake



(180ms)

Servo motor speed

Base circuit

ON

OFF

Electromagnetic brake interlock (MBR)

(Note) ON

OFF

Trouble (ALM)

No (ON)

Yes (OFF)

(10ms)


Note. ON: Electromagnetic brake is not activated.


3 - 58


(d) Both main and control circuit power supplies off

Servo motor speed

(10ms)

Dynamic brake

Dynamic brake



(Note 1)

15 to 60ms

ON

Base circuit

OFF

(10ms or less)

Electromagnetic

(Note 2) ON brake interlock (MBR) OFF

Trouble (ALM)

No (ON)


Yes (OFF)

Main circuit power

Control circuit

ON

OFF

Note 1. Changes with the operating status.

2. ON: Electromagnetic brake is not activated.


(e) Only main circuit power supply off (control circuit power supply remains on)

Servo motor speed

(10ms)

Dynamic brake

Dynamic brake



(Note 1)

15ms or more

ON

Base circuit

OFF

Electromagnetic

(Note 3) ON

Trouble (ALM)


(Note 2)

Main circuit power supply

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.


3 - 59


3.10 Grounding

WARNING

Ground the servo amplifier and servo motor securely.

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

NFB MC Servo amplifier

L

1

CN2

Encoder

(Note)

Power supply

L

2

L

3

L

11

L

21

CN1A CN1B

U

V

W

U

V

W

M

Protective earth(PE)

Outer box

Ensure to connect it to PE terminal of the servo amplifier.

Do not connect it directly to the protective earth of the control panel.

Note. For 1-phase 230VAC, connect the power supply to L

1

L

2

and leave L

3

open.

There is no L

3

for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification.

3 - 60


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

[mm 2] AWG

1.25/1.5

16 AI1.5-10BK

2/2.5

14 AI2.5-10BU

Bar Terminal Type

For 1 cable For 2 cables

AI-TWIN 1.5-10BK

Crimping Tool

CRIMPFOX ZA 3

Manufacturer

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



(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

Twisted wire

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.

(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


3.11.2 For the servo amplifier produced earlier than Dec. 2005


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

[mm 2 ] AWG

1.25/1.5

16 AI1.5-10BK

Bar Terminal Type

For 1 cable For 2 cables

AI-TWIN 1.5-10BK

2/2.5

14 AI2.5-10BU

Crimping Tool

CRIMPFOX ZA 3 or

CRIMPFOX UD 6

Manufacturer

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 1.5mm

2 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


3 - 63


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

Strip the sheath.

Screw

Core

External conductor

Sheath

Pull back the external conductor to cover the sheath

Cable

Ground plate

Screw

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 L

1 , L

2 , and L

3 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

The power-on sequence is the same as in section 5.7.3.

3 - 64


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

3-phase

200 to 230VAC

NFB

Emergency stop servo-on

MC

(Note 3)

Servo amplifier (Note 1)

Dynamic break

Servo motor

HA-LFS series

L

1

L

2

L

3

L

11

L

21

P

P

1

EMG

SON

SG

U

V

W

U

V

W

M

CN2

VDD

COM

ALM

MR-JHSCBL M cable

Encoder

RA1 Trouble

Cooling fan

BU

BV

BW

24VDC

power supply

OHS1

RA2

(Note 2)

OHS2 Servo motor thermal relay

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 P

1

and P. (Factory-wired). When using the power factor improving DC reactor, refer to section 13.2.4.

3 - 65


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

L

1

, L

2

, L

3

U, V, W

L

11

, L

21

P, C

P

1

N

, P

Connection Target

(Application)

Description

Main circuit power supply Supply L

1

, L

2

and L

3

with three-phase 200 to 230VAC, 50/60Hz power.

Servo motor output Connect to the servo motor power supply terminals (U, V, W).

Control circuit power supply Supply L

11

and L

21

with single-phase 200 to 230VAC power.

Regenerative option

Return converter

Brake unit

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.

Protective earth (PE)

Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding.

Power factor improving DC reactors

P

1

-P are connected before shipment. When connecting a power factor improving

DC reactor, remove the short bar across P

1

-P. Refer to section 13.2.4 for details.

3 - 66


3.13.3 Servo motor terminals

Terminal box Encoder connector

MS3102A20-29P


MS3102A20-29P

Key

K

J

L

M

T

N

A

P

B

C

D

S R E

H

G

F

C

D

E

A

B

F

G

H

J

Pin Signal

MD

MDR

MR

MRR

BAT

LG

Terminal box inside (HA-LFS601, 701M, 11K2)

Thermal sensor terminal block

(OHS1 OHS2) M4 screw

Pin Signal

M

N

P

K

L

R

S

T

SHD

LG

P5

Motor power supply terminal block

(U V W) M6 screw

Cooling fan terminal block

(BU BV) M4 screw

Earth terminal

M6 screw

Encoder connector

MS3102A20-29P

Terminal block signal arrangement

OHS1OHS2

U V W

BU BV

3 - 67


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


(U V W) M8 screw

Earth terminal M6 screw

Encoder connector

MS3102A20-29

Terminal box inside (HA-LFS15K1, 20K1, 22K1M, 25K1)

Encoder connector

MS3102A20-29P


BU BV BW OHS1OHS2

U V W


(U V W) M8 screw

Earth terminal

M6 screw

Cooling fan terminal block

(BU BV BW) M4 screw

Earth terminal

M6 screw

Thermal sensor terminal block

(OHS1 OHS2) M4 screw


U V W

BU BV BW OHS1 OHS2

3 - 68


Signal Name

Power supply

Cooling fan

Abbreviation Description

U V W Connect to the motor output terminals (U, V, W) of the servo amplifier.

Supply power which satisfies the following specifications.

(Note)

BU BV BW

Servo motor

HA-LFS601, 701M,

11K2

Voltage division

200V class

Voltage/frequency


50Hz


60Hz


60Hz

Power consumption

[W]

42(50Hz)

54(60Hz)

62(50Hz)

76(60Hz)

Rated current

[A]

0.21(50Hz)

0.25(60Hz)

0.18(50Hz)

0.17(60Hz)

HA-LFS801 12K1,

11K1M, 15K1M,

15K2, 22K2

HA-LFS-15K1,

20K1, 22K1M

HA-LFS25K1

65(50Hz)

85(60Hz)

120(50Hz)

175(60Hz)

0.20(50Hz)

0.22(60Hz)

0.65(50Hz)

0.80(60Hz)

Motor thermal relay OHS1 OHS2 OHS1-OHS2 are opened when heat is generated to an abnormal temperature.

Earth terminal

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


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 (L 1 , L 2 , L 3 , L 11 , L 21 ) 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 (L 1 , L 2 , L 3 ) 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.


(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 Setting

3 0

Description

0

Control mode, regenerative option selection


MR-RB12 regenerative option is used.

0 0 2

1 Function selection 1

Input filter 3.555ms(initial value)

Electromagnetic brake interlock (MBR) is not used.

Used in incremental positioning system.

1 5

2

3

4

Auto tuning

Electronic gear numerator (CMX)

Electronic gear denominator (CDV)

1

1

Middle response (initial value) is selected.

Auto tuning mode 1 is selected.

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


(1) Power on


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




Parameter No.

Name Setting

0 2

Description

0




1 2

1 Function selection 1 Input filter 3.555ms(initial value)


1 5

2

8

9

10

11

12

13

Auto tuning




Acceleration time constant

Deceleration time constant

S-pattern acceleration/deceleration time constant

1000

1500

2000

1000

500

0

Middle response (initial value) is selected.

Auto tuning mode 1 is selected.

Set 1000r/min.

Set 1500r/min.

Set 2000r/min.

Set 1000ms

Set 500ms.

Not used


(4) Servo-on



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


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.







(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.


(1) Power on


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




Parameter No.

Name Setting

0 2

Description

0




1 2

1

8

9

10

11

12

13

14

28

Function selection 1




Acceleration time constant

Deceleration time constant

S-pattern acceleration/deceleration time constant

Torque command time constant

Internal torque limit 1

1000

1500

2000

1000

500

0

2000

50

Input filter 3.555ms(initial value)


Set 1000r/min.

Set 1500r/min.

Set 2000r/min.

Set 1000ms.

Set 500ms.

Not used

Set 2000ms.

Controlled to 50 output.


4 - 5

4. OPERATION

(4) Servo-on



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


Refer to section 3.9 (2) for the servo motor equipped with electromagnetic brake.







(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 .

Basic parameters

No. 0 to No. 19

Expansion parameters 1

No. 20 to No. 49


No. 50 to No. 84

Parameter No. 19 setting

0000

(initial value)

000A

000B

000C

000E

100B

100C

100E

Operation

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

5 - 1

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

(1) Item list

No. Symbol

3

4

5

CMX

CDV

INP

Electronic gear numerator

Electronic gear denominator

In-position range

Name

0 *STY Control mode ,regenerative option selection

1 *OP1 Function selection 1

2

6

ATU

PG1

Auto tuning

Position control gain 1

7

8

PST

SC1

Position command acceleration/deceleration time constant

(position smoothing)


Internal speed limit 1

9

10


SC2



SC3


STA Acceleration time constant 11

12

13

14

STB Deceleration time constant

STC S-pattern acceleration/deceleration time constant

TQC Torque command time constant

15 *SNO Station number setting

16 *BPS Serial communication function selection, alarm history clear

17 MOD Analog monitor output

18 *DMD Status display selection

19 *BLK Parameter write inhibit

P

S

T

S

T

S

T

S T

S T

S T

T

P S T

P S T

P S T

P S T

P S T

Control mode

P S T

P S T

P S

P

P

P

P

3

100

100

500

0

0

0

0

500

1000

1000

0

0000

0100

0000

0000

Initial value

0000

0002

7kW or less: 0105

11kW or more:0102

1

1

100

7kW or less: 35

11kW or more:19

Unit pulse rad/s

Customer setting ms r/min r/min r/min r/min r/min r/min ms ms ms ms station

5 - 2

5. PARAMETERS

No. Symbol Name


21 *OP3 Function selection 3 (Command pulse selection)


23

24

25

26

FFC Feed forward gain

ZSP Zero speed

VCM

Analog speed command maximum speed

Analog speed limit maximum speed

TLC Analog torque command maximum output

27 *ENR Encoder output pulses

28 TL1 Internal torque limit 1

Analog speed command offset

29 VCO

Analog speed limit offset

30 TLO

Analog torque command offset

Analog torque limit offset

31 MO1 Analog monitor 1 offset


33 MBR Electromagnetic brake sequence output

34 GD2 Ratio of load inertia moment to servo motor inertia moment

35 PG2 Position control gain 2

36

37

38

VG1

VG2

VIC

Speed control gain 1


Speed integral compensation

39 VDC Speed differential compensation

40 For manufacturer setting

41 *DIA Input signal automatic ON selection

42 *DI1 Input signal selection 1

43 *DI2 Input signal selection 2 (CN1B-5)


45 *DI4 Input signal selection 4 (CN1A-8)




49 *DO1 Output signal selection 1

For notes, refer to next page.

P S T

S

T

T

S

P S T

P S T

P S T

P S T

P S T

P S T

P S T

P S T

P S T

P S T

P S T

P S T

Control mode

P S

P

P S T

P

P S T

S

T

T

P S T

P S

P

P S

P S

P S

P S

Initial value

0000

0000

0000

Unit

0

50

(Note 1) 0

(Note 1) 0

100

% r/min

(r/min)

(r/min)

4000

% pulse

/rev

100 %

(Note 2) mV

(Note 2) mV

0 mV

0

0 mV mV

0

100

70 mV ms

0.1

times

7kW or less: 35

11kW or more:19 rad/s

7kW or less:177

11kW or more:96

7kW or less:817

11kW or more:45

7kW or less: 48

11kW or more:91

980

0

0000

0003

0111

0222

0665

0770

0883

0994

0000 rad/s rad/s ms

Customer setting

5 - 3

5. PARAMETERS

No. Symbol Name






55 *OPA Function selection A

56 SIC Serial communication time-out selection


58 NH1 Machine resonance suppression filter 1


60 LPF Low-pass filter, adaptive vibration suppression control

61 GD2B Ratio of load inertia moment to servo motor inertia moment 2

81

82

83

84

66

67

68

62 PG2B Position control gain 2 changing ratio

63 VG2B Speed control gain 2 changing ratio

64 VICB Speed integral compensation changing ratio

65 *CDP Gain changing selection

CDS

CDT

Gain changing condition

Gain changing time constant

For manufacturer setting

76

77

78

79

80

69 CMX2 Command pulse multiplying factor numerator 2



72 SC4



73

74

75

SC5




SC6



SC7


TL2 Internal torque limit 2


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.

P S T

P S T

P S T

P S

P

P S

P S

P S

P S

P S

Control mode

P S T

P S T

P S T

P

P S T

T

S

T

S

P

S

P

P

T

S

T

P S T

300

500

800

100

100

10000

10

10

100

100

100

0000 r/min r/min r/min

%

70

100

100

100

0000

10

1

0

1

1

1

200

Initial value

0000

0000

0000

0000

0000

0000

0

10

0000

0000

0000

Unit s

0.1

times

%

%

%

(Note 3) ms r/min

Customer setting

5 - 4

5. PARAMETERS

(2) Details list

Class No. Symbol

0 *STY

Name and function


Used to select the control mode and regenerative option.

0 0

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


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.

Initial value

0000 Refer to

Name and function column.

Control mode

P S T

5 - 5

5. PARAMETERS

Class No. Symbol


Name and function

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

Initial value

0002

Unit

Setting range

Refer to

Name and function.

Control mode

P S T

5 - 6

5. PARAMETERS

Class No. Symbol

2

0

Name and function

ATU Auto tuning

Used to selection the response level, etc. for execution of auto tuning.

Refer to chapter 7.

0

Response level setting

Set value

6

7

4

5

1

2

3

C

D

E

F

A

B

8

9

Response level

Low response

Middle

response

High response

Machine resonance frequency guideline

15Hz

20Hz

25Hz

30Hz

35Hz

45Hz

55Hz

70Hz

85Hz

105Hz

130Hz

160Hz

200Hz

240Hz

300Hz

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 value

0

Gain adjustment mode

Interpolation mode

Description

1

2

3

4

Auto tuning mode 1

Auto tuning mode 2

Manual mode 1

Manual mode 2

Fixes position control gain 1

(parameter No. 6).

Ordinary auto tuning.

Fixes the load inertia moment ratio set in parameter No. 34.

Response level setting can be changed.

Simple manual adjustment.

Manual adjustment of all gains.

Initial value

7kW or less:

0105

11kW or more:

0102

Unit

Setting range

Refer to


Control mode

P S

3

4

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.

CDV Electronic gear denominator

Used to set the electronic gear denominator value.

For the setting, refer to section 5.2.1.

1

1

0

1 to

65535

1 to

65535

P

P

5 - 7

5. PARAMETERS

Class No. Symbol

5

6

7

Name and function

Initial value

Unit

100 pulse INP 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.

6 100 10

10 10 3

131072[pulse/rev]

125

16384

10

PG1 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.

PST 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.

7kW or less: 35

11kW or more: 19

3 red/s ms

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.

Setting range

0 to

10000

Control mode

P

4 to

2000

0 to

20000

P

P

Example: When a command is given from a synchronizing detector, synchronous operation can be started smoothly if started during line operation.

Synchronizing detector

Start

Servo motor

Servo amplifier

8 SC1

Without time constant setting

Servo motor speed

Start

ON

OFF

With time constant setting


Used to set speed 1 of internal speed commands.

t


Used to set speed 1 of internal speed limits.

5 - 8

100 r/min 0 to instantaneous permissible speed

S

T

5. PARAMETERS

Class No. Symbol

9 SC2

Name and function





10 SC3 Internal speed command 3




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

Speed

Rated speed lower than the rated speed, acceleration/deceleration time

will be shorter.

Initial value

Unit

Setting range



0 ms 0 to

20000

Control mode

S

T

S

T

S T

Zero speed

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.

12 STB 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.

13 STC 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

0

0 ms 0 to

1000

S T

0r/min

Time

STC

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 con-

stant (parameter No.13)

Long setting of STA (acceleration time constant) or STB (deceleration time constant) may produce an error in the time of the arc part for the setting of the

S-pattern acceleration/deceleration time constant.

The upper limit value of the actual arc part time is limited by

2000000

STA for acceleration or by

(Example)

2000000 for deceleration.

At the setting of STA 20000, STB 5000 and STC 200, the actual arc part times are as follows:

Limited to 100[ms] since

During acceleration: 100[ms] 2000000

20000

100[ms] 200[ms].

During deceleration: 200[ms]

200[ms] as set since

2000000

5000

400[ms] 200[ms].

5 - 9

5. PARAMETERS

Class No. Symbol Name and function

14 TQC Torque command time constant

Used to set the constant of a low-pass filter in response to the torque command.

Torque

Torque command

Initial value

0

Unit ms

Setting range

0 to

20000

Control mode

T

After filtered

TQC

TQC: Torque command time constant

TQC Time

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.

0

0000 station

0 to

31

P S T

Refer to


P S T

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


17 MOD 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 0

Initial value

0100

Unit

Setting range

Refer to


Control mode

P S T

A

B

8

9

6

7

4

5

Setting

0

1

2

3

Analog monitor (MO2) Analog monitor (MO1)

Servo motor speed ( 8V/max. speed)

Torque ( 8V/max. torque) (Note)

Motor speed ( 8V/max. speed)

Torque ( 8V/max. torque) (Note)

Current command ( 8V/max. current command)

Command pulse frequency ( 10V/500kpulse/s)

Droop pulses ( 10V/128 pulses)





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

5. PARAMETERS

Class No. Symbol

0 0

Name and function

Initial value

0000

Unit

Setting range

18 * DMD Status display selection

Used to select the status display shown at power-on.

Refer to


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

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

Position

Position/speed

Status display at power-on

Cumulative feedback pulses

Cumulative feedback pulses/servo motor speed

Speed

Speed/torque

Torque

Torque/position

Control mode

P S T

Servo motor speed

Servo motor speed/analog torque command voltage

Analog torque command voltage

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

Operation

Basic parameters

No. 0 to No. 19


No. 20 to No. 49


No. 50 to No. 84

0000

(Initial value)

Reference

Write

000A

000B

000C

000E

100B

100C

100E

Reference No. 19 only

Write No. 19 only

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

No. 19 only

No. 19 only

No. 19 only


Used to select restart after instantaneous power failure, servo lock at a stop in speed control mode, and slight vibration suppression control.

0

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

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

0000

Initial value

0000

Unit

Setting range

Refer to


Control mode

P S T

Refer to


S

P S

5 - 13

5. PARAMETERS


21 *OP3 Function selection 3 (Command pulse selection)

Used to select the input form of the pulse train input signal.

(Refer to section 3.4.1)

0 0

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


Used to select stop processing at forward rotation stroke end (LSP) reverse rotation stroke end (LSN) off and choose VC/VLA voltage averaging.

0 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.

0000

Set value

0

1

2

3

4

Filtering time [ms]

0

0.444

0.888

1.777

3.555

Initial value

0000

Unit

Setting range

Refer to


Control mode

P

Refer to


P S

P S T

5 - 14

5. PARAMETERS


23

24

FFC

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.

ZSP Zero speed

Used to set the output range of the zero speed (ZSP).

Initial value

0

50

25 VCM 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.

26 TLC 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.

27 *ENR 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.

A B-phase output pulses

5600

4

For output division ratio setting

1400[pulse]

Set " 1 " in parameter No. 54.

The number of pulses per servo motor revolution is divided by the set value.

Output pulse

Resolution per servo motor revolution

Set value

[pulses/rev]

At the setting of 8, for example, the actually output A B-phase pulses are as indicated below.

28 TL1

A B-phase output pulses

131072

8

1

4

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

Note. 0: off

1: on

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

0

0

100

4000

100

Unit

% r/min r/min r/min

% pulse/ rev

%

Setting range

0 to

100

0 to

10000

0

1 to

50000

0

1 to

50000

0 to

1000

1 to

65535

0 to

100

Control mode

P

P S T

S

T

T

P S T

P S T

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


29 VCO 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

30 TLO 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).


Used to set the offset voltage of the analog monitor (MO1).


Used to set the offset voltage of the analog monitor (MO2).

33 MBR Electromagnetic brake sequence output

Used to set the delay time (Tb) between electronic brake interlock

(MBR) and the base drive circuit is shut-off.

34 GD2 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.

35 PG2 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.

36 VG1 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.

37 VG2 Speed control gain 2

38

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.

VIC 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.

Initial value

Depends on servo amplifier

0

0

0

100

70

7kW or less: 35

11kW or more: 19

7kW or less: 177

11kW or more: 96

7kW or less: 817

11kW or more: 45

7kW or less: 48

11kW or more: 91

Unit mV mV mV mV ms

0.1

times rad/s rad/s rad/s ms

Setting range

999 to

999

999 to

999

1 to

1000

20 to

8000

20 to

20000

1 to

1000

999 to 999

999 to 999

0 to

1000

0 to

3000

Control mode

S

T

T

S

P S T

P S T

P S T

P S

P

P S

P S

P S

5 - 16

5. PARAMETERS


39 VDC Speed differential compensation

Used to set the differential compensation.

Made valid when the proportion control (PC) is switched on.


Do not change this value by any means.

41 *DIA Input signal automatic ON selection

Used to set automatic Servo-on (SON) forward rotation stroke end

(LSP) reveres rotation stroke end (LSN).

0

Servo-on (SON) input selection

0: Switched on/off by external input.

1: Switched on automatically in servo amplifier.

(No need of external wiring)


(LSP) input selection




Reverse rotation stroke end (LSN) input selection




Initial value

980

Unit

Setting range

0 to

1000

Control mode

P S

0

0000 Refer to


P S T

P S

42 *DI1 Input signal selection 1

Used to assign the control mode changing signal input pins and to set the clear (CR).

0 0

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

3

4

1

2

5

Connector pin No.

CN1B-5

CN1B-14

CN1A-8

CN1A-7

CN1B-8

CN1B-9

0003

Clear (CR) selection

0: Droop pulses are cleared on the leading edge.

1: While on, droop pulses are always cleared.

Refer to


P/S

S/T

T/P

P

5 - 17

5. PARAMETERS



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.

0 control mode Input signals of

Speed control CN1B-pin 5 mode

Position

Torque control mode selected.

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

P

(Note) Control mode

S T

B

C

D

9

A

7

8

E

5

6

3

4

0

1

2

SON

RES

PC

TL

CR

CM1

CM2

TL1

CDP

SON

RES

PC

TL

CR

SP1

SP2

ST1

ST2

SP3

TL1

CDP

SON

RES

CR

SP1

SP2

RS2

RS1

SP3

TL1

CDP

Note. P: Position control mode

S: Speed control mode

T: Torque control mode



The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43).

0

Speed control mode

Position control mode Input signals of

CN1B-pin 14 selected.

Torque control mode

This parameter is unavailable when parameter No. 42 is set to assign the control change (LOP) to CN1B-pin 14.

Initial value

0111

0222

Unit

Setting range

Refer to


Control mode

P S T

Refer to


P S T

5 - 18

5. PARAMETERS


45 *DI4 Input signal selection 4 (CN1A-8)

Allows any input signal to be assigned to CN1A-pin 8.


0

Speed control mode


CN1A-pin 8 selected.

Torque control mode

This parameter is unavailable when parameter No. 42 is set to assign the control change (LOP) to CN1 A-pin 8.




0 mode


Speed control CN1B-pin 7 selected.

Torque control mode

This parameter is unavailable when parameter No. 42 is set to assign the control change (LOP) to CN1 B-pin 7.




0


Speed control CN1B-pin 8 mode selected.

Torque control mode


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)




0 mode


Speed control CN1B-pin 9 selected.

Torque control mode


When "Used in absolute position detection system" is selected in parameter No. 1, CN1B-pin 9 is in the ABS request mode (ABSR).


Initial value

0665

0770

0883

0994

Unit

Setting range

Refer to


Control mode

P S T

Refer to


P S T

Refer to


P S T

Refer to


P S T

5 - 19

5. PARAMETERS


49 *DO1 Output signal selection 1

Used to select the connector pins to output the alarm code, warning

(WNG) and battery warning (BWNG).

0

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

Connector pins

CN1B-19

ZSP

CN1A-18

INP or SA

CN1A-19

RD

Alarm code is output at alarm occurrence.

(Note) Alarm code

CN1B pin 19

CN1A pin 18

CN1A pin 19

0

0

0

0

1

1

1

0

0

1

1

0

0

1

0

1

0

1

0

1

0

Alarm display

Name

AL.51

AL.24

AL.32

AL.31

AL.35

AL.52

AL.16

AL.1A

AL.20

AL.25

88888

AL.12

AL.13

AL.15

Watchdog

Memory error 1

Clock error

Memory error 2

AL.17 Board error 2

AL.19 Memory error 3

AL.37 Parameter error

AL.8A Serial communication time-out error

AL.8E

AL.30

AL.33

AL.10

AL.45

AL.46

AL.50

Serial communication error

Regenerative error

Overvoltage

Undervoltage

Main circuit device overheat


Overload 1

Overload 2

Main circuit

Overcurrent

Overspeed

Command pulse frequency error

Error excessive

Encoder error 1

Motor combination error

Encoder error 2


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

Initial value

0000

Unit

Setting range

Refer to


Control mode

P S T

5. PARAMETERS





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.

0 0 0

Initial value

0000

Unit

Setting range

Control mode

0000 Refer to


P S T

Operation to be performed when the reset (RES) switches on

0: Base circuit shut off

1: Base circuit not shut off




Used to select the protocol of serial communication.

0 0

0000

0000 Refer to


P S T

Protocol checksum selection

0: Yes (checksum added)

1: No (checksum not added)

Protocol checksum selection

0: With station numbers

1: No station numbers


Use to select the command pulse rotation direction, encoder output pulse direction and encoder pulse output setting.

0

Servo motor rotation direction changing

Changes the servo motor rotation direction for the input pulse train.

Set value

0

1

Servo motor rotation direction

At forward rotation pulse input (Note)

At reverse rotation pulse input (Note)

CCW

CW

Note. Refer to section 3.4.1 (1) (a).

CW

CCW

Encoder pulse output phase changing

Changes the phases of A, B-phase encoder pulses output .

Set value

Servo motor rotation direction

CCW CW

0

A-phase

B-phase

A-phase

B-phase

1

A-phase

B-phase

A-phase

B-phase

Encoder output pulse setting selection (refer to parameter No. 27)

0: Output pulse designation

1: Division ratio setting

0000 Refer to


P S T

5 - 21

5. PARAMETERS


55 *OPA Function selection A

Used to select the position command acceleration/deceleration time constant (parameter No. 7) control system.

0 0 0

Initial value

0000

Unit

Setting range

Refer to


Control mode

P

Position command acceleration/deceleration time constant control

0: Primary delay

1: Linear acceleration/deceleration

56 SIC 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.




Used to selection the machine resonance suppression filter.


0

Setting value

04

05

06

07

00

01

02

03

Notch frequency selection

Set "00" when you have set adaptive vibration suppression control to be "valid" or "held"

(parameter No. 60: 1 or 2 ).

Frequency Frequency Setting value

Invalid

4500

2250

1500

1125

900

750

642.9

0C

0D

0E

0F

08

09

0A

0B

Frequency Setting value

562.5

500

450

409.1

375

346.2

321.4

300

14

15

16

17

10

11

12

13

Frequency Setting value

281.3

264.7

250

236.8

225

214.3

204.5

195.7

1C

1D

1E

1F

18

19

1A

1B

187.5

180

173.1

166.7

160.1

155.2

150

145.2

Notch depth selection

Setting value

Depth Gain

0

1

2

3

Deep to

Shallow

40dB

14dB

8dB

4dB


Used to set the machine resonance suppression filter.

0

0

10

0000

0000 s

0

1 to 60

P S T

Refer to


P S T

Refer to


P S T

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

5. PARAMETERS


60 LPF Low-pass filter adaptive vibration suppression control

Used to selection the low-pass filter adaptive vibration suppression control. (Refer to chapter 8)

0

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

VG2 setting 10

2 (1 GD2 setting 0.1)

[H z ]

For 2kW or more

VG2 setting 5

2 (1 GD2 setting 0.1)

[H z ]

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.

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.

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.

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.

Initial value

0000

70

100

100

100

Unit

Setting range

Refer to


Control mode

P S T

0.1

times

%

0 to

3000

10 to

200

%

%

10 to

200

50 to

1000

P S

P

P S

P S

5 - 23

5. PARAMETERS


65 *CDP Gain changing selection

Used to select the gain changing condition. (Refer to section 8.3)

0 0 0

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


4: Servo motor speed is equal to higher than


Initial value

0000

Unit

Setting range

Refer to


Control mode

P S

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.


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.





Used to set the multiplier for the command pulse.

Setting "0" automatically sets the connected motor resolution.







72 SC4 Internal speed command 4




10 kpps pulse r/min

10 to

9999

P S

1 ms 0 to

100

0

1

1

0 1 to

65535

0 1 to

65535

1 0 1 to

65535


P S

P

P

P

S

T

5 - 24

5. PARAMETERS

Class No. Symbol

73 SC5

74

75

SC6

SC7

Name and function













80

81

82

83

84

77

78

79

76 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))



00

10000

10

10

100

100

100

0000

Initial value

Unit

Setting range




Control mode

S

T

S

T

S

T

100 % 0 to

100

P S T

5 - 25

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.

(1) Concept of electronic gear

The machine can be moved at any multiplication factor to input pulses.

CMX

CDV

Parameter No.3

Parameter No.4

CMX

CDV

Deviation counter

Feedback pulse

Electronic gear

Motor

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

Machine specifications n NL/NM

1/2 NL n

Ball screw lead Pb 10 [mm]

Reduction ratio: n 1/2

Servo motor resolution: Pt 131072 [pulses/rev]

NM

Servo motor

131072 [pulse/rev]

CMX

CDV

0

Pt

S

0

Pt n Pb

10 10

3

Hence, set 32768 to CMX and 125 to CDV.

131072 262144

1/2 10 1000

32768

125

5 - 26

Pb 10[mm]

5. PARAMETERS

(b) Conveyor setting example

For rotation in increments of 0.01 per pulse

Servo motor

131072 [pulse/rev]

Machine specifications

Table

Table : 360 /rev

Reduction ratio: n 4/64

Servo motor resolution: Pt 131072 [pulses/rev]

CMX

CDV

Pt

0.01

131072

4/64 360

65536

1125

Timing belt : 4/64

................................................................................. (5.1)

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

CDV 1125

26214.4

450

26214

450

Hence, set 26214 to CMX and 450 to CDV.

POINT

When “0” is set to parameter No.3 (CMX), CMX is automatically set to the servo motor resolution. Therefore, in the case of Expression (5.2), 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

64

360 359.995

Therefore, indexing cannot be done in the same position on the table.

(2) Instructions for reduction

The calculated value before reduction must be as near as possible to the calculated value after reduction.

In the case of (1) (b) in this section, an error will be smaller if reduction is made to provide no fraction for CDV. The fraction of Expression (5.1) before reduction is calculated as follows.

CMX 65536

CDV 1125

58.25422

....................................................................................................................

(5.2)

The result of reduction to provide no fraction for CMX is as follows.

CMX 65536

CDV 1125

32768

562.5

32768

563

58.20249 .................................................................................... (5.3)

The result of reduction to provide no fraction for CDV is as follows.

CMX 65536

CDV 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 Servo amplifier

Command value

AP

Control unit

AL AM

Electronic gear

Command pulse

CMX

CDV

Deviation counter

Electronic gear Feedback pulse

Servo motor

The resolution of the servo motor is 131072 pulses/rev. For example, the pulse command needed to rotate the servo motor is as follows.

Servo motor speed [r/min]

2000

3000

Required pulse command

131072 2000/60 4369066 pulse/s

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 N

0

CDV 60 pt f : Input pulses [pulse/s]

N

0

: Servo motor speed [r/min]

Pt : Servo motor resolution [pulse/rev]

200 10

3

CMX 3000

CDV 60

CMX 3000

CDV 60

131072

131072

200

3000 131072

60 200000

4096

125

The following table indicates the electronic gear setting example (ball screw lead 10mm) when the

A1SD75P is used in this way.

Servo amplifier

A1SD75P

Rated servo motor speed

Input system

Max. input pulse frequency [kpulse/s]

Feedback pulse/revolution [pulse/rev]

Electronic gear (CMX/CDV)

Command pulse frequency [kpulse/s] (Note)

Number of pulses per servo motor revolution as viewed from A1SD75P[pulse/rev]

Electronic gear

Open collector

200

131072

4096/125 2048/125

200

4000

3000r/min

Minimum command unit

1pulse

Minimum command unit

0.1 m

AP

AL

AM

AP

1

1

1

4000

AL 100.0[ m]

AM 10

Differential line driver

500

400

8000

1

1

1

8000

100.0[ m]

10

Note. Command pulse frequency at rated speed.

2000r/min

Open collector

200

Differential line driver

500

131072

8192/375 4096/375

200 400

6000

1

1

1

6000

100.0[ m]

10

12000

1

1

1

12000

100.0[ m]

10

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.

Setting range [mV] Parameter No.

31

32

Description

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.

999 to 999

5 - 30

5. PARAMETERS

(2) Set content

The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 (MO1) and the torque to analog monitor (MO2). The setting can be changed as listed below by changing the parameter No.17 value.

Refer to Appendix 2 for the measurement point.

Setting Output item

0 Servo motor speed

Description

CCW direction

8[V]

Setting

6

Output item

Droop pulses

(Note 1)

( 10V/128pulse)

Description

CCW direction

10[V]

128[pulse] Max. speed

0 Max. speed 0

128[pulse]

1 Torque (Note 2)

8[V]

CW direction

8[V]

Driving in CCW direction

Max. torque

0 Max. torque

7 Droop pulses

(Note 1)

( 10V/2048pulse)

CW direction

10[V]

10[V]

CCW direction

2048[pulse]

0 2048[pulse]

2 Servo motor speed

Driving in CW direction

8[V]

CW direction

8[V]

CCW direction

8 Droop pulses

(Note 1)

( 10V/8192pulse)

CW direction

10[V]

10[V]

CCW direction

8192[pulse]

0 8192[pulse]

3 Torque(Note2)

Max. speed 0 Max. speed

Driving in

CW direction

8[V]

Driving in

CCW direction

9 Droop pulses

(Note 1)

( 10V/32768pulse)

CW direction

10[V]

10[V]

CCW direction

32768[pulse]

0 32768[pulse]

4 Current command

Max. torque 0 Max. torque

8[V]

Max. command

current

(Max. torque

command)

CCW direction

CW direction

0 Max. command

current

(Max. torque

command)

8[V]

CCW direction

10[V]

A Droop pulses

(Note 1)

( 10V/131072pulse)

10[V]

CW direction

10[V]

CCW direction

131072[pulse]

0

131072[pulse]

CW direction

10[V]

5 Command pulse frequency

B Bus voltage

8[V]

500kpps

0

500kpps

0 400[V]

10[V]

CW direction

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

5. PARAMETERS

(3) Analog monitor block diagram

5 - 32

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)

1

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 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 t

(3t)

Time t

: Input position command

: Position command after

filtering for primary delay

: Position command after filtering

for linear acceleration/deceleration

: Position command acceleration/

deceleration time constant (parameter No. 7) t

(2) For trapezoidal input

(3t) t t

(3t)

Time t

: Input position command

: Position command after filtering

for linear acceleration/deceleration

: Position command after

filtering for primary delay

: Position command acceleration/

deceleration time constant

(parameter No. 7)

5 - 34

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).

Status display Diagnosis Alarm button

MODE

Basic parameters



(Note)

Cumulative feedback pulses [pulse]

Sequence

Motor speed

[r/min]


Current alarm

Last alarm

Parameter No. 0

Parameter No. 1

Parameter No. 20

Parameter No. 21

Parameter No. 50

Parameter No. 51

Droop pulses

[pulse]

Output signal forced output

Cumulative command pulses [pulse]

Test operation

Jog feed

Command pulse frequency [kpps]

Test operation

Positioning operation

Speed command voltage

Speed limit voltage[mV]

Test operation

Motor-less operation

Second alarm in past

Third alarm in past

Fourth alarm in past

Fifth alarm in past

Parameter No. 18

Parameter No. 19

Torque limit voltage

Torque command voltage

[mV]

Regenerative load ratio [%]

Test operation

Machine analyzer operation

Software version L

Sixth alarm in past

Parameter error No.

Effective load ratio

[%]

Software version H

Peak load ratio

[%]

Automatic VC offset

Parameter No. 48

Parameter No. 49

Parameter No. 83

Parameter No. 84

UP

DOWN

Instantaneous torque

[%]

Motor series ID

Within one-revolution position low [pulse]

Motor type ID

Within one-revolution position, high [100 pulses]

Encoder ID

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


6.2 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 Status

Displayed data

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


6.2.2 Status display list

The following table lists the servo statuses that may be shown.

Refer to Appendix 2 for the measurement point.

pulses

Name

Cumulative feedback

Servo motor speed

Droop pulses

Cumulative command pulses

Command pulse frequency

Analog speed command voltage

Analog speed limit voltage


Analog torque limit voltage

Regenerative load ratio

Effective load ratio

Peak load ratio

Instantaneous torque

Within one-revolution position low

Symbol

C r

E

P n

F

U

L

J b

T

Cy1

Unit Description pulse 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.

r/min The servo motor speed is displayed.

The value rounded off is displayed in 0.1r/min.

pulse 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.

pulse 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.

kpps The frequency of the position command input pulses is displayed.

The value displayed is not multiplied by the electronic gear

(CMX/CDV).

V (1) Torque control mode

Analog speed limit (VLA) voltage is displayed.


Analog speed command (VC) voltage is displayed.

V (1) Position control mode, speed control mode

Analog torque limit (TLA) voltage is displayed.

Display range

99999 to

99999

5400 to

5400

99999 to

99999

99999 to

99999

%


Analog torque command (TLA) voltage is displayed.

The ratio of regenerative power to permissible regenerative power is displayed in %.

%

%

The continuous effective load torque is displayed.

The effective value 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%.

pulse 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.

800 to

800

10.00

to

10.00

0 to

100

0 to

300

0 to

10.00

10.00

to

10.00

0 to

400

400 to

400

0 to

99999

6 - 3


Name

Within one-revolution position high

Symbol

Cy2

ABS counter

Load inertia moment ratio

LS dC

Unit Description

100 pulse rev

The within one-revolution position is displayed in 100 pulse increments of the encoder.

The value returns to 0 when it exceeds the maximum number of pulses.

The value is incremented in the CCW direction of rotation.

Travel value from the home position in the absolute position detection systems is displayed in terms of the absolute position detectors counter value.

Times The estimated ratio of the load inertia moment to the servo motor shaft inertia moment is displayed.

Bus voltage Pn V The voltage (across P-N) of the main circuit converter is displayed.

Display range

0 to

1310

32768 to

32767

0.0

to

300.0

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

Position

Position/speed

Speed

Speed/torque

Torque

Status display at power-on

Cumulative feedback pulses

Cumulative feedback pulses/servo motor speed

Servo motor speed

Servo motor speed/analog torque command voltage


Torque/position Analog torque command voltage/cumulative feedback pulses

6 - 4


6.3 Diagnostic mode

Name Display

Sequence


Output signal (DO) forced output

Jog feed

Refer to section 6.6.

Test operation mode


Motorless operation

Machine analyzer operation

Software version low

Software version high

Automatic VC offset

Description

Not ready.

Indicates that the servo amplifier is being initialized or an alarm has occurred.

Ready.

Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate.

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.

The digital output signal can be forced on/off. For more information, refer to section 6.7.

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 MRZJW3-

SETUP151E) 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 MRZJW3-

SETUP151E) is required for machine analyzer operation.

Indicates the version of the software.

Indicates the system number of the software.

If offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor to rotate slowly at the analog speed command (VC) or analog speed limit (VLA) of 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


Display Name

Motor series

Motor type

Encoder

Description

Press the "SET" button to show the motor series ID of the servo motor currently connected.

For indication details, refer to the optional MELSERVO Servo

Motor Instruction Manual.

Press the "SET" button to show the motor type ID of the servo motor currently connected.



Press the "SET" button to show the encoder ID of the servo motor currently connected.



6 - 6


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).

Alarm history

Indicates that the second alarm in the past is overvoltage (AL.33).

Indicates that the third alarm in the past is undervoltage (AL.10).

Indicates that the fourth alarm in the past is overspeed (AL.31).

Parameter error No.

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).

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


(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.

UP DOWN

Press SET twice.

The set value of the specified parameter number flickers.

Press UP once.

During flickering, the set value can be changed.

( 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).


6 - 8


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

15

CN1B

9

CN1B

8

CN1B

7

CN1A

8

CN1B

14

CN1B

5

CN1B

17

CN1B

16

Input signals

Always lit

Output signals

CN1A

14

CN1B

18

CN1B

4

CN1B

6

CN1B

19

CN1A

18

CN1A

19

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


(a) Control modes and I/O signals

Connector

CN1A

CN1B

Pin No.

(Note 3) 4

5

6

7

8

14

18

19

16

17

18

19

14

15

8

9

Signal input/output

(Note 1) I/O

O

O

I

I

I

I

I

I

O

I

O

I

O

O

I

O

P

CR

OP

INP

RD

DO1

SON

TLC

PC

TL

RES

EMG

LSP

LSN

ALM

ZSP

(Note 2) Symbols of I/O signals in control modes

P/S

PC/ST1

TL/ST2

RES

EMG

LSP

LSN

ALM

ZSP

CR/SP1

OP

INP/SA

RD

DO1

SON

TLC

LOP

S

ST1

ST2

RES

EMG

LSP

LSN

ALM

ZSP

SP1

OP

SA

RD

DO1

SON

TLC

SP2

S/T

SP1

OP

SA/

RD

DO1

SON

TLC/VLC

LOP

ST1/RS2

ST2/RS1

RES

EMG

LSP/

LSN/

ALM

ZSP

T

SP1

OP

RD

DO1

SON

VLC

SP2

RS2

RS1

RES

EMG

T/P

Related parameter

SP1/CR No.43 to 48

OP

/INP

RD

No.49

No.49

DO1

SON

VLC/TLC

LOP

No.43 to 48

No.49

No.43 to 48

RS2/PC No.43 to 48

RS1/TL No.43 to 48

RES

EMG

No.43 to 48

/LSP

/LSN

ALM

ZSP

No.49

No.1 49

ALM

ZSP

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

SP1

SP2

PC

ST1

ST2

RS1

RS2

TL

RES

Symbol

SON

LSP

LSN

CR

Signal name

Servo-on



Clear

Speed selection 1

Speed selection 2

Proportion control





Torque limit

Reset

Symbol

EMG

LOP

TLC

VLC

RD

ZSP

INP

SA

ALM

WNG

OP

BWNG

Signal name

Emergency stop

Control change

Limiting torque

Limiting speed

Ready

Zero speed

In position

Speed reached

Trouble

Warning

Encoder Z-phase pulse (open collector)

Battery warning

6 - 10


(3) Default signal indications

(a) Position control mode

Input signals

Output signals

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

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


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


SON (CN 1 B-5) Servo-on

LSN (CN 1 B-17) External emergency stop

Input signals

Output signals

LSP (CN 1 B-16) Forward rotation stroke end

Lit: ON

Extinguished: OFF


SA (CN 1 A-18) Limiting speed


TLC (CN 1 B-6) Limiting torque

DO1 (CN 1 B-4) Limiting speed



(c) Torque control mode


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


SON (CN 1 B-5) Servo-on

Input signals

Output signals

Lit: ON

Extinguished: OFF



VLC (CN 1 B-6) Speed reached



6 - 11


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.

CN1A

14

CN1B

18

CN1B

4

CN1B

6

CN1B

19

CN1A

18

CN1A

19

Press SET for more than 2 seconds.

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


6.8 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 SET for more than 2s.

When this screen appears, jog feed can be performed.

Flickers in the test operation mode.

Press UP five times.

Press SET for more than 2s.

When this screen is displayed, motor-less operation can be performed.

6 - 13


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.

Item

Speed [r/min]

Acceleration/deceleration time constant [ms]

Initial setting

200

1000

Setting range

0 to instantaneous permissible speed

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


6.8.3 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

Travel distance [pulse]

Speed [r/min]

Acceleration/deceleration time constant [ms]

Initial setting

10000

200

1000

Setting range

0 to 9999999

0 to instantaneous permissible speed

0 to 50000

How to use the buttons is explained below.

Button

"Forward"

"Reverse"

"Pause"

Description

Click to start positioning operation CCW.

Click to start positioning operation CW.

Click during operation to make a temporary stop. Click the

"Pause" button again erases the remaining distance.

To resume operation, press the click that was pressed to start the operation.

If the communication cable is disconnected during positioning operation, the servo motor will come to a sudden stop.

(2) Status display

You can monitor the status display even during positioning operation.

6 - 15


6.8.4 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


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


Auto tuning mode 1

(initial value)

Parameter No. 2 setting

010

Auto tuning mode 2

Manual mode 1

Manual mode 2

Interpolation mode

020

030

040

000

Estimation of load inertia moment ratio

Always estimated

Fixed to parameter No.

34 value

Automatically set parameters

PG1 (parameter No. 6)

GD2 (parameter No. 34)


VG1 (parameter No. 36)


VIC (parameter No. 38)








Always estimated

Manually set parameters

Response level setting of parameter No. 2


Response level setting of parameter No. 2

















7 - 1


(2) Adjustment sequence and mode usage

START

Interpolation

made for 2 or more axes?

No

Auto tuning mode 1

Operation

Yes

OK?

No

Auto tuning mode 2

Operation

Yes

OK?

No

Manual mode 1

Operation

Yes

OK?

No

Manual mode 2

END

Yes

No

Interpolation mode

Operation

OK?

Yes

Usage

Used when you want to match the position gain

(PG1) between 2 or more axes. Normally not used for other purposes.

Allows adjustment by merely changing the response level setting.

First use this mode to make adjustment.

Used when the conditions of auto tuning mode 1 are not met and the load inertia moment ratio could not be estimated properly, for example.

This mode permits adjustment easily with three gains if you were not satisfied with auto tuning results.

You can adjust all gains manually when you want to do fast settling or the like.

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

Machine analyzer

Gain search

Description

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.

Adjustment

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.

Machine simulation

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.

You can optimize gain adjustment and command pattern on personal computer.

7 - 2


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.

6

34

35

36

37

38

Abbreviation

PG1

GD2

PG2

VG1

VG2

VIC

Name


Ratio of load inertia moment to servo motor inertia moment





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.

Name Parameter No.

6

35

36

37

38

Abbreviation

PG1

PG2

VG1

VG2

VIC






7 - 3


7.2.2 Auto tuning mode operation

The block diagram of real-time auto tuning is shown below.

Command

Automatic setting

Control gains

PG1,VG1

PG2,VG2,VIC

Servo motor

Load inertia moment

Encoder

Current control

Current feedback

Gain table

Set 0 or 1 to turn on.

Real-time auto tuning section

Switch

Load inertia moment ratio estimation section

Position/speed feedback

Speed feedback

Parameter No. 2

Parameter No. 34

Load inertia moment ratio estimation value


First digit


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


7.2.3 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?

Yes

END

No

To manual mode

7 - 5


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


D

E

F

A

B

8

9

C

5

6

7

1

2

3

4

Machine rigidity

Low

Middle

High



Machine characteristic


Guideline of corresponding machine

15Hz

20Hz

25Hz

30Hz

Large conveyor

35Hz

45Hz

55Hz

Arm robot

General machine tool conveyor

70Hz

85Hz

105Hz

130Hz

160Hz

Precision working machine

Inserter

Mounter

Bonder 200Hz

240Hz

300Hz

7 - 6


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.

GD2

User setting

PG1

VG2

VIC

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.

34

37

38

Abbreviation

GD2

VG2

VIC

Name




(b) Adjustment procedure

Step

1

2

3

4

5

Operation

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.

Description

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 - 7


(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) Speed control gain 2 setting/

2000 to 3000

(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.

6

34

37

38

Abbreviation

PG1

GD2

VG2

VIC

Name





(b) Adjustment procedure

Step

1

2

3

4

5

6

7

Operation

Set an estimated value to the ratio of load inertia moment to servo motor inertia moment (parameter No. 34).

Set a slightly smaller value to the position control gain 1 (parameter

No. 6).

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.

Increase the position control gain 1 (parameter No. 6).

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 3 to 5.

While checking the settling characteristic and rotational status, fineadjust each gain.

Description

Increase the speed control gain.

Decrease the time constant of the speed integral compensation.

Increase the position control gain.

Suppression of machine resonance.

Refer to section 8.1.

Fine adjustment

7 - 8


(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


(1 ratio of load inertia moment to servo motor inertia moment)

(

1

to

1

5

)

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)


(1 ratio of load inertia moment to servo motor inertia moment) 22

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.

34

35

37

38

Abbreviation

GD2

PG2

VG2

VIC

Name





7 - 9


(b) Manually adjusted parameters

The following parameters are adjustable manually.

Parameter No.

6

36

Abbreviation

PG1

VG1



Name

(2) Adjustment procedure

Step Operation

1

2

7

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.

3

4 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.

5

Check the values of position control gain 1 (parameter No. 6) and speed control gain 1 (parameter No. 36).

6

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.

Description

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.

Droop pulse value (pulse)

Rotation speed (r/min)

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


7.5 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


Set value

MELSERVO-J2 series

Machine resonance frequency Set value

MELSERVO-J2-Super series


1

2

3

4

5

20Hz

40Hz

60Hz

80Hz

100Hz

D

E

F

B

C

9

A

7

8

5

6

3

4

1

2

85Hz

105Hz

130Hz

160Hz

200Hz

240Hz

300Hz

15Hz

20Hz

25Hz

30Hz

35Hz

45Hz

55Hz

70Hz

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



Interpolation mode

Auto tuning mode 1

Auto tuning

Auto tuning mode 2

Auto tuning invalid

Manual mode 1

Manual mode 2

Auto tuning selection

MELSERVO-J2 series MELSERVO-J2-Super series

0

1

0

1

2

2

3

4

Remarks

Position control gain 1 is fixed.

Ordinary auto tuning

Estimation of load inertia moment ratio stopped.

Response level setting valid.

Simple manual adjustment

Manual adjustment of all gains

7 - 11


MEMO

7 - 12

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

Parameter

No.58

0

Parameter

No.60

Machine resonance suppression filter 1 except

Adaptive vibration

suppression control 1

00 or 2

00

Parameter

No.59

Machine resonance suppression filter 2 except 00

Low-pass filter

0

Parameter

No.60

Current command

Servo motor

1

Encoder

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.

Machine resonance point

Mechanical system response level

Frequency

Notch depth

Notch frequency

Frequency

8 - 1


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.



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 value

00

01

02

03

04

05

06

07

Invalid

4500

2250

1500

1125

900

750

642.9

Frequency

0A

0B

0C

0D

0E

0F

Setting value

08

09

Frequency

562.5

500

450

409.1

375

346.2

321.4

300

12

13

14

15

16

17

Setting value

10

11

Frequency

281.3

264.7

250

236.8

225

214.3

204.5

195.7

Setting value

18

19

1A

1B

1C

1D

1E

1F

Frequency

187.5

180

173.1

166.7

160.1

155.2

150

145.2

Notch depth

Setting value

0

1

2

3

Depth (Gain)

Deep ( 40dB)

( 14dB)

( 8dB)

Shallow( 4dB)

8 - 2


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.



Frequency



Frequency

Notch depth

Notch depth

Frequency Frequency

Notch frequency Notch frequency

When machine resonance is large and frequency is low When machine resonance is small and frequency is high

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


(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) initial value

1: Invalid

POINT

In a mechanical system where rigidity is extremely high and resonance is difficult to occur, setting the low-pass filter to be "invalid" may increase the servo system response level to shorten the settling time.

8 - 4


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

Comparator

CDS

Parameter No.66

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


8.5.3 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

No.

6

36

34

35

37

38

61

62

63

64

65

Abbrevi ation

Name


VG1 Speed control gain 1

GD2



VG2 Speed control gain 2

VIC Speed integral compensation

GD2B

Ratio of load inertia moment to servo motor inertia moment 2

PG2B

VG2B

VICB

Position control gain 2 changing ratio

Speed control gain 2 changing ratio

Speed integral compensation changing ratio

CDP Gain changing selection

66

67

CDS

CDT



Unit rad/s rad/s

0.1

times rad/s rad/s ms

0.1

times

%

Description

Position and speed gains of a model used to set the response level to a command. Always valid.

Control parameters before changing

%

% kpps pulse r/min ms

Used to set the ratio of load inertia moment to servo motor inertia moment after changing.

Used to set the ratio (%) of the after-changing position control gain 2 to position control gain 2.

Used to set the ratio (%) of the after-changing speed control gain 2 to speed control gain 2.

Used to set the ratio (%) of the after-changing speed integral compensation to speed integral compensation.

Used to select the changing condition.

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


(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


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.


Command frequency

Droop pulses

Servo motor speed

Unit kpps pulse 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


8.5.4 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.

6

36

Abbreviation

PG1

VG1

34

35

37

38

61

62

63

64

GD2

PG2

VG2

VIC

GD2B

PG2B

VG2B

VICB

Name











65

67

CDP

CDT



Setting

100

1000

4

120

3000

20

100

70

133

250

0001

(Changed by ON/OFF of pin CN1A-8)

100

Unit rad/s rad/s

0.1 times rad/s rad/s ms

0.1 times

%

%

% ms

(b) Changing operation

Gain changing

(CDP)

OFF

ON

After-changing gain

OFF

Change of each gain

Before-changing gain

CDT 100ms







4.0

120

3000

20

100

1000

10.0

84

4000

50

4.0

120

3000

20

8 - 8


(2) When you choose changing by droop pulses

(a) Setting

Parameter No.

6

36

Abbreviation

PG1

VG1

34

35

37

38

61

GD2

PG2

VG2

VIC

GD2B

62

63

64

65

66

67

PG2B

VG2B

VICB

CDP

CDS

CDT

Name














Setting

100

1000

40

120

3000

20

100

70

133

250

0003

(Changed by droop pulses)

50

100

Unit rad/s rad/s

0.1 times rad/s rad/s ms

0.1 times

%

%

% pulse ms

(b) Changing operation

Command pulse

Droop pulses

Droop pulses [pulses] 0

CDS

CDS

After-changing gain

Change of each gain

Before-changing gain

CDT 100ms







4.0

120

3000

20

10.0

84

4000

50

100

1000

4.0

120

3000

20

10.0

84

4000

50

8 - 9


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.

Servo amplifier

Part name

Smoothing capacitor

Relay

Cooling fan

Absolute position battery

Life guideline

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.


(1) Troubleshooting

No.

Start-up sequence

1 Power on

2 Switch on servo-on

(SON).

3 Enter input command.

(Test operation)

Fault

LED is not lit.

LED flickers.

Alarm occurs.

Alarm occurs.

Servo motor shaft is not servo-locked

(is free).

Servo motor does not rotate.

Servo motor run in reverse direction.

Investigation Possible cause

Not improved if connectors

CN1A, CN1B, CN2 and CN3 are disconnected.

Improved when connectors

CN1A and CN1B are disconnected.

Improved when connector

CN2 is disconnected.



1. Check the display to see if the servo amplifier is ready to operate.

2. Check the external I/O signal indication to see if the servo-on (SON) is ON.

Check cumulative command pulses.

1. Power supply voltage fault

2. Servo amplifier is faulty.

Power supply of CNP1 cabling is shorted.

1. Power supply of encoder cabling is shorted.

2. Encoder is faulty.

Power supply of CN3 cabling is shorted.

Refer to section 10.2 and remove cause.


1. Servo-on (SON) is not input.

(Wiring mistake)

2. 24VDC power is not supplied to COM.

1. Wiring mistake

(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.

1. Mistake in wiring to controller.

2. Mistake in setting of parameter No. 54.

Reference

Section 10.2

Section 10.2

Section 6.6

Section 6.2

Chapter 5

10 - 1

10. TROUBLESHOOTING

No.

Start-up sequence

4 Gain adjustment

5 Cyclic operation

Fault Investigation

Rotation ripples

(speed fluctuations) are large at low speed.

Make gain adjustment in the following procedure.

1. Increase the auto tuning response level.

2. Repeat acceleration and deceleration several times to complete auto tuning.

Large load inertia moment causes the servo motor shaft to oscillate side to side.

If the servo motor may be run with safety, repeat acceleration and deceleration several times to complete auto tuning.

Position shift occurs Confirm the cumulative command pulses, cumulative feedback pulses and actual servo motor position.

Possible cause

Gain adjustment fault


Pulse counting error, etc.

due to noise.

Reference

Chapter 7

Chapter 7

(2) in this section

10 - 2

10. TROUBLESHOOTING

(2) How to find the cause of position shift

Positioning unit

(a) Output pulse

counter

Servo amplifier

Electronic gear (parameters No. 3, 4)

Q P

CMX

CDV

(A)

(C) Servo-on (SON),

stroke end

(LSP/LSN) input

(b) Cumulative command

pulses

C

(c) Cumulative

feedback pulses

Machine

Servo motor

M

L

(d) Machine stop

position M

(B)

Encoder

When a position shift occurs, check (a) output pulse counter, (b) cumulative command pulse display,

(c) cumulative feedback pulse display, and (d) machine stop position in the above diagram.

(A), (B) and (C) indicate position shift causes. For example, (A) indicates that noise entered the wiring between positioning unit and servo amplifier, causing pulses to be mis-counted.

In a normal status without position shift, there are the following relationships.

1) Q P (positioning unit's output counter servo amplifier's cumulative command pulses)

2) P

CMX(parameter No.3)

CMX(parameter No.4)

C (cumulative command pulses electronic gear cumulative feedback pulses)

3) C M (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))

2) When P

CMX

CDV

C

During operation, the servo-on (SON) or forward/reverse rotation stroke end was switched off or the clear (CR) and the reset (RES) switched on. (Cause C)

If a malfunction may occur due to much noise, increase the input filter setting (parameter No. 1).

3) When C M

Mechanical slip occurred between the servo motor and machine. (Cause B)

10 - 3

10. TROUBLESHOOTING


No.

1

2

Start-up sequence

Power on

Switch on servo-on

(SON).

3 Switch on forward rotation start (ST1) or reverse rotation start (ST2).

4 Gain adjustment

Fault

LED is not lit.

LED flickers.

Alarm occurs.

Alarm occurs.

Servo motor shaft is not servo-locked

(is free).


Rotation ripples

(speed fluctuations) are large at low speed.

Large load inertia moment causes the servo motor shaft to oscillate side to side.


















1. Check the display to see if the servo amplifier is ready to operate.

2. Check the external I/O signal indication to see if the servo-on (SON) is ON.


(Wiring mistake)


Analog speed command is 0V.

Call the status display and check the input voltage of the analog speed command

(VC).

Call the external I/O signal display and check the

ON/OFF status of the input signal.

LSP, LSN, ST1 or ST2 is off.

Set value is 0.

Check the internal speed commands 1 to 7

(parameters No. 8 to 10 72 to 75).

Check the internal torque limit 1 (parameter No. 28).

When the analog torque limit (TLA) is usable, check the input voltage on the status display.

Make gain adjustment in the following procedure.

1. Increase the auto tuning response level.

2. Repeat acceleration and deceleration several times to complete auto tuning.

If the servo motor may be run with safety, repeat acceleration and deceleration several times to complete auto tuning.

Torque limit level is too low as compared to the load torque.

Torque limit level is too low as compared to the load torque.



Reference

Section 10.2

Section 10.2

Section 6.6

Section 6.2

Section 6.6

Section

5.1.2 (1)

Chapter 7

Chapter 7

10 - 4

10. TROUBLESHOOTING


No.

1

2

Start-up sequence

Power on

Switch on servo-on

(SON).

3 Switch on forward rotation start (RS1) or reverse rotation start (RS2).

Fault

LED is not lit.

LED flickers.

Alarm occurs.

Alarm occurs.

Servo motor shaft is free.


















Reference

Section 10.2





(Wiring mistake)


Section 10.2

Section 6.6

Analog torque command is 0V.

Section 6.2

Call the status display and check the analog torque command (TC).



RS1 or RS2 is off.

Section 6.6

Check the internal speed limits 1 to 7

(parameters No. 8 to 10 72 to 75).

Check the analog torque command maximum output

(parameter No. 26) value.

Check the internal torque limit 1 (parameter No. 28).

Set value is 0.

Torque command level is too low as compared to the load torque.

Set value is 0.

Section

5.1.2 (1)

10 - 5

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.

Display pin

(Note 2) Alarm code

CN1B-19 CN1A-18 pin

CN1A-19 pin

Name Power

OFF ON

Alarm deactivation

Press

"SET" on current alarm screen.

Alarm reset

(RES)

AL.50

AL.51

AL.52

AL.8A

AL.8E

88888

AL.92

AL.96

AL.30

AL.31

AL.32

AL.33

AL.35

AL.37

AL.45

AL.46

AL.9F

AL.E0

AL.E1

AL.E3

AL.E5

AL.E6

AL.E9

AL.EA

AL.10

AL.12

AL.13

AL.15

AL.16

AL.17

AL.19

AL.1A

AL.20

AL.24

AL.25

0

0

0

0

1

0

0

1

1

1

1

0

1

1

0

1

0

0

0

0

0

1

0

0

0

1

0

0

0

1

0

0

1

1

0

1

0

0

0

0

0

0

1

1

1

1

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

1

1

0

1

1

0

1

1

1

1

1

0

0

0

Undervoltage

Memory error 1

Clock error

Memory error 2

Encoder error 1

Board error

Memory error 3


Encoder error 2

Main circuit error


Regenerative error

Overspeed

Overcurrent

Overvoltage


Parameter error



Overload 1

Overload 2

Error excessive

Serial communication time-out error


Watchdog

Open battery cable warning

Home position setting warning

Battery warning

Excessive regenerative warning

Overload warning

Absolute position counter warning

ABS time-out warning

Servo emergency stop warning

Main circuit off warning

ABS servo-on warning

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

Removing the cause of occurrence deactivates the alarm automatically.

Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.

2. 0: off

1: on

(Note 1) (Note 1)

10 - 6

10. TROUBLESHOOTING

10.2.2 Remedies for alarms

CAUTION

When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur.

If an absolute position erase (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 Definition

AL.10

Undervoltage Power supply voltage dropped.

MR-J2S- A:

160VAC or less

MR-J2S- A1:

83VAC or less

Cause

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

Checking method

Alarm (AL.10) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.

Action

Check the power supply.

Change the servo amplifier.


AL.12

Memory error 1 RAM, memory fault

AL.13

Clock error Printed board fault

Faulty parts in the servo amplifier

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

10. TROUBLESHOOTING

Display

AL.15

Name Definition

Memory error 2 EEP-ROM fault

Cause

1. Faulty parts in 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.

Action


2. The number of write times to EEP-

ROM exceeded 100,000.

AL.16

Encoder error 1 Communication error occurred

1. Encoder connector (CN2) disconnected.

between encoder 2. Encoder fault and servo amplifier. 3. Encoder cable faulty

(Wire breakage or shorted)

AL.17

Board error CPU/parts fault 1. Faulty parts in the servo amplifier.

Connect correctly.

Change the servo motor.

Repair or change the cable.


Checking method

Alarm (AL.17) occurs if power is switched on after disconnection of all cable but the control circuit power supply cable.

The output terminals U, V, W of the servo amplifier and the input terminals U, V, W of

2. The wiring of U, V, W is disconnected or not connected.

the servo motor are not connected.

AL.19

Memory error 3 ROM memory fault Faulty parts in 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.

Correctly connect the output terminals U,

V, W of the servo amplifier and the input terminals U, V, W of the servo motor.


AL.1A


AL.20

Encoder error 2

AL.24

Main circuit error

Wrong combination of servo amplifier and servo motor.

Communication error occurred between encoder and servo amplifier.

Encoder detected acceleration error.

Wrong combination of servo amplifier and servo motor connected.

1. Encoder connector (CN2) disconnected.

2. Encoder cable faulty

(Wire breakage or shorted)

3. Encoder fault

4. Excessive acceleration is occurred due to oscillation and others.

Use correct combination.

Connect correctly.



1. Decrease the speed control gain 2.

2. Decrease the auto tuning response level.

Connect correctly.

Ground fault occurred at the servo motor outputs

(U,V and W phases) of the servo amplifier.

1. Power input wires and servo motor output wires are in contact at main circuit terminal block (TE1).

2. Sheathes of servo motor power cables deteriorated, resulting in ground fault.

3. Main circuit of servo amplifier failed.

Change the cable.


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


AL.30

AL.31

Regenerative error

Overspeed

Definition

Absolute position data in error

Power was switched on for the first time in the absolute position detection system.

Permissible regenerative power of the built-in regenerative resistor or regenerative option is exceeded.

1. Reduced voltage of super capacitor in encoder

Cause

2. Battery voltage low

3. Battery cable or battery is faulty.

4. Super capacitor of the absolute position encoder is not charged

Action

After leaving the alarm occurring for a few minutes, switch power off, then on again.

Always make home position setting again.

Change the battery.


After leaving the alarm occurring for a few minutes, switch power off, then on again.


1. Wrong setting of parameter No. 0 Set correctly.

2. Built-in regenerative resistor or regenerative option is not connected.

3. High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded.

Checking method

Call the status display and check the regenerative load ratio.

Connect correctly

1. Reduce the frequency of positioning.

2. Use the regenerative option of larger capacity.

3. Reduce the load.

Regenerative transistor fault

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.

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.

Check the power supply

Change the servo amplifier or regenerative option.


Speed has exceeded the instantaneous permissible speed.

1. Input command pulse frequency exceeded the permissible 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.

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.


10 - 9

10. TROUBLESHOOTING

Display

AL.32

AL.33

Name

Overcurrent

Overvoltage

AL.35


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.

Input pulse frequency of the 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.

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.

5. Improper wiring of the regenerative option.

Correct the wiring.

Action


Correct the wiring.

Take noise suppression measures.

Wire the regenerative option correctly.

1. Regenerative option is not used.

Use the regenerative option.

2. Though the regenerative option is used, the parameter No. 0 setting is “ 00 (not used)”.

Make correct setting.

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

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.

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.

Check the power supply.

Correct the wiring.

9. The jumper across BUE-SD of the

FR-BU2 brake unit is removed.

Fit the jumper across BUE-SD.

1. Pulse frequency of the command pulse is too high.

2. Noise entered command pulses.

3. Command device failure

Change the command pulse frequency to a proper value.

Take action against noise.

Change the command device.

10 - 10

10. TROUBLESHOOTING

Display Name

AL.37

Parameter error

AL.45


AL.46

AL.50


Overload 1

Definition

Parameter setting is wrong.


Cause

1. Servo amplifier fault caused the 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 EEP-

ROM exceeded 100,000 due to parameter write, etc.

4.The alarm code output (parameter

No. 49) was set by the absolute position detection system.

5.The alarm code output (parameter

No.49) was set with the electromagnetic brake interlock

(MBR) assigned to pin CN1B-19.

1. Servo amplifier faulty.

2. The power supply was turned on and off continuously by overloaded status.

3. Air cooling fan of servo amplifier stops.

Action


Set parameter No.0 correctly.


The absolute position detection system and the alarm code output function are exclusive. Set as either one of the two is used.

The signal assignment function of the electromagnetic interlock (MBR) to pin

CN1B-19 and the alarm code output function are exclusive. Set as either one of the two is used.


The drive method is reviewed.

1. Exchange the cooling fan or the servo amplifier.

2. Reduce ambient temperature.

Servo motor temperature rise actuated the thermal sensor.

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 ).

1. Reduce load.

2. Review operation pattern.

3. Use servo motor that provides larger output.

Load exceeded overload protection characteristic of servo amplifier.

3. Thermal sensor in encoder is faulty.

1. Servo amplifier is used in excess of its continuous output current.


1. Reduce load.



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.


2. Install limit switches.

Connect correctly.

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.


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

AL.51

Name

Overload 2

Definition

Machine collision or the like caused max.

For the time of the alarm occurrence, refer to the section

12.1.

Cause



Servo amplifier's output terminals

U, V, W do not match servo motor's input terminals U, V, W.

3. Servo system is instable and hunting.

Action



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.


4. Encoder faulty.

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

(Note)

AL.8A

AL.8E

Serial communication time-out error


88888 Watchdog

The difference 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.

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.

4. Position control gain 1 (parameter

No.6) value is small.

5. Servo motor shaft was rotated by external force.


Increase set value and adjust to ensure proper operation.

1. When torque is limited, increase the limit value.

2. Reduce load.





Connect correctly.

7. Encoder faulty


Servo amplifier's output terminals

U, V, W do not match servo motor's input terminals U, V, W.

1. Communication cable breakage.

Repair or change the communication cable

2. Communication cycle longer than parameter No. 56 setting.

Set correct value in parameter.

3. Wrong protocol.

Correct protocol.

RS-232C or RS-422 communication stopped for longer than the time set in parameter No.56.

Serial communication error occurred between servo amplifier and communication device (e.g. personal computer).

1. Communication cable fault

(Open cable or short circuit)

2. Communication device (e.g.

personal computer) faulty

CPU, parts faulty Fault of parts in servo amplifier


Change the communication device (e.g.

personal computer).


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

AL.96 Home position setting warning

Absolute position detection system battery voltage is low.

Home position setting could not be made.

AL.9F Battery warning Voltage of battery for absolute position detection system reduced.

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.

1. Battery cable is open.

Repair cable or changed.

2. Battery voltage supplied from the servo amplifier to the encoder fell to about 3.2V

or less. (Detected with the encoder)

Change the battery.

1. Droop pulses remaining are greater than the in-position range setting.

2. Command pulse entered after clearing of droop pulses.

3. Creep speed high.

Battery voltage fell to 3.2V or less.

(Detected with the servo amplifier)

Remove the cause of droop pulse occurrence

Do not enter command pulse after clearing of droop pulses.

Reduce creep speed.

Change the battery.

Regenerative power increased to 85% or more of permissible regenerative power of built-in regenerative resistor or regenerative option.

Checking method

Call the status display and check regenerative load ratio.

1. Reduce frequency of positioning.

2. Change regenerative option for the one with larger capacity.

3. Reduce load.

AL.E1 Overload warning

There is a possibility that overload alarm 1 or 2 may occur.

Load increased to 85% or more of overload alarm 1 or 2 occurrence level.

Refer to AL.50, AL.51.

Cause, checking method

Refer to AL.50,51.

AL.E3 Absolute position counter warning

Absolute position encoder 1. Noise entered the encoder.

pulses faulty.

2. Encoder faulty.

The multi-revolution counter value of the absolute position encoder exceeded the maximum revolution range.

3. The movement amount from the home position exceeded a 32767 rotation or

37268 rotation in succession.

Take noise suppression measures.


Make home position setting again.

10 - 13

10. TROUBLESHOOTING

Display Name

AL.E5 ABS time-out warning

AL.E6 Servo emergency stop warning

AL.E9 Main circuit off warning

AL.EA ABS servo-on warning

Definition

EMG is off.

Cause

1. PLC ladder program wrong.

2. Reverse rotation start (ST2) Limiting torque (TLC) improper wiring

External emergency stop was made valid.

(EMG was turned off.)

Servo-on (SON) was switched on with main circuit power off.

Servo-on (SON) turned on more than 1s after servo amplifier had entered absolute position data transfer mode.


2. Servo-on (SON) improper wiring.

Action

Contact the program.

Connect properly.

Ensure safety and deactivate emergency stop.

Switch on main circuit power.

1. Correct the program.

2. Connect properly.

10 - 14



11.1 Servo amplifiers

(1) MR-J2S-10A to MR-J2S-60A


Approx.70 (2.76)

6 ( 0.24) mounting hole B

A

MITSUBISHI

OPEN

C

N

1

A

C

N

2

E

N

C

L1 L2 L3

(Note)

C

N

3

U V W

C

N

1

B

6

(0.24)

PE terminal

135 (5.32)

Rating plate

TE1

[Unit: mm]

([Unit: in])

Terminal layout

(Terminal cover open)

MITSUBISHI

OPEN

C

N

2

E

N

C

C

N

1

A

C

N

3

C

N

1

B

TE2

4(0.16)

Servo amplifier

Variable dimensions

A B

Mass

[kg]([lb])

MR-J2S-10A(1)

MR-J2S-20A(1)

MR-J2S-40A(1)

MR-J2S-60A

50 (1.97)

70 (2.76)

6 (0.24)

22 (0.87)

0.7 (1.54)

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

L

1

U

L

2

L

3

V W

L

1

U

L

2

V W

Terminal screw: M4

Tightening torque: 1.2 [N m] (10.6 [lb in])

Terminal screw: M4


Mounting Screw

Screw Size:M5

Tightening torque:

3.24[N m]

(28.676 [lb in])

TE2

Front

D C P L

21

L

11

PE terminals

Terminal screw: M4


11 - 1


(2) MR-J2S-70A MR-J2S-100A

6 ( 0.24) mounting hole

70(2.76)

22

(0.87)

MITSUBISHI

OPEN

C

N

1

A

C

N

2

E

N

C

L1 L2 L3

C

N

3

C

N

1

B

Approx.70(2.76)

U V W

22

(0.87)

6(0.24)

42

(1.65)

PE terminal

6(0.24)

190(7.48)

Rating plate

Servo amplifier

MR-J2S-70A

MR-J2S-100A

Mass

[kg]([lb])

1.7

(3.75)


TE1

L

1

U

L

V

2

L

3

W

Terminal screw: M4


TE2

Front

D C P L

21

L

11

N

PE terminals

Mounting Screw

Screw Size:M5

Tightening torque:3.24[N m](28.676 [lb in])

6(0.24)

[Unit: mm]

([Unit: in])

Terminal layout

(Terminal cover open)

MITSUBISHI

OPEN

C

N

2

E

N

C

C

N

1

A

C

N

3

C

N

1

B

TE2 TE1

Terminal screw: M4


11 - 2


(3) MR-J2S-200A MR-J2S-350A

6 ( 0.24) mounting hole

6

(0.24)

90(3.54)

78(3.07)

MITSUBISHI

Approx.70

(2.76) 195(7.68)

[Unit: mm]

([Unit: in])

Terminal layout

MITSUBISHI

TE2

TE1

PE terminal

Cooling fan wind direction

Servo amplifier

MR-J2S-200A

MR-J2S-350A

Mass

[kg]([lb])

2.0

(4.41)


TE1

L

1

L

2

L

3

U V W

Terminal screw: M4


PE terminals

Terminal screw: M4


Mounting Screw

Screw Size:M5

Tightening torque:

3.24[N m]

(28.676 [lb in])

TE2

L

11

L

21

D P C N

Terminal screw: M4


11 - 3


(4) MR-J2S-500A

2- 6 ( 0.24) mounting hole

(0.24)

6

130(5.12)

118(4.65)

(0.24)

6

Approx.

70

(2.76)

OPEN

MITSUBISHI

OPEN

C

N

C

N

N

2

N

3

[Unit: mm]

([Unit: in])

200(7.87)

(0.19) 5

TE1

Terminal layout

MITSUBISHI

OPEN

C

N

C

N

1

N

2

N

3

TE2

N.P. N.P.

6(0.24)

Cooling fan


Cooling fan

C

P

N

U

L

1

L

2

L

3

V

W

Servo amplifier

MR-J2S-500A

TE1

Mass

[kg]([lb])

4.9(10.8)


PE terminals

Terminal screw : M4

Tightening torque : 1.2 [N m](10.6[lb in])

Built-in regenerative resistor lead terminal fixing screw

Terminal screw : M4


TE2

L

11

L

21

Terminal screw : M3.5

Tightening torque : 0.8 [N m](7[lb in])

Mounting Screw

Screw Size:M5

Tightening torque:

3.24[N m]

(28.676 [lb in])

11 - 4


(5) MR-J2S-700A


(0.39)

10

180(7.09)

160(6.23)

Approx.70

10

(0.39)

(2.76)

200(7.87)

138(5.43) 62

(2.44)

MITSUBISHI

OPEN

C

N

1

A

C

2

C

N

3

C

N

1

B

6(0.24)

OPEN

[Unit: mm]

([Unit: in])

Terminal layout

MITSUBISHI

OPEN

C

N

1

A

C

2

C

N

1

B

C

N

3

TE2

Cooling fan

TE1

6 (0.24)

Cooling fan


Servo amplifier

MR-J2S-700A

Mass

[kg]([lb])

7.2(15.9)

TE1


PE terminals

L

1

L

2

L

3

C P N U V W

Terminal screw : M4


Built-in regenerative resistor lead terminal fixing screw

Terminal screw : M4

Tightening torque : 1.2 [N m](10.6[lb in]) TE2

L

11

L

21

Terminal screw : M3.5

Tightening torque : 0.8 [N m](7[lb in])

Mounting Screw

Screw Size:M5

Tightening torque:

3.24[N m]

(28.676 [lb in])

11 - 5


(6) MR-J2S-11KA 15KA


(0.47)12

MITSUBISHI

Cooling fan

CN2

TE2

CHARGE

CN4

C

N

1

B

C

N

1

A

C

N

3

CON2

TE1

12(0.47)

236(9.29)

260(10.24) 12(0.47)

Approx.

75

(2.95)

[Unit: mm]

([Unit: in])


Cooling fan

Servo amplifier

MR-J2S-11KA

MR-J2S-15KA

Mass

[kg]([lb])

15(33.1)

16(35.3)


TE1

L

1

L

2

L

3

U V W P

1

Terminal screw : M6

Tightening torque : 3.0[N m] (26.6[lb in])

P C N

PE terminal

Terminal screw : M6


TE2

L

11

L

21

Terminal screw : M4


Mounting Screw

Screw Size:M10

Tightening torque:

26.5[N m]

(234.545[lb in])

11 - 6


(7) MR-J2S-22KA

(0.47)12


MITSUBISHI

Cooling fan

CN2 CHARGE

TE2

CN4

C

N

1

B

C

N

1

A

C

N

3

CON2

TE1

12(0.47)

326(12.84)

350(13.78) 12(0.47)

Approx.

75

(2.95)

[Unit: mm]

([Unit: in])


Cooling fan

Servo amplifier

MR-J2S-22KA

Mass

[kg]([lb])

20(44.1)


TE1

L

1

L

2

L

3

U V W P

1

Terminal screw : M8


P C N

PE terminal

Terminal screw : M8


Mounting Screw

Screw Size:M10

Tighting torque:

26.5[N m]

(234.545[lb in])

TE2

L

11

L

21

Terminal screw : M4


11 - 7


11.2 Connectors

(1) Servo amplifier side

<3M>

(a) Soldered type

Model

Connector : 10120-3000PE

Shell kit : 10320-52F0-008

22.0 (0.87)

14.0

(0.55)

[Unit: mm]

([Unit: in])

12.0(0.47)

Logo, etc. are indicated here.

33.3 (1.31)

12.7(0.50)

(b) Threaded type

Model

Connector : 10120-3000PE

Shell kit : 10320-52A0-008

Note. This is not available as option and should be user-prepared.

22.0(0.87) 14.0

(0.55)

12.0(0.47)

[Unit: mm]

([Unit: in])

27.4

(1.08)

Logo, etc. are indicated here.

33.3

(1.31)

12.7

(0.50)

11 - 8


(c) Insulation displacement type

Model

Connector : 10120-6000EL

Shell kit : 10320-3210-000

6.7

( 0.26)

[Unit: mm]

([Unit: in])

2- 0.5

(0.02)

20.9(0.82) Logo, etc. are indicated here.

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)

Type

DE-C1-J6-S6

C

D

A

1

34.5(1.36)

B

1

19(0.75)

C

0.25

24.99(0.98)

D

1

33(1.30)

E

6(0.24)

F

Reference

18(0.71)

G

#4-40

11 - 9


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

100 100

During stop

10 10

During stop

1

1

0.1

0 50 100 150 200 250

(Note) Load ratio [%] a. MR-J2S-10A to MR-J2S-100A

300

10000

0.1

0 50 100 150 200 250

(Note) Load ratio [%] b. MR-J2S-200A to MR-J2S-350A

300

10000

1000

100

During servo lock

During rotation

1000

During rotation

10

100

10

During servo lock

1

0 50 100 150 200 250 300

1

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

MR-J2S-200A

MR-J2S-350A

Servo motor

HC-KFS053 13

HC-MFS053 13

HC-UFS13

HC-KFS23

HC-MFS23

HC-UFS23

HC-KFS43

HC-MFS43

HC-UFS43

HC-SFS52

HC-SFS53

HC-LFS52

HC-KFS73

HC-MFS73

HC-UFS72 73

HC-SFS81

HC-SFS102 103

HC-LFS102

HC-SFS121

HC-SFS201

HC-SFS152 153

HC-SFS202 203

HC-RFS103

HC-RFS153

HC-UFS152

HC-LFS152

HC-SFS301

HC-SFS352 353

HC-RFS203

HC-UFS202

HC-LFS202

(Note 1)

Power supply capacity[kVA]

2.5

4.8

5.5

3.5

3.5

3.5

3.5

1.8

2.5

2.5

1.7

2.1

3.5

2.5

1.3

1.3

1.5

1.7

1.0

1.0

1.0

1.3

0.5

0.5

0.9

0.9

0.9

0.3

0.3

0.3

0.5

(Note 2)

Servo amplifier-generated heat[W]

At rated torque With servo off

90

120

130

90

90

90

90

50

90

90

50

90

90

90

50

50

50

50

40

40

40

50

25

25

35

35

35

25

25

25

25

20

20

20

20

20

20

20

15

20

20

15

20

20

20

15

15

15

15

15

15

15

15

15

15

15

15

15

15

15

15

15

Area required for heat dissipation

[m 2 ]

1.8

2.7

2.7

1.8

1.8

1.8

1.8

1.0

1.8

1.8

1.0

1.8

1.8

1.8

1.0

1.0

1.0

1.0

0.8

0.8

0.8

1.0

0.5

0.5

0.7

0.7

0.7

0.5

0.5

0.5

0.5

[ft 2 ]

19.4

29.1

29.1

19.4

19.4

19.4

10.8

19.4

19.4

19.4

19.4

10.8

19.4

19.4

8.6

8.6

8.6

10.8

10.8

10.8

10.8

10.8

5.4

5.4

7.5

7.5

7.5

5.4

5.4

5.4

5.4

12 - 2

12. CHARACTERISTICS

Servo amplifier

MR-J2S-500A

MR-J2S-700A

Servo motor

HC-SFS502

HC-RFS353

HC-RFS503

HC-UFS352

HC-UFS502

HC-LFS302

HA-LFS502

HC-SFS702

HA-LFS702

HA-LFS11K2

(Note 1)

Power supply capacity[kVA]

7.5

5.5

7.5

5.5

7.5

4.5

7.5

10.0

10.6

16.0

(Note 2)

Servo amplifier-generated heat[W]

At rated torque With servo off

195

135

195

195

195

120

195

300

300

530

25

25

25

25

25

25

25

25

25

45

Area required for heat dissipation

[m 2 ]

3.9

2.7

3.9

6.0

6.0

11

3.9

3.9

3.9

2.4

[ft 2 ]

42.0

29.1

42.0

42.0

42.0

25.8

42.0

64.6

64.6

118.4

MR-J2S-11KA

HA-LFS801

HA-LFS12K1

HA-LFS11K1M

HA-LFS15K2

12.0

18.0

16.0

22.0

390

580

530

640

45

45

45

45

7.8

11.6

11.0

13

83.9

124.8

118.4

139.0

MR-J2S-15KA HA-LFS15K1

HA-LFS15K1M

HA-LFS22K2

HA-LFS20K1

22.0

22.0

33.0

30.1

640

640

850

775

45

45

55

55

13

13

17

15.5

139.0

139.0

183.0

166.8

MR-J2S-22KA

HA-LFS25K1

HA-LFS22K1M

37.6

33.0

970

850

55

55

19.4

17.0

208.8

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

A K T ............................................................................................................................................. (12.1) where, A : Heat dissipation area [m 2 ]

P : Loss generated in the control box [W]

T : Difference between internal and ambient temperatures [ ]

K : Heat dissipation coefficient [5 to 6]

When calculating the heat dissipation area with Equation 12.1, assume that P is the sum of all losses generated in the enclosure. Refer to Table 12.1 for heat generated by the servo amplifier. "A" indicates the effective area 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

Machine speed

V

0 t e

Time

Fig. 12.3 Dynamic brake operation diagram

L max

V

0

60 t e 1

J

L

J

M

....................................................................................................................... (12.2)

L max

: Maximum coasting distance .................................................................................................[mm][in]

Vo : Machine rapid feed rate ........................................................................................ [mm/min][in/min]

J

M

: Servo motor inertial moment................................................................................. [kg cm 2 ][oz in 2 ]

J

L

: Load inertia moment converted into equivalent value on servo motor shaft..... [kg cm 2 ][oz in 2 ]

: Brake time constant ........................................................................................................................ [s] t e : 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.

(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant for the equations (12.2).

16

14

12

10

8

6

4

2

0

0

053

73

43 13

500 1000 1500 2000 2500 3000

Speed[r/min]

HC-KFS series

23

20

18

16

14

12

10

8

6

4

2

0

0

23

053

73

43

13

500 1000 1500 2000 2500 3000

Speed [r/min]

HC-MFS series

12 - 5

12. CHARACTERISTICS

40

35

30

25

20

15

121

201

301

10

5

0

0 50 500

Speed [r/min]

HC-SFS1000r/min series

81

1000

120

100

80

203

53

60

40 353

20

103

0

0

153

50 500 1000 1500 2000 2500 3000

Speed [r/min]


20

15

10

40

35

30

25

5

0

0

100

90

80

70

60

50

40

30

20

10

0

0

72

152

352

502

202

500 1000 1500 2000

Speed [r/min]

HC-UFS 2000r/min series

15K2

22K2

11K2

500 1000 1500 2000

Speed [r/min]

HA-LFS series

12 - 6

45

40

35

30

702

25

20

15

10

5

0

0

352 202

502

52

102

152

500 1000 1500 2000

Speed [r/min]


18

16

14

12

10

8

6

4

2

0

0

103

153

503

353

203

500 1000 1500 2000 2500 3000

Speed [r/min]

HC-RFS series

70

73

60

50

40

30

20

13

23

43

10

0

0 50 500 10001500200025003000

Speed [r/min]

HC-UFS3000r/min series

40

35

30

25

20

15

10

5

0

0

302

500 1000 1500 2000

Speed [r/min]

HC-LFS series

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

MR-J2S-10A to MR-J2S-200A


MR-J2S-350A

MR-J2S-500A MR-J2S-700A

MR-J2S-11KA to MR-J2S-22KA

Load inertia moment ratio [times]

30

16

15

(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 10 8

5 10 7 a

1 10 7

5 10 6

1 10 6

5 10 5

1 10 5

5 10 4

1 10 4

5 10 3 b

1 10 3

4 7 10 20 40 70 100

Flexing radius [mm]

200 a : Long flexing-life encoder cable

MR-JCCBL M-H

MR-JHSCBL M-H

MR-ENCBL M-H b : Standard encoder cable

MR-JCCBL M-L

MR-JHSCBL M-L

12 - 7

12. CHARACTERISTICS

12.5 Inrush currents at power-on of main circuit and control circuit

The following table indicates the inrush currents (reference value) that will flow when the maximum permissible voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of

1m.

Servo Amplifier

MR-J2S-10A 20A

MR-J2S-40A 60A

MR-J2S-70A 100A

MR-J2S-200A 350A

MR-J2S-500A

MR-J2S-700A

MR-J2S-11KA

MR-J2S-15KA

MR-J2S-22KA

MR-J2S-10A1 20A1

MR-J2S-40A1

Inrush Currents (A

0-p

)

Main circuit power supply (L

1

, L

2

, L

3

) Control circuit power supply (L

11

, L

21

)

30A (Attenuated to approx. 5A in 10ms)



70 to 100A

(Attenuated to approx. 0A in 0.5 to 1ms)


100 to 130A




30A

(Attenuated to approx. 0A in several ms)




100 to 130A


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


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 Built-in regenerative resistor

MR-RB032

[40 ]

MR-RB12

[40 ]

MR-RB32

[40 ]

MR-RB30

[13 ]

(Note)

MR-RB50

[13 ]

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

20

100

100

130

170

10

10

10

20

Note. Always install a cooling fan.

30

30

30

30

30

30

100

100

100

100

100

300

300

300

300

300

500

500

500

MR-RB31

[6.7 ]

300

(Note)

MR-RB51

[6.7 ]

500

Servo amplifier External regenerative resistor (Accessory)

500 (800)

850 (1300)

850 (1300)

(Note) Regenerative power[W]

MR-RB65

[8 ]

MR-RB66

[5 ]

500 (800) MR-J2S-11KA

MR-J2S-15KA

MR-J2S-22KA

Note. Values in parentheses assume the installation of a cooling fan.

850 (1300)

MR-RB67

[4 ]

850 (1300)

13 - 1


(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

2

[times/min] where m 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.

(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.

tf(1 cycle)

No

Up

M

Friction torque

T

F

( )

1)

T psa1 t1

(Driving)

2)

T psd1 t2

4)

Down

T psa2 t3

Time t4

T psd2

8)

5)

T

U

6)

3)

(Regenerative) 7)

( )

Regenerative power

Formulas for calculating torque and energy in operation

Torque applied to servo motor [N m] Energy [J]

1)

2)

3)

4), 8)

5)

T

1

T

2

T

3

T

4

T

5

(J

L

J

M

) N

0

9.55 10

4

T

U

T

F

(J

L

J

M

)

9.55 10 4

N

0

T

U

(J

L

J

M

) N

0

9.55 10

4

T

U

T

F

1

T psa1

1

T psd1

1

T psa2

T

U

T

F

T

U

T

F

T

U

T

F

E

1

E

2

E

3

E

4

E

5

0.1047

2

N 0 T

1

T psa1

0.1047 N

0

0.1047

2

T

2 t

1

N

0

T

3

T psd1

0 (No regeneration)

0.1047

2

N 0 T

5

T psa2

6) T

6

E

6

0.1047 N

0

T

6 t

3

7) T

7

(J

L

J

M

)

9.55 10 4

N

0

1

T psd2

T

U

T

F

E

7

0.1047

2

N

0 T

7

T psd2

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

80

85

85

90

85

85

85

80

90

90

90

90

Capacitor charging[J]

9

4

9

4

18

40

40

45

11

12

11

18

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


08: MR-RB31


0E: When regenerative resistors supplied to 11kW or more are cooled by

cooling fans to increase capability

13 - 3


(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.

D

Regenerative option

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: 1.0m

3 ).

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.

Top

Cooling fan Terminal block

[Unit : mm(in)]

Cooling fan installation screw hole dimensions

2-M3 screw hole

(for cooling fan installation)

Depth 10 or less

(Screw hole already machined)

Thermal relay

Bottom

82.5

(3.25)

40 (1.58)

Vertical installation

Horizontal installation Installation surface

13 - 4


(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.

Always remove wiring (across P-C) of servo amplifier built-in regenerative resistor.

Servo amplifier

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: 1.0m

3 ).

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

13 - 5

Accessory screw


For the MR-RB50 MR-RB51 install the cooling fan as shown.

Top

Cooling fan Terminal block

[Unit : mm(in)]

Cooling fan installation screw hole dimensions

2-M3 screw hole

(for cooling fan installation)

Depth 10 or less

(Screw hole already machined)

Thermal relay

Bottom

82.5

(3.25)

40 (1.58)

Vertical installation

Horizontal 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 : 1.0m

3 ) improves the regeneration capability. In this case, set "0E " in parameter No. 0.

5m or less

Do not remove the short bar.

Servo amplifier

P

1

P

C

(Note) Series connection

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).

Servo Amplifier

Regenerative

Resistor

MR-J2S-11KA GRZG400-2

MR-J2S-15KA GRZG400-1

MR-J2S-22KA GRZG400-0.8

Regenerative Power [W]

Normal Cooling

500

850

850

800

1300

1300

Resistance

[ ]

8

5

4

Number of

Resistors

4

5

5

13 - 6


(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 , 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).

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

P

1

Do not remove the short bar.

Regenerative option

P

C

COM

ALM

RA

(Note)

P

C

G3

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

MR-J2S-11KA-PX

MR-J2S-15KA-PX

MR-J2S-22KA-PX

Regenerative

Option Model

MR-RB65

MR-RB66

MR-RB67

Resistance

[ ]

8

5

4

Regenerative Power [W]

Without cooling fans

With cooling fans

500

850

850

800

1300

1300

When using cooling fans, install them using the mounting holes provided in the bottom of the regenerative option. In this case, set "0E " in parameter No. 0.

Top

MR-RB65 66 67

Bottom

TE1

2 cooling fans

(92 92, minimum air flow: 1.0m

3 )

Mounting screw

4-M3(0.118)

TE

G4 G3 C P

13 - 7


(5) Outline drawing

(a) MR-RB032 MR-RB12

LB

LA

6 (0.24) mounting hole

MR-RB

[Unit: mm (in)]

TE1

G3

G4

P

C

6 (0.24)

7 (0.28)

10

(0.39)

90 (3.54)

100 (3.94)

17

(0.67)

5 (0.20)

20

(0.79)

(b) MR-RB30 MR-RB31 MR-RB32

318 (12.5)

335 (13.2)

LC

LD

1.6 (0.06)

TE1

Terminal block

G3

G4

P

C

Terminal screw: M3

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])

Regenerative option

MR-RB032

MR-RB12

Variable dimensions Mass

LA LB LC LD [kg] [lb]

30

(1.18)

40

(1.58)

15

(0.59)

15

(0.59)

119

(4.69)

169

(6.65)

99

(3.9)

149

(5.87)

0.5 1.1

1.1 2.4

[Unit: mm (in)]

Terminal block

P

C

G3

G4

Terminal screw: M4

Tightening torque: 1.2 [N m] (10.6 [Ib in])

Mounting screw

Screw: M6


Regenerative option

MR-RB30

MR-RB31

MR-RB32

Mass [kg] (Ib)

2.9 (6.4)

13 - 8


(c) MR-RB50 MR-RB51

49

(1.93)

82.5

(3.25)

Cooling fan mounting screw (2-M3 screw)

On opposite side

7 14 slot

Wind blows in the arrow direction

[Unit: mm (in)]

Terminal block

P

C

G3

G4

Terminal screw: M4

Tightening torque: 1.2 [N m]

(10.6 [Ib in])

Mounting screw

Screw: M6

Tightening torque: 5.4 [N m]

(47.79 [Ib in])

Regenerative option

MR-RB50

MR-RB51

Mass [kg] (Ib)

5.6 (12.3)

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)

(d) MR-RB65 MR-RB66 MR-RB67

2- 10 ( 0.39) monuting hole

15 (0.59)

TE1

G4G3 CP

10 (0.39)

230 (9.06)

260 (10.2)

230 (9.06)

2.3 (0.09)

215 (8.47)

4-M3 screw

Cooling fan mounting

[Unit: mm (in)]

Terminal block

G4 G3 C P

Terminal screw: M5

Tightening torque: 2.0 [N m] (17 [Ib in])

Mounting screw

Screw: M8


Regenerative option

MR-RB65

MR-RB66

MR-RB67

[kg]

Mass

(Ib)

10

11

11

22.0

24.3

24.3

82.5 82.5

(3.25) (3.25)

(e) GRZG400-2 GRZG400-1 GRZG400-0.8 (standard accessories)

10

(0.39)

5.5(0.22)

Approx.

Approx.

24(0.95)

[Unit: mm (in)]

Approx.330(13.0)

385(15.2)

411(16.2)

9.5

(0.37)

40(1.58)

Approx. 47(1.85)

Mounting screw

Screw size: M8

Tightening torque: 13.2 [N m](116.83 [lb in])

13 - 9


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

FR-BU2-15K

Resistor unit

FR-BR-15K

Number of connected units

1

Permissible continuous power [kW]

0.99

Total resistance

[ ]

8

FR-BU2-30K

FR-BU2-55K

FR-BR-30K

FR-BR-55K

MT-BR5-55K

1

1

1

1.99

3.91

5.5

4

2

2

Applicable servo amplifier

MR-J2S-350A

MR-J2S-500A

MR-J2S-500A

MR-J2S-700A

MR-J2S-11KA

MR-J2S-15KA

MR-J2S-11KA

MR-J2S-15KA

MR-J2S-22KA

MR-J2S-22KA

13 - 10


(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.

No.

Parameter

Name

0 Brake mode switchover

1 Monitor display data selection

2 Input terminal function selection 1

3 Input terminal function selection 2

77 Parameter write selection

78 Cumulative energization time carrying-over times

CLr Parameter clear

ECL Alarm history clear

C1 For manufacturer setting

Change possible/ impossible

Remarks

Impossible Do not change the parameter.

Possible Refer to the FR-BU2-(H) Brake Unit

Instruction Manual.

Impossible Do not change the parameter.

(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

(Note 1)

Power supply

NFB MC

OFF

ON

MC

MC

SK

L

1

L

2

L

3

L

11

L

21

Servo amplifier

CN1B

15

10

3

13

18

EMG

SG

VDD

COM

ALM

(Note 3)

P

1

P

D

P

(Note 9)

N

C

(Note 8)

(Note 10)

(Note 2)

P

PR

FR-BR

(Note 5) TH1

TH2

FR-BU2

PR

P/

N/

(Note 4)

BUE

SD

MSG

SD

A

B

C

(Note 6)

13 - 11


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 P

1

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

OFF

ON

RA3

MC

MC

SK

(Note 1)

Power supply

NFB MC

L

1

L

2

L

3

L

11

L

21

Servo amplifier

CN1B

15

10

3

13

18

EMG

SG

VDD

COM

ALM

(Note 6)

N

C (Note 8)

P

1

P

(Note 2)

(Note 7)

P

PR

MT-BR5

(Note 4) TH1

TH2

FR-BU2

PR

P/

N/

(Note 3)

BUE

SD

MSG

SD

A

B

(Note 5)

C

SK

RA3

Note 1. For power supply specifications, refer to section 1.3.

2. Make sure to connect P

1

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


(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 Resistor unit Brake unit Resistor unit

P

N

P

N

P

PR

P

PR

P

N

Twist P

N

P

PR

Twist P

PR

5m or less 5m or less 10m or less 10m or less

(d) Cables

For the brake unit, HIV cable (600V grade heat-resistant PVC insulated wire) is recommended.

a) Main circuit terminal

N/ P/ PR

Terminal block

Brake unit

FR-BU2-15K

FR-BU2-30K

FR-BU2-55K

Main circuit terminal screw size

M4

M5

M6

Crimping terminal

N/ , P/ ,

PR,

5.5-4

5.5-5

14-6

Tightening torque

[N m]

([lb in])

1.5 (13.3)

2.5 (22.1)

4.4 (38.9)

Cable size

N/ , P/ , PR,

HIV cables, etc. [mm 2 ]

3.5

5.5

14

AWG

12

10

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

PC BUE SD

RES

Jumper

SD MSG MSG SD SD

Sheath

Core

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

Cable size: 0.3mm

2

to 0.75 mm

2

Screw driver: Small flat-blade screwdriver

(Tip thickness: 0.4mm/Tip width 2.5mm)

13 - 13


(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

MR-J2S-350A

MR-J2S-500A

MR-J2S-700A

MR-J2S-11KA

MR-J2S-15KA

MR-J2S-22KA

Brake unit

FR-BU2-15K

FR-BU2-15K

FR-BU2-30K

FR-BU2-30K

FR-BU2-30K

FR-BU2-55K

FR-BU2-30K

FR-BU2-55K

FR-BU2-55K

Number of connected units

1

1

1

1

1

1

1

1

1

Crimping terminal (Manufacturer)

FVD5.5-S4

(Japan Solderless Terminal)

FVD5.5-6(Japan Solderless Terminal)

FVD14-6(Japan Solderless Terminal)

FVD5.5-6(Japan Solderless Terminal)



Note. Symbols in the applicable tool field indicate the following applicable tools.

(Note)

Applicable tool b b a b a a

(4) Outline dimension drawings

(a) FR-BU2 brake unit

Symbol a b

Applicable tool

Body

Head

Dice

YNT-1210S

YF-1 E-4

YNE-38

DH-112 DH-122

Manufacturer

Japan Solderless

Terminal

[Unit: mm]

FR-BU2-15K

5 hole

(Screw size: M4)

6 56

68

5

6

Rating plate

18.5

52

132.5

62

4

13 - 14


FR-BU2-30K

2- 5 hole

(Screw size: M4)

[Unit: mm]

6 96

108

FR-BU2-55K

2- 5 hole

(Screw size: M4)

5

6

Rating plate

18.5

52

129.5

59

5

6 158

170

Rating plate

5

6 18.5

52

142.5

72

5

13 - 15


(b) FR-BR resistor unit

2 C

[Unit: mm]

(Note)

Control circuit terminal

Main circuit terminal

(Note)

Approx. 35

C

W1 1

C

Approx. 35

For FR-BR-55K, a hanging bolt is placed on two locations (Indicated below).

Hanging bolt

204

W 5

(c) MT-BR5- (H) resistor unit

Note. Ventilation ports are provided on both sides and the top. The bottom is open.

Resistor unit

FR-BR-15K

FR-BR-30K

FR-BR-55K

W W1 H H1 H2 H3 D D1 C

170 100 450 410 20 432 220 3.2

6

340 270 600 560 20 582 220 4 10

480 410 700 620 40 670 450 3.2

12

Approximate mass

[kg] ([lb])

15 (33.1)

30 (66.1)

70 (154)

NP

Resistor unit

MT-BR5-55K

[Unit: mm]

Resistance value

2.0

Approximate mass

[kg] ([lb])

50 (110)

M6

M4

193

37 60

480

510

10 21

189

4 15 mounting hole 7.5

75 300

450

75

7.5

13 - 16


13.1.3 Power regeneration converter

When using the power regeneration converter, set "01 " in parameter No.0.

(1) Selection

The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of the MR-J2S-500A to MR-J2S-22KA.

Power regeneration converter

FR-RC-15

FR-RC-30

FR-RC-55K

Nominal

Regenerative

Power (kW)

15

30

55

Servo Amplifier

MR-J2S-500A

MR-J2S-700A

MR-J2S-11KA

MR-J2S-15KA

MR-J2S-22KA

500

300

200

100

50

30

20

0 50 75 100

Nominal regenerative power (%)

150

13 - 17



(Note 5)

Power supply

NFB

Servo amplifier

L

11

L

21

(Note 3) Power factor improving reactor

MC FR-BAL

L

1

L

2

L

3

SG

EMG

SON

VDD

COM

ALM RA2

Ready

RDY

N/

SE

N

R/L

1

S/L

2

T/L

3

C

P/

P

(Note 2)

P

1

(Note 4)

5m(16.4ft) or less

RDY output

A

B

C

B

C

Alarm output

FR-RC

B C

RA2 EMG

R

SX

S

(Note 1)

Phase detection terminals

TX

T

Power regeneration converter FR-RC

Operation ready

OFF

ON

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 P

1


and P. (Factory-wired.)

13 - 18


(3) Outside dimensions of the power regeneration converters

2- D hole

Mounting foot (removable)

Mounting foot movable

Rating plate

Front cover

Display panel window

Cooling fan

[Unit : mm(in)]

AA

A

D F

K

C

Heat generation area outside mounting dimension


FR-RC-15K

FR-RC-30K

FR-RC-55K

A AA B BA C D E EE K F

270

(10.6)

340

(13.4)

480

(18.9)

200

(7.87)

270

(10.6)

410

(16.1)

450

(17.7)

600

(23.6)

700

(27.6)

432

(17.0)

582

(22.9)

670

(26.4)

195

(7.68)

195

(7.68)

250

(9.84)

10

(0.39)

10

(0.39)

12

(0.47)

10

(0.39)

10

(0.39)

15

(0.59)

8

(0.32)

8

(0.32)

15

(0.59)

3.2

(0.13)

3.2

(0.13)

3.2

(0.13)

87

(3.43)

90

(3.54)

135

(5.32)

Approx.

mass [kg(Ib)]

19

(41.9)

31

(68.3)

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.

[Unit : mm(in)]

(AA) (2- D hole)

(Mounting hole)

Model

FR-RC-15K

FR-RC-30K

FR-RC-55K a

260

(10.2)

330

(13.0)

470

(18.5) b

412

(16.2)

562

(22.1)

642

(25.3)

D

10

(0.39)

10

(0.39)

12

(0.47)

AA

200

(7.87)

270

(10.6)

410

(16.1)

BA

432

(17.0)

582

(22.9)

670

(26.4) a

13 - 19


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

MR-J2S-11KA

MR-J2S-15KA

MR-J2S-22KA

Dynamic brake

DBU-11K

DBU-15K

DBU-22K

13 - 20



(Note 3)

Power supply

NFB

Operation-ready

(Note 1) EMG

OFF

ON

MC

MC

SK

(Note 2)

MC

L

1

L

2

L

3

L

11

L

21

P

P

1

Servo amplifier

CN1B

3 VDD

13 COM

18 DB

U

V

W

CN1B

5 SON

15 EMG

10 SG

Plate SD

RA1

RA1

EMG

14 13 U V W

W

E

U

V

Servo motor

M

RA1 a b

Dynamic brake

Note 1. Configure up the circuit so that power is switched off in the external sequence at servo alarm occurrence.


1

and P. (Factory-wired.) When using the power factor improving DC reactor, refer to section 13.2.4.


Coasting

Servo motor rotation

Present

Alarm

Base

Absent

ON

OFF

RA1

ON

OFF

Dynamic brake

Invalid

Valid

Emergency stop

(EMG)

Short

Open

Dynamic brake a. Timing chart at alarm occurrence

Coasting

Dynamic brake b. Timing chart at emergency stop (EMG) validity

13 - 21


(3) Outline dimension drawing

5

(0.2)

[Unit: mm]

([Unit: in])

D

(0.2)5

100(3.94)

C

D G

F

2.3(0.09)

Terminal block

E

(GND) a b 13 14

Screw : M3.5

Tightening torque : 0.8 [N m](7 [lb in])]

Dynamic brake

DBU-11K

DBU -15K, 22K

U V W

Screw : M4

Tightening torque : 1.2 [N m](10.6 [lb in])]

A

200

(7.87)

250

(9.84)

B

190

(7.48)

238

(9.37)

C

140

(5.51)

150

(5.91)

D

20

(0.79)

25

(0.98)

E

5

(0.2)

6

(0.24)

F

170

(6.69)

235

(9.25)

G

163.5

(6.44)

228

(8.98)

Mass

[kg]([Ib])

2 (4.41)

6 (13.23)

Connection wire [mm 2 ]

5.5

5.5

13 - 22


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

10)

11) Personal computer

CN2 CN3

14)

10)

11)

CON2 CN4 (Note 1)

12)

13)

21) (Note 2)

3) 4) 5)

HA-LFS

To U, V, W,

19) 20)

1) 2)

HC-KFS

HC-MFS

HC-UFS 3000r/min

7) 8)

15) 16) 17) 18)

3) 4) 5)

6)

HC-SFS

HC-RFS

HC-UFS 2000r/min

7) 8)

Note 1. Use 12) and 13) with 7kW or less.

2. Use 21) with 11kW or more.

13 - 23


No.

Product

1) Standard encoder cable

Model

MR-JCCBL M-L

Refer to (2) in this section.

Connector: 10120-3000PE

Shell kit: 10320-52F0-008

(3M or equivalent)

2) Long flexing life encoder cable

3) Standard encoder cable

MR-JCCBL M-H


MR-JHSCBL M-L


4) Long flexing life encoder cable

5) IP65-compliant encoder cable

MR-JHSCBL M-H


MR-ENCBL M-H



Shell kit: 10320-52F0-008

(3M or equivalent)


Shell kit: 10320-52F0-008

(3M or equivalent)

Description

Housing : 1-172161-9

Connector pin : 170359-1

(Tyco Electronics or equivalent)

Cable clamp : MTI-0002

(Toa Electric Industry)

Application

Standard flexing life

IP20

Connector: D/MS3106B20-29S

Cable clamp: D/MS3057-12A

(DDK)

Long flexing life

IP20


IP20

Long flexing life

Connector

: D/MS3106A20-29S (D190)

Cable clamp: CE3057-12A-3-D

Back shell: CE02-20BS-S-D

(DDK)

Long flexing life

IP65

IP67

Not oilresistant.

6) Encoder connector set

MR-J2CNM Connector: 10120-3000PE

Shell kit: 10320-52F0-008

(3M or equivalent)

Housing : 1-172161-9

Connector pin: 170359-1

(Tyco Electronics or equivalent)

Cable clamp : MTI-0002

(Toa Electric Industry)

IP20


MR-J2CNS Connector: 10120-3000PE

Shell kit: 10320-52F0-008

(3M or equivalent)

Connector: D/MS3106B20-29S

Cable clamp: D/MS3057-12A

(DDK)

IP20


MR-ENCNS Connector: 10120-3000PE

Shell kit: 10320-52F0-008

(3M or equivalent)

Connector

: D/MS3106A20-29S (D190)


Back shell: CE02-20BS-S-D

(DDK)

IP65

IP67

13 - 24


No.

9)

Product

Control signal connector set

Model

MR-J2CN1

10)

Junction terminal block cable

MR-J2TBL M

Refer to section

13.1.6.

Description


Shell kit: 10320-52F0-008

(3M or equivalent)

Connector: HIF3BA-20D-2.54R

(Hirose Electric)

Application

Qty: 2 each

Connector: 10120-6000EL

Shell kit: 10320-3210-000

(3M or equivalent)

For junction terminal block connection

11)


Bus cable

12)

MR-TB20

MR-J2HBUS M

Refer to section

13.1.7.



Shell kit: 10320-3210-000

(3M or equivalent)


Shell kit: 10320-3210-000

(3M or equivalent)

For maintenance junction card connection

13)

Maintenance junction card

Communication cable

14)

15)

16)

17)

Power supply connector set



18)

Brake connector set

19)

20)

21)



Monitor cable

MR-J2CN3TM

MR-CPCATCBL3M


MR-PWCNS1

Refer to the Servo

Motor Instruction

Manual.

MR-PWCNS2

Refer to the Servo

Motor Instruction

Manual.

MR-PWCNS3

Refer to the Servo

Motor Instruction

Manual.

MR-BKCN

Refer to the Servo

Motor Instruction

Manual.

MR-PWCNK1

Refer to the Servo

Motor Instruction

Manual.

MR-PWCNK2

MR-H3CBL1M



Shell kit: 10320-3210-000

(3M or equivalent)

Connector: DE-9SF-N

Case: DE-C1-J6-S6

(Japan Aviation Electronics)

Plug: 5559-04P-210

Terminal: 5558PBT3L (For AWG16)(6 pcs.)

(Molex)

Plug: 5559-06P-210

Terminal: 5558PBT3L (For AWG16)(8 pcs.)

(Molex)

Servo amplifier side connector

(Tyco Electronics)

Housing: 171822-4

For connection with PC-ATcompatible personal computer

Connector: CE05-6A22-23SD-D-BSS

Cable clamp:CE3057-12A-2-D

(DDK)

Connector: CE05-6A24-10SD-D-BSS


(DDK)

Plug: CE05-6A32-17SD-D-BSS


(DDK)

Plug: D/MS3106A10SL-4S (D190) (DDK)

Cable connector: YS010-5-8 (Daiwa Dengyo)

EN

Standardcompliant

IP65 IP67

IP20

For motor with brake

IP20

13 - 25


(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 M-

Symbol

L

H

Specifications


Long flexing life

Symbol (Note) Cable length [m(ft)]

30

40

50

2

5

10

20

2 (6.56)

5 (16.4)

10 (32.8)

20 (65.6)

30 (98.4)

40 (131.2)

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.

Servo amplifier

Encoder cable supplied to servo motor

Encoder connector

Encoder cable

(option or fabricated)

Servo motor

Encoder connector

172161-9

(Tyco Electronics)

CN2

50m(164.0ft) max.

30cm

(0.98ft)

Encoder

1 2 3

MR MRR BAT

4 5 6

MD MDR

7

P5

8 9

LG SHD

13 - 26


P5

LG

P5

LG

P5

LG

MR-JCCBL2M-L

MR-JCCBL5M-L

MR-JCCBL2M-H

MR-JCCBL5M-H

Drive unit side Encoder side

19

11

20

12

18

2

7

MR-JCCBL10M-L to

MR-JCCBL30M-L

Drive unit side

P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

Encoder side

7

MR

MRR

7

17

MD 6

MDR 16

BAT

LG

9

1

8

1

2

4

5

3

MR

MRR

7

17

MD 6

MDR 16

BAT

LG

9

1

(Note) (Note)

SD Plate 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.

8

1

2

4

5

3

Drive unit side

P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

MR-JCCBL10M-H to

MR-JCCBL50M-H

Encoder side

7

MR

MRR

MD

MDR 16

BAT

LG

SD

7

17

6

9

1

Plate

(Note)

8

1

2

4

5

3

9

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.

P5

LG

P5

LG

P5

LG

For use of AWG22

Drive unit side

(3M)

Encoder side

19

11

20

12

18

2

7

MR

MRR

7

17

8

1

2

BAT

LG

9

1

3

(Note)

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.

13 - 27


(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 M-

Symbol

L

H

Specifications


Long flexing life

Symbol (Note) Cable length [m(ft)]

30

40

50

2

5

10

20

2 (6.56)

5 (16.4)

10 (32.8)

20 (65.6)

30 (98.4)

40 (131.2)

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 cable

Encoder connector

Servo motor

(Optional or fabricated)

Encoder connector

CN2 Encoder

L

K

J

H

M

T

S

N

A B

P

G

R

C

D

E

F

50m(164.0ft) max.

Pin Signal

A MD

B MDR

C MR

D MRR

E

F BAT

G LG

H

J

N

P

R

S

T

Pin Signal

K

L

M

SHD

LG

P5

13 - 28


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

17

18

2

9

1

19

11

20

12

7

S

F

G

(Note 1)

Plate N

(Note 2) Use of AWG24

(Less than 10m(32.8ft))

R

C

D

P5

LG

P5

LG

P5

LG

MR-JHSCBL10M-L

Servo amplifier side to

MR-JHSCBL30M-L

MR-JHSCBL10M-H to

MR-JHSCBL50M-H

MR-ENCBL10M-H to

MR-ENCBL50M-H

Encoder side Servo amplifier side Encoder side

S S

12

18

2

19

11

20

P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

MR

MRR

BAT

LG

SD

7

17

R

C

D

9

1

F

G

Plate

(Note 1)

N

Use of AWG22

(10m(32.8ft) to 50m(164.0ft))

MR

MRR

BAT

LG

SD

7

17

R

C

D

9

1

F

G

(Note 1)

Plate 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


(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

TXD

RXD

GND

RTS

CTS

DSR

DTR

7

8

6

4

3

2

5

D-SUB9 pins

Servo amplifier side

Plate

2

1

12

11

FG

RXD

LG

TXD

LG

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


13.1.6 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 (MR-

J2TBL M) as a set. A connection example is shown below.

Servo amplifier

Cable clamp

(AERSBAN- ESET)


MR-TB20

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-J2-

A). When changing the input signals in parameters No. 43 to 48, refer to (4) in this section and section

3.3 and apply the accessory signal seals to the labels.

1) For CN1A 2) For CN1B

LG PP LZ LB COM OPC PG LZR LBR RD LG VDD SON TL P15R COM EMG LSN ZSP

NP P15R LA CR SG NG OP LAR INP SD VC DO1 TLC PC SG TLA RES LSP ALM SD

(3) Outline drawing

126(4.96)

117(4.61)

[Unit: mm]

([Unit: in.])

B1 B10

10 11 12

A1

13 14

A10

MITSUBISHI

MR-TB20

15 16 17 18 19

Terminal block No.

0 1 2 3

4

5 6 7 8 9 2- 4.5(0.18)

Terminal screw: M3.5

Applicable cable: Max. 2mm 2

(Crimping terminal width: 7.2mm (0.283 in) max.)

13 - 31


(4) Junction terminal block cable (MR-J2TBL M)

Model: MR-J2TBL M

Symbol

05

1


0.5 (1.64)

1 (3.28)

Junction terminal block side connector (Hirose Electric)

HIF3BA-20D-2.54R (connector)

(Note) Symbol

Position control mode Speed control mode Torque control mode

For CN1A For CN1B For CN1A For CN1B

PG

OP

LZR

LAR

LBR

INP

RD

SD

LG

NP

PP

P15R

LZ

LA

LB

CR

COM

SG

OPC

NG

LG

VC

VDD

DO1

SON

TLC

PC

TLC

SG

P15R

TLA

COM

RES

EMG

LSP

LSN

ALM

ZSP

SD

LG

P15R

LZ

LA

LB

SP1

COM

SG

OP

LZR

LAR

LBR

SA

RD

SD

LG

VC

VDD

DO1

SON

TLC

SP2

ST1

ST2

SG

P15R

TLA

COM

RES

EMG

LSP

LSN

ALM

ZSP

SD

For CN1A For CN1B

LG

P15R

LZ

LA

LB

SP1

COM

SG

OP

LZR

LAR

LBR

RD

SD

LG

VLA

VDD

DO1

SON

VLC

SP2

RS2

RS1

SG

P15R

TC

COM

RES

EMG

ALM

ZSP

SD

Junction terminal block terminal No.

16

6

17

7

14

4

15

5

18

8

19

9

12

2

13

3

10

0

11

1

Servo amplifier side (CN1A CN1B) connector (3M)

10120-6000EL (connector)

10320-3210-000 (shell kit)

Pin

No.

B1

A1

B2

A2

B3

A3

B4

A4

B5

A5

B6

A6

B7

A7

B8

A8

B9

A9

B10

A10

Pin

No.

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


13.1.7 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

Bus cable

MR-J2HBUS M

Maintenance junction card (MR-J2CN3TM)

Communication cable

CN3B

CN3 CN3A

CN3C

A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6

VDD COM EM1 DI MBR EMGO SG PE LG LG MO1 MO2

Not used.

Analog monitor 2

Analog monitor 1


B5

TE1

B6

A5

A6

LG

LG

MO1

MO2

CN3A

14

15

16

17

9

10

11

12

13

18

19

20

LG

RXD

LG

MO1

3

4

1

2

5

6

MO3

8

SDP

TRE

LG

TXD

LG

MO2

Shell

CN3B

14

15

16

17

9

10

11

12

13

18

19

7

8

5

6

3

4

1

2

20

Shell

CN3C

14

15

16

17

9

10

11

12

13

18

19

7

8

5

6

3

4

1

2

20

1

10

13

14

15

19

20

3

4

5

Shell

A1

A2

A3

A4

B4

B3

B2

B1

VDD

COM

EM1

DI

MBR

EMGO

SG

PE

Not used.

(3) Outline drawing

[Unit: mm]

([Unit: in])

CN3A CN3B CN3C

2- 5.3(0.21)(mounting hole)

A1

B1

TE1

88(3.47)

100(3.94)

13 - 33

A6

B6

3(0.12)

41.5(1.63)

Mass: 110g(0.24Ib)


(4) Bus cable (MR-J2HBUS M)

Model: MR-J2HBUS M

Symbol

05

1

5


0.5 (1.64)

1 (3.28)

5 (16.4)

16

7

17

8

14

5

15

6

18

9

19

10

20

12

3

13

4

1

11

2

Plate

MR-J2HBUS05M

MR-J2HBUS1M

MR-J2HBUS5M


10320-3210-000 (shell kit)


10320-3210-000 (shell kit)

16

7

17

8

14

5

15

6

18

9

19

10

20

12

3

13

4

1

11

2

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


13.1.9 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 Conforms to RS-232C.

Baud rate [bps] 57600, 38400, 19200, 9600

Monitor

Display, high speed monitor, trend graph

Minimum resolution changes with the processing speed of the personal computer.

Alarm

Diagnostic

Parameters

Test operation

Advanced function

File operation

Others

Display, history, amplifier data

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.

Parameter list, turning, change list, detailed information

Jog operation, positioning operation, motor-less operation, Do forced output, program operation.

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

Connectable with the above personal computer. Note that a serial mouse is not used.

Connectable with the above personal computer.

MR-CPCATCBL3M

(Note 1) Description

IBM PC-AT compatible where the English version of Windows ®

Windows NT ® Workstation 4.0, Windows ®

95, Windows

2000 Professional, Windows ®

® 98, Windows ® Me,

XP Professional and Windows

XP Home Edition operates

Processor: Pentium ® 133MHz or more (Windows

Windows

Pentium

Pentium

®

®

®

2000 Professional)

150MHz or more (Windows

300MHz or more (Windows

Memory:16MB or more (Windows ® 95)

®

®

®

95, Windows

Me)

® 98, Windows NT

XP Professional, Windows ®

® Workstation 4.0,

XP Home Edition)

24MB or more (Windows

32MB or more (Windows

®

®

98)

Me, Windows NT ® Workstation 4.0, Windows

128MB or more (Windows ® XP Professional, Windows ®

® 2000 Professional)

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.



®

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


(b) Configuration diagram

1) When using RS-232C

Personal computer

Communication cable

Servo amplifier

CN3 CN2

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 converter (Note)

Communication cable

CN3 CN2

(Axis 1)

To RS-232C connector

Servo amplifier

Servo motor

Servo motor

Servo motor CN3 CN2

(Axis 2)

Servo amplifier

CN3 CN2

(Axis 32)

Servo motor

Note. For cable connection, refer to section 14.1.1.

13 - 36


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 (L

1

, L

2

, L

3

) of the servo amplifier. Doing so will fail the servo amplifier and FR-CV.

Connect the DC power supply between the FR-CV and servo amplifier with correct polarity. Connection with incorrect polarity will fail the FR-

CV and servo amplifier.

Two or more FR-CV's cannot be installed to improve regeneration capability. Two or more 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.

Item

Maximum number of connected servo amplifiers

Total of connectable servo amplifier capacities [kW]

Total of connectable servo motor rated currents [A]

Maximum servo amplifier capacity [kW]

7.5K

3.75

33

3.5

11K

5.5

46

5

15K

7.5

61

7

FR-CV-

22K

6

11

90

11

30K

15

115

15

37K

18.5

145

15

55K

27.5

215

22

When using the FR-CV, always install the dedicated stand-alone reactor (FR-CVL).

Power regeneration common converter

FR-CV-7.5K(-AT)

FR-CV-11 K(-AT)

FR-CV-15K(-AT)

FR-CV-22K(-AT)

FR-CV-30K(-AT)

FR-CV-37K

FR-CV-55K

Dedicated stand-alone reactor

FR-CVL-7.5K

FR-CVL-11K

FR-CVL-15K

FR-CVL-22K

FR-CVL-30K

FR-CVL-37K

FR-CVL-55K

13 - 37



(Note 6)

Power supply

NFB

MC

FR-CVL

R/L

11

S/L

21

T/L

31

R2/L

12

S2/L

22

T2/L

32

FR-CV

R2/L

1

S2/L

2

T2/L

3 P/L

P/L

(Note 5)

Servo amplifier

L

11

U

L

21

V

P

1 W

P

(Note 4)

N

CN2

Servo motor

U

V

W Thermel relay

OHS2

OHS1

(Note 2)

RESET

(Note 1) (Note 2) (Note 1)

RA2 RA3 RA4 EMG OFF

ON

R/L

11

S/L

21

T/MC1

P24

SD

RES

RDYB

SD

RDYA

RSO

SE

A

MC

MC

SK

RA1

(Note 3)

B

C

RA2 (Note

1)

RES

SG

SON

RA1

(Note 3)

SON

EMG

SG

ALM

EMG

(Note1)

RA3

(Note 1)

RA2

VIN

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.


1

and P. (Factory-wired.)


(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]

1 or less

2

5

7

11

15

22

Wires[mm 2 ]

2

3.5

5.5

8

14

22

50

13 - 38


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.


FR-CV-7.5K TO FR-CV-15K

FR-CV-22K • FR-CV-30K

FR-CV-37K • FR-CV-55K

Grounding wire size [mm 2 ]

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.

FR-CV-55K

R2/L

1

P/L

S2/L

2

T2/L

3

N/L

R/L

11

S/L

21

T/MC1

50mm 2

Wire as short as possible.

22mm 2

Servo amplifier (15kW)

P

N

First unit:

50mm assuming that the total of servo amplifier

capacities is 27.5kW since 15kW + 7kW + 3.5kW

+ 2.0kW = 27.5kW.

22mm 2

8mm 2


P

N

(Note)

Second unit:


capacities is 15kW since 7kW + 3.5kW + 2.0kW =

12.5kW.

8mm 2

5.5mm

2

Servo amplifier (3.5kW)

P

N

(Note)

Third unit:


capacities is 7kW since 3.5kW + 2.0kW = 5.5kW.

3.5mm

2

3.5mm

2


P

N

(Note)

Fourth unit:

3.5mm assuming that the total of servo amplifier

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 7kW: across P-C) of built-in regenerative resistor.

(4) Other precautions

(a) Always use the FR-CVL as the power factor improving reactor. Do not use the FR-BAL or FR-BEL.

(b) The inputs/outputs (main circuits) of the 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


(5) Specifications


FR-CV-

Item

Total of connectable servo amplifier capacities [kW]

Maximum servo amplifier capacity [kW]

7.5K

3.75

3.5

11K

5.5

5

15K

7.5

7

22K

11

11

30K

15

15

37K

18.5

15

55K

27.5

22

Output

Total of connectable servo motor rated currents [A]

Regenerative braking torque

Short-time rating

Continuous rating

Power supply

Rated input AC voltage/frequency

Permissible AC voltage fluctuation

Permissible frequency fluctuation

Power supply capacity(Note2) [kVA]

Protective structure (JEM 1030), cooling system

33 215

Total capacity of applicable servo motors, 300% torque, 60s (Note1)

17

46 61 90

100% torque

115 145

Three-phase 200 to 220V 50Hz, 200 to 230V 60Hz

Three-phase 170 to 242V 50Hz, 170 to 253V 60Hz

20 28

5%

41 52

Open type (IP00), forced cooling

66 100

Environment

Ambient temperature

Ambient humidity

Ambience

Altitude, vibration

No-fuse breaker or leakage current breaker

-10 (14 ) to +50 (122 ) (non-freezing)


Indoors (without corrosive gas, flammable gas, oil mist, dust and dirt)

1000m or less above sea level, 5.9m/s 2 or less

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


13.1.11 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

D

4-M10 Screw

[Unit: mm(in)]

Changeable dimension

Model

MR-JACN15K

MR-JACN22K

A B C D

236

(9.291)

326

(12.835)

255

(10.039)

345

(13.583)

270

(10.63)

360

(14.173)

203

(7.992)

290

(11.417)

Servo amplifier

MR-J2S-11KA

MR-J2S-15KA

MR-J2S-22KA

Punched hole

A

B

C

(2) How to assemble the attachment for a heat sink outside mounting attachment

Screw

(2 places)

Attachment

MR-JACN15K

Screw

(4 places)

Attachment

MR-JACN22K

13 - 41


(3) Fitting method

Attachment

Fit using the assembling screws.

Attachment

Servo amplifier

Servo amplifier

Punched hole

Control box a. Assembling the heat sink outside mounting attachment

(4) Outline dimension drawing

(a) MR-JACN15K (MR-J2S-11KA, MR-J2S-15KA) b. Installation to the control box

[Unit: mm(in)]

20 (0.787)

Panel

Servo amplifier

Attachment

Attachment

Servo amplifier

236 (9.291)

280 (11.024)

260 (10.236)

4- 12

Mounting hole

Panel

3.2 (0.126)

155 (6.102) 105

260

(4.134)

(10.236)

11.5

(0.453)

13 - 42


(b) MR-JACN22K (MR-J2S-22KA)

[Unit: mm(in)]

68(2.677)

Panel

Servo amplifier

326(12.835)

370(14.567)

350(13.78)

Attachment

Servo amplifier

Attachment

4- 12

Mounting hole

Panel

3.2(0.126)

155(6.102) 105 11.5

260

(4.134) (0.453)

(10.236)

13 - 43


13.2 Auxiliary equipment

Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C-

UL (CSA) Standard, use the products which conform to the corresponding standard.

13.2.1 Recommended wires

(1) Wires for power supply wiring

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.

1) Main circuit power supply lead 3) Motor power supply lead

Servo amplifier Servo motor

Power supply

L

1

L

2

L

3

U

V

W

U

V

W Motor

6) Power regeneration

converter lead

2) Control power supply lead

L

11

L

21

5) Electromagnetic

brake lead


Regenerative option

N

C

P

4) Regenerative option lead

Encoder cable

(refer to section 13.1.5)

Power supply

B1

B2


Encoder

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


Table 13.1 Recommended wires

(Note 1) Wires [mm

2

]

Servo amplifier

1) L

1

L

2

L

3

2) L

11

L

21

3) U V W P

1

P

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

MR-J2S-11KA

MR-J2S-15KA

2 (AWG14) : a

3.5 (AWG12) : b

5.5 (AWG10) : b

8 (AWG8) : c

14 (AWG6) :d

22 (AWG4) :e

1.25

(AWG16)

1.25 (AWG16) : a

2 (AWG14) : a

3.5 (AWG12) : b

(Note 2)

5.5 (AWG10) : b

5.5 (AWG10) : b

8 (AWG8) : c

22 (AWG4) :e

30 (AWG2) :f

60 (AWG2/0) :g MR-J2S-22KA 50 (AWG1/0) :g

Note 1. For the crimping terminals and applicable tools, refer to table 13.2.

2. 3.5mm

2 for use of the HC-RFS203 servo motor.

4) P C N

2 (AWG14) : a

3.5(AWG12) : b

5.5(AWG10) : b

5) B1 B2

1.25 (AWG16)

6) BU BV BW

2(AWG14)

Use wires 6) of the following sizes with the power regeneration converter (FR-RC).

Model

FR-RC-15K

FR-RC-30K

FR-RC-55K

Wires[mm 2 ]

14(AWG6)

14(AWG6)

22(AWG4)

Table 13.2 Recommended crimping terminals

Symbol a b

(Note 1 2) f c d e g

Servo amplifier side crimping terminals

Crimping terminal Applicable tool Manufacturer name

32959

FDV5.5-4

FVD8-5

FVD14-6

FVD22-6

38-S6

R38-6S

(Note)R60-8

47387

YNT-1210S

Body YF-1 E-4

Head YNE-38

Dice DH-111 DH-121

Body YF-1 E-4

Head YNE-38

Dice DH-112 DH-122

Body YF-1 E-4

Head YNE-38

Dice DH-113 DH-123

Body YPT-60-21

Dice TD-124 TD-112

Body YF-1 E-4

Head YET-60-1

Dice TD-124 TD-112

NOP60

NOM60

Body YDT-60-21

Dice TD-125 TD-113

Body YF-1 E-4

Head YET-60-1

Dice TD-125 TD-113

Tyco Electronics

Japan Solderless

Terminal

NICHIFU

Japan Solderless

Terminal

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


(2) Wires for cables

When fabricating a cable, use the wire models given in the following table or equivalent.

Type

Encoder cable

Model

MR-JCCBL M-L

MR-JCCBL M-H

MR-JHSCBL M-L

MR-JHSCBL M-H

MR-ENCBL M-H

Communication cable

MR-CPCATCBL3M

Table 13.3 Wires for option cables

Length

[m(ft)]

2 to 10

(6.56 to 32.8)

20 30

(65.6 98.4)

2 5

(6.56 16.4)

10 to 50

(32.8 to 164)

2 5

(6.56 16.4)

10 to 30

(32.8 to 98.4)

2 5

(6.56 16.4)

10 to 50

(32.8 to 164)

2 5

(6.56 16.4)

10 to 50

(32.8 to 164)

3 (9.84)

Core size

[mm 2 ]

Number of Cores

Structure

[Wires/mm]

Characteristics of one core

Conductor resistance[ /mm]

Insulation coating

ODd[mm] (Note 1)

0.08

0.3

0.2

0.2

0.08

0.3

0.2

0.2

0.2

0.2

0.08

12

(6 pairs)

12

(6 pairs)

12

(6 pairs)

14

(7 pairs)

8

(4 pairs)

12

(6 pairs)

8

(4 pairs)

12

(6 pairs)

8

(4 pairs)

12

(6 pairs)

6

(3 pairs)

7/0.127

12/0.18

40/0.08

40/0.08

7/0.127

12/0.18

40/0.08

40/0.08

40/0.08

40/0.08

7/0.127

222

62

105

105

222

62

105

105

105

105

222

0.38

1.2

0.88

0.88

0.38

1.2

0.88

0.88

0.88

0.88

0.38

(Note 3)

Finishing

OD [mm]

5.6

8.2

7.2

8.0

4.7

8.2

6.5

7.2

6.5

7.2

4.6

Wire model

UL20276 AWG#28

6pair (BLAC)

UL20276 AWG#22

6pair (BLAC)

(Note 2)

A14B2343 6P

(Note 2)

A14B0238 7P

UL20276 AWG#28

4pair (BLAC)

UL20276 AWG#22

6pair (BLAC)

(Note 2)

A14B2339 4P

(Note 2)

A14B2343 6P

(Note 2)

A14B2339 4P

(Note 2)

A14B2343 6P

UL20276 AWG#28

3pair (BLAC)

Bus cable MR-J2HBUS M

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


13.2.2 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

Fuse

Class Current[A] Voltage AC [V]

MR-J2S-10A(1)

MR-J2S-20A

30A frame 5A

30A frame 5A

MR-J2S-40A 20A1 30A frame 10A

MR-J2S-60A 40A1 30A frame 15A

MR-J2S-70A 30A frame 15A

MR-J2S-100A 30A frame 15A

MR-J2S-200A

MR-J2S-350A

MR-J2S-500A

MR-J2S-700A

MR-J2S-11KA

MR-J2S-15KA

MR-J2S-22KA

30A frame 20A

30A frame 30A

K5

K5

50A frame 50A K5

100A frame 75A K5

100A frame 100A K5

225A frame 125A K5

225A frame 175A K5

K5

K5

K5

K5

K5

K5

10

10

15

20

20

25

40

70

125

150

200

250

350

250

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 MC

R

FR-BAL

X

Servo amplifier

MR-J2S- A

L

1

3-phase

200 to 230VAC

S Y

L

2

T Z

L

3

C

W

RX S Y T Z

W1

D1

Installation screw (Note)

1-phase

230VAC

1-phase

100 to120VAC

NFB

NFB

MC

R

FR-BAL

S

T

MC

R

FR-BAL

S

T

Servo amplifier

MR-J2S- A

X

L 1

Y

L 2

Z

X

L 3

Servo amplifier

MR-J2S- A1

L

1

Y

L

2

Z

Note. For the 1-phase 230V power supply, Connect the power supply to L

1

, L

2

and leave L

3

open.

Servo amplifier Model

W W1

Dimensions [mm (in) ]

H D D1 C

MR-J2S-10A(1)/20A

MR-J2S-40A/20A1

FR-BAL-0.4K

135 (5.31) 120 (4.72) 115 (4.53) 59 (2.32) 45 0

-2.5

(1.77

0

-0.098

) 7.5 (0.29)

FR-BAL-0.75K 135 (5.31) 120 (4.72) 115 (4.53) 69 (2.72) 57 0

-2.5

(2.24

0

-0.098

) 7.5 (0.29)

MR-J2S-60A/70A/40A1 FR-BAL-1.5K

160 (6.30) 145 (5.71) 140 (5.51) 71 (2.79) 55 (2.17

0

-0.098

) 7.5 (0.29)

MR-J2S-100A

MR-J2S-200A

MR-J2S-350A

MR-J2S-500A

FR-BAL-2.2K

160 (6.30) 145 (5.71) 140 (5.51) 91 (3.58) 75 0

-2.5

(2.95

0

-0.098

) 7.5 (0.29)

FR-BAL-3.7K

220 (8.66) 200 (7.87) 192 (7.56) 90 (3.54) 70 0

-2.5

(2.76

) 10 (0.39)

FR-BAL-7.5K

220 (8.66) 200 (7.87) 194 (7.64) 120 (4.72) 100 0

-2.5

(3.94

0

-0.098

) 10 (0.39)

FR-BAL-11K 280 (11.02) 255 (10.04) 220 (8.66) 135 (5.31) 100 0

-2.5

(3.94

0

-0.098

) 12.5 (0.49)

MR-J2S-700A/11KA

MR-J2S-15KA

MR-J2S-22KA

FR-BAL-15K 295 (11.61) 270 (10.62) 275 (10.83) 133 (5.24) 110 0

-2.5

(4.33

0

-0.098

) 12.5 (0.49)

FR-BAL-22K 290 (11.41) 240 (9.75) 301 (11.85) 199 (7.84) 170 5 (6.69 0.2) 25 (0.98)

FR-BAL-30K 290 (11.41) 240 (9.75) 301 (11.85) 219 (8.62) 190 5 (7.48 0.2) 25 (0.98)

Mounting screw size

M4

M4

M4

M4

M5

M5

M6

M6

M8

M8

Terminal screw size

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 - 47


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

Rating plate

E

A or less

2-F L

Notch

H

B or less

F

Mounting foot part

FR-BEL

5m or less

Servo amplifier

P

(Note 2)

P

1

Note 1. Fit the supplied terminal cover after wiring.

2. When using the DC reactor, remove the short-circuit bar across P

1

-P.

Servo amplifier

MR-J2S-11KA

MR-J2S-15KA

MR-J2S-22KA

Power factor improving DC reactors

A B C

Dimensions [mm (in) ]

D E F L G H

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)

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)

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)

Terminal screw size

M5

M6

M6

Mass

[kg (lb)]

Used wire

[mm

2

]

3.8(8.38) 22(AWG4)

5.4(11.91) 30(AWG2)

6.7(14.77) 60(AWG1/0)

13 - 48


13.2.5 Relays

The following relays should be used with the interfaces.

Interface Selection example

Relay used for digital input command signals

(interface DI-1)

To prevent defective contacts , use a relay for small signal

(twin contacts).

(Ex.) Omron : type G2A , MY

Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less

(Ex.) Omron : type MY

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] DC[V]

Surge immunity

Energy immunity

[J]

Rated power

[W]

Maximum limit voltage

[A] [V]

Static capacity

(reference value)

[pF]

Varistor voltage rating (range) V1mA

140 180

[A]

(Note)

500/time

5 0.4

25 360 300

[V]

220

(198 to 242)

Note. 1 time 8 20 s

(Example) ERZV10D221 (Matsushita Electric Industry)

TNR-10V221K (Nippon chemi-con)

Outline drawing [mm] ( [in] ) (ERZ-C10DK221)

13.5 (0.53) 4.7 1.0 (0.19 0.04)

Vinyl tube

0.8 (0.03)

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


(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


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)

Magnetic induction noise

Static induction noise

Noises transmitted through electric channels

Noise radiated from servo motor cable

Routes 4) and 5)

Route 6)

Noise transmitted through power supply cable

Noise sneaking from grounding cable due to leakage current

Route 3)

Route 7)

Route 8)

5)

Instrument

7)

Receiver

7) 7)

2)

3)

1)

Servo amplifier

4)

6)

2)

Sensor

power

supply

Sensor

8)

3)

Servo motor M

13 - 51


Noise transmission route

1) 2) 3)

4) 5) 6)

7)

8)

Suppression techniques

When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required.

1. Provide maximum clearance between easily affected devices and the servo amplifier.

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.

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.

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.

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.

[Unit: mm]([Unit: in.])

Impedance[ ]

10 to 100MHz

80

100 to 500MHz

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


(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

Surge suppressor

Relay

Surge suppressor

Rated voltage

AC[V]

200

C [ F] R [ ] Test voltage AC[V]

0.5

50

(1W)

Across

T-C 1000(1 to 5s)

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.])

Vinyl sheath

Blue vinyl cord Red vinyl cord

6(0.24)

18 1.5

(0.71 0.06)

10 3

(0.39

0.12)

10(0.39)or less 10(0.39)or less

200(7.87) or more

15 1(0.59 0.04)

48 1.5

(1.89 0.06)

200(7.87) or more

10 3

(0.39

0.12)

4(0.16)

31(1.22)

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

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.

Strip the cable sheath of the clamped area.

Cable clamp

(A,B)

Cable

Earth plate cutter cable

13 - 53

External conductor

Clamp section diagram


Outline drawing

Earth plate

2- 5(0.20) hole installation hole

17.5(0.69)

[Unit: mm]

([Unit: in.])

Clamp section diagram

L or less 10(0.39)

0 0.

(Note)M4 screw

6

(0.24) 35(1.38)

22(0.87)

Note. Screw hole for grounding. Connect it to the earth plate of the control box.

Type

AERSBAN-DSET

AERSBAN-ESET

A

100

(3.94)

70

(2.76)

B

86

(3.39)

56

(2.20)

C

30

(1.18)

Accessory fittings clamp A: 2pcs.

clamp B: 1pc.

Clamp fitting

A

B

L

70

(2.76)

45

(1.77)

13 - 54


(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

Use the line noise filters for wires of the main power supply

(L

1

L

2

L

3

) 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

Power supply

L

1

L

2

Line noise filter

L

(Number of turns: 4)

3

Example 2

NFB MC

Servo amplifier

Power supply

L

1

L

2

Line noise filter

L

3

Two filters are used

(Total number of turns: 4)

Outline drawing [Unit: mm] ([Unit: in.])

FR-BSF01 (for MR-J2S-200A or less)

Approx.110(4.33)

95 0.5(3.74 0.02) 2- 5(0.20)

Approx.65 (2.56)

33(1.30)

FR-BLF (MR-J2S-350A or more)

7(0.28)

130(5.12)

85(3.35)

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

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.

NFB MC

Servo amplifier

Power supply

L

1

L

2

L

3

Outline drawing (Unit: mm) ([Unit: in.])

Leakage current: 4mA

Red White Blue Green

29 (1.14)

5 (0.20) hole

Radio noise filter FR-BIF

58 (2.28) 29 (1.14)

44 (1.73)

7 (0.28)

13 - 55


(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.

Varistor

Maximum rating

Permissible circuit voltage

Surge current immunity

Energy immunity

AC[V rms

] DC[V]

TND20V-431K 275

TND20V-471K 300

350

385

8/20 s[A]

10000/1 time

7000/2 time

2ms[J]

195

215

Rated pulse power

[W]

1.0

Maximum limit voltage

[A] [V]

Static capacity

(reference value)

[pF]

100

710

775

1300

1200

Varistor voltage rating (range)

V1mA

[V]

430(387 to 473)

470(423 to 517)

D T Model

TND20V-431K

TND20V-471K

D

Max.

21.5

H

Max.

24.5

T

Max.

6.4

6.6

E

1.0

3.3

3.5

(Note)L min.

20

Note. For special purpose items for lead length (L), contact the manufacturer.

d

0.05

0.8

[Unit: mm]

W

1.0

10.0

W

d

E

13 - 56


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)

Cable

NV

Noise filter

Servo amplifier

Ig1 Ign Iga

Cable

Ig2

M

Igm

K: Constant considering the harmonic contents

Leakage current breaker

Type

Mitsubishi products

Models provided with harmonic and surge reduction techniques

General models

NV-SP

NV-SW

NV-CP

NV-CW

NV-HW

BV-C1

NFB

NV-L

K

1

3

Ig1: Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier (Found from Fig. 13.1.)

Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor (Found from Fig. 13.1.)

Ign: Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)

Iga: Leakage current of the servo amplifier (Found from Table 13.6.)

Igm: Leakage current of the servo motor (Found from Table 13.5.)

120

100

80

60

40

[mA]

20

0

2 3.5

5.5

8 1422 38 80 150

30 60 100

Cable size[mm 2 ]

Fig. 13.1 Leakage current example

(Ig1, Ig2) for CV cable run

in metal conduit

Table 13.4 Servo motor's leakage current example (Igm)

Servo motor output [kW]

0.05 to 0.5

0.6 to 1.0

1.2 to 2.2

3 to 3.5

5

7

11

15

22

Leakage current [mA]

0.1

0.1

0.2

0.3

0.5

0.7

1.0

1.3

2.3

Table 13.5 Servo amplifier's leakage current

example (Iga)

Servo amplifier capacity [kW]

0.1 to 0.6

0.7 to 3.5

5 7

11 15

22


0.1

0.15

2

5.5

7

Table 13.6 Leakage circuit breaker selection example

Servo amplifier

Rated sensitivity current of leakage circuit breaker [mA]



MR-J2S-500A

MR-J2S-700A

MR-J2S-11KA to MR-J2S-22KA

15

30

50

100

13 - 57


(2) Selection example

Indicated below is an example of selecting a leakage current breaker under the following conditions.

2mm 2 5m 2mm 2 5m

NV

Servo amplifier

MR-J2S-60A

M

Servo motor

HC-MFS73

Ig1 Iga 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 NV-

SP/SW/CP/CW/HW series.

13 - 58


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

Servo amplifier

Model

Recommended filter


Mass [kg]([lb])



MR-J2S-200A MR-J2S-350A

MR-J2S-500A

SF1252

SF1253

(Note) HF3040A-TM

38

57

1.5

0.75(1.65)

1.37(3.02)

5.5(12.1)

MR-J2S-700A

MR-J2S-11KA

(Note) HF3050A-TM

(Note) HF3060A-TMA

1.5

3.0

6.7(14.8)

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.)


NF

EMC filter

(SF1252, SF1253)

LINE LOAD

L

1

L

1

(Note 1)

Power supply

L

2

L

3

L

2

L

3

(Note 2)

MC

Servo amplifier

L

1

L

2

(Note 1)

Power supply

L

3

L

11

L

21

NF

EMC filter

(SOSHIN Electric Co., Ltd)

1

2

3

1

2

3

4

5

6

E

MC

Servo amplifier

L

1

L

2

L

3

L

11

L

21

Surge protector 1

(RAV-781BYZ-2)

(OKAYA Electric Industries

Co., Ltd.)

1 2 3

Surge protector 2

(RAV-781BXZ-4)

(OKAYA Electric Industries Co., Ltd.)

Note 1. For 1-phase 230VAC power supply, connect the power supply to L

1

,L

2

and leave L

3

open.

There is no L

3

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


(3) Outline drawing

(a) EMC filter

SF1252

149.5(5.886)

L1

L2

L3

6.0(0.236)

LINE

(input side)

SF1253

209.5(8.248)

L1

L2

L3

[Unit: mm(in)]

6.0(0.236)

LINE

(input side)

L1'

L2'

L3'

LOAD

(output side)

8.5

(0.335)

42.0

(1.654)

16.0(0.63)

HF3040A-TM HF3050A-TM HF3060A-TMA

6-K

3-L 3-L

L1'

L2'

L3'

LOAD

(output side)

8.5

(0.335)

23.0(0.906)

49.0

(1.929)

M

C 1

B 2

A 5

C 1

H 2

J 2

Model

HF3040A-TM

HF3050A-TM

HF3060A-TMA

A

260

(10.24)

290

(11.42)

290

(11.42)

B

210

(8.27)

240

(9.45)

240

(9.45)

C

85

(3.35)

100

(3.94)

100

(3.94)

D

155

(6.10)

190

(7.48)

190

(7.48)

E

140

(5.51)

175

(6.89)

175

(6.89)

Dimensions [mm(in)]

F G

125

(4.92)

160

(6.29)

160

(6.29)

44

(1.73)

44

(1.73)

44

(1.73)

H

140

(5.51)

170

(6.69)

230

(9.06)

J

70

(2.76)

100

(3.94)

160

(6.29)

K

R3.25

(0.13), length

8 (0.32)

L

M5

M6

M6

M

M4

M4

M4

13 - 60


HF3080A-TMA HF3100A-TMA

8-K

3-L 3-L

M

C 1 C 1

B 2

A 5

C 1

H 2

J 2

Model

A B C

HF3080A-TMA

HF3100A-TMA

405

(15.95)

350

(13.78)

100

(3.94)

D

220

(8.66)

E

Dimensions [mm(in)]

F G

200

(7.87)

180

(7.09)

56

(2.21)

H

210

(8.27)

J

135

(5.32)

K

R4.25

(0.17), length 12

(0.47)

L

M8

M

M6

13 - 61


(b) Surge protector

RAV-781BYZ-2

4.2 0.2

[Unit: mm]

1) 2)

Black Black

3)

Black

30 0

UL-1015AWG16

1 2 3

4.2 0.2

41 1.0

RAV-781BXZ-4 [Unit: mm]

1) 2) 3) 4)

1 2 3

41 1.0

30 0

UL-1015AWG16

13 - 62


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

2W 2k

Resistance tolerance

10%

Dielectric strength

(for 1 minute)

700V A.C

Insulation resistance

100M or more

Mechanical rotary angle

300 5

Connection diagram Outline dimension drawing

[Unit: mm (in)]

20 (0.79) 25 (0.98)

10 (0.39)

30 (1.18)

2.8 (0.11)

2.5 (0.10)

1.6 (0.06)

Rotary torque

10 to 100g-cm or less

Panel hole machining diagram

[Unit: mm (in)]

3.6 (0.14) hole

10 (0.37) hole

1 2 3

M9 0.75 (0.03)

.9

8)

R2

5

(0

3- 1.54 (0.56) hole

1

30

2

3

(0.08)

30 3

(2) Multi-revolution type

Position meter: RRS10M202 (Japan Resistor make)

Analog dial: 23M (Japan Resistor make)

Rated power Resistance

Resistance tolerance

Dielectric strength

(for 1 minute)

1W 2k 10% 700V A.C

Insulation resistance

1000M or more

Mechanical rotary angle

3600

10

0

Connection diagram

1 3

Rotary torque

100g-cm or less

Panel hole machining diagram

[Unit: mm (in)]

Panel thickness: 2 to 6 (0.08 to 0.24)

CW

2

9 (0.35) hole

2.1 (0.08) hole

Outline dimension drawing

RRS10 M202

2) 1)

3)

M9 0.75 (0.03)

2)

[Unit: mm (in)]

30

1)

3)

23M

15 (0.59)

[Unit: mm (in)]

12.5 (0.49)

L

7.5

(0.3)

1.2

(0.05)

23 (0.91)

12 (0.47) 6 (0.24)

20.5

(0.81)

13 - 63


MEMO

13 - 64

14. COMMUNICATION FUNCTIONS


This servo amplifier has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc.

However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS-

422 and RS-232C with parameter No.16. (Refer to section 14.2.2)

14.1 Configuration

14.1.1 RS-422 configuration

(1) Outline

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

To CN3

CHARGE

To CN3

RS-232C/

RS-422 converter

Axis 1 (Station 0) Axis 2 (Station 1)

Unavailable as option.

To be prepared by customer.

RS-422

(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

9

19

SDP

SDN

5

15

10

11

1

RDP

RDN

TRE

LG

LG

(Note 1)

Axis 2 servo amplifier

CN3 connector

Plate SD

9

19

SDP

SDN

5

15

10

11

1

RDP

RDN

TRE

LG

LG

RS-422 output unit

RDP

RDN

SDP

SDN

GND

GND

Note 1. Connector set MR-J2CN1 (3M)


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

CHARGE

To CN3

Axis 32 (Station 31)

(Note 1)

Axis 32 (last axis) servo amplifier

CN3 connector

Plate SD

9

19

5

15

10

SDP

SDN

RDP

RDN

11

1

TRE (Note 2)

LG

LG


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 (MR-

CPCATCBL3M) 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

TXD 3

Plate

2

1

12

11

FG

RXD

GND

TXD

GND

RXD

GND

RTS

CTS

DSR

DTR

8

6

4

2

5

7

Note 1. Connector set MR-J2CN1 (3M)


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


14.2 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.

Baud rate

Item

Transfer code

Transfer protocol

Description

9600/19200/38400/57600 asynchronous system

Start bit : 1 bit

Data bit : 8 bits

Parity bit: 1 bit (even)

Stop bit : 1 bit

Character system, half-duplex communication system

(LSB)

Start 0 1 2 3 4

Data

1 frame (11bits)

5 6

(MSB)

7 Parity Stop

Next start

14 - 3


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


14.3 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.

(1) Transmission of data from the controller to the servo

Controller side

(Master station)

S

O

H

S

T

X

Data

No.

Data*

E

T

X

Check sum

10 frames (data)

Station number

Servo side

(Slave station)

Station number

S

T

X

E

T

X

Check sum

6 frames

Positive response: Error code A

Negative response: Error code other than A

14 - 5


(2) Transmission of data request from the controller to the servo

10 frames

Controller side

(Master station)

S

O

H

S

T

X

Data

No.

E

T

X

Check sum

Station number

Servo side

(Slave station)

S

T

X

Station number

Data*

6 frames (data)

E

T

X

Check sum

(3) Recovery of communication status by time-out

EOT causes the servo to return to the receive neutral status.

Controller side

(Master station)

E

O

T

Servo side

(Slave station)

(4) Data frames

The data length depends on the command.

or Data

4 frames

Data

8 frames or 12 frames or 16 frames

14 - 6


14.4 Character codes

(1) Control codes

Code name

SOH

STX

ETX

EOT

Hexadecimal

(ASCII code)

01H

02H

03H

04H

Description start of head start of text end of text end of transmission

Personal computer terminal key operation

(General) ctrl A ctrl B ctrl C ctrl D

(2) Codes for data

ASCII unit codes are used.

b

8 b

7 b

6 b

5 b

8

to b

5 b

4 b

3 b

2 b

1

0 0 0 0

0 0 0 1

0 0 1 0

0 0 1 1

0 1 0 0

0 1 0 1

0 1 1 0

0 1 1 1

1 0 0 0

1 0 0 1

1 0 1 0

1 0 1 1

1 1 0 0

1 1 0 1

1 1 1 0

1 1 1 1

0

0

0

0

0

0

0

1

0

0

1

0

0 0 0 0

0 1 1 1

1 0 0 1

1 0 1 0

9

10

11

12

7

8

5

6

13

14

15

R

C

0 1 2 3 4 5 6

0 NUL DLE Space 0 @ P `

1 SOH DC

1

2 STX DC

2

3 ETX DC

3

4

!

“

#

$

1

2

3

4

A

B

C

D

Q

R

S

T a b c d

(

‘

%

&

)

.

/

,

5

6

7

8

E

F

G

H

U

V

W

X e f g h

:

9 I Y i

J Z j

; K [ k

L l

7

{

| y z w x u v

M ] m

N ^ n

}

¯

?

O _ o DEL r s p q t

0

1

1

1

(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

ASCII code

0

0

1

1

2

2

3

3

4

4

5

5

6

6

7

7

8

8

9

9

10 11 12 13 14 15

A B C D E F

Station number

ASCII code

16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

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


14.5 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 Servo alarm

[A]

[B]

[C]

[a]

[b]

[c]

[D]

[E]

[F]

[d]

[e]

[f]

Error name Description

Normal operation Data transmitted was processed properly.

Parity error Parity error occurred in the transmitted data.

Checksum error Checksum error occurred in the transmitted data.

Character error

Command error

Data No. error

Character not existing in the specifications was transmitted.

Command not existing in the specifications was transmitted.

Data No. not existing in the specifications was transmitted.

Remarks

Positive response

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).

Station number

STX or

SOH

Checksum range

ETX Check

(Example)

S

T

X

[0] [A] [1] [2] [5] [F]

E

T

X

02H 30H 41H 31H 32H 35H 46H 03H

[5] [2]

30H 41H 31H 32H 35H 46H 03H

152H

Lower 2 digits 52 is sent after conversion into ASCII code [5][2].

14 - 8


14.7 Time-out operation

The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times. (Communication error)

100ms 100ms 100ms

300ms 300ms 300ms 300ms

*Time-out

Controller

(Master station)

E

O

T

E

O

T

E

O

T

Servo

(Slave station)

14.8 Retry operation

When a fault occurs in communication between the master and slave stations, the error code in the response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the master station retransmits the message which was sent at the occurrence of the fault (Retry operation). A communication error occurs if the above operation is repeated and results in the error three or more consecutive times.

*Communication error

Controller

(Master station)

Servo

(Slave station)

S

T

X

S

T

X

S

T

X

Station number Station number Station number

Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the slave station, the master station retransmits the message which was sent at the occurrence of the fault. A communication error occurs if the retry operation is performed three times.

14 - 9


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

Station number

Command

Data No.

Value

0

05

02

Description

Servo amplifier station 0

Read command

Parameter No.2

Axis No. Command Data No.

Start

Data make-up

Checksum calculation and addition

Addition of SOH to make up transmission data

Data [0] 0 5 STX 0 2 ETX

ETX

Checksum 30H 30H 35H 02H 30H 32H 03H FCH

Transmission data SOH 0 0 5 STX 0 2 ETX F C 46H 43H

Master station slave station

Data transmission


Data receive

No

Is there receive data?

Yes

No

300ms elapsed?

Yes

No

Yes

3 consecutive times?

Other than error code

[A] [a]?

No

Yes

Receive data analysis

Error processing

End

Error processing

No

3 consecutive times?

Yes

100ms after EOT transmission


14 - 10


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

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

Data No.

[8][0]

[8][1]

[8][2]

[8][3]

[8][4]

[8][5]

[8][6]

[8][7]

[8][8]

[8][9]

[8][A]

[8][B]

[8][C]

[8][D]

[8][E]

Description

Status display data value and processing information

Display item cumulative feedback pulses servo motor speed droop pulses cumulative command pulses command pulse frequency analog speed command voltage analog speed limit voltage analog torque command voltage analog torque limit voltage regenerative load ratio effective load ratio peak load ratio

Instantaneous torque within 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

[0][5]

Data No.

[0][0] to

[5][4]

Description

Current value of each parameter

The decimal equivalent of the data No. value (hexadecimal) corresponds to the parameter number.

Frame length

8

(3) External I/O signals (Command [1][2])

Command

[1][2]

[1][2]

Data No.

[4][0]

[C][0]

External input pin statuses

External output pin statuses

Description

(4) Alarm history (Command [3][3])

Command

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

Data No.

[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 number in alarm history

Alarm occurrence time in alarm history

Alarm occurrence sequence 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

8

8

Frame length

4

8

4

4

8

4

4

4

8

8

8

8

14 - 11


(5) Current alarm (Command [0][2] [3][5])

Command Data No.

[0][2] [0][0] Current alarm number

Description

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

Command Data No.

[3][5] [8][0]

[3][5]

[3][5]

[8][1]

[8][2]

[3][5]

[3][5]

[8][3]

[8][4]

[3][5] [8][5]

[8][6]

[8][7]

[8][8]

[8][9]

[8][A]

[8][B]

[8][C]

[8][D]

[8][E]

Description

Status display data value and processing information at alarm occurrence

Display item cumulative feedback pulses servo motor speed droop pulses cumulative command pulses command pulse frequency analog speed command voltage analog speed limit voltage analog torque command voltage analog torque limit voltage regenerative load ratio effective load ratio peak load ratio

Instantaneous torque within one-revolution position

ABS counter load inertia moment ratio

Bus voltage

(6) Others

Command

[0][2]

[0][2]

[0][2]

Data No.

[9][0]

[9][1]

[7][0]

Description

Servo motor end pulse unit absolute position

Command unit absolute position

Software version

14.11.2 Write commands

(1) Status display (Command [8][1])

Command

[8][1]

Data No.

[0][0]

Description

Status display data clear 1EA5

Setting range

(2) Parameter (Command [8][4])

Command

[8][4]

Data No.

[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.

(3) Alarm history (Command [8][2])

Command

[8][2]

Data No.

[2][0] Alarm history clear

Description

(4) Current alarm (Command [8][2])

Command

[8][2]

Data No.

[0][0] Alarm reset

Description

1EA5

Setting range

1EA5

Setting range

14 - 12

Frame length

4

Frame length

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

Frame length

8

8

16

Frame length

4

Frame length

8

Frame length

4

Frame length

4


(5) Operation mode selection (Command [8][B])

Command

[8][B]

Data No.

[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

(6) External input signal disable (Command [9][0])

Command

[9][0]

[9][0]

[9][0]

[9][0]

Data No.

[0][0]

[0][3]

[1][0]

[1][3]

Description

Turns off the external input signals (DI), external analog input signals and pulse train inputs with the exception of EMG, LSP and LSN, independently of the external ON/OFF statuses.

Disables all output devices (DO).

Enables the disabled external input signals (DI), external analog input signals and pulse train inputs with the exception of EMG,

LSP and LSN.

Enables the disabled external output signals (DO).

Setting range

1EA5

1EA5

1EA5

1EA5

(7) Data for test operation mode (Command [9][2] [A][0])

Command

[9][2]

[9][2]

Command

[A][0]

[A][0]

[A][0]

[A][0]

[A][0]

Data No.

[0][0]

[A][0]

Description

Input signal for test operation

Forced output from signal pin

Setting range

Refer to section

14.12.6

Refer to section

14.12.8

Data No.

[1][0]

[1][1]

[1][2]

[1][3]

[1][5]

Description

Writes the speed of the test operation mode (jog operation, positioning operation).

Writes the acceleration/deceleration time constant of the test operation mode (jog operation, positioning operation).

Clears the acceleration/deceleration time constant of the test operation mode (jog operation, positioning operation).

Writes the moving distance (in pulses) of the test operation mode

(jog operation, positioning operation).

Temporary stop command of the test operation mode (jog operation, positioning operation)

Setting range

0000 to 7FFF

00000000 to

7FFFFFFF

1EA5

80000000 to

7FFFFFFF

1EA5

Frame length

4

Frame length

4

4

4

4

Frame length

8

8

Frame length

4

8

4

8

4

14 - 13


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


(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.


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


14.12.2 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.


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


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

[8][1]

Data No.

[0][0]

Data

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


14.12.3 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

[0][5]

Data No.

[0][0] to

[5][4]

2) Reply

The slave station sends back the data and processing information of the requested parameter

No.


0


0: No decimal point

1: Lower first digit





Display type



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


(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 EEP-

ROM. 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

[8][4]

Data No.

[0][0] to

[5][4]

See below.

Set data



0: No decimal point

1: Lower first digit



4: Lower forth 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


14.12.4 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

[1][2]

Data No.

[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

0

1

2

5

6

3

4

7

External input pin

CN1B-16

CN1B-17

CN1B-15

CN1B-5

CN1B-14

CN1A-8

CN1B-7

CN1B-8 bit

8

9

10

11

12

13

14

15

External input pin

CN1B-9 bit

16

17

18

19

20

21

22

23

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

[1][2]

Data No.

[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

2

3

0

1

6

7

4

5

External output pin

CN1A-19

CN1A-18

CN1B-19

CN1B-6

CN1B-4

CN1B-18

CN1A-14 bit

10

11

8

9

12

13

14

15

External output pin bit

16

17

18

19

20

21

22

23

14 - 19


24

25

26

27

28

29

30

31

External input pin bit

24

25

26

27

28

29

30

31

External output pin


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

External input signals (DI)

External analog input signals

Pulse train inputs

Status

OFF

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

[9][0]

Data No.

[0][0]

Data

1EA5

(b) Enable

Command

[9][0]

Data No.

[1][0]

Data

1EA5

(2) Disabling/enabling the external output signals (DO)


(a) Disable

Command

[9][0]

Data No.

[0][3]

Data

1EA5

(b) Enable

Command

[9][0]

Data No.

[1][3]

Data

1EA5

14 - 20


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

[9][2]

Data No.

[0][0] See below.

Set data b31 b1 b0

1: ON

0: OFF

Command of each bit is transmitted to the slave station as hexadecimal data.

bit

2

3

0

1

4

5

6

7

Signal abbreviation

SON

LSP

LSN

TL

PC

RES

CR bit

10

11

8

9

12

13

14

15

Signal abbreviation

ST1

ST2 bit

16

17

18

19

20

21

22

23

Signal abbreviation bit

24

25

26

27

28

29

30

31

Signal abbreviation

14 - 21


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

[9][0]

Data No.

[0][0]

Data

1EA5

3) Choose the test operation mode.

Command

[8][B]

[8][B]

[8][B]

[8][B]

[8][B]

Data No.

[0][0]

[0][0]

[0][0]

[0][0]

[0][0]

Transmission data

0000

0001

0002

0003

0004

Selection of test operation mode

Test operation mode cancel

Jog operation


Motor-less operation

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

[A][0]

Data No.

[1][2]

Data

1EA5

2) Cancel the test operation mode.

Command

[8][B]

Data No.

[0][0]

Data

0000

3) Enable the disabled external input signals.

Command

[9][0]

Data No.

[1][0]

Data

1EA5

14 - 22


(2) Jog operation


(a) Setting of jog operation data

Item

Speed

Acceleration/deceleration time constant

Command

[A][0]

[A][0]

Data No.

[1][0]

[1][1]

Data

Write the speed [r/min] in hexadecimal.

Write the acceleration/deceleration time constant [ms] in hexadecimal.

(b) Start

Turn on the input devices SON LSP LSN by using command [9][2] data No. [0][0].

Item



Stop

Command

[9][2]

[9][2]

[9][2]

Data No.

[0][0]

[0][0]

[0][0]

Data

00000807: Turns on SON LSP LSN ST1.

00001007: Turns on SON LSP LSN ST2.

00000007: Turns on SON LSP and LSN.

(3) Positioning operation


(a) Setting of positioning operation data

Item

Speed

Acceleration/deceleration time constant

Moving distance

Command

[A][0]

[A][0]

[A][0]

Data No.

[1][0]

[1][1]

[1][3]

Data

Write the speed [r/min] in hexadecimal.

Write the acceleration/deceleration time constant [ms] in hexadecimal.

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] data No. [0][0].

Data Item

Servo-on

Servo OFF

Stroke end ON

Servo-on

Stroke end ON

Command

[9][2]

[9][2]

[9][2]

Data No.

[0][0]

[0][0]

[0][0]

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

[A][0]

Data No.

[1][5]

Data

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


14.12.8 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


Command

[9][2]

Data No.

[A][0]

Setting data

See below.

b31

Command of each bit is sent to the slave station in hexadecimal.

b1 b0

1: ON

0: OFF bit

0

5

6

7

3

4

1

2

External output pin

CN1A-19

CN1A-18

CN1B-19

CN1B-6

CN1B-4

CN1B-18

CN1A-14 bit

8

13

14

15

9

10

11

12


16

21

22

23

17

18

19

20


24

29

30

31

25

26

27

28

External output pin

14 - 24


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].


(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

[8][2]

Data No.

[2][0]

Data

1EA5

14 - 25


14.12.10 Current alarm

(1) Current alarm read

Read the alarm No. which is occurring currently.

(a) Transmission


Command

[0][2]

Data No.

[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: No decimal point

1: Lower first digit (usually not used)





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

[8][2]

Data No.

[0][0]

Data

1EA5

14 - 26


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


Command

[0][2]

Data No.

[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


Command

[0][2]

Data No.

[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

[0][2]

Data No.

[7][0]

(b) Reply

The slave station returns the software version requested.

Space

Software version (15 digits)

14 - 27


MEMO

14 - 28

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

CPU Positioning module

Current position data

I/O module

Input

Pulse train

(command)

Home position data

EEPROM memory

LSO

1XO

Backed up in the case of power failure

Servo amplifier

Current position data

LS

Detecting the number of revolutions

1X

Detecting the position within one revolution

Output

Battery MR-BAT

Servo motor

1 pulse/rev Accumulative revolution counter

Super capacitor

Within-one-revolution counter

High speed serial communication

(Position detector)

15.1.2 Restrictions

The absolute position detection system cannot be configured under the following conditions. Test operation cannot be performed in the absolute position detection system, either. To perform test operation, choose incremental in parameter No.1.

(1) Speed control mode, torque control mode.

(2) Control switch-over mode (position/speed, speed/torque, torque/position).

(3) Stroke-less coordinate system, e.g. rotary shaft, infinitely long positioning.

(4) Changing of electronic gear after home position setting.

(5) Use of alarm code output.

15 - 1


15.2 Specifications

(1) Specification list

System

Battery

Item

Maximum revolution range

(Note 1) Maximum speed at power failure

(Note 2) Battery backup time

(Note 3) Data holding time during battery replacement

Battery storage period

Home position 32767 rev.

500r/min

Description

Electronic battery backup system

1 piece of lithium battery ( primary battery, nominal 3.6V)

Type: MR-BAT or A6BAT

Approx. 10,000 hours (battery life with power off)

2 hours at delivery, 1 hour in 5 years after delivery

5 years from date of manufacture

Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like.

2. Time to hold data by a battery with power off. It is recommended to replace the battery in three years independently of whether power is kept on or off.

3. Period during which data can be held by the super capacitor in the encoder after power-off, with the battery 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

A1SD71S2 A1SD71S7

A1SD75

FX

2N

-1GP FX

2N

-10PG FX

2N

-10GM

FX

2N

-20GM

Programmable controller

A1SD75 etc.

I/O module

AX40 41 42

AY40 41 42

FX

2N(C)

series, FX

3U(C)

series

Servo amplifier

I/O

CN1A

CN2

CN1B

CON1

Servo motor

Battery (MR-BAT)


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


15.3 Battery installation procedure

WARNING

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.

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 holder

For MR-J2S-100A or less

Battery connector

CON1

Battery

Battery holder

For MR-J2S-200A MR-J2S-350A

CON1

Battery holder

Battery holder Battery

For MR-J2S-500A MR-J2S-700A

Battery connector

Battery

For MR-J2S-11KA or more

15 - 3


15.4 Standard connection diagram

Servo amplifier

(Note 2) Stroke end in forward rotation

Stroke end in reverse rotation

External torque control

Electromagnetic brake output

RA2

Reset

Output

Input

EMG (Note 1)

Emergency stop

Servo-on

ABS transmission mode

ABS request

ABS bit 0

ABS bit 1

Send data ready

Reset

VDD

COM

LSP

LSN

TL

RES

SG

CN1B-3

CN1B-13

CN1B-16

CN1B-17

CN1B-7

CN1B-14

CN1B-10

(Note 3)

EMG

SON

CN1B-15

CN1B-5

ABSM CN1B-8

ABSR CN1B-9

DO1

ZSP

TLC

CN1B-4

CN1B-19

CN1B-6

I/O module

Near-zero point signal

Stop signal

Power supply (24V)

Ready

Zero-point signal

Clear

Dog

Stop

Command pulses

(for differential line driver type)

Upper limit setting

Torque limit

10V/max.torque

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

TLA

LG

SD

CN1B-11

CN1B-12

CN1B-1

Plate

Note 1. Always install the emergency stop switch.

2. For operation, always turn on forward rotation stroke end (LSP)/reverse rotation stroke end (LSN).

3. When using the torque limit signal (TL), set " 4" in parameter No.46 to assign TL to pin CN1B-7.

15 - 4


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.

Signal name Code Pin No.

Function/Application

I/O category

Control mode

ABS transfer mode

ABS request

ABSM

ABSR

(Note)

CN1B-8

(Note)

CN1B-9

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.

Turn on ABSR to request the ABS data in the ABS transfer mode.

DI-1

DI-1

ABS bit 0

ABS bit 1

Send data ready

Home position setting

D01

ZSP

TLC

CR

CN1B-4

CN1B-19

CN1B-6

CN1A-8

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.

Indicates the upper 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, ZSP turns on.

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.

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).

DO-1

DO-1

DO-1

DI-1

P

(Position control)

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


15.6 Startup procedure

(1) Battery installation.

Refer to section 15.3 installation of absolute position backup battery.


Set "1 "in parameter No. 1 of the servo amplifier and switch power off, then on.

(3) Resetting of absolute position erase (AL.25)

After connecting the encoder cable, the absolute position erase (AL.25) occurs at first power-on. Leave the alarm as it is for a few minutes, then switch power off, then on to reset the alarm.

(4) Confirmation of absolute position data transfer

When the servo-on (SON) is turned on, 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


15.7 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

Servo-on (SON) ON

ABS transfer mode ON

DI0 allocation change

Send data ready ON

Every time the SON is turned ON, the ABS transfer mode signal is turned ON to set the data to be transmitted.

ABS request ON

Transmission data set

Send data ready OFF

Watch dog timer

Reading 2 bits

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.

16 times

ABS request OFF

Send data ready ON

ABS request ON

Transmission data set

Send data ready OFF

Watch dog timer

Reading 2 bits

Shift and addition

<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.

3 times

ABS request OFF

Send data ready ON

DI0 allocation change

ABS transfer mode OFF

TLC (send data ready) OFF

Setting the current position

Sum check

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.

15 - 7


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

ON

Power supply

OFF

If SON is turned ON before ABSM is input

ON

Servo-on

(SON)

OFF

4)

ABS transfer mode

(ABSM)

ON

OFF

2), 3)

During transfer of ABS During transfer of ABS

(Note) (Note)

ABS request

(ABSR)

ON

OFF

(Note) (Note)

Send data ready

(TLC)

ON

OFF

Transmission

(ABS) data

D01:bit1

ZSP:bit2

(Note)

ABS data

80[ms]

(Note)

ABS data

80[ms]

Base circuit

ON

OFF

Ready

(RD)

ON

OFF

1)

Operation enabled

Operation enabled

Note. For details, refer to (1) (b) in this section.

15 - 8


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 Pin No.

Output signal

ABS transfer mode (ABSM): OFF ABS transfer mode (ABSM): ON

(Note)

D01

ZSP

TLC

CN1B-4

CN1B-19

CN1B-6

Positioning completion

Zero speed

During torque limit control

ABS data bit 0

ABS data bit 1

Send data ready

(Note)

INP

CN1A-18 Positioning completion ABS data bit 0

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


(b) Detailed description of absolute position data transfer

ON Servo-on

(programmable controller) OFF

Servo-on

(SON)

ABS transfer mode

(ABSM)

ON

OFF

ON

1)

OFF

ABS request

(ABSR)

ON

OFF

Send data ready

(TLC)

ON

OFF

2)

(Note)

3)

4)

5)

6)

1

During transfer of ABS

2

Transmission (ABS) data

Lower

2 bits

18 19

Checksum

Upper 2 bits

7)

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


(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)

11 b

11 b

11 b

11 b

11 b

11 b

11 b

11 b

101101 b

10 b

01 b

11 b

11 b

11 b

11 b

11 b

11 b

<Appendix>

Decimal

Hexadecimal

10

FFFF FFF6

Binary 1111 1111 1111 0110

When the binary data of each 2bits of the

Therefore, the checksum of " 10" (ABS data) is "2D b "

15 - 11


(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

ABS request

ON

OFF

Signal is not turned ON

Send data ready

ON

OFF

AL.E5 warning

Yes

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

ABS request

ON

OFF

Signal is not turned OFF

Send data ready

ON

OFF

AL.E5 warning

Yes

No

15 - 12


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

1 2 3

Signal is not turned OFF

4 18 19

ABS request

ON

OFF

Send data ready

ON

OFF

1 2 3 4 18 19

AL.E5 warning

Yes

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

1 2 3 4 18 19

ABS request

ON

OFF

1 2 3 4 18 19

Send data ready

ON

OFF

AL.E5 warning

Yes

No

15 - 13


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

ABS transfer mode

ON

OFF

ABS request

Send data ready

AL.E5 warning

ON

OFF

ON

OFF

Yes

No

1

1

2

2

3

3

4

4

18

18

19

19

15 - 14


(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

Servo-on

ON

OFF

10ms or more

Retry 1

10ms or more

Retry 2

10ms or more

Retry 3

10ms or more

ABS transfer mode

ON

OFF

ABS request

ON

OFF

ABS send data ready

ON

OFF

ABS checksum error

Yes

No

15 - 15


(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.

ON

Servo-on

(SON)

OFF

Reset

(RES)

ON

OFF

ABS transfer mode

(ABSM)

ON

OFF

ABS request

(ABSR)

ON

OFF

Send data ready

(TLC)

ON

OFF


Transmission

(ABS) data

ABS data

80[ms]

Base circuit

Alarm output

(ALM)

Ready

(RD)

ON

OFF

ON

OFF

ON

OFF

Occurrence of alarm

Operation enabled

15 - 16


(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.

ON

Power supply

OFF

Servo-on

(SON)

Emergency stop

(EMG)

ON

OFF

ON

OFF

ABS transfer mode

(ABSM)

ON

OFF

ABS request

(ABSR)

ON

OFF

Send data ready

(TLC)

ON

OFF


Reset

Send (ABS) data ABS data

80[ms]

Base circuit

Ready

(RD)

ON

OFF

ON

OFF

20[ms]

Operation enabled

15 - 17


(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.

ON

Servo-on

(SON)

OFF

Emergency stop

(EMG)

ON

OFF

ABS transfer mode

(ABSM)

ON

OFF

ABS request

(ABSR)

ON

OFF

Send data ready

(TLC)

ON

OFF



80[ms]

Base circuit

Ready

(RD)

ON

OFF

ON

OFF

Operation enabled

15 - 18


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

Home position

ABS data

20 [ms] or more 20 [ms] or more

Update

15 - 19


(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

Home position

ABS data

20 [ms] or more

Update

15 - 20


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).

ON

Power supply

OFF

Servo-on

(SON)

ON

OFF

ABS transfer mode

(ABSM)

ON

OFF

During transmission of ABS

During transmission of ABS

ABS request

(ABSR)

ON

OFF

ABS transmission data ready

(ABST)

ON

OFF


80 [ms]

ABS data

80 [ms]

Base circuit

ON

OFF

Ready

(RD)


(MBR)

ON

OFF

ON

OFF

Electromagnetic brake torque

ON

OFF

20 [ms]

Tb

20 [ms]

Tb

15 - 21


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


15.8 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

Home position

(operation home position) Home position


Programmable controller coordinate system

20000

ABS coordinate system

0 10000

0

50000

50000

Direction in which address increases

More than 1 revolution of motor shaft



50000 10000 0

50000


More than 1 revolution of motor shaft

0 20000 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 Home position



20000

ABS coordinate value error occurs if power is turned on within this range

0 10000

0

50000

50000


Absolute position data can be detected


Home position


50000


50000


10000 0

0


20000

ABS coordinate value error occurs if power is turned on within this range a) If revolution direction parameter (Pr. 14) 0 b) If revolution direction parameter (Pr. 14) 1

15 - 23


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.


Programmable controller coordinate system 0 20000 30000 70000


Programmable controller coordinate system 70000 30000 20000 0


20000 0 50000



50000


0 20000



* Home position address changed to "2000" a) If revolution direction parameter (Pr. 14) 0



* Home position address changed to "2000" 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)





ABS coordinate error region



0

1)

(80000 60000)

Machine home position Home position (operation home

10000

50000

Stroke limit

50000

0

60000 position)

100000

50000

(0 60000)

3)

2)

(130000 60000)

150000


* Home position address changed to "50000"

Mechanical limit

If revolution direction parameter (Pr. 14) 0

15 - 24


(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

1

2

3

4

5

6

7

A1S

Power

CPU supply

A1SD71

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

A1S

CPU

A1SD71

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 to

X,Y00F

X,Y010 to

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 010 H .

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

A1SD71

X,Y000 to

X,Y00F

I/O numbers to be set with FROM/TO instruction

15 - 25



Power supply

LG

General purpose programmable controller

A1S62P

24

24G

FG

INPUT

AC100/200

A1SCPU

A1SX40

COM

8

9

A

B

C

D

E

F

COM

NC

NC

5

6

3

4

7

0

1

2

Alarm reset

Emergency stop

Servo-on

Home position return

Operation mode I

Operation mode II

Position start

Position stop

JOG

JOG

ABS bit 0/Completion of positioning

ABS bit 1/Zero speed

Send data ready/Torque limit control

Trouble

(Note 3)

CN1B

VDD

COM

SG

SG

Servo amplifier

3

13

10

20

DO1

ZSP

TLC

ALM

EMG

4

19

6

18

15

A1SY40

COM1

COM2

8

9

A

B

3

4

5

6

7

0

1

2

Servo-on

ABS transfer mode

ABS request

Alarm reset

RA2


(Note 4)

(Note 2)

SON

ABSM

ABSR

RES

5

8

9

14

A1SD71-S2

DOG 6B

STOP 6A

Power supply

RDY

5A

5B

PGO

9A

9B

12A

CLEAR

Power supply

PULSE-

F

12B

17A

15A

15B

PULSE-

R

16A

16B

(Note 1)

CN1A

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


(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

X input contact Y output contact

ABS bit 0 / completion of positioning Y40

ABS bit 1 / zero speed Y41

Send ABS data ready / torque limit control Y42

Servo alarm Y43

Error reset

Servo emergency stop

Servo-on

Home position return start

Operation mode I

Operation mode II

X44

Y45

Y48

Y49

Y4A

Y4B

(Note 2)

(Note 1)

Servo-on

ABS transfer mode

ABS request

Alarm reset


Clear

Servo alarm

ABS communication error

ABS checksum error

ABS coordinate error

D register M contact

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

T2

T3

Retry wait timer

Ready to send response timer

T10 (Note 1) Clear (CR) ON timer

T200 Transmitted data read 10ms delay timer

M7

M8

M9

M10

M11

M12

M13

M0

M1

M2

M3

M4

M5

M6

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

M20 (Note 1) Clear (CR) ON timer request

M21 (Note 2) Data set type home position return request

C counter

C0

C1

C2

ABS data receive frequency counter

Checksum receive frequency counter

Retry counter

Note 1. Necessary when data set type home position return is executed.

2. Necessary in the event of electromagnetic brake output.

15 - 27


(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

Unit setting

Travel per pulse mm

0

0.1 to 1.0 to 10.0

inch

1

0.00001

to

0.0001

to inch/PLS

0.001

to degree

2

0.00001

to

0.0001

to degree/PLS

0.001

to pulse

3

Unit of travel

Constant K for conversion into unit of travel

1 to m/PLS

10 to 100 1 to 10 to 100 1 to

Reference

For 1 m/PLS, set constant K to 10


When the unit setting is pulse, the additional program is not required.

10 to 100

PLS

None

M9038

Initial pulse

ON

TOP H0001 K201 K1

MOV K3

K1

D7

A1SD71 error reset

Setting retry count (3 times) Initial setting

M9039

PC RUN

X36

Servo-on PB

X36

Servo-on

PB

DMOV D100 A0

SET

RST

M8

M3

Loading received shift data

Servo-on request

Resetting ready to send

RST M8 Resetting servo-on request

M8 M9 M11

Servo-on request

Error flag

Retry flag setting

RST

RST

C0

C1

Resetting ABS transfer counter at servo OFF

Resetting checksum transfer counter at servo OFF

Servo-on control

Y40 Servo-on output

PLS M0 ABS I/F start

1 (To be continued) 1

15 - 28


1

M8

Servo-on request

M12

Retry flag reset request

X34 M9

Error reset

PB

Y43

Error flag

Alarm reset

X35

Emergency stop PB

X33

Servo alarm

M0

ABS data transfer start

M0


Y41 C1

2

ABS transfer mode

Checksum counter

(Continued from preceding page) 1

PLS M12 Setting retry flag

RST C2 Resetting retry counter

Y43 Alarm reset output

ABS data transmission retry control

M9 Error flag output

RST M3 Resetting ready to send


Servo alarm detection, alarm reset control

MOV K16

MOV K3

MOV K0

Y48 Servo alarm

D0

D1

D2

Initializing ABS data transfer counter

Initializing checksum transfer counter

Initializing checksum register

MOV K0

DMOV K0

DMOV K0

RST

RST

RST

D5

D9

A0

Initializing ABS data register


ABS transfer mode

Initial setting


Y4B

C0

C1

Resetting error for ABS coordinate

Resetting ABS transfer counter

Resetting checksum transfer counter

Y41 ABS transfer mode

ABS transfer mode control

(To be continued) 2

15 - 29


2

C0 C1 Y41

Counter Checksum counter

ABS transfer mode

3

M13


Rotation direction judgement

D8 K4

M4 C0

Read enabled

ABS data counter

K0 D3


DMOVP A0 D3 Saving ABS 32-bit data

MOVP K0

FROMP H0001 K7872 D8

A0

K1

WAND H0004 D8

WAND H8000 A1

Clearing register

*1 Reading X-axis rotating

direction parameter

Rotation direction parameter mask

Detecting absolute position polarity and A1SD71 rotating direction

ABS data sign mask

PLS M13 PLS processing command

NEG D4

Reversing polarity of upper

16 bits

K1

NEG D3

K1

D4

D4

MOV K1X30 D5

Subtraction for upper 16 bits

Reversing polarity of absolute position

Reversing polarity of lower

16 bits

Lower 16 bits 0

D4 1 D4

Reading 4 bits

WAND H0003 D5 Masking 2 bits

WOR D5 A0 Adding 2 bits

ROR K2

D1

C1

PLS M5

(To be continued) 3

Right rotation of A0 2 bits

Counting checksum data reception frequency

Completion of reading, 2 bits of checksum

Reading checksum

6 bits

(2 bit 3 times)

15 - 30


3

M4 C0

Read enabled

ABS data counter

C1

Check sum counter

D2 A0

D2 A0

4

C2

Retry counter

M6


M5


Y41 X32

ABS transfer mode

M7

Send data ready

ABS 2 bits request

Y42 X32

ABS request

Y42

Send data ready

X32 T200

10ms delay timer


MOV K1X30 D5 Reading 4 bits



DROR K2 Right rotation of A0 2 bits

D5 D2

PLS

D2

D0

C0

M6

Adding checksum

Counting frequency of ABS data reception

Completion of reading: 2 bits of ABS data

RORP K10 Right rotation of A0 10 bits

Reading ABS data

32 bits

(2 bits 16 times)

WAND H003F A0 Masking checksum

MOV A0

M1 Sum check OK

M2 Sum check NG

D6 Sum check memory

Y4A ABS checksum error

RST Y42 Resetting ABS request

Detecting ABS data checksum error

PLS M7 ABS 2 bits request

SET Y42 Setting ABS request

K1

T200 10ms delay timer

M4

(To be continued) 4


ABS request control

15 - 31


4

M1

Checksum OK

(Note)

D K0 D3

M1 Y4B

Checksum

OK



DFROP H0001 K7912 D9 K1

*1 A1SD71: reading home

position address

D*P K D3 D3

Inserting constant K for conversion into the unit of feed per pulse

Restoring absolute position data

D P D3 D9

SET

DTOP H0001 K41 D3

SET

D3

Y4B

K1

M3

Adding home position address to absolute position

Setting ABS coordinate error

Detecting ABS coordinate error

*1 X-axis: Present position

change ABS data "ready"

Writing ABS data to A1SD71

ABS data "ready"

5

Y49 X36


Y41

Servo-on PB

ABS transfer mode

Y41 Y42

ABS transfer mode

Y41

ABS request

X32

ABS transfer mode

T0

Send data ready

ABS transfer NG

T1

ABS request NG

T3

Send data ready NG

RST

K10

T1

K10

T3

Y41

K50

T0

Resetting ABS transfer mode

ABS transfer mode timer (5s)


(1s)

Ready to send response timer (1s)

ABS communication error detecting

Y49 ABS communication error

(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


5

M2

Checksum NG

M10 C2

Retry start pulse

Retry counter

M11

Retry flag set

T2

Retry wait timer

M9039

PC RUN


PLS M10 ABS transfer retry start pulse

SET M11 Setting retry flag

D7

C2

K1

T2

Retry counter

Retry wait timer (100ms)

ABS transfer retry control

RST M11 Resetting retry flag

DMOV A0 D100 Saving received shift data

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


(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 mode

X-axis start command M3

Ready to send the

ABS date

X-axis start program

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 X37

ABS transfer mode


Home position return start PB

M20

Clear (CR) ON timer request

M21

Data set type home position return request

T10

Clear signal 100ms ON timer

M21


PLS

SET

RST

Y2D Programmable controller ready

M20 Clear (CR) ON timer request

K1

T10 Clear (CR) 100ms ON timer

Y45 Clear (CR) ON

(Note 1)

M21 Setting data set type home position return request

M21 Resetting data set type home position return request

DMOVP K500 D9

Setting X-axis home position address "500" in the data register

(Note 1)

DTOP H0001 K7912 D9 K1 *1:Changing X-axis home position address

DFROP H0001 K7912 D9 K1 (Note 2)

DTOP H0001 K41 D9 K1 *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


(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

ABS transfer mode

Brake (MBR)

Y44 Electromagnetic brake output

(h) Positioning completion

To create the status information for servo positioning completion.


Y41 X30

ABS transfer mode

Y41


ABS transfer mode

M Completion of servo positioning

(i) Zero speed

To create the status information for servo zero speed


Y41 X31

ABS transfer mode

Y41

Zero speed

ABS transfer mode

M Servo zero speed

(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

ABS transfer mode

Torque limiting mode

M Servo torque limiting mode

15 - 35


(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]


X-axis data set type home position return program


Y-axis data set type home position return program


program)

15 - 36


15.8.2 MELSEC FX (2N) -32MT (FX (2N) -1PG)


(a) FX-32MT (FX-1PG)

FX-32MT

24V

3.3k

FX-1PG

3.3k

3.3k

3.3k

SG

S/S

DOG

STOP

VH

VL

FPO

FP

COM0

RP

RPO

COM1

CLR

PGO

PGO

COM1

Y0

Y1

Y2

Y3

COM2

Y4

Y5

Y6

Y7

COM3

Y10

Y11

Y12

Y13

24

SG

L

Power supply

N

X6

X7

X10

X11

X12

X13

X14

X15

COM

RUN

X0

PC-RUN

X1

X2

X3

X4

X5

Alarm reset

Emergency stop

Servo-on

JOG( )

JOG( )

Position start

Position stop


1PG error reset


Servo alarm


ABS checksum error

DOG



Alarm

Servo ready

Servo-on

ABS transfer mode

ABS request

Alarm reset

(Note 1)

Pulse train for forward rotation

Pulse train for reverse rotation

Clear

Z-phase pulse

(Note 2)

SD

CN1B

SG 10

DO1 4

ZSP 19

TLC 6

ALM 18

RD

CN1A

19

RA2


(Note 3)

EMG 15

SON 5

ABSM

8

ABSR

9

RES 14

COM 13

SD

VDD 3

OPC

CN1A

11

PP 3

SG 20

NP 2

SG 10

CR 8

P15R 4

OP 14

SD Plate

Servo amplifier

24V

15V

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


(b) FX 2N -32MT (FX 2N -1PG)

FX

2N

-32MT

24V

3.3k

COM1

Y0

Y1

Y2

Y3

COM2

Y4

Y5

Y6

Y7

COM3

Y10

Y11

Y12

Y13

24

L

N

COM

Power supply

X0

X1

X2

X3

X4

X5

X6

X7

X10

X11

X12

X13

X14

X15

Alarm reset

Emergency stop

Servo-on

JOG( )

JOG( )

Position start

Position stop


1PG error reset

FX

2N

-1PG

3.3k

S/S

DOG

STOP

VIN

3.3k

3.3k

FP

COM0

RP

COM1

CLR

PGO

PGO

Servo-on

ABS transfer mode

ABS request

Alarm reset

Servo alarm


ABS checksum error

DOG

(Note 1)

Pulse train for forward rotation

Pulse train for reverse rotation

Clear




Alarm

Servo ready

Z-phase pulse

(Note 2)

SD

RD

CN1B

SG 10

DO1 4

ZSP 19

TLC 6

ALM 18

CN1A

19

RA2


(Note 3)

EMG 15

SON 5

ABSM

ABSR

8

9

RES 14

COM 13

SD

VDD 3

CN1A

OPC 11

PP 3

SG 20

NP 12

SG 10

CR 8

P15R 4

OP 14

SD Plate

Servo amplifier

24V

15V

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



(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) 1)

300000 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 FX 2(N) -1PG User's Manual.

-

#14

-

-

#18

#20

#22

#24

-

-

#8

#10

-

-

#2

-

#5

BMF No.

Upper 16 bits

Lower 16 bits

#12

#13

#15

#16

#17

#19

#21

#23

#25

#6

#7

#9

#11

#0

#1

#3

#4

Name and symbol

Pulse rate

Feed rate

Parameter

Max. speed

Bias speed

JOG operation

Home position return speed (high speed)

Home position return speed (creep)

Acceleration/deceleration time

Not usable

Vmax

Vbia

Vjog

V

RT

V

CL

Home position return zero-point signal count N

Home position address HP

Ta

A

B

Target address (I)

Operation speed (I)

Target address (II)

Operation speed (II)

Operation command

P(I)

V(I)

P(II)

V(II)

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).



OFF period of ready to send the ABS data (X2).

15 - 39


(b) Device list

X10

X11

X12

X13

X14

X15

X4

X5

X6

X7

X0

X1

X2

X3

X input contact

ABS bit 0 / completion of positioning

ABS bit 1 / zero speed

Send ABS data ready/ torque limit control

Servo alarm

Alarm reset switch


Servo-on switch

Servo ready

JOG ( ) switch

JOG ( ) switch

Position start switch

Position stop switch

Home position return start switch

1PG error reset

Y0

Y1

Y2

Y3

Y4

Y5

Y10

Y11

Y12

(Note 2)

(Note 1)

D0

D1

D2

D3

D4

D24

D25

D106

D107

D register



Checksum addition counter


Transmission retry count in checksum discrepancy



1PG present position address: Lower 16 bits

1PG present position address: Upper 16 bits

M0

M1

M2

M3

M4

T200

T201

T202

T203

T204

T210 (Note 1)

T211

T timer

Retry wait timer

ABS transfer mode timer


Ready to send response timer

ABS data waiting timer

Clear (CR) ON timer

Retry ABS transfer mode OFF wait timer

C0

C1

C2

Note 1. Necessary when data set type home position return is executed.

2. Necessary in the event of electromagnetic brake output.

M51

M52

M57

M58

M59

M5

M6

M10

M11

M12

M13

M20

M62

M63

M64

M70 (Note 1)

M71 (Note 1)

M99

Y output contact

Servo-on

ABS transfer mode

ABS request

Alarm reset


Clear

Servo alarm


ABS checksum error

Error flag


Retry command

ABS data read

Servo-on request reset permission

Servo-on request

Retry flag

M contact

ABS data 2 bit receiving buffer

ABS data 32 bit buffer

Checksum 6 bit buffer

For checksum comparison

Sum check discrepancy (greater)

Sum check discrepancy

Sum check discrepancy (less)



ABS data ready

C counter

All data reception frequency counter (19 times)

Checksum reception frequency counter

ABS data reception frequency counter (16 times)

15 - 40


1

(c) ABS data transfer program for X-axis

M8002

Initial pulse

TO K0

DMOV K0

K3 K0

D24

K1

Setting home position address to 0

Setting 1PG pulse command unit

DTO K0 K4 K100000 K1 1PG max. speed: 100 kpps

DTO K0 K7 K10000 K1

DTO K0 K9 K50000 K1

TO K0 K11 K1000 K1

1PG Jog speed: 10 kpps

1PG home position return speed: 50 kpps

1PG creep speed: 1 kpps

TO K0

DTO K0

TO K0

DTO K0

K12 K2

K13 D24

K15 K200

K1

K1

K1

1PG home position return zero-point count: twice

1PG home position address setting

1PG acceleration/deceleration time: 200ms

Initial setting

K19 K100000 K1

DMOV K300000 D100

1PG operation speed:

100kpps

Position move account 1:

300000 pulses

DMOV K 250000 D102

DMOV K0 D104


250000 pulses


0 pulses

DMOV K0 Z Clearing index registers V, Z

DMOV K4 D4

(To be continued) 1

Setting "4 times" for checksum error transmission frequency

15 - 41


1

X6 M6

Servo-on switch

M5

Retry

Y12 M0

Servo-on request

ABS check error

Error flag

Y11


2

X6

Servo-on switch

M1 M6

ABS transmission start

Retry

Y12


SET M5 Servo-on request

Y0 Servo-on output

PLS M1 ABS data transmission start

RST

RST

RST

RST

C1 Clearing retry counter

M99

M5

Resetting ready to send ABS data

Resetting servo-on request

Servo-on and retry control

Y1 Resetting ABS transfer mode



ZRST M62

ZRST C0

M64

C2

Resetting checksum judgement flag

Resetting communication counter

(To be continued) 2

15 - 42


2

X4 M0

Alarm reset switch

Y3

Error flag

Alarm reset

3

X5

Emergency stop switch

X3

Servo alarm

M1




RST

ZRST M0

ZRST D0

RST

RST

C1 Clearing retry counter

M64

D3

C2

C0

M0

Y10

Clearing ABS data receiving area

Clearing ABS receive data buffer

Resetting ABS data reception counter

Resetting all data reception counter

Error flag output


Servo alarm output

RST Y1 Resetting ABS transfer mode


RST M99 Resetting ready to send



SET Y1 ABS transfer mode ON

ZRST M10

ZRST D0

RST

RST

M64

D2

C2

C0

Clearing ABS data reception area

Clearing ABS receiver data buffer

Resetting ABS data reception counter

Resetting all data reception counter

ABS transfer mode

Initial setting

(To be continued) 3

15 - 43


3

Y1

ABS transfer mode

C0 X2

All data receptin counter

Send data ready

M3

ABS data read

Y2 X2

T204

ABS data waiting timer

ABS request

Send data ready

C0 X2

ABS data reception counter

Send data ready

C1

Retry counter

M62 C1

Retry counter

M64

T211

Setting retry ABS transfer mode

OFF wait timer: 20ms

M4

4


M5 M6

Servo-on request

Retry flag

C2


PLS M3

Resetting ABS data

SET Y2

K1

T204

ABS request ON

ABS data 32 bits

(2 bits 16 times)

ABS data waiting timer 10ms

Checksum 6 bits

(2 bits 3 times)

WANDP K1X0 H0003 K1M10 Masking ABS data 2 bits

SFTR M10 M20 K38 K2 Right shift (2 bits) of ABS data

ADDP K1M10 D2 D2

K16

C2

K19

C0

Checksum addition

Updating ABS data reception counter

Updating all data reception counter



WANDP H003F D2 D2 Masking checksum 6 bits

CMPP K2M52 D2 M62 Comparison of checksum

Y12 ABS data checksum error

PLS M2 Retry command

K2

T211

MOV K2M52 D3

Setting retry ABS transfer mode OFF wait timer: 20ms

Storing checksum value in the case of checksum error

SET M6 Retry flag ON

PLS

RST

M4


M5 Servo-on request

K10

T211 Setting retry wait timer: 100ms

Detection of ABS checksum error, retry control

(To be continued) 4

15 - 44

Y11 X6


Servo-on switch

Y1

ABS transfer mode

Y1 Y2

ABS transfer mode

Y1

ABS request

X2

ABS transfer mode

T201

Send data ready

ABS transmission NG

T202

ABS request NG

T203

Send data ready NG

M2

Retry command

T200 M6

5

Retry wait timer

Retry


4

M63

Check sum match


DMOVP K8M20 D0 ABS data D0, D1

DADDP D0 D24 D0

DTOP K0 K26 D0 K1

Adding 1PG home position address

ABS data 1PG

SET

ZRST M62

RST

RST

RST

Writing absolute position data to

1PG

M99 Setting ABS data ready

M64

M6

Clearing checksum judging area

Resetting retry flag

Y1

Y11

Detecting ABS communication error

Y2 Resetting ABS request

K500

T201 ABS transfer mode 5s timer

K100

T202

K100

T203

ABS request response

1s timer

Ready to send response

1s timer



D4

C1 Counting retry frequency

SET M5 Setting servo-on request

(To be continued) 5


15 - 45


5

M8000

Normally

OFF

X7 X12 M99

Servo ready

Position start switch

X10

ABS data ready

JOG

X11

JOG

(Note)

X7 X14

Servo ready Home position return start switch

M120

Position start command pulse


M109

M110

M111

M112

M102

1PG control command

(not used)

M103

PLS M120 Start command pulse

M104 1PG JOG command

M105 1PG JOG command

M106

1PG home position return start

DTO K0 K17 D100Z K1 Setting motion distance

SET 108 1PG start

Operation command control

DINC Z

DINC Z

DCMP Z K6 M121

Index processing

Position command control

6

X13

Position stop switch

M0

M122

INDX 6

Error flag

X16

1PG error reset

DMOV K0 Z

M101 1PG stop command

M100 1PG error reset

(To be continued) 6

Note. Program example for the dog type home position return. For the data set type home position return, refer to the program example in (2) (d) in this section.

15 - 46


6

M8000

Normally

ON

M200


TO K0

FROM K0

DFROM K0

K25 K4M100 K1

K28 K3M200 K1

K26 D106

RST

K1

M108

FX2 1PG

Transmission of control signals

1PG FX2

Transmission of status

1PG FX2

Transmission of present position D106, D107

1PG

Resetting start command

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

ABS transfer mode

M70


Home position return start swiitch

Clear signal ON timer request

M71

Date set type home position return request

T210


M71


PLS

SET

RST


K10



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

15 - 47


(e) Electromagnetic brake output


Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock

(MBR).

Y1 X1

ABS transfer mode

Brake (MBR)


(f) Positioning completion

To create the status information for positioning completion.


Y1 X0

ABS transfer mode

Y1


ABS transfer mode

M Completion of positioning

(g) Zero speed

To create the status information for zero speed.


Y1 X1

ABS transfer mode

Y1

Zero speed

ABS transfer mode

M Zero speed

(h) Torque limiting

To create the status information for the torque limiting mode.


Y1 X2

ABS transfer mode


M Torque limiting mode

15 - 48


15.8.3 MELSEC A1SD75


Power supply

A1S62P

600mA

LG

INPUT

AC100/200

A1SCPU

A1SX40

24

24G

FG

6

7

4

5

2

3

0

1

Alarm reset

Emergency stop

Servo-on


B

C

D

E

F

COM

8

9

A

COM

NC

NC

Operation mode I

Operation mode II

Position start

Position stop

JOG

JOG

A1SY40

COM1

COM2

8

9

A

B

5

6

3

4

7

0

1

2

A1SD75-P

DOG

PLS

RLS

STOP

CHG 15

START 16

11

12

13

14

COMMON

COMMON

35

36

RDY

INPS

COMMON

CLEAR

COMMON

7

8

26

5

23

(Note 2)

PGO

PULSE-

F

PULSE-

R

PLS COM

PLS COM

24

25

21

3

22

4

19

20 (Note 6)

(Note 1)

Proximity signal

ABS data bit 0/Positioning completion

ABS data bit 1/zero speed

Readying to send data/Torque limiting

Trouble

Upper limit

Lower limit

(Note 3)

Operation mode

I II

OFF OFF

OFF ON

ON OFF

ON ON

Operating status

JOG


Positioning

Servo-on

ABS transfer mode

ABS request

Alarm reset

RA2


(Note 4)

Servo alarm


ABS checksum error

(Note 2)

Servo ready


(Note 6)

(Note 5)

15 - 49

VDD

COM

SG

SG

Servo amplifier

CN1B

3

13

10

20

DO1

ZSP

TLC

ALM

EMG

LSP

LSN

15

16

17

4

19

6

18

SON

ABSM

ABSR

RES

5

8

9

14

COM

RD

INP

CR

SG

SG

LZ

LZR

PG

PP

NG

NP

LG

SD

CN1A

9

19

18

15

13

3

12

8

10

20

5

2

1

Plate


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.


(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).



OFF period of reading to send ABS data (X22)

15 - 50


1)

3)

(b) Device list

X20

X21

X22

X23

X24

X25

X26

X27

X28

X29

D0

D1

D2

D3

D4

D5

D6

D7

D8

D9

D10

D11

D12

D110

D111

T0

T1

T2

T3

T10

(Note 1)

T200

T201

X input contact

ABS bit 0 / positioning completion

ABS bit 1 / zero speed

2)

Reading to send ABS data / limiting torque

Servo alarm

Alarm reset switch


Servo-on switch


Operation mode

Operation mode

D register

ABS data transmission counter

Checksum transmission counter

Checksum addition register



ABS data 2-bit receiving buffer


Number of retries

Forward rotation direction



Drive unit ready data

Home position return completion data

Received shift data: Lower 16 bits

Received shift data: Upper 16 bits

4)

T timer

ABS transmission mode timer


Retry wait timer

ABS data send reading response timer

Clear (CR) ON timer

Transmitted data read 10ms delay timer


Y30

Y31

Y32

Y33

Y34

(Note 2)

Y35

(Note 1)

Y38

Y39

Y3A

Y output contact

Servo-on

ABS transfer mode

ABS request

Alarm reset


Clear

Servo alarm


ABS checksum error

M5

M6

M7

M8

M9

M10

M11

M12

M13

M14

M15

M16

M17

M18

M20

(Note 1)

M21

(Note 1)

M22

M23

M24

M26

C0

C1

C2

M contact


Sum check completion

Sum check mismatch

ABS data ready




ABS 2 bits request

Servo-on request

Servo alarm

ABS data transmission retry start pulse

Retry flag set

Retry flag reset




Home position return processing instruction

Current position change processing instruction

Current position change flag

ABS transfer mode OFF permission

C counter

ABS data receive times counter

Checksum receive times counter

Retry counter

Note 1. Required for data set type home position return.

2. Required for electromagnetic brake output.

15 - 51


(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 * P K D3 D3

Item

Unit setting

Travel per pulse

Unit of travel mm

0

0.1 to 1 to 10 to 100 m/PLS

0.00001

to to inch

1

0.0001

0.001

to inch/PLS

0.01

to

0.00001

to degree

2

0.0001

to

0.001

to degree/PLS

0.01

to pulse

3

PLS

Constant K for conversion into unit of travel

1 to 10 to

100 to

1000 1 to 10 to 100 to 1000 1 to 10 to

100 to

1000 None

Reference



The additional program is not required for the unit setting is PLS.

5)

M101

MOV K0 K3 Y30 Output signal reset

Error reset completion

TO H0000 K1151 K1

MOV K3

K1

D7

A1SD75 error reset

Setting the number of retries

6)

(to 3 times)

Initial setting

SET M101 Error reset completion flag

1

M9039

PC RUN

DMOV D110 A0

(To be continued) 1

Loading received shift data

15 - 52


1

X26

Servo-on switch

2

M23

Processing instruction

D11 K1

RDY signal ON judgement

X26

Servo-on switch

M13

Servo-on request

M14

Error flag

M16

Retry flag set

M13

Servo-on request

M17

Retry flag reset request

X24 M14

Error reset switch

Y33

Error flag

Alarm reset

X25

Emergency stop switch

X23

Servo alarm


SET M13

FROM H0000 K816 D11 K1

Servo-on request

7)

Reading A1SD75 1-axis RDY signal

WAND H0001 D11 Masking RDY signal

PLS

M23

Current position change processing instruction

M24 Current position change flag

RST M8

Resetting ready

Servo-on control

RST

RST

RST

M13 Resetting servo-on request

C0

C1

Y30

Resetting ABS transmission counter at servo OFF

Resetting checksum transmission counter at servo

OFF

Servo-on output

PLS M5 ABS interface start

PLS M17 Setting retry flag


RST C2 Resetting retry counter


RST

M14 Error flag output

M8 Resetting ready


Y38

Servo alarm

(To be continued) 2


15 - 53


2

M5


3

M5


Y31 M26

ABS transfer mode

C0

ABS transfer mode

OFF permission

C1 Y31

Counter Sum counter

ABS transfer mode

M18


Rotation direction judgement

D8 K1

10)


MOV K16

MOV K3

D0

D1

Initializing ABS data transmission counter

Initializing checksum transmission counter

MOV K0 D2 Initializing checksum register

MOV K0

DMOV K0

D5

D9


ABS transfer mode initial setting


DMOV K0

RST

RST

RST

A0


C0

C1

M26

Resetting ABS transmission counter

Resetting checksum transmission counter


Y31 ABS transfer mode

ABS transfer mode control

DMOVP A0 D3 Saving ABS 32-bit data

MOVP K0

FROMP H0000 K5 D8

A0

K1

WAND H0001 D8

WAND H8000 A1

Clearing register

*1 Reading x-axis rotation

direction parameter

Masking rotation direction parameter

Masking ABS data sign

8)

9)

Absolute position polarity,A1SD75 rotation direction setting detection

K0 D3

PLS

NEG

K1

NEG

K1

M18 PLS processing command

D4

D4

D3

D4

Reversing polarity of upper

16 bits

Decrementing upper 16 bits by 1

Reversing polarity of lower

16 bits

Lower 16 bits 0

D4 1 D4

Reversing absolute position polarity

(To be continued) 3

15 - 54


3

M9 C0

Read enabled

ABS data counter

M9 C0

Read enabled

ABS data counter

C1 X22

Checksum counter

Ready to send ABS data

4

C2

Retry counter

D2 A0

D2 A0




M6 Sum check OK

M7 Sum check NG

MOV A0

SET

D6 Sum check memory

M26


Y3A ABS checksum error

(To be continued) 4

11)


ROR

PLS

K2 Right rotation of A0 2 bits

D1

C1

M10

Counting the number of checksum data

Completion of reading checksum 2 bits


WAND H0003 D5 Masking 2 bits 11)

Reading checksum

6bits

(2 bits 3 times)


DROR K2 Right rotation of A0 2 bits

D5 D2

PLS

D2 Adding checksum

D0

C0

M11

Counting the number of ABS data

Completion of reading ABS

2 bits data

RORP K10 Right rotation of A0 10 bits

WAND H003F A0 Masking sum check

Reading ABS data

32 bits

(2 bits 16 times)

Detecting ABS checksum error

15 - 55


4

M11

ABS 2 bits completion

M10

Checksum 2 bits completion

Y31 X22 C1

ABS transfer mode

M12


Checksum counter

ABS 2 bits request

Y32 X22

ABS request Ready to send ABS data

Y32 X22 T200

ABS request

M6

Ready to send

ABS data

10ms delay timer

Checksum

OK

(Note 1)


RST Y32

ABS request reset

PLS M12 ABS 2 bits request

ABS request control

SET Y32 ABS request set

K1

T200 10ms delay timer

DFROP H0000 K0072 D9

D*P K D3

D P D3 D9

M9

K1

D3

D3

Transmitted data read enabled

12)

*1: Reading A1SD75 home

position address (Note 2)

Inserting constant K for conversion into the unit of feed per pulse

Restoring absolute position data.

Adding home position address to absolute position

M6

Checksum

OK

M24

Change flag

7)

SET

DTOP H0000 K1154 D3

SET

M8

K1

TO H0000 K1150 K9003 K1

Y10

13)

ABS data ready

*1: Changing X-axis current position

14)

*1: Writing No. 9003 data for changing current value

Writing absolute position data to

A1SD75

Positioning start

RST Y10

Switching start signal off on completion of positioning

5

Y10 X1 X4

Positioning start

Start completion

XA

BUSY

Error detection

(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


5

Y39 X26


Y31

Servo-on switch

ABS transfer mode

Y31 Y32

ABS transfer mode

Y31

ABS request

X22

ABS transfer mode

T0

Ready to send

ABS data

ABS transfer NG

T1

ABS request NG

T3

Readying to send ABS data NG

M7

Sum check NG

Y31 M15

ABS transfer mode

T201

ABS transfer retry start

C2


Retry counter

M16

Retry flag set

T2

Retry waiting timer

M9039

PC RUN



K50

T0 ABS transfer mode 5s timer

K10

T1

K10

T3

ABS request response

1s timer

ABS data send ready response 1s timer


Y39 ABS communication error

PLS

SET

RST

M15

K2

T201

Setting ABS transfer retry start flag

Retry ABS transfer mode

OFF wait timer 20ms

M16

D7

C2

Setting retry flag

Retry counter

M15

K1

T2

Setting ABS transfer retry start flag

Retry waiting timer (100ms)



DMOV A0 D110

Saving received shift data

END

15 - 57


(d) X-axis program

Do not execute the X-axis program while the ABS ready (M8) is off.

Positioning mode

X-axis start command

(Note)

M8


X-axis start program

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 K1

Reading 1-axis home position return completion signal

WAND K0016 D12 Masking home position return completion

M22 Home position return processing instruction

M22

Processing instruction

D12 K16

Home position return completion judgement

Y35 Switching clear (CR) on

15 - 58


(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 X27

M20

ABS transfer mode



Clear signal ON timer request

M21


T10


M21


(Note 1)

PLS

Y1D

Programmable controller ready


K1


SET

RST

DTOP H0000 K72 D9

DTOP H0000 K1154 D9


M21

Resetting data set type home position return request

Y35 Switch clear (CR) on

DMOVP K500 D9

K1

K1

Setting X-axis home position address 500 in data register

17)

*1: Changing X-axis home position address

(Note 2)

18)

*1: Changing X-axis current value

TO H0000 K1150 K9003 K1 *1: Writing positioning data No. 9003

SET Y10 Starting positioning

Y10 X1

Positioning start

Start completion

XA

Error detection

X4

BUSY

RST Y10

Switching BUSY signal off to switch start signal off.

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


(g) Electromagnetic brake output


Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock

(MBR).

Y31 X21

ABS transfer mode

Brake (MBR)


(h) Positioning completion

To create the status information for positioning completion.


Y31 X20

ABS transfer mode

Y31


ABS transfer mode

M Positioning completion

(i) Zero speed

To create the status information for zero speed.


Y31 X21

ABS transfer mode

Y31

Zero speed

ABS transfer mode

M Zero speed

(j) Torque limiting

To create the status information for the torque limiting mode.


Y31 X22

ABS transfer mode


M Torque limiting mode

15 - 60


(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 D8 K1]

[DFROP H0000 K0072 D9 K1]

[DTOP H0000 K1154 D3 K1]

[TO H0000 K1150 K9003 K1]

[FROMP H0000 K155 D8 K1]

[DFROP H0000 K222 D9 K1]

[DTOP H0000 K1204 D3 K1]

[TO H0000 K1200 K9003 K1]


20)

X-axis ABS sequence program

(Program in section 15.8.3 (2) (c))

Y-axis ABS sequence program


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 K1]

[DTOP H0000 K1154 D9 K1]

[TO H0000 K1150 K9003 K1]


[DTOP H0000 K222 D9 K1]

[DTOP H0000 K1204 D3 K1]

[TO H0000 K1200 K9003 K1]

20)

X-axis data set type home position return program


Y-axis data set type home position return program

(Refer to the X-axis program and write the Y-axis program)

15 - 61


(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).

Input

Device name

Output internal relay

Data register

X4

XA

Y10

Y13

Y16

Y17

Devices

Axis 1 Axis 2 Axis 3

X0

X5

XB

Y11

Y14

Y18

Y19

Application

A1SD75 ready

X6 BUSY

XC Error detection

Y12 Positioning start

Y1C Axis stop

Y1A Forward rotation jog start

Y1B Reverse rotation jog start

Y1D Programmable controller ready

M2

M0

M1

M3

Parameter setting completion flag

Flash ROM registration processing flag

M4 Axis error reset requesting flag

M100

M101

M102

M103

A1SD75 normal flag

Initial error reset completion flag

All BUSY signal OFF flag

A1SD75 operable flag

D100 Flash ROM registration results

D101 D102 D103 Axis error code

D104 D105 D106 Axis warning code

D107 D108 D109 Axis error reset results

Bit device :Data at ON

Data register :Stored data

Not ready/ WDT error

BUSY(running)

Error detection

Start being requested

Stop being requested

Forward rotation being started

Reverse rotation being started

Programmable controller CPU normal

Setting complete

Processing

Requesting

A1SD75 normal

Error reset complete

All BUSY signal OFF

Operable

Registration results

Error code

Warning code

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


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


15.9 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


15.10 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.

(Note)


ABS data checksum error


Name

Servo alarm

Output coil

AD71 1PG

Description

Y49 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.

Y4A Y12

Y4B

Y48 Y10

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.

Alarm occurred in the servo amplifier.

Cause Action

1. Wiring for ABS transfer mode signal, ABS data request signal, or ready to send signal is disconnected or connected to the SG terminal.

Correct the wiring.


Correct the ladder.

3. Faulty PLC output or input Change the input or output module.

module.

Change the amplifier 4. Faulty printed board in the servo amplifier.

5. Power supply to the servo amplifier is OFF.

Turn on the power to the servo amplifier.

Correct the wiring.

1. Wiring for the ABS data signal (ABS bit 0 (PF), bit 1

(ZSP)) is disconnected or connected to the SG terminal.


Correct the ladder.

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.

2. The machine falls on a vertical axis when the servoon (SON) is turned ON/OFF.

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 brake operation sequence.

1. Emergency stop (EMG) of the servo amplifier was turned off.

2. Trouble (ALM) of the servo amplifier was turned on.

After ensuring safety, turn

EMG on.

Refer to section 10.2.2 and take action.

Note. Refer to (2) in this section for details of error occurrence definitions.

15 - 65


(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

ABS request

ON

OFF

Send data ready

ON

OFF

The signal does not come ON


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

ABS transfer mode

ON

OFF

1 2 3

The signal does not go OFF

4 18 19

ABS request

ON

OFF

Send data ready

ON

OFF

ABS communication

YES error

NO

1 2 3 4 18 19

15 - 66


(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

ABS request

ON

OFF

The signal does not go OFF

Send data ready

ON

OFF


YES

NO

15.10.2 Error resetting conditions

Always remove the cause of the error before resetting the error.

Name


AD71

Output coil

1PG

Y49 Y11

Servo status

Ready (RD) off

ABS checksum error Y4A Y12 Ready (RD) on


Servo alarm

Y4B

Y48 Y10

Ready (RD) on

Ready (RD) on

Resetting condition

Reset when servo-on (SON) switch

(X36) signal turns off.

For AD71


(X36) signal turns from off to on.

For FX-1PG


(X36) signal turns off.


(X36) signal turns from off to on after a motion to ( ) coordinate is made by jog operation.

Reset when alarm reset switch turns on or power switches from off to on.

15 - 67


MEMO

15 - 68

APPENDIX

App 1. Signal arrangement recording sheets

(1) Position control mode

CN1A

2

NP

4

P15R

6

LA

8

10

SG

1

LG

3

PP

5

LZ

7

LB

11

12

OPC

NG

13

14

PG

OP

15

16

LAR

LZR

17

18

LBR

19 9

COM

20

SG

CN1B

2

4

DO1

6

1

LG

12

3

VDD

TLA

14

11

P15R

13

COM

5

8

10

7

9

15

16

EMG

LSP

18

17

LSN

19

20

SG SG


CN1A

2

1

LG

3

12

11

13

4 14

P15R

6

LA

8

5

LZ

7

LB

OP

15

16

LAR

LZR

17

18

LBR

19

10

SG

9

COM

20

SG


CN1A

2

1

LG

3

12

11

13

4 14

P15R

6

LA

8

5

LZ

7

LB

OP

15

16

LAR

LZR

17

18

LBR

19

10

SG

9

COM

20

SG

CN1B

1

2

LG

VC

3

4

DO1

VDD

5

6

8

7

12

14

11

P15R

13

COM

18

15

16

LSP

EMG

17

LSN

9 19

10 20

SG SG

CN1B

1

2

LG

VLA

3

4

DO1

VDD

5

6 16

7

12

TC

11

P15R

13

14

COM

15

EMG

17

8 18

9 19

10

SG

20

SG

App - 1

APPENDIX

App 2. Status display block diagram

App - 2

APPENDIX

App 3. Combination of servo amplifier and servo motor

HC-KFS43

HC-KFS73

HC-MFS053

HC-MFS43

HC-MFS73

HC-SFS81

HC-SFS121

HC-SFS201

HC-SFS301

HC-SFS52

HC-SFS102

HC-SFS152

HC-SFS202

HC-SFS352

HC-SFS502

HC-SFS702

HC-SFS53

HC-SFS103

HC-SFS153

HC-SFS203

HC-SFS353

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

HC-KFS053

HC-KFS13

HC-KFS23

HC-MFS13

HC-MFS23

Servo amplifier

(Software version)

MR-J2S-10A

MR-J2S-10A1

MR-J2S-10A

MR-J2S-10A1

MR-J2S-20A

MR-J2S-20A1

MR-J2S-40A

MR-J2S-40A1

MR-J2S-70A (Version A4 or later)

MR-J2S-10A

MR-J2S-10A1

MR-J2S-10A

MR-J2S-10A1

MR-J2S-20A

MR-J2S-20A1

MR-J2S-40A

MR-J2S-40A1

MR-J2S-70A





MR-J2S-60A

MR-J2S-100

MR-J2S-200A

MR-J2S-200A

MR-J2S-350A

MR-J2S-500A (Version B0 or later)







Servo motor

HC-RFS103

HC-RFS153

HC-RFS203

HC-RFS353

HC-RFS503

HC-UFS72

HC-UFS152

HC-UFS202

HC-UFS352

HC-UFS502

HC-UFS13

HC-UFS23

HC-UFS43

Servo amplifier

(Software version)

MR-J2S-200A

MR-J2S-200A




MR-J2S-70A

MR-J2S-200A




MR-J2S-10A

MR-J2S-10A1

MR-J2S-20A

MR-J2S-20A1

MR-J2S-40A

MR-J2S-40A1

HC-UFS73

HC-LFS52

HC-LFS102

HC-LFS152

HC-LFS202

HC-LFS302

HA-LFS801

HA-LFS12K1

HA-LFS15K1

MR-J2S-70A






MR-J2S-11KA

MR-J2S-11KA

MR-J2S-15KA

HA-LFS20K1

HA-LFS25K1

MR-J2S-22KA

MR-J2S-22KA

HA-LFS11K1M MR-J2S-11KA

HA-LFS15K1M MR-J2S-15KA

HA-LFS502

HA-LFS702



HA-LFS11K2

HA-LFS15K2

HA-LFS22K2

MR-J2S-11KA

MR-J2S-15KA

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

MR-J2CNM

MR-J2CN1

MR-J2CNS

MR-ENCNS

MR-PWCNS1

MR-PWCNS2

MR-PWCNS3

MR-BKCN

Current Product

Amplifier connector (3M or equivalent)

10120-3000VE (connector)



Encoder connector (DDK)

MS3057-12A (Cable clump)

MS3106B20-29S (Straight plug)



MS3106A20-29S (D190) (Plug, DDK)

CE3057-12A-3 (D265) (Cable clump, DDK)

CE02-20BS-S (Back shell, DDK)

Power supply connector (DDK)

CE05-6A22-23SD-B-BSS (Connector and back shell)

CE3057-12A-2 (D265) (Cable clump)








MS3106A10SL-4S (D190) (Plug, DDK)

RoHS Compatible Product


10120-3000PE (connector)



Encoder connector (DDK)

D/MS3057-12A (Cable clump)

D/MS3106B20-29S (Straight plug)



D/MS3106A20-29S (D190) (Plug, DDK)

CE3057-12A-3-D (Cable clump, DDK)

CE02-20BS-S-D (Back shell, DDK)


CE05-6A22-23SD-D-BSS (Connector and back shell)

CE3057-12A-2-D (Cable clump)





CE05-6A32-17SD-D-BSS (Connector and back shell)



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 Revision

Nov.,1999 SH(NA)030006-A First edition

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 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


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 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


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 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




Overall reexamination

Section 3.8.3: Addition of Note

Section 3.11: Overall reexamination


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


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



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 13.2.8 (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 14.12.7 (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 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



Jun., 2003 SH(NA)030006-E Section 13.2.1 (1): Correction of the AWG of the recommended wire 60mm 2 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 10 3 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 HF3040A-

TM/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 1.5 (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 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


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 13.2.3: Partial diagram/dimensions reexamination

Section 13.2.7 (2) (d): Partial diagram change

Section 13.2.7 (2) (e): Partial diagram change

Section 13.2.9 (2): Partial Note deletion

Section 13.2.9 (3): Partial diagram change

Section 15.7.4: Partial diagram reexamination

Dec.,2005 SH(NA)030006-H Safety Instructions:Sentence addition

FOR MAXIMUM SAFETY: Addition of sentence

Section 1.5:Change of Note for power supply

Section 1.8: Change of Note2

Chapter 2:Addition of CAUTION

Section 3.1.1 (1): Partial change of connection diagram, Change of Note5

Section 3.1.1 (2):Partial change of connection diagram, Change of Note5 and

13

Section 3.1.2:Partial change of connection diagram, Change of 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 SH(NA)030006-H Section 13.1.3 (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 3.4.2 (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 3.7: 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



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


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 13.1.4 (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 13.2.1 (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

MODEL MR-J2S-A GIJUTU SIRYOU

MODEL

CODE

1CW501

SH (NA) 030006-J (0712) MEE Printed in Japan

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

This Instruction Manual uses recycled paper.

Specifications subject to change without notice.

General-Purpose AC Servo

J2-Super

Series

General-Purpose Interface

MODEL

MR-J2S- A

SERVO AMPLIFIER

INSTRUCTION MANUAL

J

Mitsubishi MR-J2S-_A Instruction manual

General-Purpose AC Servo

Series

General-Purpose Interface

MODEL

SERVO AMPLIFIER

INSTRUCTION MANUAL

Safety Instructions

WARNING

CAUTION

1. To prevent electric shock, note the following:

WARNING

2. To prevent fire, note the following:

CAUTION

3. To prevent injury, note the follow

CAUTION

4. Additional instructions

(1) Transportation and installation

CAUTION

CAUTION

(2) Wiring

CAUTION

(3) Test run adjustment

CAUTION

(4) Usage

CAUTION

(5) Corrective actions

CAUTION

(6) Maintenance, inspection and parts replacement

CAUTION

(7) General instruction

About processing of waste

FOR MAXIMUM SAFETY

EEP-ROM life

Precautions for Choosing the Products

COMPLIANCE WITH EC DIRECTIVES

CONFORMANCE WITH UL/C-UL STANDARD

Optional Servo Motor Instruction Manual CONTENTS

1. FUNCTIONS AND CONFIGURATION

MITSUBISHI

2. INSTALLATION

3. SIGNALS AND WIRING

4. OPERATION

5. PARAMETERS

0

6. DISPLAY AND OPERATION

7. GENERAL GAIN ADJUSTMENT

(

)

8. SPECIAL ADJUSTMENT FUNCTIONS

9. INSPECTION

10. TROUBLESHOOTING

11. OUTLINE DIMENSION DRAWINGS

12. CHARACTERISTICS

13. OPTIONS AND AUXILIARY EQUIPMENT

14. COMMUNICATION FUNCTIONS

15. ABSOLUTE POSITION DETECTION SYSTEM

APPENDIX

REVISIONS

General-Purpose AC Servo

Series

General-Purpose Interface

MODEL

SERVO AMPLIFIER

INSTRUCTION MANUAL

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