Mitsubishi MR-J2S-_CL Instruction manual

MODEL

MODEL

CODE

SH (NA) 030034-F (0709) 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

Program Compatible

MODEL

MR-J2S- CL

SERVO AMPLIFIER

INSTRUCTION MANUAL

F

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".

Indicates that incorrect handling may cause hazardous conditions,

WARNING

CAUTION

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 L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

3. To prevent injury, note the follow

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur.

Connect the terminals correctly to prevent a burst, damage, etc.

Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc.since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged.

During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

A - 2

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their masses.

Stacking in excess of the specified number of products is not allowed.

Do not carry the servo motor by the cables, shaft or encoder.

Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.

Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.

Do not climb or stand on servo equipment. Do not put heavy objects on equipment.

The servo amplifier and servo motor must be installed in the specified direction.

Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.

Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing.

When you keep or use it, please fulfill the following environmental conditions.

Ambient

Environment temperature

Ambient humidity

Ambience

Altitude

In storage

In operation

In storage

Servo amplifier

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

[ ] 20 to 65 (non-freezing)


90%RH or less (non-condensing)


Max. 1000m (3280 ft) above sea level

Conditions

Servo motor

0 to 40 (non-freezing)





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

[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

X Y : 49

X Y : 24.5

HC-SFS121 201

HC-SFS202 352

HC-SFS203 353

HC-UFS202

X : 24.5

Y : 49

HC-SFS301

(Note)

Vibration

X : 24.5

Y : 29.4

[ft/s 2 ] 19.4

HC-KFS Series

HC-MFS Series

HC-UFS 13 to 73

HC-SFS81

HC-SFS52 to 152

HC-SFS53 to 153

HC-RFS Series

HC-UFS 72 152

X Y : 161

X Y : 80

HC-SFS121 201

HC-SFS202 352

HC-SFS203 353

HC-UFS202

X : 80

Y : 161

HC-SFS301

X : 80

Y : 96

Note. Except the servo motor with reduction gear.

A - 3

CAUTION

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 misoperate.

Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier.

Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.

Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly. Do not let a magnetic contactor, etc. intervene.

Servo amplifier

U

V

W

U

Servo motor

V

M

W

Servo amplifier

U

V

W

U

Servo motor

V

M

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 forced stop (EMG) and other protective circuits may not operate.

Servo amplifier

COM

(24VDC)

Control output signal

RA

Servo amplifier

COM

(24VDC)


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.

Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.

Use the servo amplifier with the specified servo motor.

The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking.

For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

(5) Corrective actions

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 forced 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 forced 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 underwater 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

Write to the EEP-ROM due to program 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 series :MR-J2S-10CL to MR-J2S-700CL

Servo motor series

MR-J2S-10CL1 to MR-J2S40CL1

:HC-KFS

HC-MFS

HC-SFS

HC-RFS

HC-UFS

HC-LFS

(2) Configuration

Control box

Reinforced insulating transformer

No-fuse breaker

NFB

Magnetic contactor

MC

Reinforced insulating type

24VDC power supply

Servo amplifier

Servo motor

M

(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).

A - 7

(4) Power supply

(a) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in

IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC or EN

Standard should be used in the power input section.

(b) When supplying interface power from external, use a 24VDC power supply which has been insulation-reinforced in I/O.

(5) Grounding

(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the 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 (marked ). 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

(marked ) 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.

(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 14.2.2.

(b) The sizes of the cables described in section 14.2.1 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 - 8

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 series :MR-J2S-10CL to MR-J2S-700CL

Servo motor series

MR-J2S-10CL1 to MR-J2S-40CL1

:HC-KFS

HC-MFS

HC-SFS

HC-RFS

HC-UFS

HA-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 Discharge time [min]

MR-J2S-10CL(1) 20CL(1) 1

MR-J2S-40CL(1) 60CL 2

MR-J2S-70CL to 350CL 3

MR-J2S-500CL 700CL 5

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

(6) Attachment of a servo motor

For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE

WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual.

(7) About wiring protection

For installation in United States, branch circuit protection must be provided, in accordance with the

National Electrical Code and any applicable local codes.

For installation in Canada, branch circuit protection must be provided, in accordance with the Canada

Electrical Code and any applicable provincial codes.

<<About the manuals>>

This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the MR-J2S-CL for the first time. Always purchase them and use the MR-J2S-CL safely.

Relevant manuals

Manual name Manual No.

MELSERVO Servo Motor Instruction Manual

EMC Installation Guidelines

SH(NA)3181

IB(NA)67310

A - 9

MEMO

A - 10

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-26

1.1 Introduction.............................................................................................................................................. 1- 1

1.1.1 Function block diagram ................................................................................................................... 1- 1

1.1.2 System configuration........................................................................................................................ 1- 4

1.1.3 I/O devices ......................................................................................................................................... 1- 9

1.2 Servo amplifier standard specifications ............................................................................................... 1-10

1.3 Function list ............................................................................................................................................ 1-12

1.4 Model code definition ............................................................................................................................. 1-13

1.5 Combination with servo motor.............................................................................................................. 1-14

1.6 Structure.................................................................................................................................................. 1-15

1.6.1 Part names ....................................................................................................................................... 1-15

1.6.2 Removal and reinstallation of the front cover .............................................................................. 1-19

1.7 Servo system with auxiliary equipment............................................................................................... 1-21

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 3-40

3.1 Standard connection example ................................................................................................................ 3- 2

3.2 Internal connection diagram of servo amplifier ................................................................................... 3- 3

3.3 I/O signals................................................................................................................................................. 3- 4

3.3.1 Connectors and signal arrangements............................................................................................. 3- 4

3.3.2 Signal (devices) explanations .......................................................................................................... 3- 5

3.4 Detailed description of signals (devices) .............................................................................................. 3-12

3.4.1 Forward rotation start Reverse rotation start Temporary stop/restart................................. 3-12

3.4.2 Movement complete......................................................................................................................... 3-13

3.4.3 Override ............................................................................................................................................ 3-14

3.4.4 Torque limit...................................................................................................................................... 3-15

3.5 Alarm occurrence timing chart ............................................................................................................. 3-17

3.6 Interfaces................................................................................................................................................. 3-18

3.6.1 Common line .................................................................................................................................... 3-18

3.6.2 Detailed description of the interfaces ............................................................................................ 3-19

3.7 Input power supply circuit..................................................................................................................... 3-23

3.7.1 Connection example ........................................................................................................................ 3-23

3.7.2 Terminals.......................................................................................................................................... 3-25

3.7.3 Power-on sequence........................................................................................................................... 3-26

3.8 Connection of servo amplifier and servo motor ................................................................................... 3-28

3.8.1 Connection instructions .................................................................................................................. 3-28

3.8.2 Connection diagram ........................................................................................................................ 3-28

3.8.3 I/O terminals .................................................................................................................................... 3-30

3.9 Servo motor with electromagnetic brake ............................................................................................. 3-32

1

3.10 Grounding ............................................................................................................................................. 3-36

3.11 Servo amplifier terminal block (TE2) wiring method....................................................................... 3-37

3.11.1 For the servo amplifier produced later than Jan. 2006 ............................................................. 3-37

3.11.2 For the servo amplifier produced earlier than Dec. 2005.......................................................... 3-39

3.12 Instructions for the 3M connector....................................................................................................... 3-40

4. OPERATION 4- 1 to 4-52

4.1 When switching power on for the first time.......................................................................................... 4- 1

4.1.1 Pre-operation checks ........................................................................................................................ 4- 1

4.1.2 Startup............................................................................................................................................... 4- 2

4.2 Program operation mode......................................................................................................................... 4- 5

4.2.1 What is program operation mode? .................................................................................................. 4- 5

4.2.2 Programming language.................................................................................................................... 4- 6

4.2.3 Basic setting of signals and parameters........................................................................................ 4-25

4.2.4 Program operation timing chart .................................................................................................... 4-26

4.3 Manual operation mode ......................................................................................................................... 4-27

4.3.1 Jog operation .................................................................................................................................... 4-27

4.3.2 Manual pulse generator operation................................................................................................. 4-29

4.4 Manual home position return mode ..................................................................................................... 4-31

4.4.1 Outline of home position return ..................................................................................................... 4-31

4.4.2 Dog type home position return....................................................................................................... 4-33

4.4.3 Count type home position return ................................................................................................... 4-35

4.4.4 Data setting type home position return ........................................................................................ 4-37

4.4.5 Stopper type home position return ................................................................................................ 4-38

4.4.6 Home position ignorance (servo-on position defined as home position)..................................... 4-39

4.4.7 Dog type rear end reference home position return....................................................................... 4-40

4.4.8 Count type front end reference home position return.................................................................. 4-41

4.4.9 Dog cradle type home position return ........................................................................................... 4-42

4.4.10 Home position return automatic return function....................................................................... 4-43

4.5 Absolute position detection system....................................................................................................... 4-44

4.6 Serial communication operation ........................................................................................................... 4-47

4.6.1 Positioning operation in accordance with programs .................................................................... 4-47

4.6.2 Multidrop system............................................................................................................................. 4-47

4.6.3 Group designation ........................................................................................................................... 4-48

4.7 Incremental value command system .................................................................................................... 4-50

5. PARAMETERS 5- 1 to 5-26

5.1 Parameter list .......................................................................................................................................... 5- 1

5.1.1 Parameter write inhibit ................................................................................................................... 5- 1

5.1.2 List ..................................................................................................................................................... 5- 2

5.2 Detailed explanation .............................................................................................................................. 5-21

5.2.1 Electronic gear ................................................................................................................................. 5-21

5.2.2 Changing the status display screen............................................................................................... 5-22

5.2.3 S-pattern acceleration/deceleration ............................................................................................... 5-23

5.2.4 Analog output................................................................................................................................... 5-23

5.2.5 Changing the stop pattern using a limit switch ...........................................................................5-26

5.2.6 Alarm history clear.......................................................................................................................... 5-26

5.2.7 Software limit................................................................................................................................... 5-26

2

6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6- 1 to 6-22

6.1 Specifications ........................................................................................................................................... 6- 1

6.2 System configuration............................................................................................................................... 6- 1

6.3 Station setting.......................................................................................................................................... 6- 3

6.4 Parameters............................................................................................................................................... 6- 4

6.5 Simple Program ....................................................................................................................................... 6- 6

6.5.1 Program data .................................................................................................................................... 6- 6

6.5.2 Indirect addressing........................................................................................................................... 6- 8

6.6 Device assignment method.................................................................................................................... 6-10

6.7 Test operation ......................................................................................................................................... 6-14

6.7.1 Jog operation .................................................................................................................................... 6-14

6.7.2 Positioning operation....................................................................................................................... 6-16

6.7.3 Motor-less operation........................................................................................................................ 6-18

6.7.4 Output signal (DO) forced output .................................................................................................. 6-19

6.7.5 Program test operation ................................................................................................................... 6-20

6.8 Alarm history .......................................................................................................................................... 6-22

7. DISPLAY AND OPERATION 7- 1 to 7-20

7.1 Display flowchart..................................................................................................................................... 7- 1

7.2 Status display .......................................................................................................................................... 7- 2

7.2.1 Display transition ............................................................................................................................. 7- 2

7.2.2 Display examples.............................................................................................................................. 7- 3

7.2.3 Status display list ............................................................................................................................. 7- 4

7.3 Diagnosis mode ........................................................................................................................................ 7- 5


7.3.2 Diagnosis mode list........................................................................................................................... 7- 6

7.4 Alarm mode .............................................................................................................................................. 7- 8


7.4.2 Alarm mode list................................................................................................................................. 7- 9

7.5 Parameter mode ..................................................................................................................................... 7-11

7.5.1 Parameter mode transition............................................................................................................. 7-11

7.5.2 Operation example .......................................................................................................................... 7-12

7.6 External I/O signal display.................................................................................................................... 7-14

7.7 Output signal (DO) forced output ......................................................................................................... 7-15

7.8 Test operation mode ............................................................................................................................... 7-16

7.8.1 Mode change..................................................................................................................................... 7-16

7.8.2 Jog operation .................................................................................................................................... 7-17

7.8.3 Positioning operation....................................................................................................................... 7-18

7.8.4 Motor-less operation........................................................................................................................ 7-19

8. GENERAL GAIN ADJUSTMENT 8- 1 to 8-12

8.1 Different adjustment methods ............................................................................................................... 8- 1

8.1.1 Adjustment on a single servo amplifier.......................................................................................... 8- 1

8.1.2 Adjustment using MR Configurator (servo configuration software) ........................................... 8- 2

8.2 Auto tuning .............................................................................................................................................. 8- 3

8.2.1 Auto tuning mode ............................................................................................................................. 8- 3

8.2.2 Auto tuning mode operation ............................................................................................................ 8- 4

3

8.2.3 Adjustment procedure by auto tuning............................................................................................ 8- 5

8.2.4 Response level setting in auto tuning mode .................................................................................. 8- 6

8.3 Manual mode 1 (simple manual adjustment)....................................................................................... 8- 7

8.3.1 Operation of manual mode 1 ........................................................................................................... 8- 7

8.3.2 Adjustment by manual mode 1 ....................................................................................................... 8- 7

8.4 Interpolation mode ................................................................................................................................. 8-10

8.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super .......................... 8-11

8.5.1 Response level setting ..................................................................................................................... 8-11

8.5.2 Auto tuning selection....................................................................................................................... 8-11

9. SPECIAL ADJUSTMENT FUNCTIONS 9- 1 to 9-10

9.1 Function block diagram .......................................................................................................................... 9- 1

9.2 Machine resonance suppression filter ................................................................................................... 9- 1

9.3 Adaptive vibration suppression control................................................................................................. 9- 3

9.4 Low-pass filter ......................................................................................................................................... 9- 5

9.5 Gain changing function........................................................................................................................... 9- 5

9.5.1 Applications....................................................................................................................................... 9- 5

9.5.2 Function block diagram ................................................................................................................... 9- 6

9.5.3 Parameters ........................................................................................................................................ 9- 7

9.5.4 Gain changing operation.................................................................................................................. 9- 9

10. INSPECTION 10- 1 to 10- 2

11. TROUBLESHOOTING 11- 1 to 11-12

11.1 Trouble at start-up .............................................................................................................................. 11- 1

11.2 When alarm or warning has occurred ............................................................................................... 11- 2

11.2.1 Alarms and warning list .............................................................................................................. 11- 2

11.2.2 Remedies for alarms..................................................................................................................... 11- 3

11.2.3 Remedies for warnings................................................................................................................11-11

11.3 MR-DP60 external digital display error...........................................................................................11-12

12. OUTLINE DIMENSION DRAWINGS 12- 1 to 12- 8

12.1 Servo amplifiers................................................................................................................................... 12- 1

12.2 Connectors............................................................................................................................................ 12- 6

13. CHARACTERISTICS 13- 1 to 13- 8

13.1 Overload protection characteristics................................................................................................... 13- 1

13.2 Power supply equipment capacity and generated loss .................................................................... 13- 2

13.3 Dynamic brake characteristics........................................................................................................... 13- 4

13.3.1 Dynamic brake operation............................................................................................................. 13- 4

13.3.2 The dynamic brake at the load inertia moment........................................................................ 13- 6

13.4 Encoder cable flexing life .................................................................................................................... 13- 6

13.5 Inrush Currents at Power-On of Main Circuit and Control Circuit .............................................. 13- 7

4

14. OPTIONS AND AUXILIARY EQUIPMENT 14- 1 to 14-50

14.1 Options.................................................................................................................................................. 14- 1

14.1.1 Regenerative options .................................................................................................................... 14- 1

14.1.2 FR-BU2 brake unit....................................................................................................................... 14- 8

14.1.3 Power regeneration converter ....................................................................................................14-14

14.1.4 Cables and connectors.................................................................................................................14-17

14.1.5 Junction terminal block (MR-TB20) ..........................................................................................14-25

14.1.6 Maintenance junction card (MR-J2CN3TM) ............................................................................14-27

14.1.7 External digital display (MR-DP60) ..........................................................................................14-29

14.1.8 Manual pulse generator (MR-HDP01) ......................................................................................14-31

14.1.9 Battery (MR-BAT, A6BAT).........................................................................................................14-32

14.2 Auxiliary equipment ..........................................................................................................................14-33

14.2.1 Recommended wires....................................................................................................................14-33

14.2.2 No-fuse breakers, fuses, magnetic contactors...........................................................................14-35

14.2.3 Power factor improving reactors ................................................................................................14-35

14.2.4 Relays............................................................................................................................................14-36

14.2.5 Surge absorbers ...........................................................................................................................14-36

14.2.6 Noise reduction techniques.........................................................................................................14-37

14.2.7 Leakage current breaker ............................................................................................................14-44

14.2.8 EMC filter.....................................................................................................................................14-46

14.2.9 Setting potentiometers for analog inputs..................................................................................14-49

15. COMMUNICATION FUNCTIONS 15- 1 to 15-36

15.1 Configuration ....................................................................................................................................... 15- 1

15.1.1 RS-422 configuration.................................................................................................................... 15- 1

15.1.2 RS-232C configuration ................................................................................................................. 15- 2

15.2 Communication specifications............................................................................................................ 15- 3

15.2.1 Communication overview............................................................................................................. 15- 3

15.2.2 Parameter setting......................................................................................................................... 15- 4

15.3 Protocol ................................................................................................................................................. 15- 5

15.4 Character codes ................................................................................................................................... 15- 7

15.5 Error codes ........................................................................................................................................... 15- 8

15.6 Checksum ............................................................................................................................................. 15- 8

15.7 Time-out operation .............................................................................................................................. 15- 9

15.8 Retry operation .................................................................................................................................... 15- 9

15.9 Initialization........................................................................................................................................15-10

15.10 Communication procedure example ...............................................................................................15-10

15.11 Command and data No. list.............................................................................................................15-11

15.11.1 Read commands.........................................................................................................................15-11

15.11.2 Write commands........................................................................................................................15-14

15.12 Detailed explanations of commands...............................................................................................15-16

15.12.1 Data processing..........................................................................................................................15-16

15.12.2 Status display ............................................................................................................................15-18

15.12.3 Parameter...................................................................................................................................15-19

15.12.4 External I/O signal statuses.....................................................................................................15-21

15.12.5 Input devices ON/OFF ..............................................................................................................15-23

15.12.6 Disable/enable of I/O devices (DIO) .........................................................................................15-24

5

15.12.7 Input devices ON/OFF (test operation) ...................................................................................15-25

15.12.8 Test operation mode ..................................................................................................................15-26

15.12.9 Output signal pin ON/OFF output signal (DO) forced output..............................................15-29

15.12.10 Alarm history ...........................................................................................................................15-30

15.12.11 Current alarm..........................................................................................................................15-31

15.12.12 Current position latch data ....................................................................................................15-32

15.12.13 General-purpose register ........................................................................................................15-33

15.12.14 Servo amplifier group designation.........................................................................................15-35

15.12.15 Software version ......................................................................................................................15-36

APPENDIX App- 1 to App- 4

App 1. Status indication block diagram ................................................................................................. App- 1

App 2. Junction terminal block (MR-TB20) terminal block labels ...................................................... 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

6

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

7

MEMO

8

1. FUNCTIONS AND CONFIGURATION


1.1 Introduction

The MR-J2S-CL program-compatible AC servo amplifier is based on the MR-J2S-CP AC servo amplifier with built-in positioning functions and incorporates program-driven, single-axis positioning functions.

These functions perform positioning operation by creating the position data (target positions), servo motor speeds, acceleration and deceleration time constants, etc. as a program and executing the program. The servo amplifier is the most appropriate to configure a simple positioning system or to simplify a system, for example.

Up to 16 programs can be created. The program capacity is 120 steps as a total of all programs.

All servo motors are equipped with an absolute position encoder as standard. An absolute position detection system can be configured by merely adding a battery to the servo amplifier. Once the home position has been set, home position return is not required at power on, alarm occurrence, etc.

1.1.1 Function block diagram

The function block diagram of this servo is shown below.

1 - 1


(1) MR-J2S-350CL or less

(Note 2)

Power supply

NFB

Regenerative option

MC

L

2

L

3

Servo amplifier

L

1

Diode stack Relay

P C D

(Note 1)

CHARGE lamp

Regenerative

TR

(Note 3) Cooling fan

L

11

L

21

Control power supply

Current detector

Dynamic brake

Base amplifier

Voltage detection

Overcurrent protection

Current detection

Servo motor

U

V

W

U

V

W

M

B1

B2


Encoder

Current control

Speed control

Program

SPN (1000)

STA (200)

STB (300)

MOV (500)

SPN (1000)

MOVA (1000)

MOVA (0) Position control

STOP

Position command creation

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

To other servo amplifier

MR-BAT

Optional battery

(for absolute position)

Note 1. The built-in regenerative resistor is not provided for the MR-J2S-10CL (1).

2. For 1-p+hase 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 1.2 for the power supply specification.

3. Servo amplifiers MR-J2S-200CL have a cooling fan.

1 - 2


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

(Note)

Power supply

NFB

MC

Regenerative option

L

2

L

3

Servo amplifier

L

1

Diode stack Relay

P C

CHARGE lamp

Regenerative

TR

Cooling Fan

L

11

L

21

Control power supply

Current detector

Dynamic brake

Base amplifier

Voltage detection

Overcurrent protection

Current detection

Servo motor

U

V

W

U

V

W

M

B1

B2


Encoder

Current control

Speed control

Program

SPN (1000)

STA (200)

STB (300)

MOV (500)

SPN (1000)

MOVA (1000)

MOVA (0)

Position control

STOP

Position command creation

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

To other servo amplifier

Note. Refer to section 1.2 for the power supply specification.

1 - 3

MR-BAT

Optional battery

(for absolute position)


1.1.2 System configuration

This section describes operations using this servo.

You can arrange any configurations from a single-axis to max. 32-axis systems. Further, the connector pins in the interface section allow you to assign the optimum signals to respective systems. (Refer to sections 1.1.3 and 3.3.2.) The MR Configurator (Servo configuration Software) (refer to chapter 6) and personal computer are required to change or assign devices.

(1) Operation using external input signals

(a) Description

The following configuration example assumes that external input signals are used to control all signals (devices).

The I/O signals are as factory-set.

(b) Configuration

The following configuration uses external I/O signals. The personal computer is used with MR

Configurator (Servo configuration Software) to set creation of a program, change and monitor the parameters.

External I/O signals

Servo amplifier

Personal computer

MR Configurator

(Servo configuration Software)

CN1A CN1B

RS–232C

CN2 CN3

Power supply

Servo motor

1 - 4


(2) Operation using external input signals and communication

(a) Description

Communication can be used to Selection of the program, change parameter values, and confirm monitor data, for example. Enter a forward rotation start (ST1) or reverse rotation start (ST2) through the external I/O. Use this system when position data/speed setting or the host personal computer or the like is used to change the parameter values, for example.

(b) Configuration

1) One servo amplifier is connected with the personal computer by RS-232C.


Servo amplifier

Personal computer

MR Configurator


CN1A CN1B

RS–232C

CN2 CN3

Power supply

Servo motor

1 - 5


2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.

Use parameter No. 16 to change the communication system.


Servo amplifier (axis 1)

Personal computer

MR Configurator


CN1A CN1B

Power supply

CN2 CN3

RS–232C

RS–422

RS–232C/RS-422 converter

(to be prepared by the customer)

Servo motor

RS–422



CN1A CN1B

Power supply

CN2 CN3

To the next axis

Servo motor

1 - 6


(3) Operation using communication

(a) Description

Analog input, forced stop (EMG) and other signals are controlled by external I/O signals and the other devices controlled through communication. Also, you can set each program, selection of the program, and change or set parameter values, for example. Up to 32 axes may be controlled.

(b) Configuration

1) One servo amplifier is connected with the personal computer by RS-232C.


Servo amplifier

Personal computer

MR Configurator


CN1A CN1B

RS–232C

CN2 CN3

Power supply

Servo motor

1 - 7


2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.

Use parameter No. 16 to change the communication system.



Personal computer

MR Configurator


CN1A CN1B

Power supply

CN2 CN3

RS–232C

RS–422

RS–232C/RS-422 converter

(to be prepared by the customer)

Servo motor

RS–422



CN1A CN1B

Power supply

CN2 CN3

To the next axis

Servo motor

1 - 8


1.1.3 I/O devices

This servo amplifier allows devices to be allocated to the pins of connector CN1A/CN1B as desired. The following devices can be allocated. For device details, refer to section 3.3.2.

Input device Symbol

Factoryallocated pin

Factorydevice Symbol allocated pin

Servo-on ALM CN1B-18

Reset RES CN1B-19

Forward rotation stroke end

Reverse rotation stroke end

Forward rotation start

LSP

LSN

ST1

CN1B-16

CN1B-17

CN1B-7

Movement complete

Zeroing completion

Program output 1

PED

ZP

OUT1

CN1B-6

CN1A-18

CN1B-4

Reverse rotation start

Proximity dog

Program No. selection 1




Forced stop

Automatic/manual selection

Override selection

External torque limit selection

Internal torque limit selection

Proportion control

Temporary stop/restart

Manual pulse generator multiplication 1


Gain switch

Current position latch input

Program input 1

Program input 2

Program input 3

ST2

DOG

DI0

DI1

DI2

DI3

EMG

MD0

OVR

TL

TL2

PC

STP

TP0

TP1

CDP

LPS

PI1

PI2

PI3

CN1A-8

CN1B-5

CN1B-14 Position range

CN1B-8

CN1B-9

Program output 2

Program output 3

Electromagnetic brake interlock

Warning

Battery warning

Limiting torque

Temporary stop

SYNC synchronous output

OUT2

OUT3

MBR

POT

WNG

BWNG

TLC

PUS

SOUT

1 - 9


1.2 Servo amplifier standard specifications

Servo amplifier

MR-J2S- 10CL 20CL 40CL 60CL 70CL 100CL 200CL 350CL 500CL 700CL 10CL1 20CL1 40CL1

Item

Voltage/frequency

Permissible voltage fluctuation

Permissible frequency fluctuation

Power supply capacity

Inrush current

Control system

Dynamic brake

Protective functions

Program

Operational specifications

Position command input

Program operation mode

Manual

Manual home position return mode

Speed command input

System

Jog operation mode Manual pulse generator

Dog type

Count type

Data setting type

Stopper type

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

1-phase 100 to

120VAC 50/60Hz

1-phase

85 to 127VAC

Within 5%

Refer to section 13.2


Sine-wave PWM control, current control system

Built-in

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative brake error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection

Program language (Program with MR Configurator (Servo-configuration software)).

Program capacity: 120 steps

Setting by program language.

Movement setting range at 1 point: 1[ m] to 999.999[mm]

Servo motor speed, acceleration/deceleration time constant and S-pattern acceleration/deceleration time constant by program language.

S-pattern acceleration/deceleration time constant can set by parameter No.14 or by programming.

Signed absolute value command (signed incremental value command system can be specified), signed incremental value command system

Setting by programming language

Jog operation is performed in accordance with the parameter-set speed command by contact input or through RS-422 (232C) communication.

Manual feed is made by manual pulse generator.

Command pulse multiplication: 1, 10 or 100 is selected using parameter.

Home position return is made starting with Z-phase pulse after passage of proximity dog.

Home position return direction may be selected. Home position shift distance may be set.

Home position address may be set.

Automatic at-dog home position return, Automatic stroke return function

Home position return is made by counting encoder pulses after contact with proximity dog.

Home position address may be set. Home position shift value may be set. Home position return direction may be set.


Home position return is made without dog.

Home position may be set at any position by manual operation, etc. Home position address may be set.

Home position return is made by pressing machine part against stroke end.

Home position address may be set. Home position return direction may be set.

1 - 10


Servo amplifier

MR-J2S-

Item

Home position ignorance

(Servo-on position as home position)

Position where servo-on (SON) is switched on is defined as home position.

Home position address may be set.

Dog type rear end

Manual home reference position return mode Count type front end reference

Other functions

Structure

Ambient temperature

Dog cradle type

In operation

In storage

Home position return is made with respect to the rear end of a proximity dog.



Home position return is made with respect to the front end of a proximity dog.



Home position return is made with respect to the front end of a proximity dog by the first

Z-phase pulse.



Absolute position detection, backlash function

Overtravel prevention using external limit switch

Software stroke limit, override using external analog signal

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

Self-cooled, open (IP00)





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 7.2 0.7 0.7 1.1

1 - 11


1.3 Function list

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

Positioning by program operation

Manual home position return

Multidrop communication

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

S-pattern acceleration/deceleration time constant

Regenerative option

Brake unit

Return converter

Operation is performed in accordance with the contents of any program selected from among pre-created 16 programs.

Use the external input signal or communication function to choose the program.

Dog type, count type, data setting type, stopper type, home position ignorance, dog type rear end reference, count type front end reference, dog cradle type

Up to 32 axes of MR-J2S-CL are controllable simultaneously by

RS-422 communication.

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

By merely setting the home position once, home position return need not be done at each 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.

Vibration of 1 pulse at servo motor stop is suppressed.

The electronic gear is used to make adjustment so that the servo amplifier setting matches the machine moving distance. Also, changing the electronic gear value allows the machine to be moved at any multiplication ratio to the moving distance using the servo amplifier.

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.

Section 4.2

Section 4.4

Section 4.6.2

Chapter 15

Section 4.5

Section 9.5

Section 9.3

Section 9.4

Parameter No. 20

Section 5.2.1

Chapter 8

Acceleration/deceleration can be made smoothly.

Section 4.2.2 (2) (a)

3)

Section 5.2.3

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-500CL MR-J2S-700CL.

Used when the regenerative option cannot provide enough regenerative power.

Can be used with the MR-J2S-500CL MR-J2S-700CL.

Section 14.1.1

Section 14.1.2

Section 14.1.3

1 - 12


Analog monitor

Alarm history

I/O signal selection (Device setting)

Torque limit

Override (speed limit)

Status display

Test operation mode

Limit switch

Software limit

1.4 Model code definition

(1) Rating plate

MITSUBISHI

MODEL MR-J2S-60CL

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

By using the MR Configurator (Servo configuration Software), the servo status is output in terms of voltage in real time.

By using the MR Configurator (Servo configuration Software), the current alarm and five past alarm numbers are stored and displayed.

By using the Servo configuration Software, any devices can be assigned to 9 input, 5 output and 1 I/O pins.

Servo motor-torque is limited.

Parameter 2 limit value

Analog input 1 limit value

The servo motor speed is limited by analog input.

The ratio of override to the set speed can be changed between 0 to

200%.

The servo status is displayed.

Jog, Positioning, Operation w/o motor, Forced output, Program test

The servo motor travel region can be limited using the forward rotation stroke end (LSP)/reverse rotation stroke end (LSN).

The travel region is limited using parameters in terms of address.

The function similar to that of a limit switch is limited by parameter.

Model

Capacity

Applicable power supply

Rated output current

Serial number

Section 5.2.4

Section 6.8

Section 6.6

Section 3.4.4

Section 3.4.3

Section 7.2

Section 6.7

Section 5.2.5

Section 5.2.7

1 - 13


(2) Model

MR–J2S– CL

MR–J2S–100CL or less MR–J2S–200CL 350CL

Series

Power Supply

Symbol Power supply

None

3-phase 200 to 230VAC

(Note 1) 1-phase 230VAC

(Note 2)

1

1-phase 100V to 120VAC

Note 1. 1-phase 230V is supported by

750W or less.

2. 1-phase 100V to 120V is

supported by 400W or less.

Program compatibility operation function

Rated output

Symbol

10

20

40

60

70

Rated output [W]

100

200

400

600

750

Symbol

100

200

350

500

700

Rated output [W]

1000

2000

3500

5000

7000

MR-J2S-500CL

Rating plate

MR-J2S-700CL

Rating plate

Rating plate Rating plate

1.5 Combination with servo motor

The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes and the models with reduction gears.

Servo motors

Servo amplifier

HC-KFS HC-MFS

1000r/min 2000r/min 3000r/min 2000r/min 3000r/min

MR-J2S-10CL (1)

MR-J2S-20CL (1)

053 13 053 13

23 23

MR-J2S-40CL (1) 43

MR-J2S-60CL

43

13

23

43

52

MR-J2S-70CL 73 73 72 73

MR-J2S-100CL

MR-J2S-200CL 121 201 152 202 153 203 103 153 152

MR-J2S-350CL

MR-J2S-500CL 502 353 503 352 502

MR-J2S-700CL 702

Servo motors

HA-LFS

Servo amplifier

(Note)

1000r/min

(Note)

1500r/min

MR-J2S-60CL

MR-J2S-100CL

MR-J2S-200CL

2000r/min

MR-J2S-350CL

MR-J2S-500CL (Note) 502

MR-J2S-700CL 601 701M 702

(Note)

HC-LFS

52

102

152

202

302

Note. Consult us since the servo amplifier to be used with any of these servo motors is optional.

1 - 14


1.6 Structure

1.6.1 Part names


Name/Application Reference

Battery holder

Contains the battery for absolute position data backup.

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 4.5

Section 4.5

Chapter 7

MODE UP DOWN SET

MODE UP DOWN SET

Used to set data.

Used to change the display or data in each mode.

Chapter 7

Used to change the mode.

Fixed part (2 places)

(For MR-J2S-70CL

100CL 3 places)

I/O signal connector (CN1A)

Used to connect digital I/O signals.

I/O signal connector (CN1B)


Section 3.3

Section 3.3

Communication connector (CN3)

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

Chapter 6

Chapter 15

Section 14.1.4

Rating plate Section 1.4

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.

Section 3.3

Section 14.1.4

Section 3.7.2

Section 12.1

Section 3.7.2

Section 12.1

Section 14.1.1

Section 3.10

1 - 15



POINT

This servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2.

MODE UP DOWN SET


Battery holder


Section 4.5



Display


Operation section


Section 4.5

Chapter 7

Cooling fan

Fixed part (4 places)

MODE UP DOWN SET

Used to set data.


Chapter 7






Section 3.3

Section 3.3



Chapter 6

Chapter 15

Section 14.1.4

Rating plate Section 1.4

Charge lamp

Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.








Ground terminal.

Section 3.3

Section 14.1.4

Section 3.7.2

Section 12.1

Section 3.7.2

Section 12.1

Section 14.1.1

Section 3.10

1 - 16


(3) MR-J2S-500CL

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2.

MODE UP DOWN SET

Fixed part

(4 places)

Cooling fan




Section 4.5

Battery holder

Contains the battery for absolute position data backup. Section 4.5

Display


Chapter 7

Operation section


MODE UP DOWN SET

Used to set data.

Chapter 7







Section 3.3

Section 3.3



Chapter 6

Chapter 15

Section 14.1.4

Section 3.3

Section 14.1.4



Charge lamp

Lit to indicate that the main circuit is charged.

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





Rating plate


Ground terminal.

Section 3.7.2

Section 12.1

Section 3.7.2

Section 12.1

Section 14.1.1

Section 1.4

Section 3.10

1 - 17


(4) MR-J2S-700CL

POINT

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

MODE UP DOWN SET

Cooling fan

Fixed part

(4 places)

Name/Application



Battery holder


Display


Operation section


Reference

Section 4.5

Section 4.5

Chapter 7

MODE UP DOWN SET

Used to set data.

Chapter 7









Charge lamp

Lit to indicate that the main circuit is charged.

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

Section 3.3

Section 3.3

Chapter 6

Chapter 15

Section 14.1.4


Used to connect the control circuit power supply.



Rating plate

Section 3.7.2

Section 12.1

Section 3.3

Section 14.1.4

Section 1.4


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

Section 3.7.2

Section 12.1

Section 14.1.1


Ground terminal.

Section 3.10

1 - 18


1.6.2 Removal and reinstallation of the front cover

WARNING

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-200CL or more

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.

(2) For MR-J2S-500CL

Removal of the front cover

1)

2)

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.

Reinstallation of the front cover

Front cover hook

(2 places)

2)

1)

Front cover

1) Hold down the removing knob.


Front cover socket

(2 places)

1) Insert the front cover hooks into the front cover sockets of

the servo amplifier.



1 - 19


(3) For MR-J2S-700CL

Removal of the front cover Reinstallation of the front cover

Front cover hook

(2 places)

B)

2)

A)

1)

A)

1) Push the removing knob A) or B), and put you

finger into the front hole of the front cover.


2)

1)

Front cover socket

(2 places)

1) Insert the two front cover hooks at the bottom into the

sockets of the servo amplifier.



1 - 20


1.7 Servo system with auxiliary equipment

To prevent an electric shock, always connect the protective earth (PE) terminal

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


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

(Note 2)

Power supply

Options and auxiliary equipment

No-fuse breaker

Magnetic contactor

MR Configurator

(Servo configuration software)

Regenerative option

Reference

Section 14.2.2

Section 14.2.2

Chapter 6

Section 14.1.1

Options and auxiliary equipment Reference

Cables

Manual pulse generator

External digital display

Section 14.2.1

Section 14.1.8

Section 14.1.7

Power factor improving reactor Section 14.2.3

No-fuse breaker

(NFB) or fuse

Servo amplifier Command device

Junction terminal block

To CN1A

Magnetic contactor

(MC)

Power factor improving reactor

(FR-BAL)

To CN1B

To CN3



To CN2

L

1

L 2

L

3

CHARGE

U V W

Personal computer

MR Configurator

(Servo configuration

software

MRZJW3-SETUP151E)

Protective earth (PE) terminal

(Note 1)

Encoder cable

(Note 1)

Power supply lead

Control circuit terminal block

L

21

L

11

D

P

Regenerative option

C Servo motor

Note 1. The HC-SFS, HC-RFS, HC-UFS 2000r/min series have cannon connectors.

2. A 1-phase 200V to 230VAC power supply may be used with the servo amplifier of MR-J2S-70CL or less.

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

1

L

2

and leave L

3

open. Refer to section 1.2 for the power supply specification.

1 - 21


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

(Note 2)

Power supply


No-fuse breaker

Magnetic contactor

MR Configurator


Regenerative option

Reference

Section 14.2.2

Section 14.2.2

Chapter 6

Section 14.1.1

No-fuse breaker

(NFB) or fuse

Servo amplifier


Cables


Section 14.2.1

Section 14.1.8

External digital display Section 14.1.7


Command device


To CN1A

Magnetic contactor

(MC)

To CN1B



To CN3

CHARGE


(FR-BAL)

To CN2

L

1

L

2 U V W

Personal computer

MR Configurator


software

MRZJW3-SETUP151E)

Protective earth (PE) terminal

(Note 1)

Encoder cable

(Note 1)

Power supply lead

D Control circuit terminal block

L

21

L

11

Regenerative option

P

C

Note 1. The HC-SFS, HC-RFS, HC-UFS 2000 r/min series have cannon connectors.

2. Refer to section 1.2 for the power supply specification.

Servo motor

1 - 22



(Note)

Power supply


No-fuse breaker

Magnetic contactor

MR Configurator


Regenerative option

Reference

Section 14.2.2

Section 14.2.2

Chapter 6

Section 14.1.1

No-fuse breaker

(NFB) or fuse

Servo amplifier


Cables



Section 14.2.1

Section 14.1.8

Section 14.1.7


Command device


To CN1A

Magnetic contactor

(MC)

To CN1B




(FR-BAL)

To CN2

L

11

L

21

To CN3

Personal computer

MR Configurator


software

MRZJW3-SETUP151E)

L

1

L

2

L

3

U V W P C

Regenerative option


1 - 23


(3) MR-J2S-500CL

(Note 2)

Power supply

No-fuse breaker

(NFB) or fuse


No-fuse breaker

Magnetic contactor

MR Configurator


Regenerative option

Reference

Section 14.2.2

Section 14.2.2

Chapter 6

Section 14.1.1


Cables



Section 14.2.1

Section 14.1.8

Section 14.1.7


Magnetic contactor

(MC)


(FR-BAL)

(Note 1) C P

Regenerative option

L

1

L

2

L

3

U

V

W

Servo amplifier

To CN1A

To CN1B

To CN3

Command device




L

11

L

21

To CN2

Personal computer

MR Configurator


software

MRZJW3- SETUP151E)

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


1 - 24


(4) MR-J2S-700CL

(Note 2)

Power supply


No-fuse breaker

Magnetic contactor

MR Configurator


Regenerative option

Reference

Section 14.2.2

Section 14.2.2

Chapter 6

Section 14.1.1


Cables


Section 14.2.1

Section 14.1.8

External digital display Section 14.1.7


Command device

No-fuse breaker

(NFB) or fuse


L

21

L

11

Servo amplifier

To CN1A

Magnetic contactor

(MC)

To CN1B




(FR-BAL)

To CN3

Personal computer

MR Configurator


software

MRZJW3- SETUP151E)

L

3

L

2

L

1

U

V

W

To CN2

C P

(Note 1) Regenerative option

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


1 - 25


MEMO

1 - 26

2. INSTALLATION

2. INSTALLATION

Stacking in excess of the limited number of products is not allowed.

Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to a fire.

Install the equipment in a load-bearing place in accordance with this Instruction

Manual.

Do not get on or put heavy load on the equipment to prevent injury.

Use the equipment within the specified environmental condition range. (For the environmental conditions, refer to section 2.1.)

CAUTION

Provide an adequate protection to prevent screws, metallic detritus and other conductive matter or oil and other combustible matter from entering the servo amplifier.

Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur.

Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment.

Do not install or operate a faulty servo amplifier.

When the product has been stored for an extended period of time, consult

Mitsubishi.

When treating the servo amplifier, be careful about the edged parts such as the corners of the servo amplifier.

2.1 Environmental conditions

Ambient temperature

Environment Conditions

In operation

In storage

[ ]

[ ]



Ambient humidity

In operation

In storage


Ambience

Altitude

Indoors (no direct sunlight)

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

Max. 1000m (3280 ft) above sea level

Vibration

[m/s 2

[ft/s 2

2 - 1

2. INSTALLATION

2.2 Installation direction and clearances

Do not hold the front cover to transport the controller. The controller may drop.

The equipment must be installed in the specified direction. Otherwise, a fault may occur.

CAUTION

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.)

Up

40mm

(1.6 in.) or more

Down

2 - 2

2. INSTALLATION

(2) Installation of two or more servo amplifiers

Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions.

Control box

100mm

(4.0 in.) or more

10mm

(0.4 in.) or more

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) The flexing lives of the cables are shown below. In actuality, provide a little allowance for these values.

For installation on a machine where the servo motor will move, the flexing radius should be made as large as possible. Refer to section 13.4 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.

Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate, resulting in injury.

Connect cables to correct terminals to prevent a burst, fault, etc.

Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the forced stop (EMG) and other protective circuits.

Servo amplifier

COM

(24VDC)

Servo amplifier

COM

(24VDC)

CAUTION


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

Proximity dog

Servo-on

(Note 5)



Program input 1

Program input 2




Reset

Upper limit setting

(Note 8) Override

Upper limit setting

(Note 9) Analog torque limit

(Note 11)

MR Configurator

(Servo Configuration

software)

Personal computer

Servo amplifier

10m (32.79ft.) or less

DOG

SON

SG

(Note 3, 7) (Note 3, 7)

CN1A CN1A

8

9 COM

19

18 ZP

10

(Note 2, 4)

RA5


LSP

(Note 3, 7) (Note 3, 7)

CN1B CN1B

16 3 VDD

LSN

PI1

17

8

13

4

COM

OUT1

PI2

ST1

DI0

9

7

5

6

18

PED

ALM

DI1

RST

SG

14

15

10

19 RD

P15R

VC

11

2

(Note 3, 7)

CN1B

6 LA

16 LAR

LG

TLA

SD


1

12

Plate

7 LB

17 LBR

5 LZ

15 LZR

1 LG

Plate SD

(Note 3, 7)

CN3

4 MO1

3

14

13

LG

MO2

LG

(Note 12)

(Note 2, 4)

RA1

RA2

RA3

RA4

Encoder A-phase pulse

(differential line driver)

Encoder B-phase pulse


A

10k

A

10k

Home position return completion

Program output 1

Movement complete

Trouble (Note 6)

Ready

Encoder Z-phase pulse


(Note 10)

Monitor output

Max. 1mA meter

Zero center

(Note 10)

Communication cable

CN3

Plate SD


(Note 1)

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 and other protective circuits.

3. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.

4. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from external.

5. When starting operation, always connect the forward/reverse rotation stroke end (LSN/LSP) with SG. (Normally closed contacts)

6. Trouble (ALM) is connected with COM in normal alarm-free condition.

7. The pins with the same signal name are connected in the servo amplifier.

8. When using override (VC), make the override selection (OVR) device available.

9. When using analog torque limit (TLA), make the external torque limit selection (TL) devices available.

10. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR-J2CN3TM).

(Refer to section 14.1.6).

11. Use MRZJW3-SETUP 151E (Ver. E1 or more).

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.

3 - 2


3.2 Internal connection diagram of servo amplifier

This section gives the internal connection diagram where the signal assignment is in the initial status.

Servo amplifier

VDD

COM

CN1B

3

13

COM

DOG

SON

SG

CN1A

9

8

19

10, 20

24VDC

Approx. 4.7k

Approx. 4.7k

DI0

ST1

PI1

CN1B

5

7

8

PI2

DI1

RST

LSP

LSN

SG

9

14

15

16

17

10, 20

OPC

PP

NP

SD

CN1A

11

Approx. 100

3

Approx. 100

2

Casing

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

CN1A

18

CN1A

6

16

7

17

5

15

14

1

ZP

CN1B

4

6

18

19

OUT1

PED

ALM

RD

LA

LAR

LB

LBR

LZ

LZR

OP

LG

CN3

4 MO1

VC

TLA

CN1B

2

12

14 MO2

P15R 11

LG

SD

1

Casing

P15R

CN1A

4

15VDC

2

12

9

19

5

15

PE

RXD

TXD

SDP

SDN

RDP

RDN

3 - 3


3.3 I/O signals

3.3.1 Connectors and signal arrangements

POINT

The connector pin-outs shown above are viewed from the cable connector wiring section side.

(1) Signal arrangement

CN1A CN1B

1

2

LG

NP

3

4

PP

P15R

6

5

LZ

LA

7

8

LB

DOG

9

10

COM

SG

12

14

OP

16

LAR

18

ZP

20

SG

11

OPC

13

15

LZR

17

LBR

19

SON

Servo amplifier

1

2

LG

VC

3

4

OUT1

VDD

5

6

DI0

PED

7

8

ST1

PI1

9

10

PI2

SG

12

TLA

14

DI1

16

LSP

18

ALM

20

SG

11

P15R

13

COM

15

RST

17

LSN

19

RD

CN2

2

LG

4

1

LG

3

12

LG

14

11

LG

13

5 15

6 16

MD

8

10

7

MR

9

BAT

MDR

18

17

MRR

P5

19

20

P5

P5

The connector frames are

connected with the PE (earth)

terminal inside the servo amplifier.

CN3

1

2

RXD

LG

3

4

MO1

6

LG

5

RDP

12

TXD

14

MO2

16

11

LG

13

LG

15

RDN

7 17

8 18

9

10

TRE

SDP

19

20

P5

SDN

3 - 4


3.3.2 Signal (devices) explanations

(1) I/O devices

POINT

The devices not indicated in the Connector Pin No. field of the I/O devices can be assigned to the connector CN1A/CN1B using the MR Configurator

(Servo Configuration software).

In the factory setting state, Forced stop (EMG) and Automatic/manual selection (MD0) are not assigned to the pins but are preset to turn on automatically.

(a) Pins whose devices can be changed

Refer to section 3.6.2 for the I/O interfaces (symbols in the I/O Division field in the table) of the corresponding connector pins.

Pin type Connector pin No.

CN1B-5

CN1B-14

I/O division Device in initial status

Program No. selection 1 (DI0)


Input-only pins

I/O pin

CN1B-16

CN1B-17

CN1B-7

CN1B-8

CN1B-9

CN1A-19

CN1B-6

DI-1

DI-1 or DO-1

Forward rotation stroke end (LSP)

Reverse rotation stroke end (LSN)

Forward rotation start (ST1)

Program input 1 (PI1)


Servo-on (SON)

You can assign an I/O device using the MR

Configurator (Servo Configuration software).

Movement complete (PED)

Output-only pins

CN1A-18 Home position return completion(ZP)

(b) Input devices

Device name

Forced stop

Servo-on

Reset

Devices symbol

EMG

SON

RES

Connector pin No.

Functions/Applications

Turn EMG off (open EMG-common) to bring the motor to an Forced stop state, in which the servo is switched off and the dynamic brake is operated.

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

In the factory setting state, Forced stop (EMG) is preset to turn on automatically.

(Refer to section 6.6 (2) (c).)

CN1B-19 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).

CN1B-15 Turn RES on for more than 50ms to reset the alarm.

Some alarms cannot be deactivated by the reset signal. Refer to section 11.2.1.

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. 55.

Since this device is not designed for stopping. Do not switch it on during operation.

3 - 5


Device name



Program input1

Program input2

Program input3




Proximity dog

Devices symbol

Connector pin No.


LSP CN1B-16 To start operation, turn LSP/LSN on. Turn it off to bring the motor to a sudden stop and make it servo-locked.

Set " 1" in parameter No. 22 to make a slow stop.

(Refer to section 5.2.5.)

(Note) Input signals Operation

LSP LSN

CCW direction

CW direction

LSN CN1B-17

Note. 0: OFF

1: ON

PI1

PI2

CN1B-8 Turn PI1 on to resume the step stopped by the SYNC (1) command in the program.

CN1B-9 Turn PI2 on to resume the step stopped by the SYNC (2) command in the program.

PI3 Turn PI3 on to resume the step stopped by the SYNC (3) command in the program.

ST1 CN1B-7 1. In program operation mode

When ST1 is turned on, the operation of the program selected with DI0 to DI3 is executed.

2. Jog operation in manual operation mode

While ST1 is kept on, the servo motor rotates in the forward rotation direction.

Forward rotation indicates an address increasing direction.

ST2

MD0

While ST2 is kept on in jog operation of the manual operation mode, the servo motor rotates in the reverse rotation direction. Reverse rotation indicates an address decreasing direction.

ST2 is invalid in any other operation mode.

Turn MD0 on to select the program operation mode, or turn it off to select the manual operation mode.

In the factory setting state, Forced stop (EMG) is preset to turn on automatically.

(Refer to section 6.6 (2) (c).)

DOG CN1A-8 Turn DOG on to bring, the proximity dog signal is detected. The polarity of dog detection input can be changed with the parameter.

Parameter No.8

Polarity of proximity dog detection input

0 (initial value) OFF

1 ON

3 - 6


Device name

Devices symbol

Connector pin No.


Program No. selection 1 Select the program number from among those combined by DI0, DI1, DI2 and DI3 to start operation on the leading edge of ST1 in the program operation mode.

Program No. selection 2 DI1 CN1B-14



Override selection

External torque limit selection

Internal torque limit selection

Proportion control

DI2

DI3

OVR

TL

TL2

PC

Input signal (Note)

DI3 DI2 DI1 DI0

Program No.

0 0 0 0 1

0 0 0 1 2

0 0 1 0 3

0 0 1 1 4

0 1 0 0 5

0 1 0 1 6

0 1 1 0 7

0 1 1 1 8

1 0 0 0 9

1 0 0 1 10

1 0 1 0 11

1 0 1 1 12

1 1 0 0 13

1 1 0 1 14

1 1 1 0 15

1 1 1 1 16

Note. 0: OFF

1: ON

Turn OVR on to make override (VC) valid.

Turn TL on to make analog torque limit (TLA) valid.

For details, refer to section 3.4.4.

Turn TL2 off to make parameter No.28 (Internal torque limit 1) valid, or turn it on to make parameter No.29 (Internal torque limit 2) valid.


Turn PC on to bring 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. In such a case where the axis will be locked mechanically after Movement complete (PED) has turned off, turning

Proportion control (PC) on as soon as Movement complete (PED) turns off can suppress unnecessary torque that attempts to compensate for a position shift.

When the shaft is to be locked for a long time, switch on the proportion control (PC) and External torque limit selection (TL) at the same time to make the torque less than the rated by the analog torque limit (TLA).

3 - 7


Device name

Temporary stop/Restart



Devices symbol

STP

Connector pin No.

TP0


Turn STP on during program operation to make a temporary stop.

Turn it on again to make a restart.

If any of Program inputs 1 to 3 (PI1 to PI3) is turned on during a temporary stop, it is ignored.

When the program operation mode is switched to the manual operation mode during a temporary stop, the remaining moving distance is erased. During home position return and jog operation, the temporary stop/restart input is ignored.


Used to select the multiplication factor of the manual pulse generator.

When it is not selected, the parameter No.1 setting is made valid.

TP1

(Note) Input signal Manual pulse generator

TP1 TP0 multiplication factor

0 0 Parameter No.1 setting

Gain switch CDP

Current position latch input

LPS

Note. 0: OFF

1: ON

Turn CDP on to change the load inertia moment ratio into parameter No. 64 (load inertia moment ratio to servo motor 2) and the gain values into the values multiplied by parameter No. 65 to 67.

Turn LPS on during execution of the LPOS command to latch the current position on its leading edge. The latched current position can be read using the communication command.

3 - 8


(c) Output devices

Device name

Devices symbol

Connector pin No.


Movement complete PED shut off the base circuit. Without alarm occurring, ALM turns on within about 1s after power-on. operate.

CN1B-6 PED turns on when the droop pulse value is within the movement complete output range and the command remaining distance is "0". (Refer to section 3.4.2.)

The movement complete output range can be changed with parameter No. 6.

INP turns on at servo-on.

When a home position return is not completed, PED is off in a servo-off status.



Position range

Battery warning

Limiting torque

Temporary stop

Program output 1

Program output 2

Program output 3

MBR

POT

In the absolute position system, ZP turns on when the servo amplifier is ready to operate, but turns off if.

1) SON is turned off.

2) EMG is turned off.

3) RES is turned on.

4) Alarm occurs.

5) Limit switch opens.

6) Home position set has not been made after the purchase of the product.

7) Home position set has not been made after the occurrence of absolute position erasure (AL. 25) or absolute position counter warning

(AL. E3).

8) Home position set has not been made after the setting of the electronic gear value.

9) Home position set has not been made after the absolute position system was made valid. or

10) The ST1 coordinate system ("000 " in parameter No.1) has been changed.

11) Software limit is valid.

12) Home position return completion.

13) Home position set has not been made after home position return position data

(parameter No. 42) setting.

If the status is not any of 1) to 13) and the home position setting has already been completed at least once, home position return completion (ZP) is placed in the same output status as ready (RD).

MBR turns off when the servo is switched off or an alarm occurs.

When an alarm occurs, they are turned off independently of the base circuit status.

Position range (POT) is on when the current position is within the range set in parameters No. 50 to 53. If the current position is within the set range, the device is off when a home position return is not yet complete or while the base circuit is off (during servo off, alarm occurrence or alarm reset).

BWNG

TLC

PUS

OUT1

OUT2

OUT3

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

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.

TLC-SG are connected when the torque generated reaches the value set to the internal torque limit 1 (parameter No. 28), internal torque limit 1 (parameter No.

29) or analog torque limit (TLA).

PUS turns on when deceleration to a stop is started by Temporary stop/restart

(STP). PUS turns off when Temporary stop/restart (STP) is enabled again to resume operation.

CN1B-4 OUT1 turns on when the OUTON (1) command in the program is given. OUT1 turns off when the OUTOF command is given.

The time to turn it off can be set in parameter No. 74.

OUT2 turns on when the OUTON (2) command in the program is given. OUT2 turns off when the OUTOF command is given.


OUT3 turns on when the OUTON (3) command in the program is given. OUT3 turns off when the OUTOF command is given.


3 - 9


(2) Input signal

For the input interfaces (symbols in I/O column in the table), refer to section 3.6.2.

Signal Connector

Signal Functions/Applications symbol pin No.


I/O division

Apply 10[V] for 0[%] override, 0[V] for 100[%], or 10[V] for 200[%].

Analog torque limit TLA CN1B-12 To use this signal, set any of MR Configurator (servo configuration software) to make the external torque limit selection (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 in section 3.4.4.) Resolution:10bits

(3) Output signal

For the output interfaces (symbols in I/O column in the table), refer to section 3.6.2.

Signal Connector

Signal Functions/Applications symbol pin No.


(open collector)

Encoder A-phase pulse


Encoder B-phase pulse




Analog monitor 1

Analog monitor 2

OP CN1A-14 Outputs the zero-point signal of the encoder. One pulse is output per servo motor revolution. OP and LG are connected when the zero-point 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.

LA

LAR

LB

LBR

CN1A-6 Outputs pulses per servo motor revolution set in parameter No. 27 in the

CN1A-16 differential line driver system. In CCW rotation of the servo motor, the

CN1A-7 encoder B-phase pulse lags the encoder A-phase pulse by a phase angle

CN1A-17 of /2.

The relationships between rotation direction and phase difference of the

A- and B-phase pulses can be changed using parameter No. 58.

LZ

LZR

MO1

CN1A-5

CN1A-15

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

CN3-4 Used to output the data set in parameter No.17 to across MO1-LG in terms of voltage. Resolution 10 bits

MO2 CN3-14 Used to output the data set in parameter No.17 to across MO2-LG in terms of voltage. Resolution 10 bits

Analog input

Analog input

I/O division

DO-2

DO-2

DO-2

DO-2

Analog output

Analog output

3 - 10


(4) Communication

POINT

Refer to chapter 15 for the communication function.

Signal

RS-422 I/F

RS-422 termination

Signal symbol

Connector pin No.


SDP

SDN

RDP

RDN

CN3-9

CN3-19

CN3-5

CN3-15

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

Choose either one in parameter No. 16.

TRE CN3-10 Termination resistor connection terminal of RS-422 interface.

When the servo amplifier is the termination axis, connect this terminal to RDN

(CN3-15).

TXD

RXD

CN3-2

CN3-12

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

Choose either one in parameter No. 16.

RS-232C I/F

(5) Power supply

Signal

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

Signal symbol

Connector pin No.


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

Permissible current : 80mA

CN1B-13 Connect the positive ( ) terminal of the 24VDC external power supply.

24VDC 10%

OPC CN1A-11 When you use a manual pulse generator , supply this terminal with the positive ( ) power of 24VDC.

SG CN1A-10 Common terminal for input signals such as SON and EMG. Pins are connected

20 internally.

CN1B-10 Separated from LG.

20

P15R CN1A-4 Outputs 15VDC to across P15R-LG. Available as power for VC and VLA.

CN1B-11 Permissible current: 30mA

LG CN1A-1

CN1B-1

CN3-1,

11

3,

13

Common terminal for TLA, VC, OP, MO1, MO2 and P15R.

Pins are connected internally.

SD Plate Connect the external conductor of the shield cable.

3 - 11


3.4 Detailed description of signals (devices)

3.4.1 Forward rotation start Reverse rotation start Temporary stop/restart

(1) A forward rotation start (ST1) or a reverse rotation start (ST2) should make the sequence which can be used after the main circuit has been established. These signals are invalid if it is switched on before the main circuit is established.

Normally, it is interlocked with the ready signal (RD).

(2) A start in the servo amplifier is made when the external start signal changes from OFF to ON. The delay time of the servo amplifier's internal processing is max. 3ms. The delay time of other signals is max. 10ms.

3ms or less 3ms or less

Servo motor speed

Forward rotation start (ST1) or reverse rotation start (ST2)

Temporary stop/Restart (STP)

5ms or more

10ms or less

(3) When a programmable controller is used, the ON time of the start/stop signal should be 5ms or longer to prevent a malfunction.

(4) During operation, the forward rotation start (ST1) or reverse rotation start (ST2) is not accepted. The next operation should always be started after the Movement complete (PED) is output.

3 - 12


3.4.2 Movement complete

POINT

If an alarm cause, etc. are removed and servo-on occurs after a stop is made by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic operation, Position end (PED) is turned on. To resume operation, confirm the current position and the selected point table No. for preventing unexpected operation.

The following timing charts show the output timing relationships between the position command generated in the servo amplifier and the Movement complete (PED). This timing can be changed using parameter No. 6 (Movement complete output range). Turn PED on to bring in the servo-on status.


ON

OFF

3ms or less

Position command

Servo motor speed

Position command and servo motor speed

Movement complete range


ON

OFF

When parameter No. 6 is small


ON

OFF

3ms or less

Position command and servo motor speed

Position command

Servo motor speed

Movement complete range


ON

OFF

When parameter No. 6 is large

3 - 13


3.4.3 Override

POINT

When using the override (VC), make the override selection (OVR) device available.

The override (VC) may be used to change the servo motor speed. The following table lists the signals and parameter related to the override.

Item Name Remarks

Analog input signal

Contact input signal

Override (VC)

Override selection (OVR)

MR Configurator (Servo Configuration Software) setting required.

Parameter No.25 override offset 999 to 999mV

(1) Override (VC)

By applying a voltage ( 10 to 10V) to the override (VC) terminal, change values can be set from outside consecutively. The following graph shows the relationship between the input voltage and the ratio of actual speed to preset speed.

[%]

200

Servo amplifier

100

Override selection (OVR)

Override (VC)

10 to 10V

OVR

SG

VC

LG

SD

0

10 0 10

[V]

Override (VC) application voltage

(2) Override selection (OVR)

Used to make the override (VC) valid or invalid.

Servo amplifier

Motor

Override selection

(OVR)

Override (VC)

10 to 10V

Using the override selection (OVR), choose a change value as follows.

External input signal

OVR

Speed change value

1 Override (VC) setting is made valid.

Note. 0 : OFF

1 : ON

(3) Override offset (parameter No.25)

Using parameter No.25, the offset voltage can be set relative to the input voltage for the override (VC).

The setting is between 999 to 999mV.

3 - 14


3.4.4 Torque limit

POINT

To use the torque limit, make the external torque limit selection (TL) and internal torque limit selection (TL2) available.

The following table lists the signals and parameters related to the torque limit.

Item Name Remarks

Analog input signal

Contact input signals

Contact output signal

Analog torque limit (TLA)

External torque limit selection (TL)

Internal torque limit selection (TL2)

Limiting torque (TLC)

No.28 (internal torque limit 1)

MR Configurator (Servo Configuration Software) setting required.

0 to 100%

No.29 (internal torque limit 2) 0 to 100%

Parameters No.26 (torque limit offset)

No.59 (function selection 2)

999 to 999mV

Selection of the rotation direction in which torque limit is executed.

The torque limit is available in two types: internal torque limit set in parameters and analog torque limit

(TLA) using analog input signal. This function limits torque on the assumption that the maximum torque of the servo motor is 100%.

(1) Internal torque limits 1, 2

Use parameter No.28 and 29 to set the internal torque limit values. The following graph shows the torque relative to the setting.

Max. torque

0

0 100

Torque limit value [%]

(2) Analog torque limit (TLA)

By applying a voltage (0 to 10V) to the analog torque limit (TLA) terminal, limit values can be set from outside consecutively. The following graph shows the relationship between input voltage and limit value.

Depending on the servo amplifier, the limit value has about 5% variations to the input voltage. As this may not cause torque to be limited sufficiently at less than 0.05V, use this function at the voltage of

0.05V or more.

Refer to the following diagram when using the 15V power output (P15R) of the servo amplifier.

100

Servo amplifier

5%

0

0 0.05

10

TLA application voltage [V]

TLA Application Voltage and

Torque Limit Value

2k

2k

Japan Resistor RRS10 or equivalent

TL

SG

P15R

TLA

LG

SD

Connection Example

3 - 15


(3) External torque limit selection (TL), internal torque limit selection (TL2)

To use the external torque limit selection (TL) and internal torque limit selection (TL2), make them available using the MR Configurator (Servo Configuration Software) (refer to chapter 6).

These input signals may be used to choose the torque limit values made valid.

(Note) External input signals

TL2 TL

0 0

Torque limit value made valid

0 1

1 0

1 1

Internal torque limit value 1 (parameter No. 28)

TLA Parameter No. 28: Parameter No. 28

TLA Parameter No. 28: TLA

Parameter No. 29 Parameter No. 28: Parameter No. 28

Parameter No. 29 Parameter No. 28: Parameter No. 29

TLA Parameter No. 29: Parameter No. 29

TLA Parameter No. 29: TLA

Note. 0: OFF

1: ON

(4) External torque limit offset (parameter No.26)

Using parameter No.26, the offset voltage can be set relative to the input voltage of the analog torque limit (TLA). The setting is between 999 to 999mV.

(5) Selection of rotation direction for torque limit execution (parameter No.59)

Using parameter No.59, the rotation direction for torque limit execution can be selected.

Parameter No.59 setting

Rotation direction for torque limit execution

CCW direction CW direction

0 (initial value)

1

2

For example, when “ 1 ” is set in parameter No.59, torque limit is executed in the CCW direction but not in CW direction.

CCW rotation: Torque limit is executed.

CW rotation: Torque limit is not executed.

3 - 16


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.

When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the control circuit power supply from off to on, press the "SET" button on the current alarm screen, or turn the reset (RES) from off to on. However, the alarm cannot be reset unless its cause is removed.

(Note)

Main circuit control circuit power supply

ON

OFF

Base circuit

ON

OFF

Dynamic brake Valid

Invalid

Servo-on

(SON)

Ready

(RD)

Trouble

(ALM)

Reset

(RES)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

1s

Alarm occurs.

Brake operation

50ms or more

Power off

Brake operation

60ms or more

Power on

Remove cause of trouble.

Note. Switch off the main circuit power as soon as an alarm occurs.

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent

(AL.32), overload 1 (AL.50) or overload 2 (AL.51) alarm after its occurrence, without removing its cause, the servo amplifier and servo motor may become faulty due to temperature rise.

Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation.

(2) Regenerative alarm

If operation is repeated by switching control circuit power off, then on to reset the regenerative

(AL.30) alarm after its occurrence, the external regenerative 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- CL, or to 158VDC or less for the

MR-J2S- CL1.

(4) Incremental system

When an alarm occurs, the home position is lost. When resuming operation after deactivating the alarm, make a home position return.

3 - 17


3.6 Interfaces

3.6.1 Common line

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

Dl-1


MR-HDP01

5V

A(B)

0V

CN1A

CN1B

VDD

COM

SON,etc.

SG

OPC

PP(NP)

SG

5V

24VDC

<Isolated>

15VDC 10% 30mA

P15R

ALM,etc

Analog input

( 10V/max. current)

TLA

VC, etc.

LG

SD

SG

CN1A

CN1B

OP

LG

LA,etc

LAR,etc

LG

SD

MO1

MO2

LG

SDP

SDN

RDP

RDN

LG

SD

CN3

RA

DO-1

Differential line driver output

35mA or less

Analog monitor

RXD

RXD

TXD

TXD

LG

L

1

L

2

E

Single-phase

100 to 200VAC

Servo motor

M

Ground

MR

MRR

CN2

SD

Servo motor encoder

3 - 18


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 (6) in this section.

For use of internal power supply For use of external power supply

Servo amplifier

VDD

24VDC

Do not connect

VDD-COM.

Servo amplifier

COM

R: Approx. 4.7k

24VDC

(Note)

For a transistor

SON, etc.

24VDC

200mA or more

VDD

COM

R: Approx. 4.7k

Approx. 5mA

SON, etc.

Switch

TR SG

Switch

V

CES

1.0V

I

CEO

100 A

SG

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

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush current suppressing resister (R) for a lamp load. (Permissible current: 40mA or less, inrush current:

100mA or less) A 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

If the diode is not connected as shown, the servo amplifier will be damaged.

SG

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.

3 - 19


(b) Lamp load

For use of internal power supply

Servo amplifier

24VDC

VDD

COM

R

ALM, etc

SG

For use of external power supply

Servo amplifier

24VDC

VDD

Do not connect

VDD-COM.

COM

ALM, etc

R (Note)

24VDC

10%

SG


(3) Encoder pulse output DO-2

(a) Open collector system

Interface

Max. output current : 35mA

Servo amplifier Servo amplifier

OP

LG

SD

(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

OP

LG

SD

5 to 24VDC

Photocoupler

100

High-speed photocoupler

3 - 20


2) Output pulse

Servo motor CCW rotation

LA

LAR

LB

T

LBR

/2

LZ

LZR

OP

400 s or more

(4) Analog input

Input impedance 10k 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 58.

(5) Analog output

Output voltage 10V

Max.1mA

Max. output current

Resolution : 10bits

Servo amplifier

MO1

(MO2)

LG

10k

Reading in one or both directions

1mA meter

A

SD

3 - 21


(6) 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.



SG

SG

R: Approx. 4.7k

(Note)

For a transistor

Approx. 5mA

COM

SON,

etc.

COM

R: Approx. 4.7k

Switch

Switch

SON,etc.

24VDC

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.

Since source output is not provided, make the following circuit.


Servo amplifier

24VDC

VDD

Servo amplifier

VDD

Do not connect

VDD-COM.

COM

24VDC

Load

COM

ALM, etc.

(Note)

24VDC

10%

ALM, etc.

Load

SG

If the polarity of diode is not correct, the servo amplifier will become faulty.

SG

If the polarity of diode is not correct, the servo amplifier will become faulty.


3 - 22


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.

3.7.1 Connection example

Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

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

Forced 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

Forced stop

Servo-on

EMG

SON

SG

VDD

COM

ALM RA Trouble

3 - 23


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

RA

Forced stop OFF

ON

MC

Power supply

1-phase 100 to

120VAC or

1-phase 230VAC

NFB

Forced stop

Servo-on

MC

L

1

Servo amplifier

L

2

L

3

L

11

(Note)

L

21

EMG

SON

SG

VDD

COM

ALM

MC

SK

RA Trouble

Note. Not provided for 1-phase 100 to 120VAC.

3 - 24


3.7.2 Terminals

The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to section 12.1.

Connection Target

Symbol Description

(Application)

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.

Servo amplifier MR-J2S-10CL MR-J2S-100CL MR-J2S-10CL1

Power supply to 70CL to 700CL to 40CL1

L

1

, L

2

, L

3

Main circuit power supply

U, V, W Servo motor output

3-phase 200 to 230VAC,

50/60Hz

1-phase 230VAC,

50/60Hz

L

1

L

2

L

1

L

2

L

3


50/60Hz

L

1

L

2

Connect to the servo motor power supply terminals (U, V, W). During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur.

Power supply

Servo amplifier

MR-J2S-10CL to 700CL

MR-J2S-10CL1 to

40CL1

L

11

, L

21

Control circuit power supply

P, C, D

N

Regenerative option

Return converter

Brake unit


50/60Hz


50/60Hz

L

11

L

21

L

11

L

21

1) MR-J2S-350CL or less

When using servo amplifier built-in regenerative resistor, connect between P-D terminals. (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-500CL or 700CL

MR-J2S-500CL and 700CL 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.

Refer to section 14.1.1 for details.

When using return converter/brake unit, connect to P terminal and N terminal.

Do not connect to servo amplifier MR-J2S-200CL or less.

Refer to sections 14.1.2 and 14.1.3 for details.

Protective earth (PE)

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

3 - 25


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 servo-on (SON) is switched on simultaneously with the main circuit power supply, the base circuit will switch on in about 1 to 2s, and the ready (RD) will switch on in further about 20ms, making the servo amplifier ready to operate. (Refer to paragraph (2) in this section.)

4) When the reset (RES) is switched on, the base circuit is shut off and the servo motor shaft coasts.

(2) Timing chart

SON accepted

(1 to 2s)

Power supply

ON

OFF

Base circuit

ON

OFF

Servo-on

(SON)

Reset

(RES)

ON

OFF

ON

OFF

Ready

(RD)

ON

OFF

20ms

10ms

10ms

60ms

20ms

10ms

10ms

60ms

20ms 10ms

3 - 26


(3) Forced stop

CAUTION

Provide an external forced stop circuit to ensure that operation can be stopped and power switched off immediately.

Forced stop (EMG) can be used by making device setting on the MR Configurator (Servo Configuration

Software).

Make up a circuit which shuts off main circuit power as soon as EMG-SG are opened at a forced stop.

To ensure safety, always install an external emergency stop switch across EMG-SG. By disconnecting

EMG-SG, 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 forced stop (EMG) to alternate stop and run.

The servo amplifier life may be shortened.

Servo amplifier

Forced stop

VDD

COM

EMG

SG

3 - 27


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.

3.8.2 Connection diagram

CAUTION

During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur.

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 14.2.1. For encoder cable connection, refer to section 14.1.4. 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.

3 - 28


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)

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

Servo motor

U (Red)

V (White)

W (Black)

(Green)

(Note 1) 24VDC

B1

EMG

B2

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

Motor

(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 motor Servo amplifier

U

V

W

U

V

W

Motor

(Note 1) 24VDC

B1

B2

EMG


(Note 2)


CN2

Encoder cable

Encoder



Servo amplifier

U

V

W

U

V

W

Servo motor

Motor

(Note 1)

24VDC

B1

B2

EMG


(Note 2)


CN2

Encoder cable

Encoder



3 - 29


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

2

3

4

View b

Pin

3

4

1

2 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

5

MDR

6

8 9

LG SHD

View a

Pin Signal

1

2

U

V

3

4

W

(Earth)

5 (Note) B1

6 (Note) B2

Note. Supply electromagnetic

brake power (24VDC).

There is no polarity.

3 - 30


(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)


Servo motor side connectors

For power supply For encoder

Electromagnetic brake connector

CE05-2A22-

23PD-B


HC-SFS202(B) to 502 (B)

HC-SFS203(B) 353(B)

CE05-2A24-

10PD-B

HC-SFS702(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)

CE05-2A24-

10PD-B

CE05-2A22-

23PD-B

HC-UFS202(B) to 502(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 Signal

Key

D

E

F

G

H

A

B

C

U

V

W

(Earth)

E

F

D

G

View c

(Note) B1

(Note) B2

Note. For the motor with

electromagnetic brake,

supply electromagnetic



A

C

B

Pin

C

D

A

B

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)

Encoder connector signal arrangement

MS3102A20-29P

Key

L

M

K

J

T

H

N

A

S R

G

P

B

C

D

F

E

View a

Pin

C

D

E

G

H

J

A

B

Signal

MD

MDR

MR

MRR

BAT

LG

Pin

S

T

P

R

K

L

M

N

Signal

SD

LG

P5

Electromagnetic brake connector signal arrangement

MS3102A10SL-4P

Key

A

View b

B

Pin Signal

A

B

(Note)

(Note)

B1

B2






3 - 31


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 forced 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 forced stop (EMG).

24VDC


The electromagnetic brake is provided for holding the motor shaft. Do not use it for ordinary braking.

Before performing the operation, be sure to confirm that the electromagnetic brake operates properly.

POINT

For the power supply capacity, operation delay time and other specifications of the electromagnetic brake, refer to the Servo Motor

Instruction Manual.

Note the following when the servo motor equipped with electromagnetic brake is used.

1) In the device setting of the MR Configurator (Servo Configuration software), make the electromagnetic brake interlock (MBR) available.

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) Turn off the servo-on (SON) after the servo motor has stopped.

(1) Connection diagram

Servo amplifier Servo motor

VDD

RA

Forced stop

B1

COM

MBR RA

24VDC

B2

3 - 32


(2) Setting

1) In the device setting of the MR Configurator (Servo Configuration Software), make the electromagnetic brake interlock (MBR) available.

2) Using parameter No. 33 (electromagnetic brake sequence output), set a time delay (Tb) at servooff 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 servo-on (SON) is switched off, 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.

For use in vertical lift and similar applications, therefore, set delay time (Tb) to the time which is about equal to the electromagnetic brake operation delay time and during which the load will not drop.

Servo motor speed 0 r/min

(60ms)

Coasting

Tb

Base circuit

ON

OFF


(MBR)

(Note 1) ON

OFF

Servo-on (SON)

ON

OFF


(ST1) or reverse rotation start (ST2)

ON

OFF


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, turn ON the ST1 or ST2.

3 - 33


(b) Forced stop (EMG) ON/OFF

Servo motor speed

Base circuit

Forward rotation

0r/min

(10ms)

ON

OFF

Electromagnetic brake interlock (MBR)

(Note) ON

OFF

Invalid (ON)

Forced stop (EMG)

Valid (OFF)

Dynamic brake

Dynamic brake



Electromagnetic brake release

(180ms)


(180ms)

Note. ON: Electromagnetic brake is not activated.


(c) Alarm occurrence

Dynamic brake

Dynamic brake



Servo motor speed

Base circuit


Trouble (ALM)

Forward rotation

0r/min

(10ms)

ON

OFF

(Note) ON

OFF

No (ON)

Yes (OFF)


Note. ON: Electromagnetic brake is not activated.


3 - 34


(d) Both main and control circuit power supplies off

Servo motor speed

Forward rotation

0r/min

(Note 1)

15 to 60ms

Dynamic brake

Dynamic brake



ON

Base circuit

OFF


(Note 2) ON

OFF

Trouble (ALM)

No (ON)

Yes (OFF)


Main circuit

Control circuit power

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

Forward rotation

0r/min

(Note 1)

15 or more

Dynamic brake

Dynamic brake



ON

Base circuit

OFF


(Note 3) ON

OFF

Trouble (ALM)

No (ON)

Yes (OFF)


(Note 2)

Main circuit power supply

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 - 35


3.10 Grounding

Ground the servo amplifier and servo motor securely.

WARNING To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box.

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.

To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB (NA) 67310).

Control box

Servo motor

NFB MC Servo amplifier

L

1

CN2

(Note)

Power supply

L

2

Encoder

L

3

L

11

L

21

CN1A CN1B

U

V

W

U

V

W

M

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

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

Protective earth(PE)

Outer box

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 1.2 for the power supply specification.

3 - 36


3.11 Servo amplifier terminal block (TE2) wiring method

POINT

Refer to Table 14.1 in section 14.2.1 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

Bar Terminal Type

For 1 cable

AI-TWIN 1.5-10BK

For 2 cables

Crimping Tool Manufacturer

CRIMPFOX ZA 3 Phoenix Contact

Cut the wire running out of bar terminal to less than 0.5mm.

Less than 0.5mm

When using a bar terminal for two wires, insert the wires in the direction where the insulation sleeve does not interfere with the next pole and pressure them.

Pressure

Pressure

3 - 37



(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

3 - 38


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 Bar terminal type

Crimping tool Manufacturer

[mm 2 ] AWG For 1 cable For 2 cables

1.25/1.5 16 AI1.5-10BK AI-TWIN 1.5-10BK CRIMPFOX ZA 3 or

CRIMPFOX UD 6

Phoenix Contact

(2) Connection

Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that the cable does not come off. (Tightening torque: 0.3 to 0.4N m (2.7 to 3.5Ib 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 (0.016 to 0.024in.)

Overall width 2.5 to 3.5mm (0.098 to 0.138in.)

To loosen.

To tighten.

Cable

Opening

Control circuit terminal block

3 - 39


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.

Torque screwdriver

Bit for torque screwdriver

3.12 Instructions for the 3M connector

N6L TDK

B-30, flat-blade, H3.5 X 73L

Nakamura Seisakusho

Shiro Sangyo

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 - 40

4. OPERATION

4. OPERATION

4.1 When switching power on for the first time

4.1.1 Pre-operation checks

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-350CL 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-500CL 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, the signals across LSP-SG and LSN-SG 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

4.1.2 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.

For startup reference, a single machine structure will be described. Refer to this section and start up the machine safely.

(1) Machine conditions

P

Servo amplifier

Reduction ratio

1/n 1/2

P B

Servo motor

HC-MFS131072pulse/rev

Regenerative option MR-RB032

Servo motor speed

Ta

Program No. 2

Tb

Ballscrew

P

B

10mm(0.39inch)

V

Position data (P) 200mm(787.40inch)

Speed (V) 2500r/min

Acceleration time constant (Ta) 200ms

Deceleration time constant (Tb) 300ms

0r/min

1) Absolute position detection system used

2) Command resolution: 10 m

3) Command system: Absolute value command system

4) Electronic gear calculation

CMX(pulse)

CDV( m)

131072

1 n P

B

1000

1

2

131072

10 1000

131072

5000

32768

1250

........................................................(4.1)

CMX 32768

CDV 1250

5) External input signals are used by the program selection, forward rotation start (ST1), servo-on

(SON) and other commands.

6) Program No.2 is used to execute program operation once.

4 - 2

4. OPERATION

(2) Startup procedure

(a) Power on

1) Switch off the servo-on (SON).

2) When main circuit power/control circuit power is switched on, "PoS" (Current position) appears on the servo amplifier display.

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.

(b) Test operation

Using jog operation in the "test operation mode" of the MR Configurator (Servo Configuration

Software), confirm that the servo motor operates at the slowest speed. (Refer to section 6.7.1, 7.8.2)

(c) 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 6.4 and 7.6 for the setting method.

Parameter Name Setting Description

No.0

No.2

No.4

No.5

Command system, regenerative option selection

Function selection 1

Electronic gear numerator (CMX)

Electronic gear denominator (CDV)

20

Absolute value command system.

MR-RB032 regenerative option is used.

10

When forward rotation start (ST1) is valid, address is incremented in CCW direction.

Since command resolution is 10 times, feed length multiplication factor of 10 times is selected.

1

Absolute position detection system.

32768 From calculation result of formula (4.1)

1250 From calculation result of formula (4.1)

After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid.

(d) Program setting

Set the program according to the operation pattern. Refer to section 4.2 for the program definitions and to sections 4.2 and 6.5 for the setting method.

Program Description

SPN (2500)

STA (200)

STB (300)

MOV (20000)

STOP

Speed (Motor speed)

Acceleration time constant

Deceleration time constant

Absolute move command

Program end

2500 [r/min]

200 [ms]

300 [ms]

20000 [ 10 STM m]

4 - 3

4. OPERATION

(e) Servo-on

Switch the servo-on in the following procedure.

1) Switch on main circuit/control circuit power.

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. By using the sequence in the diagnostic mode in section 7.3, the ready status can be shown on the servo amplifier display. In the operation-ready status, the following screen appears.

(f) Home position return

Perform home position return as required. Refer to section 4.4 for home position return types. A parameter setting example for dog type home position return is given here.

Parameter Name Setting

000

No.8

No.9

No.10

No.11

No.42

No.43

Home position return type

Home position return speed

Creep speed

Home position shift distance

Home position return position data

Moving distance after proximity dog

1000

10

0

Description

Dog type home position return is selected.

Home position return is started in address incremented direction.

Proximity dog (DOG) is valid at OFF.

Motion is made up to proximity dog at 1000r/min.

Motion is made up to home position at 10r/min.

No home position shift

Used to set the current position on completion of home position return.

Not used in dog type home position return.

After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid.

Create a program that executes a home position return. Here, create it as program No. 1.

Program Description

ZRT Zeroing

Set the input signals as listed below and switch on the forward rotation start (ST1) to execute home position return.

Device name






Symbol

MD0

DI0

DI1

LSP

LSN

ON/OFF

ON

OFF

OFF

ON

ON

Description

Program operation mode is selected.

Program No.1 is selected.

CCW rotation side limit switch is turned on.

CW rotation side limit switch is turned on.

4 - 4

4. OPERATION

(g) Automatic operation

Set the input signals as listed below and switch on the forward rotation start (ST1) to execute automatic operation in accordance with program No.2.

Device name


Symbol

MD0

ON/OFF

ON

Description

Automatic operation mode is selected.



LSP

LSN

ON

ON

CCW rotation side limit switch is turned on.

CW rotation side limit switch is turned on.

Program No. selection 1 DI0 ON

Program No.2 is selected.

Program No. selection 2 DI1 OFF

(h) Stop

In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor.

When the servo motor used is equipped with an electromagnetic brake, refer to section 3.9 (3). Note that forward rotation stroke end (LSP), reverse rotation stroke end (LSN) off has the same stopping pattern as described below.

1) Servo-on (SON) OFF

The base circuit is shut off and the servo motor coasts.

2) 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.

3) Forced stop (EMG) OFF

The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. Servo forced warning (AL.E6) occurs.

4) 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.

4.2 Program operation mode

4.2.1 What is program operation mode?

Make selection with the input signals or by communication from among the programs that have been created in advance using the MR Configurator (Servo Configuration software), and perform operation with Forward rotation start (ST1).

This servo is factory-set to the absolute value command system.

As the position data, the absolute move command ("MOV" command) used to specify the target address or the incremental move command ("MOVI" command) used to specify the moving distance can be set. Note that the movable range is -999999 to 999999 [ 10 STM m]. Positioning is enabled within this range.

Setting range: 999999 to 999999 [ 10 STM m] (STM feed length multiplication parameter No.1)

999999 999999

Position data setting range

[ 10 m]

4 - 5

4. OPERATION

4.2.2 Programming language

The maximum number of program steps is 120. Though up to 16 programs can be created, the total number of program steps is up to 120.

The set program can be selected using Program No. selection 1 (DI0) to Program No. selection 4 (ID3).

(1) Command list

Command Name Setting

Setting range

Unit

Indirect

Addressing

Description

SPN

(Note 2)

STD

(Note 2)

STC

(Note 2)

STA

(Note 2)

STB

(Note 2)

MOV

MOVA

MOVI

Speed

(Motor speed)

SPN

(Set value)

S-pattern

Acceleration/


STD

(Set value)

0 to

Max speed

0 to 100

Acceleration/


STC

(Set value)

0 to 20000


STA

(Set value)

0 to 20000


STB

(Set value)

0 to 20000


Absolute continuous move command

Incremental move command

MOV

(Set value)

MOVA

(Set value)

MOVI

(Set value)

-999999 to 999999

-999999 to 999999

-999999 to 999999 r/min ms ms ms ms

10 STM m

10 STM m

10 STM m

Use to set the command speed given to the motor for positioning.

The set value should not be more than the maximum speed of the motor.

S-pattern acceleration/deceleration time constant.

Set this command when inserting an S-pattern time constant for the acceleration/deceleration time constant of the program.

Use to set both the acceleration time constant and deceleration time constant.

The set value is the time from when the used servo motor is at a stop until it reaches the rated speed, or the time from when the servo motor is running at the rated speed until it stops.

When this command is used, the acceleration time constant and deceleration time constant are equal.

"STA" and "STB" commands can set the acceleration time constant and deceleration time constant individually. It can not be changed during command output.

Use to set the acceleration time.

The set value is the time from when the used servo motor is at a stop until it reaches the rated speed.

It can not be changed during command output.

Use to set the deceleration time constant.

The set value is the time from when the servo motor is running at the rated speed until it stops.

It can not be changed during command output.

The set value is regarded as an absolute value for movement.

The set value is regarded as an absolute value for continuous movement.

Always use this command with the "MOV" command.

The set value is regarded as an incremental value for movement.

4 - 6

4. OPERATION


Setting range

MOVIA

Incremental continuous move command

MOVIA

(Set value)

-999999 to 999999

Unit

10 STM m

Indirect

Addressing

SYNC

(Note 1)

OUTON

(Note 1 3)

Waiting external signal to switch on

External signal ON output

SYNC

(Set value)

OUTON

(Set value)

1 to 3

1 to 3

Description


Always use this command with the "MOVI" command.

Stops the next step until any of Program input 1

(PI1) to Program input 3 (PI3) turns ON after the output of SYNC synchronous output (SOUT).

Set value Input signal

1

2

3




Turns ON any of Program output 1 (OUT1) to

Program output 3 (OUT3).

By setting the ON time with parameter No. 74 to No.

76, the signal can also be turned OFF in the preset time.


OUTOF

(Note 1)

External signal OFF output

OUTOF

(Set value)

1 to 3

Turns OFF any of Program output 1 (OUT1) to

Program output 3 (OUT3) that has been turned ON by the "OUTON" command.


TRIP

(Note 1)

Absolute trip point

TRIP

(Set value)

-999999 to 999999

10 STM m

TRIPI

(Note 1)

Incremental

Trip point

TRIPI

(Set value)

-999999 to 999999

10 STM m

ITP

(Note 1 4)

Interrupt positioning command

ITP

(Set value)

0 to

999999

10 STM m

When the trip point is reached, the next step will be executed.

Executes the next step when the moving distance set to the "TRIPI" command is traveled from when

"MOVI" and "MOVIA" started during the movement executed by the "MOVI" and "MOVIA" commands.

The command should be programmed after "MOVI" and "MOVIA" command, otherwise program error occurs.

Makes a stop using the interrupt signal when the preset moving distance is reached. Use this command in combination with the "SYNC" command, and describe it after "SYNC". An error will occur if this command is described after any other command.

4 - 7

4. OPERATION


Setting range

Unit

Indirect

Addressing

Description

Executes the next step when the pulse counter value

COUNT

(Note 1)

External pulse counter

COUNT

(Set value)

-999999 to 999999

COUNT (0) is clearing of the pulse counter.

Repeats the steps located between the "FOR (set

FOR

NEXT

LPOS

(Note 1)

Step repeat command

FOR

(SET value)

NEXT

0, 1 to

10000

Position latch LPOS

Setting "0" selects endless repetition.

Latches the current position on the leading edge of

Input device current latch (LPS).

The latched current position data can be read by the communication command.

There are some error values between the latched data and the actual exact position, due to the sampling time and motor speed.

Holds the next step until the preset time elapses.

TIM

Dwell command time

Zeroing

TIM

(Set value)

1 to 2000 10ms

ZRT

TIMES

Program repeat command

ZRT

TIMES

(Set value)

0, 1 to

10000

Times

Executes a manual home position return.

Place the "TIMS (setting value)" command at the beginning of the program and set the number of program execution times.

Setting "0" selects endless repetition.

Program stops signal, and it must be at end of the program. (Required)

Always describe this command on the last line.

Note 1. "SYNC" "OUTON" "OUTOF" "TRIP" "TRIPI" "COUNT" "LPOS" and "ITP" commands are available to be validated during command outputting.

2. The "SPN" command is valid when the "MOV", "MOVA", "MOVI" or "MOVIA" command is executed. The "STA", "STB", "STC" and "STD" commands are valid when the "MOV" or "MOVI" command is executed.

3. When the ON time has been set in parameter No. 74 to No. 76, the next command is executed after the preset time has elapsed.

4. The remaining moving distance by ITP command is lower than setting value, the command would be ignored and skip to the next program command.

4 - 8

4. OPERATION

(2) Details of programming languages

(a) Details of the command (SPN STA STB STC STD)

"SPN" "STA" "STB" "STC" and "STD" commands will be validated, when the "MOV" and "MOVA" commands are executing. The setting numbers will be validated, expect resetting the numbers.

1) Program example 1

When operation is to be performed in two patterns that have the same servo motor speed, acceleration time constant and deceleration time constant but different move commands.

Program Description

SPN (1000)

STA (200)

STB (300)

MOV (1000)

TIM (10)

MOV (2000)

STOP Program end

1000 m] d)

2000 m] f) b) Acceleration time

constant (200ms) c) Deceleration time

constant (300ms) b) Acceleration time


constant (300ms)

Forward rotation a) Speed

(Motor speed)

(1000r/min)

Servo motor speed

0r/min d) Absolute move command

(1000 10 STM m) e) Dwell command

time (100ms) a) Speed (Motor speed)

(1000r/min) f) Absolute move command

(2000 10 STM m)

4 - 9

4. OPERATION


When operation is to be performed in two patterns that have different servo motor speeds, acceleration time constants, deceleration time constants and move commands.

Program Description

SPN (1000)

STA (200)

STB (300)

MOV (1000)

TIM (10)

1000 m] d)

SPN (500)

STC (200)

MOV (1500)

STOP

Acceleration/deceleration time constant 200 [ms] g)

1500 m] h)

Program end b) Acceleration time

constant (200ms)

Forward rotation c) Deceleration time

constant (300ms) a) Speed

(Motor speed)

(1000r/min)

Servo motor speed

0r/min d) Absolute move command

(1000 10 STM m) e) Dwell command

time (100ms) g) Acceleration/

deceleration time

constant

(200ms) f) Speed (Motor speed)

(500r/min) h) Absolute move command

(1500 10 STM m)


Use of an S-pattern acceleration/deceleration time constant allows sudden operation to be eased at the time of acceleration and deceleration. When the "STD" command is used, parameter No.

14 (S-pattern acceleration/deceleration time constant) is ignored.

Program Description

SPN (1000)

STC (100) Acceleration/deceleration time constant 1000 [ms] b)

STD (10) S-pattern acceleration/deceleration time constant 10 [ms] c)

MOV (2000) 2000 m] d)

STOP Program end c) c) b) Acceleration/deceleration

time constant

(1000ms)

Forward rotation

Servo motor speed

0r/min c) S-pattern acceleration/

deceleration time

constant (10ms) a) Speed

(Motor speed)

(1000r/min) b) Acceleration/deceleration

time constant

(1000ms) d) Absolute move command

(2000 10 STM m) c)

4 - 10

4. OPERATION

(b) Continuous move command (MOVA MOVIA)

POINT

"MOV" cannot be used with "MOVIA", and "MOVI" cannot be used with

"MOVA".

The "MOVA" command is a continuous move command for the "MOV" command. After execution of the movement by the "MOV" command, the movement of the "MOVA" command can be executed continuously without a stop.

The speed changing point of the "MOVA" command is the deceleration starting position of the operation performed by the preceding "MOV" and "MOVA" commands.

The acceleration/deceleration time constant of the "MOVA" command is the value at execution of the preceding "MOV" command.

The "MOVIA" command is a continuous move command for the "MOVI" command. After execution of the movement by the "MOVI" command, the movement of the "MOVIA" command can be executed continuously without a stop.

The speed changing point of the "MOVIA" command is the deceleration starting position of the operation performed by the preceding "MOVI" and "MOVIA" commands.

The acceleration/deceleration time constant of the "MOVIA" command is the value at execution of the preceding "MOVI" command.

Command Name Setting Unit Description

MOV

MOVA

MOVI

MOVIA





MOV

(Set value)

MOVA

(Set value)

MOVI

(Set value)

MOVIA

(Set value)

Forward rotation b) Acceleration time

constant (200ms)

10 STM command

10 STM m Absolute continuous move command

10 STM m Incremental


Use of an S-pattern time constant allows sudden operation to be eased at the time of acceleration and deceleration.

Program Description

SPN (500)

STA (200)

STB (300)

500 m] d) MOV (500)

SPN (1000)

MOVA (1000)

MOVA (0)

STOP Program end

1000 m] f)

0 m] g) c) Deceleration time

constant (300ms) a) Speed(Motor speed)

(500r/min)

10 STM command e) Speed

(Motor speed)

(1000r/min)

Servo motor speed

0r/min

Reverse rotation d) Absolute move

command

(500 10 STM m) f) Absolute continuous

move command

(1000 10 STM m) b) Acceleration time

constant (200ms)

4 - 11 e) Speed

(Motor speed)

(1000r/min) g) Absolute continuous

move command

(0 10 STM m)

4. OPERATION

2) Program example 2 (Wrong usage)

In continuous operation, the acceleration or deceleration time constant cannot be changed at each speed change. Hence, the "STA", "STB" or "STD" command is ignored if it is inserted for a speed change.

Program Description

SPN (500)

STA (200)

STB (300)

500 m] d) MOV (500)

SPN (1000)

STC (500)

MOVA (1000)

Acceleration/deceleration time constant


500 [ms]

1000 [ 10 STM f) m] g)

Ignored.

SPN (1500)

STC (100)

MOVA (0)

STOP



Program end

100 [ms]

0 [ 10 STM i) m] j)

Ignored.

b) Acceleration time


constant (300ms)

Forward rotation a) Speed(Motor speed)

(500r/min) e) Speed

(Motor speed)

(1000r/min)

Servo motor speed

0r/min

Reverse rotation d) Absolute move command

(500 10 STM m) g) Absolute continuous

move command

(1000 10 STM m) h) Speed

(Motor speed)

(1500r/min) j) Absolute continuous

move command

(0 10 STM m)

(c) Input/output command (OUTON/OUTOF), trip point command (TRIP/TRIPI)


As soon as the program is executed, Program output 1 (OUT1) is turned ON. When the program ends, Program output 1 (OUT1) turns OFF.

Program Description

SPN (1000)

STA (200)

STB (300)

MOV (500)

OUTON (1)

TIM (10)

MOV (250)

TIM (5)

STOP


Program end

200 [ms]

500

Program output 1 (OUT 1) is turned ON.

250 m] m] a)

Forward rotation

Servo motor speed

0r/min

Program output1

(OUT1)

ON

OFF

Dwell command time

(100ms)

Dwell command time

(50ms) a) b)

4 - 12

4. OPERATION


Using parameter No. 74 to 76, Program output 1 (OUT1) to Program out 3 (OUT3) can be turned off automatically.

Parameter No. Name Setting Description

74

75

76

OUT1 output time setting



20

10

50

OUT1 is turned off in 200ms.

OUT2 is turned off in 100ms.

OUT3 is turned off in 500ms. a) b) c)

Program Description

SPN (500)

STA (200)

STB (300)

MOV (1000)

OUTON (1)

OUTON (2)

OUTON (3)

STOP

Acceleration time constant 200 [ms]

1000




Program end m]

Forward rotation

Servo motor speed

0r/min

Program output1

(out1)

ON

OFF

Program output2

(out2)

ON

OFF

Program output3

(out3)

ON

OFF a) 200ms b) 100ms c) 500ms

4 - 13

4. OPERATION


When the "TRIP" and "TRIPI" commands are used to set the position addresses where the

"OUTON" and "OUTOF" commands will be executed.

Program Description

SPN (1000)

STA (200)

STB (300)

MOV (500)

TRIP (250)

OUTON (2)

TRIP (400)

OUTOF (2)

TIM (10)

MOVI (500)

TRIPI (300)

OUTON (2)

STOP


Incremental trip point


Program end

200 [ms]

500

250


Program output 2 (OUT 2) is turned OFF.

300 [ 10

400

500

STM m] m] a) m] b) m] c) d) m] e) f) g) a) 250 10 STM m c) 400 10 STM m e) 300 10 STM m

Forward rotation

Servo motor speed

0r/min

100ms

Program output2

(OUT2)

ON

OFF b) d) f) g)

4 - 14

4. OPERATION


POINT

"MOV" cannot be used with "TRIPI".

Note that the "TRIP" and "TRIPI" commands do not execute the next step unless the axis passes the preset address or travels the preset moving distance.

Program Description

SPN (500)

STA (200)

STB (300)

MOVI (600)

TRIPI (300)

OUTON (3)

SPN (700)

MOVIA (700)

TRIPI (300)

OUTOF (3)

STOP




Incremental trip point

Program output 3 (OUT 3) is turned OFF.

Program end

200 [ms]

600

300

700 [ 10

300 [ 10

STM

STM m] a) m] b) c) m] d) m] e) f)

Forward rotation a) Incremental move

command

(600 10 STM m) b) 300 10 STM m

900

10 STM m d) Incremental continuous

move command

(700 10 STM m)

Servo motor speed

0r/min

Program output3

(OUT3)

ON

OFF c) f)

4 - 15

4. OPERATION

(d) Dwell (TIM)

To the "TIM (setting value)" command, set the time from when the command remaining distance is

"0" until the next step is executed.

For reference, the following examples show the operations performed when this command is used with the other commands.


Program Description

TIM (20)

SPN (1000)

STC (20)

MOV (1000)

STOP


Program end

20 [ms]

1000 m]

Forward rotation

Servo motor speed

0r/min a) 200ms


(ST1)

ON

OFF


Program Description

SPN (1000)

STC (20)

MOVI (1000)

TIM (20)

OUTON (1)

MOVI (500)

STOP



Program end

20 [ms]

1000 m] b)

Forward rotation

Servo motor speed

0r/min a) 200ms

Program output1

(OUT1)

ON

OFF b)

4 - 16

4. OPERATION


Program Description

SPN (1000)

STC (20)

MOVI (1000)

OUTON (1)

TIM (20)

MOVI (500)

STOP



Program end

20 [ms]

1000

500 m] m] a)

Forward rotation

Servo motor speed

0r/min b) 200ms

Program output1

(OUT1)

ON

OFF a)


Program Description

SPN (1000)

STC (20)

MOVI (1000)

TIM (20)

OUTON (1)

TIM (30)

MOVI (500)

STOP



Program end

20 [ms]

1000

500 m] m] b)

Forward rotation

Servo motor speed

0r/min a) 200ms c) 300ms

Program output1

(OUT1)

ON

OFF b)

4 - 17

4. OPERATION


Program Description

SPN (1000)

STC (20)

MOVI (1000)

TIM (20)

SYNC (1)

MOVI (500)

STOP

Acceleration/deceleration time constant 20 [ms]

1000

Step is suspended until Program input (PI1) turns ON.

Program end

500 m] m]

Forward rotation

Servo motor speed

0r/min

Program input1

(PI1)

ON

OFF a) PI1 is accepted in 200ms or later.


Program Description

SPN (1000)

STC (20)

MOVI (1000)

SYNC (1)

TIM (20)

MOVI (500)

STOP


Program end

20 [ms]

1000


500 m] m]

Forward rotation

Servo motor speed

0r/min a) 200ms

Program input1

(PI1)

ON

OFF

4 - 18

4. OPERATION

(e) Interrupt positioning command (ITP)

POINT

When Interrupt positioning (ITP) is used for positioning, a stop position differs depending on the servo motor speed provided when the "ITP" command is enabled.

When the "ITP" command is used in a program, the axis stops at the position by the set value farther from the position where any of Program input 1 to 3 (PI1 to PI3) turned ON.

If the move command set with the "MOV", "MOVI", "MOVA" or "MOVIA" command is less than the set value of the "ITP (set value)" command, the program proceeds to the next step without executing the "ITP (set value)" command.

When using the "ITP" command, always place the "SYNC" command immediately before the "ITP" command.


Program Description

SPN (500)

STA (200)

STB (300)

MOV (600)

SPN (100)

MOVA (600)

SYNC (1)

ITP (200)

STOP


600



Program end

200 [ms] m]

600 [ 10 STM m]

Step is suspended until Program input (PI1) turns ON. a)

200 [ 10 STM m] b)

Forward rotation

Servo motor speed

0r/min

P1

P1 b) (200 10 STM m)

Program input1

(PI1)

ON

OFF

Waiting for PI1 to be turned ON by SYNC(1) (a))

4 - 19

4. OPERATION


If the moving distance of the "ITP" command is less than the moving distance necessary for deceleration, the actual deceleration time constant becomes less than the set value of the "STB" command.

Program Description

SPN (500)

STA (200)

STB (300)

MOV (1000)

SYNC (1)

ITP (50)

STOP




Program end

1000

50 [ 10 STM m] a) m] b)

P1

Forward rotation

Servo motor speed

0r/min

P1 b) (50 10 STM m)

Program input1

(PI1)

ON

OFF


(f) External pulse counter (COUNT)

When the number of input pulses of the manual pulse generator becomes greater than the value set with the "COUNT" command, the next step is started. Set "0" to erase the accumulated input pulses.

Program Description

COUNT (500)

SPN (500)

STA (200)

STB (300)

MOV (1000)

TRIP (500)

COUNT (0)

STOP

The next step is held until the number of input pulses of the manual pulse generator reaches



Program end

200 [ms]

1000 m] point 500 m] b) c) b) 500 [ 10 STM m]

ƒT [ ƒ{ ƒ‚ [ ƒ^

³

“]

0r/min

ON generator

OFF a) 500 [pulse] c) Accumulated input pulses are erased.

4 - 20

4. OPERATION

(g) Step repeat command (FOR NEXT)

POINT

"FOR ... NEXT" cannot be placed within "FOR ... NEXT".

The steps located between the "FOR (set value)" command and "NEXT" command is repeated by the preset number of times.

Program Description

SPN (1000)

STC (20)

MOV (1000)

TIM (10)

FOR (3)

MOVI (100)

TIM (10)

NEXT

FOR (2)

MOVI (200)

TIM (10)

NEXT

STOP


Step repeat command start

Step repeat command start

Program end

20 [ms]

500

100

3 [times]

2 [times]

200 m] a) m] b) d) m] e) b) Incremental move command

(100 10 STM m) d) Incremental move command

(200 10 STM m)

Forward rotation

Servo motor speed

0r/min

1000 1100 1200 a) c)

1300 1500 e) f)

1700

4 - 21

4. OPERATION

(h) Program count command (TIMES)

By setting the number of times to the "TIMES (setting value)" command placed at the beginning of a program, the program can be executed repeatedly. When the program is to be executed once, the

"TIMES (setting value)" command is not necessary. Setting "0" selects endless repetition.

Program Description

TIMES (2)

SPN (1000)

STC (20)

MOVI (1000)

TIM (10)

STOP


Program end

20 [ms]

1000 m] b) b) Incremental move command

(100 10 STM m)

Forward rotation

Servo motor speed

0r/min

1000 a)

1200

4 - 22

4. OPERATION

(i) Position latch (LPOS)

POINT

When Current position latch input (LPS) is used to store the current position, the value differs depending on the servo motor speed provided when LPS has turned ON.

The current position where Current position latch input (LPS) is turned ON is stored. The stored position data can be read by the communication function. (Refer to section 15.12.12)

The current position latch function set in a program is canceled at the end of that program. It is also canceled when the operation mode is changed, a forced stop is made, an alarm occurs, or the servo switches off. It is not canceled when a temporary stop is merely made.

Program Description

SPN (500)

STA (200)

STB (300)

MOV (1000)

LPOS

STOP


Current position latch is set.

Program end

200 [ms]

1000 m] a)

Current position 300 [ 10 STM m] is stored.

Forward rotation

Servo motor speed

0r/min

Current position latch input (LPS)

ON

OFF

1000

Latched when LPS is turned ON edge by

LPOS. (a))

4 - 23

4. OPERATION

(j) Indirect addressing using general-purpose registers (R1-R4, D1-D4)

The set values of the "SPN", "STA", "STB", "STC", "STD", "MOV", "MOVI", "MOVA", "MOVIA",

"TIM" and "TIMES" commands can be addressed indirectly.

The values stored in the general-purpose registers (R1-R4, D1-D4) are used as the set values of the commands.

Change the values of the general-purpose registers using the communication command when the program is not being executed by the communication command. (Refer to section 15.12.13)

The data of the general-purpose registers are erased at power-off of the servo amplifier. Note that the data of the general-purpose registers (R1-R4, D1-D4) can be saved in the EEP-ROM.

The setting ranges of the general-purpose registers are the setting ranges of the instructions with which the general-purpose registers are used.

The following explains the case where the general-purpose registers are set as indicated below before execution of the program.

General-purpose register Setting

R1 1000

R2 2000

D1 200

D2 300

Program Description

SPN (1000)

STA (D1)

STB (D2)

MOVI (R1)

TIM (10)

MOVI (R2)

STOP Program end

R1=1000

R2=2000 m] d) m] f) a) 1000r/min b) D1=200ms

Forward rotation

Servo motor speed

0r/min c) D2=300ms b) D1=200ms c) D2=300ms d) R1=1000 10 STM m e) Dwell command

time (100ms) f) R2=2000 10 STM m

4 - 24

4. OPERATION

4.2.3 Basic setting of signals and parameters

Create programs in advance using the MR Configurator (Servo Configuration software). (Refer to section 4.2.2 and section 6.5)

(1) Parameter

(a) Command mode selection (parameter No.0)

Make sure that the absolute value command system has been selected as shown below.

Parameter No. 0

0

Absolute value command system (initial value)

(b) ST1 coordinate system selection (parameter No.1)

Choose the servo motor rotation direction at the time when the forward rotation start (ST1) is switched on.

Parameter No. 1 setting

0

(Initial value)

1

Servo motor rotation direction when forward rotation start (ST1) is switched on

CCW rotation with position data

CW rotation with position data

CW rotation with position data

CCW rotation with position data

CCW

CW

(c) Feed length multiplication selection (parameter No.1) Set the unit multiplication factor (STM) of position data. The actual moving distance is the result of multiplying the entered position data by the unit multiplication factor.

Parameter No.1 setting Position data input range [mm]

0

(Initial value)

1

999.999 to 999.999

9999.99 to 9999.99

2 99999.9 to 99999.9

3 999999 to 999999

(2) Operation

Choose the program using DI0 to DI3 and turn ON ST1 to perform positioning operation according to the set program. At this time, reverse rotation start (ST2) is invalid.

Selection of program operation mode.

Program selection

Start

Automatic/manual selection (MD0)







MD0 is switched on.

Refer to section 3.3.2 (1).

Turn ON ST1 to start.

4 - 25

4. OPERATION

4.2.4 Program operation timing chart

(1) Operation conditions

The timing chart shown below assumes that the following program is executed in the absolute value command system where a home position return is completed.

Description Program No.1

SPN (1000)

STC (100)

MOV (5000)

SYNC (1)

STC (50)

MOV (7500)

STOP


5000 m] Move command 1




Program end

Program No.2

SPN (1000)

STC (100)

MOV (2500)

SYNC (1)

STC (50)

MOV (5000)

STOP

Description






Program end


Servo-on (SON)

ON

OFF

ON

OFF


Program input1

(PI1)

ON

OFF

ON

OFF

(Note)

3ms or more

5ms or more

(Note)

3ms or more

5ms or more

5ms or more 5ms or more

Program No.

1 2

3ms or less 3ms or less 3ms or less 3ms or less

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Move command

1

Move command

2

Move command

4

Move command

3

Movement complete

(PED)

ON

OFF

Ready (RD)

ON

OFF

Trouble (ALM)

ON

OFF

Note: External input signal detection delays by the input filter setting time of parameter No. 2. Also, make up a sequence

that will change the program selection earlier by the time that takes into account the output signal sequence from

the controller and the variation of a signal change due to the hardware.

4 - 26

4. OPERATION

4.3 Manual operation mode

For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position.

4.3.1 Jog operation

(1) Setting

Set the input signal and parameters as follows according to the purpose of use. In this case, the program No. selection 1 to 4 (DI0 to DI3) are invalid.

Manual operation mode selection

Servo motor rotation direction

Jog speed


Parameter No.1

Parameter No.13

Acceleration/deceleration time constant Parameter No.40

MD0 is switched off.

Refer to (2) in this section.

Set the speed of the servo motor.

Use the acceleration/deceleration time constants.

(2) Servo motor rotation direction


0

1


Forward rotation start (ST1) ON

CCW rotation

CW rotation

Reverse rotation start (ST2) ON

CW rotation

CCW rotation

ST1:ON

CCW

ST2:ON

CCW

CW

ST2:ON

Parameter No. 1

CW

ST1:ON

Parameter No. 1 0 1

(3) Operation

When ST1 is turned on, operation is performed under the conditions of the jog speed set in the parameter and the acceleration and deceleration time constants in set parameter No.40. For the rotation direction, refer to (2) in this section. When ST2 is turned ON, the servo motor rotates in the reverse direction to forward rotation start (ST1).

4 - 27

4. OPERATION

(4) Timing chart

Servo-on (SON)

Ready (RD)

Trouble (ALM)


Movement complete

(PED)

Forward rotation

Servo motor speed 0r/min

Reverse rotation


(ST1)

ON

OFF


(ST2)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

80ms

Forward rotation jog

Reverse rotation jog

4 - 28

4. OPERATION

4.3.2 Manual pulse generator operation

(1) Setting

Set the input signal and parameters as follows according to the purpose of use. In this case, the program No. selection 1 to 4 (DI0 to DI3) are invalid.

Manual operation mode selection Automatic/manual selection (MD0)

Manual pulse generator multiplication

Parameter No.1

MD0 is switched off.

Set the multiplication ratio of servo motor rotation to the pulses generated by the manual pulse generator.

For more information, refer to (3) in this section.

Refer to (2) in this section. Servo motor rotation direction

(2) Servo motor rotation direction


0

1

Parameter No.1


Manual pulse generator: forward rotation Manual pulse generator: reverse rotation

CCW rotation

CW rotation

CW rotation

CCW rotation

CCW

Forward rotation

CW

(3) Manual pulse generator multiplication

(a) Using the parameter for setting

Use parameter No.1 to set the multiplication ratio of the servo motor rotation to the manual pulse generator rotation.

Multiplication ratio of servo motor rotation to manual

Parameter No. 1 setting Moving distance pulse generator rotation

1[ m] 0

1

2

4 - 29

4. OPERATION

(b) Using the input signals for setting

Set the pulse generator multiplication 1 (TP0) and pulse generator multiplication 2 (TP1) to the input signals in "Device setting" on the MR Configurator (Servo Configuration Software) (refer to chapter 6).

Pulse generator multiplication 2

(across TP1)

Pulse generator multiplication 1

(across TP0)

0 0

Multiplication ratio of servo motor rotation to manual pulse generator rotation

Parameter No.1 setting valid

Moving distance

Note. 0: OFF

1: ON

(4) Operation

Turn the manual pulse generator to rotate the servo motor. For the rotation direction of servo motor, refer to (2) in this section.

4 - 30

4. OPERATION

4.4 Manual home position return mode

4.4.1 Outline of home position return

Home position return is performed to match the command coordinates with the machine coordinates. In the incremental system, home position return is required every time input power is switched on. In the absolute position detection system, once home position return is done at the time of installation, the current position is retained if power is switched off. Hence, home position return is not required when power is switched on again.

This servo amplifier has the home position return methods given in this section. Choose the most appropriate method for your machine structure and application.

This servo amplifier has the home position return automatic return function which executes home position return by making an automatic return to a proper position if the machine has stopped beyond or at the proximity dog. Manual motion by jog operation or the like is not required.

(1) Manual home position return types

Choose the optimum home position return according to the machine type, etc.

Features

Dog type home position return

Count type home position return

Data setting type home position return

With deceleration started at the front end of a proximity dog, the position where the first

Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.(Note)

With deceleration started at the front end of a proximity dog, the position where the first Z-phase signal is given after advancement over the preset moving distance after the proximity dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.

The position reached after any automatic motion is defined as a home position.

General home position return method using a proximity dog.

Repeatability of home position return is excellent.

The machine is less burdened.

Used when the width of the proximity dog can be set greater than the deceleration distance of the servo motor.

Home position return method using a proximity dog.

Used when it is desired to minimize the length of the proximity dog.

No proximity dog required.

Stopper type home position return

The position where the machine stops when its part is pressed against a machine stopper is defined as a home position.

Since the machine part collides with the machine be fully lowered.

The machine and stopper strength must be increased.

Home position ignorance


The position where servo is switched on is defined as a home position.

Dog type rear end reference

Count type front end reference

Dog cradle type

The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog moving distance and home position shift distance after it passed the rear end is defined as a home position.

The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog moving distance and home position shift distance is defined as a home position.

The position where the first Z-phase signal is issued after detection of the proximity dog front end is defined as a home position.

The Z-phase signal is not needed.

The Z-phase signal is not needed.

Note. The Z-phase signal is a signal recognized in the servo amplifier once per servo motor revolution and cannot be used as an output signal.

4 - 31

4. OPERATION

(2) Home position return parameter

When performing home position return, set parameter No.8 as follows.

Parameter No. 8

0

Home position return method························································1)

0: Dog type

1: Count type

2: Data setting type

3: Stopper type

4: Home position ignorance (Servo-on position as home position)

5: Dog type rear end reference

6: Count type front end reference

7: Dog cradle type

Home position return direction ······················································2)

0: Address increment direction

1: Address decrement direction

Proximity dog input polarity ·····································3)

0: Dog is detected when DOG is turned off.

1: Dog is detected when DOG is turned on.

1) Choose the home position return method.

2) Choose the starting direction of home position return. Set "0" to start home position return in the direction in which the address is incremented from the current position, or "1" to start home position return in the direction in which the address is decremented.

3) Choose the polarity at which the proximity dog is detected. Set "0" to detect the dog when the proximity dog device (DOG) is turned off, or "1" to detect the dog when the device is turned on.

(3) Program

Choose a program including the "ZRT" command that executes the home position return.

(4) Instructions

1) Before starting home position return, always make sure that the limit switch operates.

2) Confirm the home position return direction. Incorrect setting will cause the machine to run reversely.

3) Confirm the proximity dog input polarity. Otherwise, misoperation can occur.

4 - 32

4. OPERATION

4.4.2 Dog type home position return

A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.

(1) Signals, parameters

Set the input signals, parameters and program as follows.

Manual home position return mode selection

Automatic/manual selection (MD0) MD0 is switched on.

Dog type home position return Parameter No.8

0 :Dog type home position return is selected.

Home position return direction Parameter No.8

Dog input polarity


Creep speed


Parameter No.8

Parameter No.9

Parameter No.10

Parameter No.11

Refer to section 4.4.1 (2) and choose home position return direction.

Refer to section 4.4.1 (2) and choose dog input polarity.

Set speed until detection of dog.

Set speed after detection of dog.

Set when shifting the home position starting at the first Z-phase signal after passage of proximity dog rear end.

Home position return acceleration/deceleration time constants


L

1

Parameter No.41

Parameter No.42

Use the acceleration/deceleration time constants set in parameter No. 41.

Program

Select the program including the "ZRT" command that executes a home position return.

(2) Length of proximity dog

To ensure that the Z-phase signal of the servo motor is generated during detection of the proximity dog (DOG), the proximity dog should have the length which satisfies formulas (4.2) and (4.3).

V

60


L

1

: Proximity dog length [mm]

V : Home position return speed [mm/min] td : Deceleration time [s]

L

2

2 S ................................................................................... (4.3)

L

2

: Proximity dog length [mm]

S : Moving distance per servo motor revolution [mm]

4 - 33

4. OPERATION

(3) Timing chart

The following shows the timing chart that starts after selection of the program including the "ZRT" command.


ON

OFF

Home position return completion (ZP)

Servo motor speed

ON

OFF

Parameter No. 41


Forward rotation

0 r/min

Home position return speed Parameter No. 9

Parameter No. 41


Creep speed

Parameter No. 10

3ms or less td

Proximity dog

Home position shift distance Parameter No. 11

Home position

Home position address

Parameter No. 42

Z-phase

Proximity dog (DOG)


Reverse rotation start (ST2)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

5ms or more

Proximity dog

The address on completion of home position return is the value automatically set in parameter No.42

(home position return position data).

(4) Adjustment

In dog type home position return, adjust to ensure that the Z-phase signal is generated during dog detection. Locate the rear end of the proximity dog (DOG) at approximately the center of two consecutive Z-phase signals.

The position where the Z-phase signal is generated can be monitored in "Within one-revolution position" of "Status display".

0 65536 0

Servo motor

Z-phase

Proximity dog

(DOG)

ON

OF

4 - 34

4. OPERATION

4.4.3 Count type home position return

In count type home position return, a motion is made over the distance set in parameter No.43 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Zphase signal is given after that is defined as a home position. Hence, if the proximity dog (DOG) is 10ms or longer, there is no restriction on the dog length. This home position return method is used when the required proximity dog length cannot be reserved to use dog type home position return or when the proximity dog (DOG) is entered electrically from a controller or the like.


Set the input signals and parameters as follows.



Count type home position return Parameter No.8

Home position return direction

Dog input polarity


Creep speed





Program

Parameter No.8

Parameter No.8

Parameter No.9

Parameter No.10

Parameter No.11

Parameter No.43

MD0 is switched on.

1 : Count type home position return is selected.

Refer to section 4.4.1 (2) and choose home position return direction.

Refer to section 4.4.1 (2) and choose dog input polarity.

Set speed until detection of dog.

Set speed after detection of dog.

Set when shifting the home position, starting at the first Z-phase signal given after passage of the proximity dog front end and movement over the moving distance.

Set the moving distance after passage of proximity dog front end.

Parameter No.41


Parameter No.42



4 - 35

4. OPERATION

(2) Timing chart



ON

OFF

Home position return ON completion (ZP) OFF

Parameter No. 41


Servo motor speed

Forward rotation

0 r/min

Home position return speed Parameter No. 9

Parameter No. 41


Creep speed

Parameter No. 10

3ms or less


Parameter No. 43

Proximity dog


Parameter No. 11

Home position


Parameter No. 42

Z-phase

Proximity dog (DOG)



ON

OFF

ON

OFF

ON

OFF

ON

OFF

5ms or more

The parameter No.42 setting value is the positioning address after the home position return is completed.

4 - 36

4. OPERATION

4.4.4 Data setting type home position return

Data setting type home position return is used when it is desired to determine any position as a home position. JOG operation, manual pulse generator operation or like can be used for movement.



Manual home position return mode Automatic/manual selection selection (MD0)

MD0 is switched on.

Data setting type home position return Parameter No.8

2 : Data setting type home position return is selected.

Home position return position data Parameter No.42


Program

Select the program including the

"ZRT" command that executes a home position return.

(2) Timing chart



(MD0)



(ZP)

ON

OFF

ON

OFF

ON

OFF

Servo motor speed

Forward rotation

0 r/min



ON

OFF

ON

OFF

3ms or less


Parameter No. 42

5ms or more

Movement to the home position Operation for home position return


4 - 37

4. OPERATION

4.4.5 Stopper type home position return

In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation, manual pulse generator operation or the like to make a home position return and that position is defined as a home position.



Description


Stopper type home position return


Parameter No.8

MD0 is switched on.

3 : Stopper type home position return is selected.


Parameter No.8

Home position return speed Parameter No.9

Stopper time Parameter No.44

Refer to section 4.4.1 (2) and choose the home position return direction.

Set the speed till contact with the stopper.

Time from when the part makes contact with the stopper to when home position return data is obtained to output home position return completion (ZP).

Set the servo motor torque limit value for execution of stopper type home position return.

Stopper type home position return torque limit

Home position return acceleration/deceleration time constant


Parameter No.45

Parameter No.41


Parameter No.42


Program


(2) Timing chart




ON

OFF

ON

OFF

ON Home position return completion (ZP)

Forward rotation

Servo motor speed 0r/min


Home position return speed Parameter No.9

3ms or less


Parameter No. 42



Limiting torque (TLC)

ON

OFF

ON

OFF

ON

OFF

5ms or more

Stopper time

Parameter No. 44

Stopper

Torque limit value Parameter No. 28 Parameter No. 45 Parameter No. 28


4 - 38

4. OPERATION

4.4.6 Home position ignorance (servo-on position defined as home position)

POINT

When a home position-ignored home position return is executed, the program including the "ZRT" command need not be selected.

The position where servo is switched on is defined as a home position.

(1) Signals, parameter

Set the input signals and parameter as follows.

Item Device/Parameter Description

Parameter No.8 Home position ignorance


(2) Timing chart

Parameter No.42

4 : Home position ignorance is selected.


Servo-on (SON)

ON

OFF


(MD0)


ON

OFF

ON

OFF


(ZP)

ON

OFF

Servo motor speed


Parameter No. 42


4 - 39

4. OPERATION

4.4.7 Dog type rear end reference home position return

POINT

This home position return method depends on the timing of reading

Proximity dog (DOG) that has detected the rear end of a proximity dog.

Hence, if a home position return is made at the creep speed of 100r/min, an error of 200 pulses will occur in the home position. The error of the home position is larger as the creep speed is higher.

The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog moving distance and home position shift distance after it passed the rear end is defined as a home position. A home position return that does not depend on the Z-phase signal can be made.


Set the input signals and parameters as indicated below.

Description


Dog type rear end reference home position return selection (MD0)


Parameter No.8 5: Select the dog type rear end reference.

Dog input polarity


Creep speed


Home position return acceleration/ deceleration time constants

Parameter No.8

Parameter No.9

Parameter No.10

Parameter No.11

Moving distance after proximity dog Parameter No.43

Parameter No.41


Refer to section 4.4.1 (2) and select the home position return direction.

Refer to section 4.4.1 (2) and select the dog input polarity.

Set the speed till the dog is detected.

Set the speed after the dog is detected.

Set when the home position is moved from where the axis has passed the proximity dog rear end.

Set the moving distance after the axis has passed the proximity dog rear end.

Use the acceleration/deceleration time constants set in parameter

No. 41.


Program

(2) Timing chart


Automatic/manual

ON



OFF

ON



OFF

ON

OFF




Creep speed

Servo motor speed

Forward rotation

0 r/min

3ms or less

Proximity dog


Parameter No. 42

Proximity dog (DOG)


ON

OFF

ON

OFF

Reverse rotation ON

5ms or more start (ST2) OFF


4 - 40

4. OPERATION

4.4.8 Count type front end reference home position return

POINT

This home position return method depends on the timing of reading

Proximity dog (DOG) that has detected the front end of a proximity dog.

Hence, if a home position return is made at the home position return speed of

100r/min, an error of 200 pulses will occur in the home position. The error of the home position is larger as the home position return speed is higher.

The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog moving distance and home position shift distance is defined as a home position. A home position return that does not depend on the Z-phase signal can be made. The home position may change if the home position return speed varies.



Description


Count type dog front end reference home position return

Dog input polarity


Creep speed



Parameter No.8

Parameter No.8

Parameter No.9

Parameter No.10

Parameter No.11

Moving distance after proximity dog Parameter No.43

6: Select the count type dog front end reference.





Set when the home position is moved from where the axis has passed the proximity dog rear end.

Set the moving distance after the axis has passed the proximity dog rear end.

Use the acceleration/deceleration time constants set in parameter

No. 41.

Home position return acceleration/ deceleration time constants

Parameter No.41


Program

Parameter No.42




(2) Timing chart


Automatic/manual ON selection (MD0)

OFF


ON

OFF


ON

OFF




Creep speed

Servo motor speed

Forward rotation

0 r/min

3ms or less

Proximity dog (DOG)


Parameter No. 42

Proximity dog (DOG)

ON

OFF


ON

OFF

Reverse rotation

5ms or more

ON start (ST2)

OFF


4 - 41

4. OPERATION

4.4.9 Dog cradle type home position return

The position where the first Z-phase signal is issued after detection of the proximity dog front end can be defined as a home position.



Item Device/Parameter Description


Dog cradle type home position return


Parameter No.8 7: Select the dog cradle type.


Dog input polarity


Creep speed


Parameter No.8

Parameter No.8

Parameter No.9

Parameter No.10

Parameter No.11





Set when the home position is moved from the Zphase signal position.


Parameter No.41




Program

OFF


"ZRT" command that executes a

(2) Timing chart home position return.


Automatic/manual ON selection (MD0)


ON

OFF


ON

OFF



Creep speed

Servo motor speed

Forward rotation

0r/min

Reverse rotation

3ms or less

Proximity dog


Parameter No. 42

Z-phase

Proximity dog (DOG)


ON

OFF

ON

OFF

ON

OFF

Reverse rotation

5ms or more

ON start (ST2) OFF


4 - 42

4. OPERATION

4.4.10 Home position return automatic return function

If the current position is at or beyond the proximity dog in dog or count type home position return, you need not make a start after making a return by jog operation or the like.

When the current position is at the proximity dog, an automatic return is made before home position return.


Proximity dog

Home position

Home position return start position

At a start, a motion is made in the home position return direction and an automatic return is made on detection of the limit switch. The motion stops past the front end of the proximity dog, and home position return is resumed at that position. If the proximity dog cannot be detected, the motion stops on detection of the opposite limit switch and AL. 90 occurs.


Proximity dog

Limit switch

Limit LS

Home position

Home position return start position

Software limit cannot be used with these functions.

4 - 43

4. OPERATION

4.5 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 can cause runaway.

POINT

When the following parameters are changed, the home position is lost when turning on the power after the change. Execute the home position return again when turning on the power.

First digit of parameter No.1 (ST1 coordinate system selection)

Parameter No. 4 (Electronic gear numerator)

Parameter No. 5 (Electronic gear denominator)

Parameter No. 42 (Home position return position data)

This servo amplifier contains a single-axis controller. Also, all servo motor encoders are compatible with an absolute position system. Hence, an absolute position detection system can be configured up by merely loading an absolute position data back-up battery and setting parameter values.

(1) Restrictions

An absolute position detection system cannot be built under the following conditions.

1) Stroke-less coordinate system, e.g. rotary shaft, infinite positioning.

2) Operation performed in incremental value command type positioning system.

(2) Specifications

Item Description

System

Battery

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

Electronic battery backup system

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

Type: MR-BAT or A6BAT

Home position 32767 rev.

500r/min

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.

(3) Structure

Component Description

Servo amplifier

Servo motor

Use standard models.

Encoder cable

Use a standard model.

When fabricating, refer to (2), section 14.1.4.

4 - 44

4. OPERATION

(4) Outline of absolute position detection data communication

For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.

The absolute position detection system always detects the absolute position of the machine and keeps it battery-backed, independently of whether the general-purpose programming controller power is on or off. Therefore, once the home position is defined at the time of machine installation, home position return is not needed when power is switched on thereafter.

If a power failure or a fault occurs, restoration is easy.

Also, the absolute position data, which is battery-backed by the super capacitor in the encoder, can be retained within the specified period (cumulative revolution counter value retaining time) if the cable is unplugged or broken.

Servo amplifier

Program No. selection

(DI0 to DI3), etc.

I/O circuit

Position data, speed data

(current position read)

Home position return data

EEP-ROM memory

LSO

1XO

Backup at power off

Current position

LS

Speed detection

1X

Detection of position within one revolution

Battery MR-BAT

Servo motor

1 pulse/rev. Cumulative revolution counter

Super capacitor

Within one-revolution counter

High-speed serial communication

(5) 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.

4 - 45

4. OPERATION

1) Open the operation window. (When the model used is the MR-J2S-200CL MR-J2S-350CL 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-100CL or less

Battery connector

CON1

Battery

Battery holder

For MR-J2S-200CL MR-J2S-350CL

Battery holder Battery

For MR-J2S-500CL MR-J2S-700CL

(6) Parameter setting

Set parameter No.2 (Function selection 1) as indicated below to make the absolute position detection system valid.

Parameter No.2

1

Selection of absolute position detection system

0: Incremental system

1: Absolute position detection system

4 - 46

4. OPERATION

4.6 Serial communication operation

The RS-422 or RS-232C communication function may be used to operate the servo amplifier from a command device (controller) such as a personal computer. Note that the RS-422 and RS-232C communication functions cannot be used at the same time.

This section provides a data transfer procedure. Refer to chapter 15 for full information on the connection and transferred data between the controller and servo amplifier.

4.6.1 Positioning operation in accordance with programs

By selecting the program No. and switching on the forward rotation start (ST1) using the communication function, positioning operation in accordance with programs can be started.

(1) Selection of programs

Using the device forced output from the controller (command [9][2], data No. [6][0]), choose programs from among No.1 to 16.

(2) Timing chart

5ms or more 5ms or more 5ms or more

Transmission data

1) 4) 5) 2) 4) 5) 3) 4) 5)

Servo motor speed 3ms

Program No. 2

Program No. 1 Program No. 3

1) Program No.2 selection



4) Forward rotation start (ST1) ON

5) Forward rotation start (ST1) OFF

4.6.2 Multidrop system

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

The RS-422 communication function can be used to operate several servo amplifiers on the same bus. In this case, set the station numbers to the servo amplifiers to determine the destination servo amplifier of the currently transmitted data. Use parameter No.15 to set the station numbers.

Always set one station number to one servo amplifier. Normal communication cannot be made if one station number is set to two or more servo amplifiers. When using one command to operate several servo amplifiers, use the group designation function described in section 4.6.3.

MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI

To CN3 To CN3 To CN3 To CN3

CHARGE CHARGE CHARGE

Axis 1

(Station 0)

Axis 2

(Station 1)

Controller

For cable connection diagram, refer to section 15.1.1.

RS-422

Axis 3

(Station 2)

CHARGE

Axis 32

(Station 31)

4 - 47

4. OPERATION

4.6.3 Group designation

When using several servo amplifiers, command-driven parameter settings, etc. can be made on a group basis.

You can set up to six groups, a to f. Set the group to each station using the communication command.

(1) Group setting example

Group a Group b

MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI

To CN3 To CN3 To CN3 To CN3 To CN3

CHARGE

Axis 1

(Station 0)

CHARGE

Axis 2

(Station 1)

CHARGE

Axis 3

(Station 2)

CHARGE

Axis 4

(Station 3)

CHARGE

Axis 5

(Station 4)

Controller

RS-422

For cable connection diagram, refer to section 15.1.1.

MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI

CHARGE To CN3

Axis 10

(Station 9)

CHARGE To

Axis 9

(Station 8)

CN3

Group d

CHARGE

Axis 8

(Station 7)

To CN3 CHARGE To

Axis 7

CN3

(Station 6)

Group c

Servo amplifier station No.

Station 0

Station 1

Station 2

Station 3

Station 4

Station 5

Station 6

Station 7

Station 8

Station 9

Group setting a b c d

CHARGE To CN3

Axis 6

(Station 5)

4 - 48

4. OPERATION

(2) Timing chart

In the following timing chart, operation is performed group-by-group in accordance with the values set in program No.1.

Transmission data 1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11) 12)

Group a

Group b

Group c

Group d

Station 0

Servo motor speed

Station 1

Servo motor speed

Station 2

Servo motor speed

Station 3

Servo motor speed

Station 4

Servo motor speed

Station 5

Servo motor speed

Station 6

Servo motor speed

Station 7

Servo motor speed

Station 8

Servo motor speed

Station 9

Servo motor speed

1) Selection of program No.1 of group a



4) Selection of program No.1 of group b



7) Selection of program No.1 of group c



10) Selection of program No.1 of group d



[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

In addition, parameter values common to the stations of each group can be written and alarm reset can be made, for example.

(3) Group setting instructions

Only one servo amplifier may send a reply in any group. If two or more servo amplifiers send reply data at the same time, they may become faulty.

4 - 49

4. OPERATION

4.7 Incremental value command system

To use this servo amplifier in the incremental value command system, the setting of parameter No. 0 must be changed.

As the position data, set the moving distance of (target address - current address). Fixed-pitch feed of infinite length is enabled in the incremental value command system.

Setting range: 999999 to 999999 [ 10 STM m] (STM = feed length multiplication parameter No. 1)

Current address Target address

Position data = | target address - current address |

This section describes the points that differ from the absolute value command system (factory setting) in using this servo amplifier in the incremental value command system.

(1) Parameter setting

Set parameter No. 0 as shown below to select the incremental value command system.

Parameter No. 0

1

Incremental value command system

(2) Commands

The "MOV" and "MOVA" commands change as described below. The other commands remain unchanged. Hence, "MOV" and "MOVI" have the same function, and "MOVA" and "MOVIA" have the same function.


Setting

Range

Unit

Indirect

Addressing

Description

MOV

MOVA


MOV (Set value)

Incremental continuous move MOVA (Set value) command

999999 to 999999

999999 to 999999

10 STM m

10 STM m


This command has the same function as the "MOVI" command.

The set value is regarded as an incremental value for continuous movement.

Always describe this command after the "MOV" command.

Describing it after any other command will result in an error.

This command has the same function as the "MOVIA" command.

4 - 50

4. OPERATION

(3) Program example

Program Description

SPN (1000)

STA (200)

STB (300)

MOV (1000)

TIM (10)

SPN (500)

STA (200)

STB (300)

MOVI (1000)

SPN (1000)

MOVIA (1000)

STOP


Program end

1000 m] d)

1000 m] i)

1000 [ 10 STM m] k)

Forward rotation b) Acceleration time

constant

(200ms) a) Speed

(Motor speed) c) Deceleration time

constant

(300ms) g) Acceleration time

constant

(200ms)

(1000r/min) f) Speed(Motor speed)

(500r/min)

Servo motor speed

0r/min d) Incremental

move command

(1000 10 STM m) e) Dwell command time

(100ms) i) Incremental j) Speed h) Deceleration time

constant

(300ms)

(Motor speed)

(1000r/min)

move command

(500 10 STM m) k) Incremental

move command

(1000 10 STM m)

4 - 51

4. OPERATION

MEMO

4 - 52

5. PARAMETERS

5. PARAMETERS

CAUTION

5.1 Parameter list

Never adjust or change the parameter values extremely as it will make operation instable.

5.1.1 Parameter write inhibit

POINT

Set "000E" when using the MR Configurator (Servo Configuration

Software) to make device setting.

After setting the parameter No.19 value, switch power off, then on to make that setting valid.

In the servo amplifier, its parameters are classified into the basic parameters (No.0 to 19), expansion parameters 1 (No.20 to 53), expansion parameters 2 (No.54 to 77) and special parameters (No.78 to 90) 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 1,2 values and special parameter values. When fine adjustment, e.g. gain adjustment, is required, change the parameter No.19 setting to make the expansion parameters write-enabled.

The following table lists the parameters whose values are made valid for reference/write by setting parameter No. 19. Operation can be performed for the parameters marked .

Parameter No.19 setting

0000

(initial value)

000A

000B

000C

000E

Operation

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Basic parameters

No.0 to No.19

Expansion parameters 1

No.20 to No.53


No.54 to No.77 special parameters (No.78 to 90)

5 - 1

5. PARAMETERS

5.1.2 List

POINT

The parameters marked * before their symbols are made valid by switching power off once and then switching it on again after parameter setting.

Refer to the corresponding reference items for details of the parameters.

(1) Item list

Class No. Symbol

2

7

8

9

4

5

6

11

16

*OP1 Function selection 1

Name and Function

*CMX Electronic gear numerator

*CDV Electronic gear denominator

PED Movement complete output range

PG1 Position control gain 1

*ZTY Home position return type

ZRF Home position return speed

ZST Home position shift distance

*BPS Communication baud rate selection, alarm history clear

Initial value Unit

Customer setting

0000

0000

0002

0105

1

1

100 m

35

0010 rad/s

500 r/min

10 r/min

0 m

0

100 r/min

0 ms

0 station

0000

0100

0000

0000

5 - 2

5. PARAMETERS

Class No. Symbol

20

22

23

28

29

31

32

34

35

40

50

51

52

53

46

47

48

49

42

43

44

45

*OP2 Function selection 2

*OP4

SIC

TL1

TL2

MO1

MO2

GD2

PG2

JTS

*ZPS

DCT

ZTM

ZTT


Name and Function

Serial communications time-out selection

Internal torque limit 1

Internal torque limit 2

Analog monitor 1 offset

Analog monitor 2 offset

Ratio of load inertia moment to Servo motor inertia moment

Position control gain 2 control control

1

2

JOG operation acceleration/deceleration time constant



Stopper type home position return stopper time

Stopper type home position return torque limit value

Initial value Unit

Customer setting

0000

0002

0000

0

0 %

0 mV

0 mV

4000 pulse/rev

100

100

%

%

0 pulse

0 mV

0 mV

100 ms

70

35

0.1 times rad/s

177 rad/s

817 rad/s

48 ms

980

100 ms

100 ms

0

1000

100

15

10 STM m

10 STM m ms

%

*LPP Position range output address 0

*LNP m

5 - 3

5. PARAMETERS

Class No. Symbol Name and Function

55 *OP6 Function selection 6

57

58

*OP8

*OP9



59 *OPA Function selection A

84

85

86

87

80

81

82

83

61

62

NH1 Machine resonance suppression filter 1

NH2 Machine resonance suppression filter 2

63 LPF Low-pass filter, adaptive vibration suppression control

64 GD2B Ratio of load inertia moment to Servo motor inertia moment 2

69

70

71

72

65 PG2B Position control gain 2 changing ratio

66 VG2B Speed control gain 2 changing ratio

67 VICB Speed integral compensation changing ratio

68 *CDP Gain changing selection

CDS Gain changing condition

CDT Gain changing time constant

For manufacturer setting

73

74 OUT1 OUT1 output time selection



77 *SYC1 Selected to program input polarity selection 1

78

79

88

89

90


Note. Depends on the parameter No. 68 setting.

100

100

100

0000

10

1

100

10000

10

0

0

0

0000

0001

0209

Initial value Unit

0000

0000

0000

0000

0000

0000

0000

0000

0000

0000

70 0.1 times

%

%

%

(Note) ms

Customer setting

10ms

10ms

10ms

060A

1918

030B

0504

0102

0000

0005

120E

0102

0

0

5 - 4

5. PARAMETERS

(2) Detail list


0 *STY

Used to select the command system and regenerative option.

0

Program edit

0: Valid

1: Invalid

Selection of command system

(Refer to section 4.2)

0: Absolute value command system

1: Incremental value command system

Selection of regenerative option (Refer to section 14.1.1)

0: Not used

(However, this is irrelevant to the MR-J2S-10CL, as it does

not include the built-in regenerative resistor.)

1: FR-RC, FR-BU2

2:MR-RB032

3:MR-RB12

4:MR-RB32

5:MR-RB30

6:MR-RB50(Cooling fan is required)

8:MR-RB31

9:MR-RB51(Cooling fan is required)

If the regenerative option selected is not for use with the

servo amplifier, parameter error occurs.

Initial value

0000

Unit

Setting range

Name and function column.

5 - 5

5. PARAMETERS


1 *FTY

Used to set the feed length multiplication factor and manual pulse generator multiplication factor.

Initial value

0000

Unit

Setting range


ST1 coordinate system selection

(Refer to section 4.2.2 to 4.2.4)

0: Address is incremented in CCW direction

1: Address is incremented in CW direction

Feed length multiplication factor (STM)

(Refer to section 4.2.3)

0: 1 time

1: 10 times

2: 100 times

3: 1000 times

Manual pulse generator multiplication factor


0: 1 time

1: 10 times

2: 100 times

Servo-on (SON) -off, forced stop (EMG) -off follow-up for absolute value command in incremental system or absolute value command/ incremental value command specifying system

0: Invalid

1: Valid

Normally, when this servo amplifier is used in the absolute value command method of the incremental system, placing it in a servo off or forced stop status will erase the home position.

When "1" is set in this parameter, the home position will not be erased if the servo amplifier is placed in a servo off or forced stop status.

Operation can be resumed when servo-on (SON) is turned on again or forced stop (EMG) is canceled.

5 - 6

5. PARAMETERS


2 *OP1

Used to select the input filter and absolute position detection system.

0 0

Input filter

If external input signal causes chattering due to noise, etc., input filter is used to suppress it.

0: None

1: 0.88[ms]

2: 1.77[ms]

3: 2.66[ms]

4: 3.55[ms]

5: 4.44[ms]

Selection of absolute position detection system


0: Incremental system

1: Absolute position detection system

Auto tuning

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

(Refer to chapter 7)

0 0

1

2

Set value

D

E

F

B

C

9

A

7

8

5

6

3

4

1

2

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, increase the set value.

Gain adjustment mode selection

(For more information, refer to section 8.1.1.)

Set value Gain adjustment mode

0 Interpolation mode

Auto tuning mode 1

Auto tuning mode 2

Description

GD2 (parameterNo.34), PG2 (parameterNo.35),

VG2 (parameterNo.37), VIC (parameterNo.38)

PG1 (parameterNo.7), GD2 (parameterNo.35),

PG2 (parameterNo.35), VG1 (parameterNo.36),

VG2 (parameterNo.37), VIC (parameterNo.38)

PG1 (parameterNo.7), PG2 (parameterNo.35),

VG1 (parameterNo.36), VG2 (parameterNo.37),

VIC (parameterNo.38)

3

4

Auto tuning response level setting

Manual mode 1

Manual mode 2

PG2 (parameterNo.35)

5 - 7

Initial value

0002

Unit

Setting range


Name and function column .

5. PARAMETERS

Class No. Symbol

0

Name and Function

*4 CMX Electronic gear numerator

Set the value of electronic gear numerator. Setting "0" automatically sets the resolution of the servo motor connected. (Refer to section 5.2.1)

*5 CDV Electronic gear denominator

Set the value of electronic gear denominator. (Refer to section 5.2.1)

6 PED Movement complete output range

Used to set the droop pulse range when the movement complete output range

(PED) is output.

7 PG1 Position control gain 1

Used to set the gain of position loop 1. (Refer to chapter 8)

Increase the gain to improve tracking performance in response to the position command.

8 *ZTY Home position return type

Used to set the home position return system, home position return direction and proximity dog input polarity.

Initial value

1

1

100

36

Setting range

0 to

65535 rad/s 4 to 1000

0010

Unit

65535

10000


Home position return system

0: Dog type

1: Count type

2: Data setting type

3: Stopper type

4: Home position ignorance


5: Dog type rear end reference

6: Count type front end reference

7: Dog cradle type


0: Address increment direction

1: Address decrement direction

Proximity dog input polarity

0: Dog is detected when DOG is turned off.

1: Dog is detected when DOG is turned on.

Used to set the servo motor speed for home position return.


10 CRF Creep speed

Used to set the creep speed after proximity dog detection.


11 ZST Home position shift distance

Used to set the shift distance starting at the Z-phase pulse detection position inside the encoder.

500 r/min 0 to permissible speed

10 r/min 0 to

0 m permissible speed

0 to 65535

0

Do not change this value by any means.

13 JOG Jog speed

Used to set the jog speed command.

14 *STC S-pattern acceleration/deceleration time constant

Set when inserting S-pattern time constant into the acceleration/deceleration time constant of the point table. (Refer to section 5.2.3)

This time constant is invalid for home position return.

15 *SNO RS-422 station number setting

Used to specify the station number for RS-422 multidrop 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.

100 r/min 0 to

0 ms permissible speed

0 to 100

0 Station 0 to 31

5 - 8

5. PARAMETERS


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.

Serial baud rate selection


0: 9600 [bps]

1: 19200[bps]

2: 38400[bps]

3: 57600[bps]

4: 4800[bps] (For MR-DP60)

Alarm history clear (Refer to section 5.2.6)

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

Used to select the signals to be output to the analog monitor 1 (MO1) and analog monitor 2 (MO2). (Refer to section 5.2.4)

0 0

Initial value

Unit

Setting range



Setting

0

1

4

5

2

3

8

9

6

7

Analog monitor 2 (MO2) Analog monitor 1 (MO1)

Servo motor speed ( 8V/max. speed)

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

Servo 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)




A Droop pulses ( 10V/131072 pulses)

B Bus voltage ( 8V/400V)

Note. 8V is outputted at the maximum torque. However, when parameter

No. 28 29 are set to limit torque, 8V is outputted at the torque highly limited.

5 - 9

5. PARAMETERS


Used to select the status display shown at power-on. (Refer to section 7.2)

Initial value

Unit

Setting range

Name and function column. Status display on servo amplifier display at power-on

00: Current position (initial value)

01: Command position

02: Command remaining distance

03: Program No.

04: Step No.

05: Cumulative feedback pulses

06: Servo motor speed

07: Droop pulses

08: Override voltage

09: Analog torque limit voltage

0A: Regenerative load ratio

0B: Effective load ratio

0C: Peak load ratio

0D: Instantaneous torque

0E: Within one-revolution position low

0F: Within one-revolution position high

10: ABS counter

11: Load inertia moment ratio

12: Bus voltage

Status display of MR-DP60 at power-on




03: Program No.

04: Step No.



07: Droop pulses





0C: Peak load ratio


0E: Within one-revolution position

0F: ABS counter


11: Bus voltage

5 - 10

5. PARAMETERS

Class No. Symbol

000E

Name and Function

Used to select the reference and write ranges of the parameters.

Operation can be performed for the parameters marked .

Basic Expansion


Set No.54 to 77

Operation parameters parameters 1 value special parameters

No.0 to 19 No.20 to 53

(No. 78 to 90)

0000

Reference

(initial value)

Write

Write No.19

Write

Write

Write

Initial value

Unit

Setting range

0000 Refer to


Note. Set this parameter when making device setting using the MR Configurator

(Servo Configuration Software).


Used to select slight vibration suppression control.

0 0 0

Slight vibration suppression control selection

0: Invalid

1: Valid




Used to select stop processing at forward rotation stroke end (LSP), reverse rotation stroke end (LSN) off.

0 0 0

0002


Stopping method used when forward rotation stroke end (LSP), reverse rotation stroke end (LSN) device or software limit is valid


0: Sudden stop

1: Slow stop

0 0 to 60

Used to choose the time-out period of communication protocol.

Setting Description

0

1 to 60

No time-out check

Time-out check period setting

Check period setting [s]

5 - 11

5. PARAMETERS


Initial value

0

Unit

%

Setting range

0 to 100

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.

Used to set the offset voltage to analog override.

Used to set the offset voltage to analog torque limit (TLA).

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. 58 to choose the output pulse designation 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. 58.

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. 58.

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.

A B-phase output pulses

131072

8

1

4

4096[pulse]

28 TL1 Internal torque limit 1

Used to limit servo motor-torque on the assumption that the maximum torque is 100%. When 0 is set, torque is not produced.

29 TL2 Internal torque limit 2

Used to limit servo motor-torque on the assumption that the maximum torque is 100%. When 0 is set, torque is not produced.

Made valid by switching on the internal torque limit selection (TL2).

0 mV 999 to

999

0 mV 999 to

4000 pulse/ rev

999

1 to

65535

0 pulse (Note)

0 to

1600

Used to set the backlash compensation made when the command direction is reversed.

This function compensates for the number of backlash pulses in the opposite direction to the home position return direction. In the absolute position detection system, this function compensates for the backlash pulse count in the direction opposite to the operating direction at power-on.

Note. The setting range differs depending on the software version of servo amplifiers.

Version A1 or later: 0 to 1600

Version A0 or before: 0 to 1000

5 - 12

5. PARAMETERS


31 MO1 Analog monitor 1 (MO1) offset

Used to set the offset voltage of the analog monitor 1 (MO1) output.

32 MO2 Analog monitor 2 (MO2) offset

Used to set the offset voltage of the analog monitor 2 (MO2) output.

Initial value

Unit

Setting range

0 mV 999 to

999

0 mV 999 to

999

Used to set the delay time (Tb) between when the electromagnetic brake interlock (MBR) switches off and when the base 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. (Refer to chapter 8)

When auto tuning is selected, the result of auto tuning is automatically set.

35 PG2 Position control gain 2

Used to set the gain of the position loop. (Refer to chapter 8)

Set this parameter to increase the position response level to load disturbance.

Higher setting increases the response level but is liable to generate vibration and/or noise.


70 0.1 times

0 to 1000

8000 Normally this parameter value need not be changed.

Higher setting increases the response level but is liable to generate vibration and/or noise. (Refer to chapter 8)


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. (Refer to chapter 8)


Used to set the integral time constant of the speed loop. (Refer to chapter 8)


20000

Used to set the differential compensation. (Refer to chapter 8)

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

40 JTS JOG operation acceleration/deceleration time constant

Used to set the acceleration/deceleration time when JOG operation.

41 ZTS Home position return operation acceleration/deceleration time constant

Used to set the acceleration/deceleration time when Zero point return operation.

42 *ZPS Home position return position data



43 DCT Moving distance after proximity dog

Used to set the moving distance after proximity dog in count type home position return. (Refer to section 4.4.3)

44 ZTM Stopper type home position return stopper time

In stopper type home position return, used to set the time from when the machine part is pressed against the stopper and the torque limit set in parameter No.45 is reached to when the home position is set.


45 ZTT Stopper type home position return torque limit

Used to set the torque limit value relative to the max. torque in [%] in stopper type home position return. (Refer to section 4.4.5)

0

100

15

10 STM m

1000 10 STM m ms

%

20000

20000

32768 to

32767

0 to

65535

5 to 1000

1 to 100

5 - 13

5. PARAMETERS


46

47

48

49

Used to set the address increment side software stroke limit. The software limit is made invalid if this value is the same as in "software limit ".


Set the same sign to parameters No.46 and 47. Setting of different signs will result in a parameter error.

Set address:

Upper 3 digits

Lower 3 digits

Parameter No. 47

Parameter No. 46

*LMN Software limit

Used to set the address decrement side software stroke limit. The software limit is made invalid if this value is the same as in "software limit ".


Set the same sign to parameters No.48 and 49. Setting of different signs will result in a parameter error.

Set address:

Upper 3 digits

Lower 3 digits

Parameter No. 49

Parameter No. 48

Initial value

0

0

50

51

52

53

*LPP Position range output address

Used to set the address increment side position range output address. Set the same sign to parameters No.50 and 51. Setting of different signs will result in a parameter error.

In parameters No. 50 to 53, set the range where position range (POT) turns on.

Set address:

Upper 3 digits

Lower 3 digits

Parameter No. 51

Parameter No. 50

*LNP Position range output address

Used to set the address decrement side position range output address. Set the same sign to parameters No.52 and 53. Setting of different signs will result in a parameter error.

Set address:

Upper 3 digits

Lower 3 digits

Parameter No. 53

Parameter No. 52

0

0

Unit

10 STM m

Setting range

999999 to

999999

10 STM m

999999 to

999999

10 STM m

999999 to

999999

10 STM m

999999 to

999999

5 - 14

5. PARAMETERS


54 For manufacturer setting



Used to select how to process the base circuit when reset (RES) is valid.

0 0 0

Processing of the base circuit when reset (RES) is valid.

0: Base circuit switched off

1: Base circuit not switched off

56



Used to select the protocol of serial communication.

0 0

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 encoder output pulse direction and encoder pulse output setting.

0 0

Encoder pulse output phase changing

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

Set value


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 setting

1: Division ratio setting

Initial value

0000

Unit

Setting range


0000

0000


Refer to


5 - 15

5. PARAMETERS

Class No. Symbol

59 OPA Function selection A

Used to select the alarm code.

0 0

Name and Function

Setting

Rotation direction in which torque limit is made valid

CCW direction CW direction

0

1

2

Set value

0

1

Setting of alarm code output

Connector pins

CN1B-19 CN1A-18 CN1A-19

Signals assigned to corresponding pins are output.

Alarm code is output at alarm occurrence.

(Note) Alarm code

CN1B pin 19

CN1A pin 18

CN1A pin 19

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

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.39

Program error

AL.8A

Serial communication time-out error

AL.8E

Serial communication error

AL.30

Regenerative error

AL.33 Overvoltage

AL.10 Undervoltage

AL.45

Main circuit device overheat

AL.46 Servo motor overheat

AL.50

AL.51

AL.24

AL.32

Overload 1

Overload 2

Main circuit

Overcurrent

AL.31

AL.35

AL.52

Overspeed

Command pulse frequency error

Error excessive

AL.63

AL.64

AL.16

AL.1A

AL.20

AL.25

Home position return incomplete

Home position setting error

Encoder error 1

Motor combination error

Encoder error 2

Absolute position erase

Note. 0: OFF

1: ON

5 - 16

Initial value

Unit

Setting range


5. PARAMETERS



61 NH1 Machine resonance suppression filter 1

Used to selection the machine resonance suppression filter.

(Refer to section 9.2.)

0

Notch frequency selection

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

(parameter No. 63: 1 or 2 ).

Setting value

Frequency

Setting value

Frequency

Setting value

Frequency

Setting value

Frequency

04

05

06

07

00

01

02

03

Invalid

4500

2250

1500

1125

900

750

642.9

0C

0D

0E

0F

08

09

0A

0B

562.5

500

450

409.1

375

346.2

321.4

300

14

15

16

17

10

11

12

13

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

62 NH2 Machine resonance suppression filter 2

Used to set the machine resonance suppression filter.

0

Notch frequency

Same setting as in parameter No. 61

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. 61

Initial value

Unit

0000

Setting range



5 - 17

5. PARAMETERS


63 LPF Low-pass filter/adaptive vibration suppression control

Used to selection the low-pass filter and adaptive vibration suppression control. (Refer to chapter 9)

0

Initial value

Unit

Setting range


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. 61) 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

64 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.

65 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.

66 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.

67 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.

70 0.1 times

0 to 3000

1000

5 - 18

5. PARAMETERS


Initial value

Unit

Setting range

68 *CDP Gain changing selection

Used to select the gain changing condition. (Refer to section 9.5)

0 0 0


Gain changing selection

Gains are changed in accordance with the settings of parameters No. 64 to 67 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. 69 setting

3: Droop pulse value is equal to higher than


4: Servo motor speed is equal to higher than


69 CDS Gain changing condition

Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No. 68. The set value unit changes with the changing condition item. (Refer to section 9.5)

70 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. 68 and 69.


71

72

73



10 kpps 10 to pulse r/min

9999

1 ms 100

74 OUT1 OUT1 output time setting

Used to set the output time of OUT1. The OUT1 is turned on by OUTON program command.

If "0" is set, it keeps ON.







77 *SYC1 Program input polarity selection 1

Used to select the device that reverses the input polarity of Program input 1

(PI1), Program input 2 (PI2), Program input 3 (PI3).

10

10000

10

0 10ms 2000

0 10ms

0 10ms

2000

2000

0000 0000h to

FFFFh

0 0 0

Signal name

Initial value

BIN HEX

Program input 1

Program input 2

Program input 3

BIN 0 : Positive logic

BIN 1 : Negative logic

0

0

0

0

0

5 - 19

5. PARAMETERS

Class No. Symbol

78

79

80

85

86

87

88

81

82

83

84

89

90

Name and Function


The settings are automatically changed.



Initial value

0001

0209

060A

1918

030B

0504

0102

0000

0005

120E

0102

0

0

Unit

Setting range

5 - 20

5. PARAMETERS

5.2 Detailed explanation

5.2.1 Electronic gear

CAUTION False setting will result in unexpected fast rotation, causing injury.

POINT

The range of the electronic gear setting is

1

10

CMX

CDV

1000.

If you set any value outside this range, a parameter error (AL.37) occurs.

After setting the parameter No.4, 5 value, switch power off, then on to make that setting valid. In this case, execute a home position return again. The absolute position detection system also requires a home position return.

(1) Concept of electronic gear

Use the electronic gear (parameters No.4, 5) to make adjustment so that the servo amplifier setting matches the moving distance of the machine. Also, by changing the electronic gear value, the machine can be moved at any multiplication ratio to the moving distance on the servo amplifier.

Motor

CMX

CDV

Parameter No. 4

Parameter No. 5

CMX

CDV

+

-

Deviation counter

Encoder feedback pulses

Electronic gear

Parameters No. 4, 5

The following examples are used to explain how to calculate the electronic gear value.

Encoder

POINT

The following specification symbols are needed for electronic gear calculation.

Pb : Ballscrew lead [mm(in.)] n : Reduction ratio

Pt : Servo motor resolution [pulse/rev]

S : Travel per servo motor revolution [ m/rev]

(a) Ballscrew setting example n

Machine specifications n=NL/NM=1/2

NL

Ballscrew lead: Pb 10 (0.39) [mm(in.)]

Pb=10(0.39)[mm(in.)]

Reduction ratio: n 1/2

Servo motor resolution: Pt 131072 [pulse/rev]

NM

Servo motor 131072[pulse/rev]

CMX

CDV p

t

S p p

t

131072

1/2 10 1000

Hence, set 32768 to CMX and 1250 to CDV.

131072

5000

32768

1250

(b) Conveyor setting example

Machine specifications

r=160(6.30)[mm(in.)]

Pulley diameter: r 160 (6.30) [mm(in.)]

Reduction ratio: n 1/3

Servo motor resolution: Pt 131072 [pulse/rev]

n

NL NM n=NL/NM=1/3

Servo motor

131072[pulse/rev]

CMX

CDV p

t

S p

t

n r 1000

131072

1/3 160 1000

Hence, set 32768 to CMX and 41888 to CDV.

131072

167551.61

32768

41888

Reduce CMX and CDV to the setting range or less, and round off the first decimal place.

5 - 21

5. PARAMETERS

5.2.2 Changing the status display screen

The status display item of the servo amplifier display and the display item of the external digital display

(MR-DP60) shown at power-on can be changed by changing the parameter No.18 (status display selection) settings. In the initial condition, the servo amplifier display shows the servo motor speed and the MR-DP60 shows the current position.

For display details, refer to section 7.2.

Parameter No. 18

Status display on servo amplifier display at power-on




03: Program No.

04: Step No.



07: Droop pulses





0C: Peak load ratio


0E: Within one-revolution position low

0F: Within one-revolution position high

10: ABS counter


12: Bus voltage

Status display of MR-DP60 at power-on




03: Program No.

04: Step No.



07: Droop pulses





0C: Peak load ratio


0E: Within one-revolution position

0F: ABS counter


11: Bus voltage

5 - 22

5. PARAMETERS

5.2.3 S-pattern acceleration/deceleration

In servo operation, linear acceleration/deceleration is usually made. By setting the S-pattern acceleration/deceleration time constant (parameter No.14), a smooth start/stop can be made. When the Spattern time constant is set, smooth positioning is executed as shown below. When the S-pattern acceleration/deceleration time constant is set, the time from a start to the output of Movement complete

(PED) increases by the S-pattern acceleration/deceleration time constant.



Rated speed

Preset speed

Servo motor speed

0 [r/min]

Ta

Ta Ts

Tb Ts

Tb

Ta: Time until preset speed is reached

Tb: Time until stop

Ts: S-pattern acceleration/deceleration time constant

(parameter No. 14)

Setting range 0 to 100ms

5.2.4 Analog output

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

Analog monitor 1 (MO1) output selection

(Signal output to across MO1-LG)

Analog monitor 2 (MO2) output selection

(Signal output to across MO2-LG)

Parameters No.31 and 32 can be used to set the offset voltages to the analog output voltages. The setting range is between 999 and 999mV.

Parameter

Parameter No.31

Parameter No.32

Description

Used to set the offset voltage for the analog monitor 1 (MO1) output.

Used to set the offset voltage for the analog monitor 2 (MO2) output.

Setting range [mV]

999 to 999

5 - 23

5. PARAMETERS

(2) Contents of a setting

The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 and the torque to analog monitor 2. The setting can be changed as listed below by changing the parameter No.17

(analog monitor output) value.

Refer to (3) for the measurement point.

Setting Output item Description Setting Output item Description

0 Servo motor speed

8[V]

CCW direction pulses

10[V]

CCW direction

( 10V/128pulse)

Max. speed

0 Max. speed

128[pulse]

0 128[pulse]

1 Torque

CW direction

-8[V]

Driving in CCW direction

8[V]

Max. torque

0 Max. torque pulses

( 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 pulses

( 10V/8192pulse)

CW direction

10[V]

-10[V]

CCW direction

8192[pulse]

0 8192[pulse]

3 Torque

Max. speed 0 Max. speed

Driving in

CCW direction 8[V]

Driving in

CW direction pulses

( 10V/32768pulse)

CW direction

-10[V]

CCW direction

10[V]

32768[pulse]

0 32768[pulse]

Max. torque 0 Max. torque

8[V]

Max. command

current

CCW direction

0 Max. command

current pulses

( 10V/131072pulse)

CW direction

10[V]

-10[V]

CCW direction

131072[pulse]

0

131072[pulse]

CW direction

-8[V]

CCW direction

8[V]

B Bus voltage

CW direction

-10[V]

8[V]

Max. speed

0 Max. speed

0 400[V]

CW direction

-8[V]

Note 1. Encoder pulse unit.

2. 8V is outputted at the maximum torque. However, when parameter No. 28 29 are set to limit torque, 8V is outputted at the torque highly limited.

5 - 24

5. PARAMETERS

Command speed

Command position differentiation

Droop pulse

Position control

Speed command

Current command

Speed control

Current control

Bus voltage

PWM

Current encoder

M Servo Motor

Current feedback

Encoder

Differ- ential

Position feedback

Servo Motor

speed

Torque

5 - 25

5. PARAMETERS

5.2.5 Changing the stop pattern using a limit switch

The servo amplifier is factory-set to make a sudden stop when the limit switch or software limit is made valid. When a sudden stop is not required, e.g. when there is an allowance from the limit switch installation position to the permissible moving range of the machine, a slow stop may be selected by changing the parameter No.22 setting.

Parameter No. 22 setting Description

0 (initial value)

1

5.2.6 Alarm history clear

Droop pulses are reset to make a stop. (Sudden stop)

Droop pulses are drawn out to make a slow stop. (Slow stop)

The alarm history can be confirmed by using the MR Configurator (Servo Configuration Software) or communication function. 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 (alarm history clear) before starting operation. Clearing the alarm history automatically returns to “ 0 ”.

This parameter is made valid by switching power off, then on after setting.

Parameter No. 16

Alarm history clear

0: Invalid (not cleared)

1: Valid (cleared)

5.2.7 Software limit

A limit stop using a software limit is made as in stroke end operation. When a motion goes beyond the setting range, the motor is stopped and servo-locked. This function is made valid at power-on but made invalid during home position return. This function is made invalid when the software limit setting is the same as the software limit setting. A parameter error (AL. 37) will occur if the software limit setting is less than the software limit setting.

Inhibited area

Unmovable

Current position

Software limit

Movable area

Movable

5 - 26

6. MR Configurator (SERVO CONFIGURATION SOFTWARE)


The MR Configurator (Servo Configuration software MR2JW3-SETUP151E Ver.E1 or more) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer.

6.1 Specifications

Item Description

Communication signal Conforms to RS-232C

Baud rate 57600, 38400, 19200, 9600

Alarm

Diagnostic

Parameters

Test

Advanced-function

Program-data

File operation

Display, history, amplifier data

I/O display, function device display, no motor rotation, total power-on time, software number display, motor data display, tuning data, absolute encoder data, axis name setting

Parameter list, tuning, change list, detailed information, device setting

Jog, positioning, operation w/o motor, forced output, program test

Machine analyzer, gain search, machine simulation

Program data, indirect-addressing

Data read, save, print

6.2 System configuration

(1) Components

To use this software, the following components are required in addition to the servo amplifier and servo motor.

Model (Note 1) Description

(Note 2)

Personal computer

OS

Display

Keyboard

Mouse

Printer

Communication cable

IBM PC-AT compatible where the English version of Windows ® 95, Windows ® 98, Windows ® Me,

Windows NT ® Workstation 4.0, Windows ® 2000 Professional, Windows ® XP Professional or Windows ®

XP Home Edition operates

Processor: Pentium ® 133MHz or more (Windows ® 95, Windows ® 98, Windows NT ® Workstation 4.0,

Windows ® 2000 Professional)

Pentium ® 150MHz or more (Windows ® Me)

Memory: 16MB or more (Windows ® 95), 24MB or more (Windows ® 98)

32MB or more (Windows ® Me, Windows NT ® Workstation 4.0, Windows ® 2000 Professional)

128MB or more (Windows ® XP Professional, Windows ® XP Home Edition)

Free hard disk space: 60MB or more

Serial port used

Windows ® 95, Windows ® 98, Windows ® Me, Windows NT ® Workstation 4.0, Windows ® 2000

Professional, Windows ® XP Professional, Windows ® XP Home Edition (English version)

One whose resolution is 800 600 or more and that can provide a high color (16 bit) display.

Connectable with the above personal computer.


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


MR-CPCATCBL3M

When this cannot be used, refer to section 14.1.4 (3) and fabricate.

Note 1. Windows and Windows NT are the registered trademarks of Microsoft Corporation in the United State and other countries.

Pentium is the registered trademarks of Intel Corporation.

2. On some personal computers, this software may not run properly.

6 - 1


(2) Configuration diagram

(a) For use of RS-232C

Personal computer

Servo amplifier

U

V

W

Communication cable

CN3 CN2

To RS-232C connector

(b) For use of RS-422

Up to 32 axes may be multidropped.

Personal computer

RS-232C/RS-422 converter

(Note)

Communication cable

Servo amplifier

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. Refer to section 15.1.1 for cable connections.

6 - 2


6.3 Station setting

Click “System” on the menu bar and click “Station Selection” on the menu.

When the above choices are made, the following window appears.

(1) Station number setting

Choose the station number in the combo box and click the “Station Settings” button to set the station number.

POINT

This setting should be the same as the station number which has been set in the parameter in the servo amplifier used for communication.

(2) Closing of the station setting window

Click the “Close” button to close the window.

6 - 3


6.4 Parameters

Click “Parameters” on the menu bar and click “Parameter List” on the menu.

When the above choices are made, the following window appears. a) b) c) d) e) f) g) i) h)

(1) Parameter value write ( a) )

Click the parameter whose setting was changed and press the “Write” button to write the new parameter setting to the servo amplifier.

(2) Parameter value verify ( b) )

Click the “Verify” button to verify all parameter values being displayed and the parameter values of the servo amplifier.

6 - 4


(3) Parameter value batch-read ( c) )

Click the “Read All” button to read and display all parameter values from the servo amplifier.

(4) Parameter value batch-write ( d) )

Click the “Write All” button to write all parameter values to the servo amplifier.

(5) Parameter change list display ( e) )

Click the “Change List” button to show the numbers, names, initial values and current values of the parameters whose initial value and current value are different. In the offline mode, the parameter change list is not shown.

(6) Parameter detail information ( f) )

Click the “Help” button or double-click the display field to show the detailed explanation of each parameter.

(7) Parameter default value indication ( g) )

Click the “Set to default” button to show the initial value of each parameter.

(8) Parameter value change ( h) )

Choose the parameter to be changed, enter a new value into the “Parameter value” input field, and press the enter key or Enter Data button.

(9) Parameter data file read

Used to read and display the parameter values stored in the file. Use the file selection window to read.

(10) Parameter value storage

Used to store all parameter values being displayed on the window into the specified file. Use the file selection window to store.

(11) Parameter data list print

Used to print all parameter values being displayed on the window. Use the “File” menu on the menu bar to print.

(12) Parameter list window closing ( i) )

Click the “Close” button to close the window. If the “Close” button is clicked without (1) parameter value write or (4) parameter value batch-write being performed, the parameter value changed is made invalid.

6 - 5


6.5 Simple Program

6.5.1 Program data

The following screen is designed to set the program of the MR-J2S-CL.

(1) How to open the setting screen

Click "Program-Data" on the menu bar and click "Program-Data" in the menu.

(2) Explanation of Program Data window a) b) c) e) g) d) f)

(a) Reading the program (a))

Click the "Read All" button to read the program stored in the servo amplifier.

(b) Writing the program (b))

Click the "Write All" button to write the program, whose setting has been changed, to the servo amplifier.

(c) Verifying the programs (c))

Click the "Verify" button to verify the program contents on the personal computer and the program contents of the servo amplifier.

(d) Selecting the program No. (d))

Used to select the program No. to be edited.

(e) Editing the program (e))

Used to edit the program selected in d). Click the "Write All" button to open the Program Edit window. Refer to (3) in this section for the edit screen.

(f) Reading and saving the program file

A program can be saved/read as a file. Perform save/read in the "File" menu of the menu bar.

6 - 6


(g) Printing the program

The read and edited program can be printed. Perform print in the "File" menu of the menu bar.

(h) Referring to the number of steps (f))

Click the "Steps" button to display the number of used steps and number of remaining steps in all programs.

(i) Closing the Program Data window (g))

Click the "Close" button to close the window.

(3) Explanation of Program Edit window

Create a program in the Program Edit window. c) d) e) f) a)

(a) Editing the program (a))

Enter commands into the program edit area in a text format.

(b) Copying the text (b))

Select the text of the program edit area and click the "Copy" button to store the selected text into the clipboard.

(c) Pasting the text (c))

Click the "Paste" button to paste the text stored in the clipboard to the specified position of the program edit area.

(d) Deleting the text (d))

Select the text of the program edit area and click the "Cut" button to delete the selected text.

(e) Closing the Program Data window (e))

Click the "OK" button to end editing and close the Program Data window.

(f) Canceling the Program Edit window (f))

Click the "Cancel" button to discard the program being edited and close the Program Edit window.

6 - 7 b)


6.5.2 Indirect addressing

The following screen is designed to set the general-purpose registers (R1 to R4, D1 to D4) of the MR-J2S-

CL.


Click "Program-Data" on the menu bar and click "Indirect-Addressing" in the menu.

(2) Explanation of Indirect Addressing window a) b) c) d) e)

(a) Setting the general-purpose registers D1 to D4 (a))

Set the values of the general-purpose registers D1 to D4.

(b) Setting the general-purpose registers R1 to R4 (b))

Set the values of the general-purpose registers R1 to R4. The write destination memory can be selected.

Selecting "RAM" writes the set values to the volatile memory. In this case, the set values are lost when the servo amplifier is powered off.

Selecting "EEPROM" writes the set values to the non-volatile memory (EEP-ROM). In this case, the set values are not lost if the servo amplifier is powered off.

POINT

The limited number of time to write to EEP-ROM is 100,000.

6 - 8


(c) Read from the general-purpose registers (c))

Click the "Read All" button to read the values of the general-purpose registers (R1 to R4, D1 to D4) stored in the servo amplifier.

(d) Write to the general-purpose registers (d))

Click the "Write All" button to write the set values of the general-purpose registers (R1 to R4, D1 to

D4) to the servo amplifier.

(e) Closing the Indirect Addressing window (e))

Click the "Close" button to close the window.

6 - 9


6.6 Device assignment method

POINT

When using the device setting, preset “000E” in parameter No. 19.


Click “Parameters” on the menu bar and click “Device setting” in the menu.

Making selection displays the following window.

Click “Yes” button reads and displays the function assigned to each pin from the interface unit and extension IO unit.

Click “No” button displays the initial status of the interface unit and extension IO unit.

Click “Cancel” button terminates the processing.

Click “Yes” button or “No” button displays the following two windows.

6 - 10


(2) Screen explanation

(a) DIDO device setting window screen

This is the device assignment screen of the servo amplifier displays the pin assignment status of the servo amplifier. c)

1) Read of function assignment ( a) )

Click the “Read” button reads and displays all functions assigned to the pins from the servo amplifier.

2) Write of function assignment ( b) )

Click the “Write” button writes all pins that are assigned the functions to the servo amplifier.

3) Verify of function assignment ( c) )

Click the “Verify” button verifies the function assignment in the servo amplifier with the device information on the screen.

4) Initial setting of function assignment ( d) )

Click the “Set to Default” button initializes the function assignment. a) b) d)

6 - 11


(b) DIDO function display window screen

This screen is used to select the device to the pins.

The functions displayed below * and * are assignable. a) b)

Move the pointer to the place of the function to be assigned. Drag and drop it as-is to the pin you want to assign in the DIDO device setting window.

1) Assignment checking, automatic ON setting ( a) )

Press this button to display the screen that shows the assignment list and enables auto ON setting.

Refer to (4) in this section for more information.

2) Quitting

Click “Close” button to exit from the window. ( b) )

6 - 12


(C) Function device assignment checking auto ON setting display

Click the “ / ” button in the DIDO function display window displays the following window.

The assigned functions are indicated by .

The functions assigned by auto ON are grayed. When you want to set auto ON to the function that is enabled for auto ON, click the corresponding cell. Clicking it again disables auto ON.

1) Auto ON read of function assignment ( a) )

Click “Auto ON read” button reads the functions set for auto ON from the interface unit and extension IO unit.

2) Auto ON write of function assignment ( b) )

Click “Auto ON write” button writes the functions currently set for auto ON to the interface unit and extension IO unit.

3) Auto ON verify of function assignment ( c) )

Click “Auto ON verify” button verifies the current auto ON setting in the interface unit and extension IO unit with the auto ON setting on the screen.

4) Auto ON initial setting of function assignment ( d) )

Click “Auto ON initial setting” button initializes the auto ON setting.

5) Quitting the function device assignment checking/auto ON setting window ( e) )

Click “Close” button exits from the window. c) d) a) b) e)

6 - 13


6.7 Test operation

CAUTION

When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) operates.

If any operational fault has occurred, stop operation using the forced stop (EMG).

6.7.1 Jog operation

POINT

For the program operation, refer to the manual of MR Configurator.

The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off.

Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn off across these signals and SG. (Refer to section 6.6.)

When an alarm occurs, the JOG operation is automatically canceled.

Hold down the “Forward” or “Reverse” button to rotate the servo motor. Release the “Forward” or

“Reverse” button to stop.

Click “Test” on the menu bar and choose “Jog” on the menu.

When the above choices are made, the following window appears. a) b) c) d) e) f)

6 - 14


(1) Servo motor speed setting ( a) )

Enter a new value into the “Motor speed” input field and press the enter key.

(2) Acceleration/deceleration time constant setting ( b) )

Enter a new value into the “Accel/decel time” input field and press the enter key.

(3) Servo motor start ( c), d) )

Hold down the “Forward” button to rotate the servo motor in the CCW rotation direction.

Hold down the “Reverse” button to rotate the servo motor in the CW rotation direction.

(4) Servo motor stop ( e) )

Release the “Forward” or “Reverse” button to stop the rotation of the servo motor.

(5) Jog operation window closing ( f) )

Click the “Close” button to cancel the jog operation mode and close the window.

6 - 15


6.7.2 Positioning operation

POINT



When an alarm occurs, the positioning operation is automatically canceled.

Click the “Forward” or “Reverse” button to start and rotate the servo motor by the preset moving distance and then stop.

Click “Test” on the menu bar and click “Positioning” on the menu.

When the above choices are made, the following window appears. a) b) c) d) e) f) g)

6 - 16


(1) Servo motor speed setting ( a) )

Enter a new value into the “Motor speed” input field and press the enter key.

(2) Acceleration/deceleration time constant setting ( b) )

Enter a new value into the “Accel/decel time” input field and press the enter key.

(3) Moving distance setting ( c) )

Enter a new value into the “Move distance” input field and press the enter key.

(4) Servo motor start ( d), e) )

Click the “Forward” button to rotate the servo motor in the forward rotation direction.

Click the “Reverse” button to rotate the servo motor in the reverse rotation direction.

(5) Temporary stop of servo motor ( f) )

Click the “Pause” button to stop the servo motor temporarily.

(6) Positioning operation window closing ( g) )

Click the “Close” button to cancel the positioning operation mode and close the window.

6 - 17


6.7.3 Motor-less operation

POINT

When this operation is used in an absolute position detection system, the home position cannot be restored properly.

Without a servo motor being connected, the output signals are provided and the servo amplifier display shows the status as if a servo motor is actually running in response to the external I/O signals.

The sequence of the host programmable controller can be checked without connection of a servo motor.

Click “Test” on the menu bar and click “Operation w/o Motor” on the menu.

When the above choices are made, the following window appears. a) b)

(1) Execution of motor-less operation ( a) )

Click “Start” to perform motor-less operation.

(2) Termination of motor-less operation ( b) )

Click “Close” to close the window.

(3) Cancel of motor-less operation

To cancel motor-less operation, switch off the power of the servo amplifier.

6 - 18


6.7.4 Output signal (DO) forced output

Each servo amplifier output signal is forcibly switched on/off independently of the output condition of the output signal.

Click “Test” on the menu bar and click “Forced Output” on the menu.

When the above choices are made, the following window appears.

Since this window shows the precautions for use of the MR-J2S-B, click the "OK" button.

Clicking it displays the next window. a) b) c)

(1) Signal ON/OFF setting ( a), b) )

Choose the signal name or pin number and click the “ON” or “OFF” button to write the corresponding signal status to the servo amplifier.

(2) DO forced output window closing ( c) )

Click the “Close” button to cancel the DO forced output mode and close the window.

6 - 19


6.7.5 Program test operation

POINT



The program of the MR-J2S-CL can be test-operated.


Click "Test" on the menu bar and click "Program-Test" in the menu.

Clicking it displays the next window.

Then, click the "OK" button to display the next window.

6 - 20

6. MR Configurator (SERVO CONFIGURATION SOFTWARE) a) b)

The signal can be turned ON or OFF by clicking the check button before the signal symbol.

(1) Displaying the program (a))

Click the "Display" button to display the contents of the currently selected program No.

To close the window, click the "Close" button.

(2) Closing the Program Test window (b))

Click the "OK" button to close the Program Test window.

6 - 21


6.8 Alarm history

Click “Alarms” on the menu bar and click “History” on the menu.

When the above choices are made, the following window appears. a) b)

(1) Alarm history display

The most recent six alarms are displayed. The smaller numbers indicate newer alarms.

(2) Alarm history clear (a))

Click the “Clear” button to clear the alarm history stored in the servo amplifier.

(3) Closing of alarm history window (b))

Click the “Close” button to close the window.

6 - 22

7. DISPLAY AND OPERATION


7.1 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. Refer to section 7.2 and later for the description of the corresponding display mode.

To refer to or set the expansion parameters 1, expansion parameters 2 and special parameters, make them valid with parameter No.19 (parameter write disable).

Display mode transition Initial screen Function Reference

MODE button

Status display

Diagnosis

Alarm

Basic parameter

Expansion parameter 1

Expansion parameter 2

Special parameter

Servo status display.

appears at power-on.

Alarm display, external signal display, output signal (DO) forced output, test operation, software version display, VC automatic offset, motor series ID display, motor type ID display, encoder ID display

Current alarm display, alarm history display, parameter error No. display.

Display and setting of basic parameters.

Display and setting of expansion parameters 1.

Display and setting of expansion parameters 2.

Display and setting of special parameters.

Section 7.2

Section 7.3

Section 7.4

Section 7.5

7 - 1


7.2 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 19 data items such as the motor speed.

7.2.1 Display transition

After choosing the status display mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.

To Bus voltage

Current position Regenerative load ratio

Effective load ratio Command position

Command remaining distance

Program No.

Step No.

Cumulative feedback pulses

UP

DOW

Servo motor speed

Droop pulses

Peak load ratio

Instantaneous torque

Within one-revolution position low

Within one-revolution position high

ABS counter

Override

Analog torque limit voltage

Load inertia moment ratio

To current position

Bus voltage

7 - 2


7.2.2 Display examples

The following table lists display examples.

Item Status

Servo amplifier display

Forward rotation at 2500r/min

Servo motor speed

Reverse rotation at 3000r/min

Reverse rotation is indicated by " ".

Load inertia moment

15.5 times

Displayed data

11252pulse

Multirevolution counter

12566pulse

Lit

Negative value is indicated by the lit decimal points in the upper four digits.

MR-DP60

7 - 3


7.2.3 Status display list

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

Status display Symbol

Current position

Command position


Program No.

Step No.

PoS

CPoS rn

Pno

Sno

Unit Description

10 STM mm

10 STM mm

The current position from the machine home position of 0 is displayed.

The command position is displayed.

10 STM mm

The command remaining distance of the currently selected program is displayed.

The program No. being executed is displayed.

The step No. being executed is displayed.

Feedback pulses from the servo motor encoder are counted

Display range

Servo amplifier display

MR-DP60

99999 to

99999

99999 to

99999

999999 to

999999

999999 to

999999

99999 to

99999

1 to 16

1 to 120

999999 to

999999

1 to 16

1 to 120


99999 to

99999

999999 to

999999

Press the "SET" button to reset the display value to zero.

The servo motor speed is displayed.

Servo motor speed

5400 to

5400

5400 to

5400

Droop pulses E pulse

CW rotation.

The number of droop pulses in the deviation counter is displayed.

" " is added to the droop pulses in the CW rotation.

The displayed number of pulses is not yet multiplied by the electronic gear value.

99999 to

99999

999999 to

999999

0 to 200 0 to 200

Analog torque limit voltage

Regenerative load ratio

0.00 to 10.00 0.00 to 10.00

0 to 100 0 to 100

Effective load ratio

The continuous effective load torque is displayed.

0 to 300 0 to 300

Peak load ratio b % 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.

0 to 300 0 to 300

Instantaneous torque

0 to 400 0 to 400 time relative to the rate torque of 100%.

Position within one revolution is displayed in encoder pulses. Within onerevolution position low

Within onerevolution position high

ABS counter

Cy2

LS

100 pulse rev number of pulses.

The value is incremented in the CCW direction of rotation.

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

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

The value is incremented in the CCW direction of rotation.

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

0 to 99999

0 to 1310

32768 to

32767

(Note)

0 to 131071

32768 to

32767


0.0 to 300.0 0.0 to 300.0

Bus voltage Pn V

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

0 to 450

Note. The MR-DP60 can display the status without dividing it into the high and low orders. The unit is [pulse].

7 - 4

0 to 450


7.3 Diagnosis mode


After choosing the diagnosis mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.

To Encoder ID

Sequence Software version Low

Software version High External I/O signal display

Output signal (DO) forced output

Test operation mode

Jog feed UP

DOWN

Test operation mode

Positioning operation

Test operation mode

Motorless operation

Test operation mode

Machine analyzer operation

To Sequence


Motor series ID

Motor type ID

Encoder ID

7 - 5


7.3.2 Diagnosis mode list

Name Display Description

Not ready.

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

Sequence

Ready.

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

External I/O signal display

Output signal (DO) forced output

Refer to section 7.6.

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 the MR Configurator (servo configuration software).

The digital output signal can be forced on/off. (Refer to section

7.7)

Test operation mode

Jog feed

Positioning operation

Motorless operation

Machine analyzer operation

Jog operation can be performed when there is no command from the external command device. (Refer to section 7.8.2)

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. (Refer to section 7.8.4)

Merely connecting the servo amplifier allows the resonance point of the mechanical system to be measured.

The MR Configurator (servo configuration software MRZJW3-

SETUP151E or later) is required for machine analyzer operation.

Indicates the version of the software.

Software version Low

Indicates the system number of the software.

Software version High


Manufacturer setting screen. Do not perform operation on this screen.

7 - 6


Encoder

Name Display

Motor series

Motor type

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.



7 - 7


7.4 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.


After choosing the alarm mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.

To Parameter error No.

Current alarm

Alarm history

(Fourth alarm in past)

Alarm history

(Last alarm)

Alarm history

(Second alarm in past)

UP

DOWN

Alarm history

(Third alarm in past)

Alarm history

(Fifth alarm in past)

Alarm history

(Sixth alarm in past)

Parameter error No.

To Current alarm

7 - 8


7.4.2 Alarm mode list

Name Display Description

Indicates no occurrence of an alarm.

Current alarm

Alarm history

Indicates the occurrence of overvoltage (AL.33).

Flickers at occurrence of the alarm.

Indicates that the last alarm is overload 1 (AL.50).

Indicates that the second alarm in the past is overvoltage

(AL.33).

Indicates that the third alarm in the past is undervoltage

(AL.10).

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.

Indicates that the data of parameter No. 1 is faulty.

7 - 9


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 section. 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 11.2.1).

(a) Switch power OFF, then ON.

(b) Press the "SET" button on the current alarm screen.

(c) Turn on the reset (RES) signal.

(4) Use parameter No. 16 to clear the alarm history.

(5) Pressing "SET" button on the alarm history display screen for 2s or longer shows the following detailed information display screen. Note that this is provided for maintenance by the manufacturer.

(6) Press "UP" or "DOWN" button to move to the next history.

7 - 10


7.5 Parameter mode

POINT

To use the expansion parameters, change the parameter No. 19 (parameter write inhibit) value. (Refer to section 5.1.1)

7.5.1 Parameter mode transition

After choosing the corresponding parameter mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.

To status display mode

MODE

Basic parameters Expansion parameters 1 Expansion parameters 2 Special parameters

Parameter No. 0 Parameter No. 20 Parameter No. 54 Parameter No. 78


UP

DOWN



The parameter whose abbreviation is marked * is made valid by switching power off, then on after changing its setting. (Refer to section 5.1.2)

7 - 11


7.5.2 Operation example

(1) Parameter of 5 or less digits

The following example shows the operation procedure performed after power-on to change the home position setting method (Parameter No.8) into the data setting type. Press the "MODE" button to switch to the basic parameter screen.

Press MODE four times. Select parameter No.8 with UP or DOWN.

The parameter number is displayed.

Press UP or DOWN to change the number.

Press SET twice.

The set value of the specified parameter number flickers.

Press UP twice.

During flickering, the set value can be changed.

Use UP or DOWN .

( 2: Data setting type)

Press SET to enter.

To shift to the next parameter, press the "UP" or "DOWN" button.

When changing the parameter No.8 (home position return type) setting, change its set value, then switch power off once and switch it on again to make the new value valid.

7 - 12


(2) Signed 5-digit parameter

The following example gives the operation procedure to change the home position return position data

(parameter No. 42) to "-12345".

(Note)

Press MODE three times. Press UP or DOWN to choose parameter No. 42.

Press SET once.

Setting of upper 1 digits

Press MODE once.

Setting of lower 4 digits

Press SET once.

The screen flickers.

Press UP or DOWN to change the setting.

Press SET once.

Enter the setting.

Press MODE once.

Note. The example assumes that the status display screen that appears at power-on has been

set to the servo motor speed in parameter No. 18.

When changing the parameter No. 42 setting, change its set value, then switch power off once and switch it on again to make the new value valid.

7 - 13


7.6 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

The segments of the seven-segment LEDs correspond to the pins.

CN1A

19

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.

7 - 14


7.7 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 (SON off).

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.

7 - 15


7.8 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 forced stop (EMG) .

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) signal is not turned OFF.

7.8.1 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.

7 - 16


7.8.2 Jog operation

Jog operation can be performed when there is no command from the external command device.

(1) Operation

Connect EMG-SG, LSP-SG and LSN-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.

Speed [r/min]

Acceleration/deceleration time constant [ms]

200

1000

0 to instantaneous permissible speed

0 to 50000

How to use the buttons is explained below.

Button Description

"UP"

Press to start CCW rotation.

Release to stop.

"DOWN"

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 7.2. 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.

7 - 17


7.8.3 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, LSP-SG and LSN-SG to start positioning operation and connect VDD-COM to use the internal power supply.

Pressing the "Forward" or "Reverse" button on the MR Configurator (servo configuration software) starts the servo motor, which will then stop after moving the preset travel distance. You can change the operation conditions on the MR Configurator (servo configuration software). The initial conditions and setting ranges for operation are listed below.

Item Initial setting Setting range

Travel distance [pulse]

Speed [r/min]

Acceleration/deceleration time constant [ms]

10000

200

1000

0 to 9999999

0 to instantaneous permissible speed

0 to 50000

How to use the keys is explained below.

Key Description

"Forward"

"Reverse"

Press to start positioning operation CCW.

Press to start positioning operation CW.

"Pause"

Press during operation to make a temporary stop. Pressing the

"Pause" button again erases the remaining distance.

To resume operation, press the button 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.

7 - 18


7.8.4 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 7.2. 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.

7 - 19


MEMO

7 - 20

8. GENERAL GAIN ADJUSTMENT


8.1 Different adjustment methods

8.1.1 Adjustment on a single servo amplifier

The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1 and manual mode 2 in this order.

(1) Gain adjustment mode explanation

Gain adjustment mode


Estimation of load inertia moment ratio

Automatically set parameters

Manually set parameters

Auto tuning mode 1

(initial value)

Auto tuning mode 2 020

PG1 (parameter No. 7)

GD2 (parameter No. 34)


VG1 (parameter No. 36)


VIC (parameter No. 38)






Response level setting of parameter No. 3


Response level setting of parameter No. 3

Manual mode 1

Manual mode 2

030

040

Fixed to parameter No.

34 value













Interpolation mode







8 - 1


(2) Adjustment sequence and mode usage

START

Yes

Interpolation

made for 2 or more axes?

No

Auto tuning mode 1

Operation

OK?

No

Auto tuning mode 2

Operation

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.

Yes

OK?

No

Manual mode 1

Operation

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

Yes

OK?

No

Manual mode 2

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

END

8.1.2 Adjustment using MR Configurator (servo configuration software)

This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR Configurator (servo configuration software) which operates on a personal computer.

Function Description

Machine analyzer

Gain search

With the machine and servo motor coupled, the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response.

Executing gain search under to-and-fro positioning command measures settling characteristic while simultaneously changing gains, and automatically searches for gains which make settling time shortest.

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

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.

8 - 2


8.2 Auto tuning

8.2.1 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.

7

34

35

36

37

Abbreviation

PG1

GD2

PG2

VG1

VG2

Name

Position control gain 1

Ratio of load inertia moment to servo motor inertia moment


Speed control gain 1


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 motor inertia moment is not more than

100 times.

The acceleration/deceleration torque is 10% or more of the rated torque.

Under operating conditions which will impose sudden disturbance torque during acceleration/deceleration or on a machine which is extremely loose, auto tuning may not function properly, either. In such cases, use the auto tuning mode 2 or manual mode 1,2 to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1.

Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment ratio (parameter No. 34).

The following parameters are automatically adjusted in the auto tuning mode 2.

Parameter No.

7

35

36

37

Abbreviation

PG1

PG2

VG1

VG2





Name

8 - 3


8.2.2 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. 3

Parameter No. 34

Load inertia moment ratio estimation value

First digit

Third digit

Response level setting

Auto tuning selection

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 (load inertia moment ratio). These results can be confirmed on the status display screen of the servo amplifier display section.

If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, chose the "auto tuning mode 2" (parameter No.3: 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. 3), 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. 3: 2 ) 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.

8 - 4


8.2.3 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.3 : 2 ) 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

8 - 5


8.2.4 Response level setting in auto tuning mode

Set the response (The first digit of parameter No.3) 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. 63) or machine resonance suppression filter (parameter No. 61 62) may be used to suppress machine resonance. Suppressing machine resonance may allow the response level setting to increase. Refer to section 9.3 for adaptive vibration suppression control and section 9.2 for machine resonance suppression filter.

Parameter No. 3


Machine rigidity



Machine characteristic

Machine resonance

Guideline of corresponding machine frequency guideline

4

C

Large conveyor

30Hz

160Hz

Arm robot

Precision working machine

General machine tool conveyor

Inserter

Mounter

Bonder

8 - 6


8.3 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.

8.3.1 Operation of manual mode 1

In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.

User setting

PG1

VG2

VIC

GD2

Automatic setting

PG2

VG1

Therefore, you can adjust the model adaptive control system in the same image as the general PI control system (position gain, speed gain, speed integral time constant). Here, the position gain corresponds to

PG1, the speed gain to VG2 and the speed integral time constant to VIC. When making gain adjustment in this mode, set the load inertia moment ratio (parameter No. 34) correctly.

8.3.2 Adjustment by manual mode 1

POINT

If machine resonance occurs, adaptive vibration suppression control

(parameter No. 63) or machine resonance suppression filter (parameter No.

61 62) may be used to suppress machine resonance. (Refer to section 9.2, 9.3.)

(1) For speed control

(a) Parameters

The following parameters are used for gain adjustment.

Parameter No. Abbreviation

7

34

37

PG1

GD2

VG2

Name




(b) Adjustment procedure

Step Operation

1

2

3

4

5

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 9.2, 9.3.

Fine adjustment

8 - 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. Abbreviation

7

34

37

PG1

GD2

VG2

Name




(b) Adjustment procedure

Step Operation

1

2

3

4

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. 7).

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.

Description

Increase the speed control gain.

Decrease the time constant of the speed integral compensation.

5

6

7

Increase the position control gain 1 (parameter No. 7).

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.

Increase the position control gain.

Suppression of machine resonance.

Refer to section 9.2, 9.3.

Fine adjustment

8 - 8


(c) Adjustment description

1) Position control gain 1 (parameter No. 7)

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)

8 - 9


8.4 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

Abbreviation

GD2

PG2

VG2

Name




(b) Manually adjusted parameters

The following parameters are adjustable manually.

Parameter No.

7

36

(2) Adjustment procedure

Abbreviation

PG1

VG1



Name

Step Operation Description

1

2

6

7

Set 15Hz (parameter No. 3: 010 ) as the machine resonance frequency of response in the auto tuning mode 1.

Select the auto tuning mode 1.

During operation, increase the response level setting (parameter No. 2), and Adjustment in auto tuning mode return the setting if vibration occurs. 1.

3

Check the values of position control gain 1 (parameter No. 7) and speed control gain 1 (parameter No. 36).

Check the upper setting limits.

4 interpolation

5

Set the position control gain 1 of all the axes to be interpolated to the same value. At that time, adjust to the setting value of the axis, which has the Set position control gain 1. 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.

Set speed control gain 1.

Looking at the interpolation characteristic and rotation status, fine-adjust the gains and response level setting.

Fine adjustment.

(3) Adjustment description

(a) Position control gain 1 (parameter No.7)

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)

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

8 - 10


8.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super

8.5.1 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. 3


MELSERVO-J2 series

Response level setting Machine resonance frequency

MELSERVO-J2-Super series

Response level setting Machine resonance frequency guideline

1 15Hz

1 20Hz 2 20Hz

3 25Hz

4 30Hz

5 35Hz

2 40Hz 6 45Hz

7 55Hz

3 60Hz 8

4 80Hz 9

70Hz

85Hz

5 100Hz A 105Hz

B 130Hz

C 160Hz

D 200Hz

E 240Hz

F 300Hz

Note that because of a slight difference in gain adjustment pattern, response may not be the same if the resonance frequency is set to the same value.

8.5.2 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. 3


Gain adjustment mode

Interpolation mode

Auto tuning mode 1

Auto tuning

Auto tuning invalid

Auto tuning mode 2

Manual mode 1

Manual mode 2


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

8 - 11


MEMO

8 - 12

9. 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 8.

If a mechanical system has a natural resonance point, increasing the servo system response 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.

9.1 Function block diagram

Speed control

00

Parameter

No.61

0

Parameter

No.63

00

Parameter

No.62

Low-pass filter

0

Parameter

No.63

Current command

Servo motor

Machine resonance suppression filter 1 except

Adaptive vibration suppression control 1

00 or 2

Machine resonance suppression filter 2 except 00

1

Encoder

9.2 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

Frequency

Notch depth

Notch frequency

Frequency

9 - 1


You can use the machine resonance suppression filter 1 (parameter No. 61) and machine resonance suppression filter 2 (parameter No. 62) 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. 61) is made invalid.

Machine resonance point


Frequency

Notch depth

Frequency

Parameter No. 61 Parameter No. 62

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. 61)

Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter

No. 61)

When you have made adaptive vibration suppression control selection (parameter No. 63) "valid" or

"held", make the machine resonance suppression filter 1 invalid (parameter No. 61: 0000).

Parameter No. 61

0

Notch frequency

Setting value

04

05

06

07

00

01

02

03

Invalid

4500

2250

1500

1125

900

750

642.9

Frequency

Setting value

Frequency

0C

0D

0E

0F

08

09

0A

0B

562.5

500

450

409.1

375

346.2

321.4

300

Setting value

Frequency

14

15

16

17

10

11

12

13

281.3

264.7

250

236.8

225

214.3

204.5

195.7

Setting value

1C

1D

1E

1F

18

19

1A

1B

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)

9 - 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. 61 62 is used to select a close notch frequency and set a deep notch.

(b) Machine resonance suppression filter 2 (parameter No. 62)

The setting method of machine resonance suppression filter 2 (parameter No. 62) is the same as that of machine resonance suppression filter 1 (parameter No. 61). However, the machine resonance suppression filter 2 can be set independently of whether adaptive vibration suppression control is valid or invalid.

9.3 Adaptive vibration suppression control

(1) Function

Adaptive vibration suppression control is a function in which the servo amplifier detects machine resonance and sets the filter characteristics automatically to suppress mechanical system vibration.

Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system. Also, while adaptive vibration suppression control is valid, the servo amplifier always detects machine resonance, and if the resonance frequency changes, it changes the filter characteristics in response to that frequency.

Machine resonance point Machine resonance point



Frequency Frequency

Notch depth

Notch depth

Notch frequency

Frequency

Notch frequency

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. 63: 2 ) to fix the characteristics of the adaptive vibration suppression control filter.

9 - 3


(2) Parameters

The operation of adaptive vibration suppression control selection (parameter No.63).

Parameter No. 63

Adaptive vibration suppression control selection

Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 (parameter No. 61) 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. 63: 0000).

The filter characteristics generated are saved in the EEP-ROM every 60 minutes since power-on. At next power-on, vibration suppression control is performed with this data saved in the EEP-ROM being used as an initial value.

Setting the adaptive vibration suppression control sensitivity can change the sensitivity of detecting machine resonance. Setting of "large sensitivity" detects smaller machine resonance and generates a filter to suppress machine vibration. However, since a phase delay will also increase, the response of the servo system may not increase.

9 - 4


9.4 Low-pass filter

(1) Function

When a ballscrew or the like is used, resonance of high frequency may occur as the response 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. 63.)

Parameter No. 63

Low-pass filter selection

0: Valid (automatic adjustment) initial value

1: Invalid

9.5 Gain changing function

POINT

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

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.

9.5.1 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).

9 - 5


9.5.2 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. 68) and gain changing condition CDS (parameter

No. 69).

CDP

Parameter No.68

External signal

CDP

Command pulse frequency

Droop pulses

Model speed

Changing

Comparator

CDS

Parameter No.69

GD2

Parameter No.34

GD2

Parameter No.64

PG2

Parameter No.35

PG2 PG2B

100

VG2

Parameter No.37

VG2 VG2B

100

VIC

Parameter No.38

VIC VICB

100

Valid

GD2 value

Valid

PG2 value

Valid

VG2 value

Valid

VIC value

9 - 6


9.5.3 Parameters

When using the gain changing function, always set " 4 " in parameter No.3 (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.

7

Abbreviation

Name Unit

PG1 Position control gain 1 rad/s

Description

Position and speed gains of a model used to set the response

35

68

69

70

PG2 Position control gain 2

CDP Gain changing selection

CDS Gain changing condition

CDT Gain changing time constant

0.1 times rad/s

Control parameters before changing rad/s

0.1 times

%

%

% kpps pulse r/min

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. ms

You can set the filter time constant for a gain change at changing.

9 - 7


(1) Parameters No. 7, 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. 64)

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. 65), speed control gain 2 changing ratio (parameter

No. 66), speed integral compensation changing ratio (parameter No. 67)

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

(4) Gain changing selection (parameter No. 68)

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 signal (CDP) can be assigned to the pins using the MR Configurator (servo configuration software).

Parameter No. 68


Gains are changed in accordance with the settings of

parameters No. 64 to 67 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. 69 setting

3: Droop pulse value is equal to higher than parameter No. 69 setting

4: Servo motor speed is equal to higher than parameter No. 69 setting

(5) Gain changing condition (parameter No. 69)

When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing selection (parameter No.68), set the gain changing level.

The setting unit is as follows.

Gain changing condition Unit

Command frequency

Droop pulses kpps pulse

Servo motor speed r/min

(6) Gain changing time constant (parameter No. 70)

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.

9 - 8


9.5.4 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.

7

36

Abbreviation

PG1

VG1

Name



35

37

PG2

VG2



Setting

100

1000

120

3000

Unit rad/s rad/s rad/s rad/s

70 %

133 %


Gain changing time constant

250 %

0001

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

100 ms

68

70

(b) Changing operation

Gain changing

(CDP)

CDP

CDT

OFF

ON

After-changing gain

OFF

Change of each gain





Speed integral compensation

Before-changing gain

4.0

120

3000

20

CDT 100ms

100

1000

10.0 4.0

84 120

4000 3000

50 20

9 - 9


(2) When you choose changing by droop pulses

(a) Setting

Parameter No.

7

36

Abbreviation

PG1

VG1

Name



35

37

38

PG2

VG2

VIC




Setting

100

1000

120

3000

20

Unit rad/s rad/s rad/s rad/s ms

68

69

70

(b) Changing operation

CDP

CDS

CDT

Command pulse


Gain changing condition

Gain changing time constant

70 %

133 %

250 %

0003

(Changed by droop pulses)

50

100 pulse ms

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

100

1000

10.0 4.0 10.0

84 120 84

4000 3000 4000

50 20 50

9 - 10

10. INSPECTION

10. INSPECTION

WARNING

Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.

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

Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.

POINT

Do not test the servo amplifier with a megger (measure insulation resistance), or it may become faulty.

Do not disassemble and/or repair the equipment on customer side.

(1) Inspection

It is recommended to make the following checks periodically.

(a) Check for loose terminal block screws. Retighten any loose screws.

(b) Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating conditions.

(2) Life

The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. For parts replacement, please contact your sales representative.

Part name Life guideline

Smoothing capacitor

Servo amplifier

Relay

Cooling fan

Absolute position battery

10 years

Number of power-on and number of forced stop times : 100,000 times

10,000 to 30,000hours (2 to 3 years)


(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 forced 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.

10 - 1

10. INSPECTION

MEMO

10 - 2

11. TROUBLESHOOTING

11. TROUBLESHOOTING

11.1 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.

No. Start-up sequence Fault Investigation Possible cause Reference

LED is not lit.

LED flickers.

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. 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.

Improved when connector

CN3 is disconnected.

Power supply of CN3 cabling is shorted.

Refer to section 11.2 and remove cause. Alarm occurs.

2 Switch servo-on Alarm occurs. signal. Servo motor shaft is not servo-locked

(is free).

Refer to section 11.2 and remove cause.

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

1. Servo-on signal is not input.

(Wiring mistake)

2. 24VDC power is not supplied to COM. the servo-on (SON) signal is ON.

Section 11.2

Section 11.2

Section 7.3.2

4 Cyclic operation

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.

Gain adjustment fault

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.

Gain adjustment fault

Pulse counting error, etc. due to noise.

Chapter 7

Chapter 7

11 - 1

11. TROUBLESHOOTING

11.2 When alarm or warning has occurred

POINT

Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (SON) signal at occurrence of an alarm.

11.2.1 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 11.2.2 or 11.2.3 and take the appropriate action.

Set "1 " in parameter No. 59 to output the alarm code in ON/OFF status across the corresponding pin and SG. Warnings (AL.90 to AL.E9) 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,

CN1A-18, CN1A-19) are output.

After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column.

(Note 2) Alarm code

Display CN1B-19 pin

CN1A-18 pin

CN1A-19 pin

Name

AL.10 0 1 0

AL.12 0 0 0

AL.13 0 0 0 error

AL.15 0 0 0

AL.16 1 1 0

2

Encoder

AL.17 0 0 0

AL.19 0 0 0 error

Memory

AL.1A 1 1 0

AL.20 1

AL.24 1

1

0

0

0

2

Main circuit error

AL.25 1 1 0

AL.30 0 0 1

AL.31 1 0 1 error

Overspeed

AL.32 1 0 0

AL.33 0 0 1

AL.35 1 0 1 Command pulse frequency error

AL.37 0 0 0

AL.39 0 0 0 error

Program

AL.45 0 1 1 Main circuit device overheat

AL.46 0 1 1 Servo motor overheat

AL.50 0 1 1

AL.51 0 1 1

AL.52 1 0 1

2

Error

AL.63

AL.64

AL.8A

AL.8E

1

1

0

0

0

0

0

0

1

1

0

0

Home position return incomplete

Home position setting error

Serial communication time-out error

Serial communication error

88888 0 0 0

AL.92 Open battery cable warning

Alarm deactivation

Power

OFF ON

Press

"SET" on current alarm screen.

Alarm reset

(RES) signal

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




(Note 1) (Note 1) (Note 1) regenerative automatically.

AL.E3 Absolute position counter warning

AL.E9 Main circuit off warning

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

2. 0: Pin-SG off (open)

1: Pin-SG on (short)

11 - 2

11. TROUBLESHOOTING

11.2.2 Remedies for alarms

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

CAUTION If an absolute position erase alarm (AL.25) occurred, always make home position setting again. Otherwise, misoperation may occur.

As soon as an alarm occurs, turn off Servo-on (SON) and power off.

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).


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 Cause Action

1. Power supply voltage is low. voltage dropped. 2. There was an instantaneous

MR-J2S- CL: control power failure of 60ms or

160VAC or less longer.

MR-J2S- CL1:

83VAC or less

3. Shortage of power supply capacity caused the power supply voltage to drop at start, etc.

4. Power was restored after the bus voltage had dropped to 200VDC.

(Main circuit power switched on within 5s after it had switched off.)

5. Faulty parts in the servo amplifier

Review the power supply.

Change the servo amplifier.

Checking method

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

AL.12 Memory error 1 RAM, memory fault Faulty parts in the servo amplifier

Checking method

Alarm (any of AL.12 and 13) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.


11 - 3

11. TROUBLESHOOTING

Display Name Definition

AL.15 Memory error 2 EEP-ROM fault

Cause

1. Faulty parts in the servo amplifier

Action


Checking method

Alarm (AL.15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.

2. The number of write times to EEP-

ROM exceeded 100,000. error Communication error occurred

1. Encode connector (CN2) disconnected. between encoder

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

(wire breakage or short)

AL.17 Board error CPU/parts fault Faulty parts in the servo amplifier

Checking method

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

The output terminals U, V, W of

2. The wiring of U, V, W is disconnected or not connected. the servo amplifier and the input terminals U, V, W of 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.

Connect correctly.

Change the servo motor.

Repair or change the 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 Motor combination error

Wrong combination of servo amplifier and servo motor.

Wrong combination of servo amplifier and servo motor connected.

AL.20 Encoder error 2 Communication error occurred

1. Encoder connector (CN2) disconnected. between encoder 2. Encoder fault and servo amplifier. 3. Encoder cable faulty

(wire breakage or shorted)

Use correct combination.

Connect correctly.



Encoder detected acceleration error.

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

1. Decrease the speed control gain 2.

2. Decrease the auto tuning response level.

11 - 4

11. TROUBLESHOOTING

Display Name error

Definition

Cause

Action

Ground fault occurred at the servo

1. Power input wires and servo motor output wires are in contact at main

Connect correctly. motor outputs (U,V circuit terminal block (TE1). and W phases) of the 2. Sheathes of servo motor power servo amplifier. cables deteriorated, resulting in ground fault.

Change the cable.

3. Main circuit of servo amplifier failed.


AL.25 Absolute position erase

AL.30 Regenerative error

Checking method

AL.24 occurs if the servo is switched on after disconnecting the U, V, W power cables from the servo amplifier.

Absolute position data in error

1. Reduced voltage of super capacitor in encoder

2. Battery voltage low

3. Battery cable or battery is faulty.

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

Always make home position setting again.

Change battery.


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

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

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


Permissible regenerative power of the built-in regenerative resistor

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

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

Connect correctly or regenerative 3. High-duty operation or continuous 1. Reduce the frequency of positioning. option is exceeded. regenerative operation caused the 2. Use the regenerative option of larger permissible regenerative power of the regenerative option to be exceeded. capacity.

3. Reduce the load.

Checking method

Call the status display and check the regenerative load ratio.

4. Power supply voltage is abnormal.

MR-J2S- CL:260VAC or more

MR-J2S- CL1:135VAC or more

5. Built-in regenerative resistor or regenerative option faulty.

Regenerative 6. Regenerative transistor faulty. transistor fault

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.

Review power supply

Change servo amplifier or regenerative option.


11 - 5

11. TROUBLESHOOTING

Display Name

AL.31 Overspeed

Definition

Speed has exceeded the instantaneous permissible speed.

Cause

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.

AL.32 Overcurrent

4. Electronic gear ratio is large

(parameters No. 4, 5)

5. Encoder faulty.

Current that flew is higher than the permissible current of the servo amplifier. (If the alarm (AL.32) occurs again when turning

ON the servo after

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.

resetting the alarm by turning OFF/ON the power when the alarm (AL.32) first

3. Ground fault occurred in servo amplifier output phases U, V and

W. occurred, the transistor (IPM,

IGBT) of the servo amplifier may be at

4. External noise caused the overcurrent detection circuit to misoperate. fault. In the case, do not repeat to turn

OFF/ON the power.

Check the transistor with the checking method of “Cause

2”.)

Action

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.


Correct the wiring.


Correct the wiring.

Take noise suppression measures.

11 - 6

11. TROUBLESHOOTING

Display Name Definition voltage exceeded

400VDC.

Cause Action

1. Regenerative option is not used.

3. Lead of built-in regenerative resistor or regenerative option is open or disconnected.

Use the regenerative option.

2. Though the regenerative option is used, the parameter No. 0 setting is

Make correct setting.

" 0 (not used)".

1. Change lead.

2. Connect correctly. frequency error

Input pulse frequency of the command pulse is too high.

AL.37 Parameter error

4. Regenerative transistor faulty.

5. Wire breakage of built-in regenerative resistor or regenerative option

6. Capacity of built-in regenerative resistor or regenerative option is insufficient.

7. Power supply voltage high.

8. The jumper across BUE-SD of the

FR-BU2 brake unit is removed.

1. Pulse frequency of the manual pulse generator is too high.

2. Noise entered the pulses of the manual pulse generator.

3. Manual pulse generator failure

Parameter setting is 1. Servo amplifier fault caused the wrong. parameter setting to be rewritten.

2. Regenerative option not used with servo amplifier was selected in parameter No.0.

3. Value outside setting range has been set in some parameter.

4. Value outside setting range has been set in electronic gear.

5. Opposite sign has been set in software limit increasing side

(parameters No. 46, 47). Similarly, opposite sign has been set in software limit decreasing side

(parameters No. 48, 49).

6. Opposite sign has been set in position range output address increasing side (parameters No. 50,

51). Similarly, opposite sign has been set in position range output address decreasing side

(parameters No. 52, 53).


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

Change servo amplifier

1. For wire breakage of built-in regenerative resistor, change servo amplifier.

2. For wire breakage of regenerative option, change regenerative option.

Add regenerative option or increase capacity.

Review the power supply.

Fit the jumper across BUE-SD.

Change the pulse frequency to a proper value.

Take action against noise.

Change the manual pulse generator.


Set parameter No.0 correctly.

Set the parameter correctly.

Set parameters No. 4, 5 correctly.

Set parameters No. 46 to 49 correctly.

Set parameters No. 50 to 53 correctly.


11 - 7

11. TROUBLESHOOTING

Display Name Definition abnormal

Cause

1. Servo amplifier fault caused the program data to be rewritten.

2. Command argument is out of the setting range.


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

Action


Programming correctly.

Change the servo amplifier. device overheat

Main circuit device overheat overheat

AL.50 Overload 1

Servo motor temperature rise actuated the thermal sensor.

Load exceeded overload protection characteristic of servo amplifier.

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.

1. Ambient temperature of servo motor is over 40 (104 ).

2. Servo motor is overloaded.


The drive method is reviewed.

1. Exchange the cooling fan or the servo amplifier.

2. Reduce ambient temperature.

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.

3. Thermal sensor in encoder is faulty. Change servo motor.

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 auto tuning response setting.

3. Set auto tuning to OFF and make gain adjustment manually.

3. Machine struck something. 1. Review operation pattern.

2. Install limit switches.

Connect correctly. 4. Wrong connection of servo motor.

Servo amplifier's output terminals

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

5. Encoder faulty. Change the servo motor.

Checking method

When the servo motor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway.

11 - 8

11. TROUBLESHOOTING


Machine collision or the like caused max.

1. Machine struck something.

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

13.1.

2. Wrong connection of servo motor.





Connect correctly.

3. Servo system is instable and hunting.

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.

1. Repeat acceleration/deceleration to execute auto tuning.

2. Change auto tuning response setting.

3. Set auto tuning to OFF and make gain adjustment manually.

Change the servo motor. between the model position and the actual servo motor position exceeds 2.5 rotations. (Refer to the function block diagram in section

1.1.1)

1. Acceleration/deceleration time constant is too small.

2. Internal torque limit 1 (parameter

No.28) is too small.

Increase the acceleration/deceleration time constant.

Increase the torque limit value.

3. Motor cannot be started due to torque shortage caused by power supply voltage drop.

4. Position control gain 1 (parameter

No.7) value is small.

1. Review the power supply capacity.

2. Use servo motor which provides larger output.

Increase set value and adjust to ensure proper operation.

5. Servo motor shaft was rotated by external force.

6. Machine struck something.

7. Encoder faulty

8. Wrong connection of servo motor.



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

2. Reduce load.





Connect correctly.

11 - 9

11. TROUBLESHOOTING

Display Name

AL.63 Home return incomplete

Definition Cause system.

1. Positioning

1. Positioning operation was performed without home position return. operation was performed without

2. Home position return speed could not be decreased to creep speed. home position return.

2. Home position return ended abnormally.

3. Limit switch was actuated during home position return starting at other than position beyond dog.

Action

1. Perform home position return.

2. Review home position return speed/creep speed/moving distance after proximity dog. setting error

In absolute position detection system.

1. Positioning operation was

1. Positioning operation was performed without home position setting.

2. Home position setting speed could performed without home position not be decreased to creep speed.

3. Limit switch was actuated during setting.

2. Home position home position setting starting at other than position beyond dog. setting ended abnormally. setting could not be made.

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

1. Perform home position setting.

2. Review home position setting speed/creep speed/moving distance after proximity dog.

Remove the cause of droop pulse occurrence

2. Command pulse entered after clearing of droop pulses.

Do not enter command pulse after clearing of droop pulses.

AL.8A Serial RS-232C or RS-422 communication communication time-out error stopped for longer than the time set in parameter No.23.

2. Communication cycle longer than parameter No. 23 setting.

3. Wrong protocol.

AL.8E Serial Serial communication communication error

1. Communication cable fault

(Open cable or short circuit) error occurred between servo amplifier and

2. Communication device (e.g. personal computer) faulty communication device (e.g. personal computer).

88888 Watchdog

3. Creep speed high.

1. Communication cable breakage.

CPU, parts faulty Fault of parts in servo amplifier

Reduce creep speed.

Repair or change communication cable

Set correct value in parameter.

Correct protocol.


Change the communication device (e.g. personal computer).

Change servo amplifier.

Checking method

Alarm (88888) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.

11 - 10

11. TROUBLESHOOTING

11.2.3 Remedies for warnings

CAUTION

If an absolute position counter warning (AL.E3) occurred, always make home position setting again. Otherwise, misoperation may occur.

POINT

When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. 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 AL.E6 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 cable warning

Absolute position detection system battery voltage is low.

AL.97 Program operation disable

Program was started in a program operation disable status. warning

Software limit set in parameter is reached.

1. Battery cable is open.

After a program change, the program was started without the servo amplifier being powered off/on.

1. Software limit was set within actual operation range.

2. Program of position data in excess of software limit was executed.

Repair cable or changed.

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

Change battery.

3.2V or less.

(Detected with the encoder)

Power off/on the servo amplifier.

Set parameter No. 48 to 51 correctly.

Set program correctly.

3. Software limit was reached during JOG Perform operation within operation or manual pulse generator operation. software limit range.

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

Battery voltage fell to 3.2V or less.

(Detected with the servo amplifier)

AL.E0 Excessive regenerative warning

AL.E1 Overload warning

There is a possibility that Regenerative power increased to 85% or regenerative power may exceed permissible more of permissible regenerative power of built-in regenerative resistor or regenerative option. 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.

There is a possibility that Load increased to 85% or more of overload Refer to AL.50, AL.51. overload alarm 1 or 2 may occur. alarm 1 or 2 occurrence level.

Cause, checking method

Refer to AL.50,51.

11 - 11

11. TROUBLESHOOTING

Display Name Definition

AL.E3 Absolute position Absolute position encoder 1. Noise entered the encoder. counter warning 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.

AL.E6 Servo forced stop EMG-SG are open. warning

Cause

External forced stop was made valid.

(EMG-SG opened.)

AL.E9 Main circuit off warning

Servo was switched on with main circuit power off.

11.3 MR-DP60 external digital display error

Action

Take noise suppression measures.

Change servo motor.

Make home position setting again.

Ensure safety and deactivate forced stop.

Switch on main circuit power.

When MR-DP60 external digital display detects an error, the following alarms are displayed. The alarms are displayed only on the MR-DP60, but not on the servo amplifier display.


AL. CPU CPU error

AL. C0 Communication error

CPU error Faulty parts in the MR-D60. Exchange the MR-D60.

Communication error occurred between MR-DP60 and MR-J2S-CL.

1. CN3 connector disconnected. Connect correctly.

2. Wire breakage of the cable. Repair or exchange the cable.

11 - 12



12.1 Servo amplifiers

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


Approx.70 (2.76)

6 ( 0.24) mounting hole B

A

MITSUBISHI

OPEN

C

N

1

A

E

N

C

C

N

2

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 Mass

MR-J2S-10CL (1)

MR-J2S-20CL (1)

MR-J2S-40CL (1)

MR-J2S-60CL

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 V

L

2

W

Terminal screw: M4

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

Terminal screw: M4


PE terminals

Mounting Screw

Screw Size:M5

Tightening torque:

3.24[N m]

(28.676 [lb in])

TE2

Front

D C P L

21

L

11

Terminal screw: M4


12 - 1



6 ( 0.24) mounting hole

70(2.76)

22

(0.87)

MITSUBISHI

Approx.70(2.76)

OPEN

C

N

1

A

C

N

2

E

N

C

L1 L2 L3

C

N

3

C

N

1

B

U V W

22

(0.87)

6(0.24)

42

(1.65)

PE terminal

6(0.24)

190(7.48)

Rating plate

TE2 TE1

Servo amplifier

MR-J2S-70CL

MR-J2S-100CL

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

1

B

C

N

3

Terminal screw: M4


12 - 2



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-200CL

MR-J2S-350CL

Mass

[kg] ([lb])

2.0 (4.41)


TE1

L

1

L

2

L

3

U V W

Terminal screw: M4


TE2

L

11

L

21

D P C N

Terminal screw: M4


PE terminals

Terminal screw: M4


Mounting Screw

Screw Size:M5

Tightening torque:

3.24[N m]

(28.676 [lb in])

12 - 3


(4) MR-J2S-500CL

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

N.P.

6(0.24)

[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.

Cooling fan Cooling fan


Servo amplifier

Mass

[kg] ([lb])

TE1

L

1

C

P

L

2

L

3

V

W

N

U


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])

12 - 4


(5) MR-J2S-700CL

2- 6( 0.24) mounting hole

(0.39)

10

180(7.09)

160(6.23)

Approx.70

10 (2.76)

(0.39)

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)


Servo amplifier

Mass

[kg] ([lb])

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])

12 - 5


12.2 Connectors

(1) Servo amplifier side

<3M >

(a) Soldered type

Model

Connector : 10120-3000PE

Shell kit : 10320-52F0-008

[Unit: mm]

([Unit: in])

12.0(0.47)

22.0 (0.87)

14.0

(0.55)

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)

33.3

(1.31)

12.7

(0.50)

(c) Insulation displacement type

Model

Connector : 10120-6000EL

Shell kit : 10320-3210-000

6.7

( 0.26)

[Unit: mm]

([Unit: in])

20.9 (0.82)

2- 0.5 (0.02)

Logo, etc. are indicated here.

29.7 (1.17)

12 - 6


(2) Communication cable connector

<JAE>

[Unit: mm]

([Unit: in])

B

A

Fitting fixing screw G

Type

DE-C1-J6-S6

E (max. diameter of cable used)

F

C

D

A

1

34.5 (1.36)

B

1

C

0.25

D

1

19 (0.75) 24.99 (0.98) 33 (1.30)

E

6 (0.24)

F reference

18 (0.71)

G

#4-40

12 - 7


MEMO

12 - 8

13. CHARACTERISTICS

13. CHARACTERISTICS

13.1 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 13.1. 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

(Note) Load ratio [%]

250

10000 a. MR-J2S-10CL to MR-J2S-100CL

300

0.1

0 50 100 150 200


250 b. MR-J2S-200CL to MR-J2S-350CL

300

1000

During rotation

100

During servo lock

10

1

0 50 100 150 200


250 300 c. MR-J2S-500CL MR-J2S-700CL

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 13.1 Electronic thermal relay protection characteristics

13 - 1

13. CHARACTERISTICS

13.2 Power supply equipment capacity and generated loss

(1) Amount of heat generated by the servo amplifier

Table 12.1 indicates servo amplifier's power supply capacities and losses generated under rated load.

For thermal design of an enclosure, use the values in Table 13.1 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 13.1 Power supply capacity and generated heat per servo amplifier at rated output

Servo amplifier

MR-J2S-10CL(1)

MR-J2S-20CL(1)

MR-J2S-40CL(1)

MR-J2S-60CL

MR-J2S-70CL

MR-J2S-100CL

MR-J2S-200CL

MR-J2S-350CL

MR-J2S-500CL

MR-J2S-700CL

Servo motor

(Note 1)

Power supply

(Note 2)

Servo amplifier-generated heat[W] capacity[kVA] At rated torque With servo off

Area required for heat dissipation

[m 2 ] [ft 2 ]

HC-KFS053 13 0.3

HC-MFS053 13 0.3

25

25

15

15

0.5

0.5

5.4

5.4

HC-UFS13 0.3 25 15 0.5 5.4

HC-KFS23 0.5 25 15 0.5 5.4

HC-MFS23 0.5 25 15 0.5 5.4

HC-UFS23 0.5 25 15 0.5 5.4

HC-KFS43 0.9 35 15 0.7 7.5

HC-MFS43 0.9 35 15 0.7 7.5

HC-UFS43 0.9 35 15 0.7 7.5

HC-SFS52 1.0 40 15 0.8 8.6

HC-SFS53 1.0 40 15 0.8 8.6

HC-LFS52 1.0 40 15 0.8 8.6

HC-KFS73 1.3 50 15 1.0 10.8

HC-MFS73 1.3 50 15 1.0 10.8

HC-UFS72 73 1.3 50 15 1.0 10.8

HC-SFS81 1.5 50 15 1.0 10.8

HC-SFS102 103 1.7 50 15 1.0 10.8

HC-LFS102 1.7 50 15 1.0 10.8

HC-SFS121 2.1 90 20 1.8 19.4

HC-SFS201 3.5 90 20 1.8 19.4

HC-SFS152 153 2.5 90 20 1.8 19.4

HC-SFS202 203 3.5 90 20 1.8 19.4

HC-RFS103 1.8 50 15 1.0 10.8

HC-RFS153 2.5 90 20 1.8 19.4

HC-UFS152 2.5 90 20 1.8 19.4

HC-LFS152 2.5 90 20 1.8 19.4

HC-SFS301 4.8 120 20 2.7 29.1

HC-SFS352 353 5.5 130 20 2.7 29.1

HC-RFS203 3.5 90 20 1.8 19.4

HC-UFS202 3.5 90 20 1.8 19.4

HC-LFS202 3.5 90 20 1.8 19.4

HC-SFS502 7.5 195 25 3.9 42.0

HC-RFS353 5.5 135 25 2.7 29.1

HC-RFS503 7.5 195 25 3.9 42.0

HC-UFS352 5.5 195 25 3.9 42.0

HC-UFS502 7.5 195 25 3.9 42.0

HC-LFS302 4.5 120 25 2.4 25.8

HA-LFS502 7.5 195 25 3.9 42.0

HC-SFS702 10.0 300 25 6.0 64.6

HA-LFS702 10.6 300 25 6.0 64.6

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 14.1.1.

13 - 2

13. 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 ( 50 ) at the ambient temperature of 40 (104 ). (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 13.1.

P

A K T

............................................................................................................................................. (13.1) 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 13.1, assume that P is the sum of all losses generated in the enclosure. Refer to Table 13.1 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 13.1 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. 13.2 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.

13 - 3

13. CHARACTERISTICS

13.3 Dynamic brake characteristics

13.3.1 Dynamic brake operation

(1) Calculation of coasting distance

Fig. 13.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 13.2 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.)

Forced stop (EMG)

ON

OFF

Time constant

Machine speed

V

0 t e

Time t e

L max

V

0

60 t e 1

J

L

J

M

Fig. 13.3 Dynamic brake operation diagram

....................................................................................................................... (13.2)

L max

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

V

0

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

J

M

J

L

: Servo motor inertial moment................................................................................. [kg cm

: Load inertia moment converted into equivalent value on servo motor shaft

2 ][oz in 2 ]

................................................................................................................................. [kg cm 2 ][oz in 2 ]

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

: Delay time of control section........................................................................................................... [s]

(There is internal relay delay time of about 30ms.)

(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant for the equations (13.2).

16

14

12

10

8

6

4

2

0

0

053

73

23

43 13

500 1000 1500 2000 2500 3000

Speed [r/min]

0.02

0.018

0.016

0.014

0.012

0.01

0.008

0.006

0.004

0.002

0

0

23

053

73

43

13

500 1000 1500 2000 2500 3000

Speed [r/min] a. HC-KFS series b. HC-MFS series

13 - 4

13. CHARACTERISTICS

0.04

0.035

0.03

0.025

0.02

0.015

0.01

0.005

0

0

121

201

301

81

50 500

Speed [r/min]

0.12

c. HC-SFS1000r/min series

1000

0.1

0.08

203

53

0.06

0.04

353

0.02

103

0

0

153

50 500 1000 1500 2000 2500 3000

Speed [r/min] e. HC-SFS3000r/min series

0.1

0.09

0.08

0.07

0.06

0.05

0.04

0.03

0.02

0.01

0

0

72

152

352

502

202

500 1000 1500 2000

Speed [r/min] g. HC-UFS 2000r/min series

40.0

35.0

30.0

25.0

20.0

15.0

10.0

5.0

0

0

302

500 1000 1500 2000

Speed [r/min] i. HC-LFS series

13 - 5

0.045

0.04

0.035

0.03

0.025

0.02

0.015

0.01

0.005

0

0

352202

702

502

52

102

152

500 1000 1500 2000

Speed [r/min]

0.018

0.016

0.014

0.012

0.01

0.008

0.006

0.004

0.002

0

0 d. HC-SFS2000r/min series

353

103

153

503

203

500 1000 1500 2000 2500 3000

Speed [r/min] f. HC-RFS series

0.07

0.06

0.05

0.04

0.03

0.02

0.01

73

13

23

43

0

0 50 500 10001500200025003000

Speed [r/min] h. HC-UFS3000r/min series

13. CHARACTERISTICS

13.3.2 The dynamic brake at the load inertia moment

Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi.

Servo amplifier Load inertia moment ratio [times]

MR-J2S-10CL to MR-J2S-200CL


30

MR-J2S-350CL 16

MR-J2S-500CL MR-J2S-700CL 15

13.4 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

13 - 6

13. CHARACTERISTICS

13.5 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-10CL 20CL

MR-J2S-40CL 60CL

MR-J2S-70CL 100CL

MR-J2S-200CL 350CL

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)

30A


54A


120A


70 to 100A

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

100 to 130A

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

MR-J2S-500CL

44A


MR-J2S-700CL

88A


MR-J2S-10CL1 20CL1 59A (Attenuated to approx. 5A in 4ms)

30A

(Attenuated to approx. 0A in several ms)

100 to 130A

MR-J2S-40CL1 72A (Attenuated to approx. 5A in 4ms) (Attenuated to approx. 0A in 0.5 to 1ms)

Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic contactors. (Refer to section 14.2.2.)

When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped by an inrush current.

13 - 7

13. CHARACTERISTICS

MEMO

13 - 8

14. 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

14.1 Options

Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire.

14.1.1 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 ]

(1) 30

MR-RB31

[6.7 ]

(Note)

MR-RB51

[6.7 ]

Note. Always install a cooling fan.

14 - 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)

N0

Up

M

Firiction 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)

( )

Formulas for calculating torque and energy in operation

Regenerative power Torque applied to servo motor [N m] Energy

1)

2)

3)

4), 8)

5)

6)

T

1

T

2

T 3

T

4

T

5

T

6

(J

L

J

M

) N 0

9.55 10

4

T

U

T

F

(J

L

J

M

) N

0

9.55 10

4

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

0.1047

2

N

0

T

3

T psd1

0 (N0 regeneration)

E

5

E

6

0.1047

2

N

0

T

1

T psa1

0.1047 N

0

T

2 t

1

0.1047

2

0.1047 N

0

N

0

T

5

T psa2

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.

14 - 2

14. 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 Inverse efficiency[%]

MR-J2S-10CL 55

MR-J2S-10A1 55

MR-J2S-20CL 70

MR-J2S-20A1 70

MR-J2S-40CL 85

MR-J2S-40A1 85

Capacitor charging[J]

9

4

9

4

11

12

MR-J2S-60CL 85

MR-J2S-70CL 80

MR-J2S-100CL 80

MR-J2S-200CL 85

MR-J2S-350CL 85

MR-J2S-500CL 90

11

18

18

40

40

45

MR-J2S-700CL 90 70

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.0 according to the option to be used.

Parameter No.0

Selection of regenerative

0: Not used.

(However, this is irrelevant to the MR-J2S-10CL, as it does

not include the built-in regenerative resistor.)

1: FR-RC, FR-BU2

2: MR-RB032

3: MR-RB12

4: MR-RB32

5: MR-RB30

6: MR-RB50(Cooling fan is required)

8: MR-RB31

9: MR-RB51(Cooling fan is required)

14 - 3


(4) Connection of the regenerative option

POINT

When using the MR-RB50 and MR-RB51, cooling by a cooling fan is required. Please obtain a cooling fan at your discretion.

The regenerative option will cause a temperature rise of 100 degrees relative to the ambient temperature. Fully examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use flame-resistant cables and keep them 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-350CL 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 are disconnected 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) max.

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

14 - 4


(b) MR-J2S-500CL MR-J2S-700CL

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 is opened when the regenerative option overheats abnormally.

Servo amplifier

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

Regenerative option

P

P

C

C

G3

(Note 2)

G4

5m(16.4ft) or less

Cooling fan(Note 1)

Note 1. When using the MR-RB50 MR-RB51, forcibly cool it with a cooling fan (92 92, minimum air flow: 1.0m

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

14 - 5


For MR-J2S-500CL For MR-J2S-700CL

Accessory screw

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

14 - 6


(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)

5 (0.20)

Approx.

20

(0.79)

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:

3.2 [N m](28.32 [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

(6.69)

99

(3.9)

149

(5.87)

0.5 1.1

1.1 2.4

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

[Unit: mm (in)]

Terminal block

P

C

G3

G4

Terminal screw: M4

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

10

(0.39)

7 (0.28)

90 (3.54)

100 (3.94)

17

(0.67)

318 (12.52)

335 (13.19)

Mounting screw

Screw: M6

Tightening torque: 5.4 [N m] (47.79 [Ibi n])

Regenerative

Mass [kg] (Ib) option

MR-RB30

(6.4)

MR-RB32

14 - 7


(c) MR-RB50 MR-RB51

Cooling fan mounting screw (2-M3 screw)

On opposite side

49

(1.93)

82.5

(3.25)

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)

14.1.2 FR-BU2 brake unit

POINT

Use a 200V class brake unit and a resistor unit with a 200V class 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 this section (1).

For executing a continuous regenerative operation, use FR-RC power regeneration 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.

14 - 8


(1) Selection

Use a combination of servo amplifier, brake unit and resistor unit listed below.

Number of Permissible Total

Brake unit Resistor unit connected units continuous power [kW] resistance

[ ]

Applicable servo amplifier

(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.

Parameter Change possible/

No. Name impossible

Remarks

0 Brake mode switchover

1 Monitor display data selection

Impossible Do not change the parameter.

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

Instruction Manual.

Impossible Do not change the parameter. 2 Input terminal function selection 1

3 Input terminal function selection 2

77 Parameter write selection carrying-over times

14 - 9


(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.

ALM

RA1

EMG OFF ON

MC

MC

SK

(Note 1)

Power supply

NFB MC

L

1

L

2

L

3

L

11

L

21

Servo amplifier

CN1B

(Note 9) EMG

10

3

13

18

SG

VDD

COM

ALM

D

P

(Note 7)

N

C

(Note 6)

P

PR

FR-BR

(Note 4) TH1

TH2

FR-BU2

PR

P/

N/

(Note 3)

MSG

SD

A

B

BUE

SD

(Note 8)

C

(Note 5)

(Note 2)

Note 1. For power supply specifications, refer to section 1.2.

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.

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: 1b contact, 110VAC_5A/220VAC_3A

Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not 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. For the servo amplifier of 3.5kW, always disconnect the wiring between P and D terminals.

7. Do not connect more than one cable to each P to N terminals of the servo amplifier.

8. Always connect between BUE and SD terminals (Factory-wired).

9. In the device setting, assign the forced stop (EMG) to any pin (Refer to section 6.6).

14 - 10


(a) 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.


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

(b) Cables

1) Cables for the brake unit

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

Main circuit terminal screw size

Crimping terminal

N/ , P/ ,

PR,

Tightening torque

[N m]

([Ib in])

FR-BU2-15K M4 5.5-4 1.5(13.3)

FR-BU2-30K M5 5.5-5 2.5(22.1)

Cable size

N/ , P/ , PR,

HIV cables, etc. [mm 2 ]

AWG

3.5 12

5.5 10

14 - 11

14. OPTIONS AND AUXILIARY EQUIPMENT 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)

(c) Crimping terminals for P and N terminals of servo amplifier

POINT

Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size.

Servo amplifier Brake unit

Number of connected units

Crimping terminal Applicable tool

MR-J2S-350CL FR-BU2-15K 1

MR-J2S-500CL

FR-BU2-15K 1

FR-BU2-30K 1

MR-J2S-700CL FR-BU2-30K 1

Manufacturer

Terminal

14 - 12


(4) Outline dimension drawings

(a) FR-BU2 brake unit

FR-BU2-15K

5 hole

(Screw size: M4)

[Unit: mm]

Rating plate

6 56

68

5

6

FR-BU2-30K

2- 5 hole

(Screw size: M4)

18.5

52

132.5

62

4

6 96

108

5

6

Rating plate

18.5

52

129.5

59

5

14 - 13


(b) FR-BR resistor unit

2 C

(Note)

Control circuit terminal

Main circuit terminal

Approx. 35

C

W1 1

C

Approx. 35

(Note)

[Unit: mm]

W 5

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

Resistor W W1 H H1 H2 H3 D D1 C

Approximate mass

[kg]([Ib])

FR-BR-15K 170 100 450 410 20 432 220 3.2 6 15(33.1)

FR-BR-30K 340 270 600 560 20 582 220 4 10 30(66.1)

14.1.3 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-500CL and MR-J2S-700CL.

Power regeneration converter

Nominal regenerative power (kW)

Servo amplifier

500

300

200

100

50

30

20

0 50 75 100

Nominal regenerative power (%)

150

14 - 14



Servo amplifier

L

11

L

21

NFB


MC FR-BAL

(Note 3)

Power supply

L

1

L

2

L

3

SG

EMG

SON

VDD

COM

ALM

RA2

FR-RC

B C

RA2

(Note 2)

N/

N P C

P/

5m(16.4ft) or less

Ready

RDY

SE

EMG

RDY output

A

B

C

R/L

1

S/L

2

T/L

3

Alarm output

RX

R

SX

S

(Note)

Phase detection terminals

TX

T


FR-RC

Operation ready

OFF

ON

MC MC

SK

B

C

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. When using servo amplifiers of 5kW and 7kW, always remove the lead of built-in regenerative resistor connected to P terminal and C terminal.


14 - 15


(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


Approx.

A AA B BA C D E EE K F mass [kg(Ib)]

FR-RC-15K

270

(10.630)

200

(7.874)

Approx.AA

450

(17.717)

432

(17.008)

(2- D hole)

195

(7.677)

10

(0.394)

10

(0.394)

8

(0.315)

3.2

(0.126)

87

(3.425)

19

(41.888)

FR-RC-30K

340

(13.386)

270

(10.630)

600

(23.622)

582

(22.913)

195

(7.677)

10

(0.394)

10

(0.394)

8

(0.315)

3.2

(0.126)

90

(3.543)

31

(68.343)

(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)]

(Mounting hole)

FR-RC-15K

FR-RC-30K

260 412

(10.236) (16.220)

10

(0.394)

330 562

(12.992) (22.126)

200

(7.874)

432

(17.009)

10

(0.394)

270 582

(10.630) (22.913) a

14 - 16


14.1.4 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.

Servo amplifier

9)

Operation panel

CN1A CN1B

Personal computer

CN2 CN3

14)

Controller

13)

10) 12)

11)

10)

11) To U, V, W,

19) 20)

1) 2)

HC-KFS

HC-MFS

HC-UFS 3000 r/min

15) 16) 17) 18)

3) 4) 5)

6)

7) 8)

HC-SFS

HC-RFS

HC-UFS 2000r/min

14 - 17


No. Product cable

6) Encoder connector set

Model


Connector: 10120-3000PE

Shell kit: 10320-52F0-008

(3M or equivalent) encoder cable cable encoder cable

5) IP65-compliant encoder cable

MR-JCCBL M-H



MR-JHSCBL M-H



Shell kit: 10320-52F0-008

(3M or equivalent)

MR-ENCBL M-H



Shell kit: 10320-52F0-008

(3M or equivalent)

MR-J2CNM Connector: 10120-3000PE

Shell kit: 10320-52F0-008

(3M or equivalent)

Description Application

1-172161-9 Standard

Connector pin : 170359-1

(Tyco Electronics or equivalent) flexing life

IP20

Cable clamp : MTI-0002

(Toa Electric Industry)

Connector: D/MS3106B20-29S

Cable clamp: D/MS3057-12A

(DDK)

Long flexing life

IP20

Standard flexing life

IP20

Long flexing life

Connector

: D/MS3106A20-29S (D190) life

Cable clamp: CE3057-12A-3-D

Back shell: CE02-20BS-S-D

(DDK)

Housing : 1-172161-9

(Tyco Electronics or equivalent)

Cable clamp: MTI-0002

(Toa Electric Industry)

Long flexing

IP65

IP67

Not oilresistant.

IP20



MR-J2CNS

MR-ENCNS


Shell kit: 10320-52F0-008

(3M or equivalent)


Shell kit: 10320-52F0-008

(3M or equivalent)

Connector: D/MS3106B20-29S

Cable clamp: D/MS3057-12A

(DDK)

IP20

Connector: D/MS3106A20-29S

(D190)


Back shell: CE02-20BS-S-D

(DDK)

IP65

IP67

14 - 18


No. Product connector set

10) Junction terminal block cable

Model

MR-J2TBL M

Refer to section14.1.5.

Shell kit: 10320-52F0-008

(3M or equivalent)

Connector: HIF3BA-20D-2.54R

(Hirose Electric)

Description Application

Qty: 2 each

Connector: 10120-6000EL For junction

Shell kit: 10320-3210-000

(3M or equivalent) terminal block connection

11) Junction terminal block

MR-TB20 Refer to section 14.1.5.

MR-J2HBUS M

Refer to section14.1.6.

Connector: 10120-6000EL

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

14) Communication cable

MR-J2CN3TM Refer to section 14.1.6.

MR-CPCATCBL3M Connector: 10120-6000EL


Shell kit: 10320-3210-000

(3M or equivalent)

Connector: DE-9SF-N

Case: DE-C1-J6-S6

(JAE)

For connection with PC-ATcompatible personal computer

15) Power supply connector set


17) Power supply connector set set



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

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)

Plug: 5559-04P-210

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

(molex)

Plug: 5559-06P-210

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

(molex)

Must be used to comply with the EN

Standard.

IP65 IP67

EN

Standardcompliant

IP65 IP67

IP20

For motor with brake

IP20

14 - 19


(2) Encoder cable

CAUTION

If you have fabricated the encoder cable, connect it correctly.

Otherwise, misoperation or explosion may occur.

POINT

The encoder cable is not oil resistant.

Refer to section 14.4 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

14 - 20


P5

LG

P5

LG

P5

LG

MR-JCCBL2M-L

MR-JCCBL5M-L

MR-JCCBL2M-H

MR-JCCBL5M-H

Servo amplifier side Encoder side

19

11

20

12

18

2

7

Servo amplifier side

P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

MR-JCCBL10M-L to

MR-JCCBL30M-L

Encoder side

7


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

9

1

7

17

6

8

1

2

4

5

3

MR

MRR

MD

MDR 16

BAT

LG

9

1

7

17

6

8

1

2

4

5

3

MR

MRR

MD

MDR 16

BAT

LG

9

1

7

17

6

8

1

2

4

5

3

(Note) (Note) (Note)

SD Plate 9 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.

When fabricating an encoder cable, use the recommended wires given in section 14.2.1 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 guide and choose the encode side connector according to the servo motor installation environment.

For use of AWG22


(3M)

Encoder side

7 P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

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.

14 - 21


(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

30

40

50

2

5

10

20

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)

Note: MR-JHSCBL M-L has

no 40(131.2) and 50m(164.0ft) sizes.

Model: MR-ENCBL M-H

Symbol

2

5

10

20

30

40

50

Long flexing life


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

50m(164.0ft) max.

Encoder

L

K

J

H

M

T

S

N

A B

P

G

R

C

D

E

F

Pin Signal

A

B

C

MD

MDR

MR

D MRR

E

F BAT

G LG

H

J

Pin Signal

R

S

T

K

L

M

N SHD

P

LG

P5

14 - 22



P5

LG

P5

LG

MR

MRR

P5

LG

BAT

LG

SD

7

17

18

2

19

11

20

12

9

1

MR-JHSCBL2M-L

MR-JHSCBL5M-L

MR-JHSCBL2M-H

MR-JHSCBL5M-H

MR-ENCBL2M-H

MR-ENCBL5M-H

Encoder side

S

F

G

Plate

(Note1)

N

(Note2) Use of AWG24

(Less than 10m(32.8ft))

R

C

D

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

P5

LG

P5

LG

P5

LG

MR

MRR

Note1: 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.

SD

19

11

20

12

18

2

7

17

S

R

C

D

BAT

LG

9

1

F

G

Plate

(Note1)

N

Use of AWG22

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

P5

LG

P5

LG

P5

LG

MR

MRR

BAT

LG

SD

19

11

20

12

18

2

7

17

9

1

S

R

C

D

F

G

(Note1)

Plate N

Use of AWG24

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

When fabricating an encoder cable, use the recommended wires given in section 14.2.1 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 in this section. You can fabricate an encoder cable of up to 50m(164.0ft) length.

Refer to chapter 3 of the servo motor instruction guide and choose the encode side connector according to the servo motor installation environment.

14 - 23


(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


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.

14 - 24


14.1.5 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-4 and CN1B-4.

(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-J2TBL M)

Ground the junction terminal block cable on the junction terminal block side with the standard accessory cable clamp fitting (AERSBAN- ESET). For the use of the cable clamp fitting, refer to section 13.2.6, (2)(c).

(2) Terminal labels

The junction terminal block does not include the terminal block labels which indicate the signal layouts for MR-J2S-CL. Cut off the terminal block label in Appendix 2 at the dotted line and fold it up at the centerline for use.

1) For CN1A

LG PP COM OPC PG SON

2) For CN1B

LG VDD DIO ST1 PI2 P15R COM RST LSN RD

NP P15R DOG SG NG ZP SD VC OUT1 PED PI1 SG TLA DI1 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.)

14 - 25


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

Model : MR-J2TBL M

Symbol

05

1

Cable length[m(ft)]

0.5 (1.64)

1 (3.28)

Junction terminal block side connector (Hirose Electric)

HIF3BA-20D-2.54R (connector)

Terminal block label

For CN1A For CN1B

LG

NP

PP

P15R

LG

VC

VDD

DOG

COM

SG

OUT1

DI0

PED

ST1

PI1

PI2

OPC

NG

PG

ZP

SON

SD

SG

P15R

TLA

COM

DI1

RST

LSP

LSN

ALM

RD

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

Pin

No.

B7

A7

B8

A8

B5

A5

B6

A6

B3

A3

B4

A4

B1

A1

B2

A2

B9

A9

B10

A10

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

10120-6000EL (connector)

10320-3210-000 (shell kit)

Pin

No.

13

14

15

16

9

10

11

12

17

18

19

20

Plate

7

8

5

6

3

4

1

2

14 - 26


14.1.6 Maintenance junction card (MR-J2CN3TM)

(1) Usage

The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor are used at the same time.

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

(2) Connection diagram

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

20

7

8

5

6

3

4

1

2

Shell

CN3C

14

15

16

17

9

10

11

12

13

18

19

20

7

8

5

6

3

4

1

2

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.

14 - 27


(3) Outline drawing

CN3A CN3B CN3C

2- 5.3(0.21)(mounting hole)

[Unit: mm]

([Unit: in])

A1

B1

TE1

88(3.47)

100(3.94)

(4) Bus cable (MR-J2HBUS M)

Model: MR-J2HBUS M

A6

B6

Symbol

05

1

5


0.5 (1.64)

1 (3.28)

5 (16.4)

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

1

11

2

12

3

13

4

Plate

16

7

17

8

14

5

15

6

18

9

19

10

20

12

3

13

4

1

11

2

Plate

3(0.12)

41.5(1.63)

Mass: 110g(0.24Ib)

14 - 28


14.1.7 External digital display (MR-DP60)

The data equivalent to the servo amplifier status display can be displayed on the MR-DP60.

When using the MR-DP60, set " 1 4" in parameter No. 16.

The items that appear at the time of power-on can be selected in parameter No.18.

(1) Specifications

Item Specifications

Display

Power supply

Communication

Permissible voltage fluctuation

Current consumption

Interface

Baud rate

Bit length

Red seven-segment LED, signed, six digits

Single-phase, 85 to 253VAC, 50/60Hz

Within 200mA

Conforms to RS-422

4800bps, asynchronous

Start bit 1, date bit 8, parity bit 1, stop bit 1

Communication commands

Operating temperature / humidity range

Storage temperature range


Commands dedicated to MELSERVO

0 to 60 (32 to 140 ),

90%RH or less, non-condensing

5 to 70 (23 to 158 )

NFB MC

(Note)

Power supply

L

1

L

2

L

3

L

11

L

21

Servo amplifier


MR-DP60

L

1

L

2

CN3

5

15

9

19

1

Plate

RDP

RDN

SDP

SDN

LG

SD

TXD

TXD

RXD

RXD

LG


(3) Terminal arrangement

TB2

L

1

L 2

Signal Description

L

1

L

2

100 to 230VAC power input

Ground

RXD Inverse receive signal input TB1

TXD TXD RXDRXD P5 LG output

Note. The 5VDC output is designed for the internal control circuit and used to make a voltage check, etc. Do not use this terminal to supply a voltage to the other equipment.

14 - 29


(4) Mounting

2- 5 (0.20)

Front mounting

Square hole

141(5.55)

150(5.91)

2- 5 (0.20)

[Unit: mm (in)]

Inside mounting

Square hole

95(3.74)

150(5.91)

(5) Outline dimension drawing

[Unit: mm (in)]

TB2

7.5

(0.30)

MITSUBISHI

150(5.91)

165(6.50)

TB1

MR-DP60

7.5

(0.30) 2- 4.5 (0.18) mounting hole

2- 6.5 (0.26), depth 1 (0.04)

14 - 30


14.1.8 Manual pulse generator (MR-HDP01)

(1) Specifications

Item Specifications

Power supply

Interface

Pulse signal form

Current consumption 60mA max.

Output current max. 20mA for open collector output

A-phase and B-phase signals with 90°phase difference

Pulse resolution

Max. speed

Operating temperature range

100pulse / rev

Instantaneous max. 600r/min, ordinary 200r/min

10 to 60 (14 to 140 )

Storage temperature range 30 to 80 ( 22 to 176 )


Use an external power supply to supply power to the manual pulse generator.

Servo amplifier

VDD

CN1B

3


MR-HDP01

SV

A

OV

B

OPC

PP

SG

NP

CN1A

11

3

10

2

External power supply

+5

GND

SD Plate

(3) Terminal arrangement

+5 to

12V 0V A B

Signal name

5 to 12V

Description

Power input

14 - 31


(4) Mounting

Panel cutting 3- 4.8(0.189) equally divided

2.

44

1)

6

2(

72(2.

835)

[Unit: mm(in)]

(5) Outline dimension drawing

3.6(0.142)

Packing t2.0

[Unit: mm(in)]

3-M4 stud L10

P.C.D.72 equally divided

5V to

12V 0V A B

16 20

(0.63)(0.787)

27.0

0.5

(1.063

0.02)

8.89

(0.35)

M3 6 may only be used.

7.6(0.299)

14.1.9 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 September, 2007).

Use the battery to build an absolute position detection system.

+

-

14 - 32


14.2 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.

14.2.1 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 B1

B2


C

P

Encoder

4) Regenerative option lead

Encoder cable (refer to section 14.1.4)

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 14.2) used to wire the servo amplifier. For connection with the terminal block TE2 of the MR-J2S-100CL 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.

Servo amplifier

Table 14.1 Recommended wires

(Note 1) Wires [mm

2

]

1) L

1

L

2

L

3

2)

21

U V W

MR-J2S-10CL (1)

MR-J2S-20CL (1)

MR-J2S-40CL (1)

MR-J2S-60CL

MR-J2S-70CL

MR-J2S-100CL

MR-J2S-200CL

2 (AWG14) : a

1.25 (AWG16) : a

MR-J2S-350CL

MR-J2S-500CL

MR-J2S-700CL

3.5 (AWG12) : b

5.5 (AWG10) : b

8 (AWG8) : c

1.25 (AWG16) 2 (AWG14) : a

3.5 (AWG12) : b

(Note 2)

5.5 (AWG10) : b

5.5 (AWG10) : b

8 (AWG8) : c

Note 1. For the crimping terminals and applicable tools, refer to table 14.2.

2. 3.5mm

2 for use of the HC-RFS203 servo motor.

14 - 33

2 (AWG14) : a

3.5(AW12) : c

1.25 (AWG16)


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

Model Wires[mm 2 ]

FR-RC-15K 14(AWG6)

Table 14.2 Recommended crimping terminals

Symbol

Servo amplifier side crimping terminals

Crimping terminal Applicable tool Manufacturer a 32959 b EVD5.5-4 YNT-1210S

Body YF-1 E-4 Japan Solderless

Terminal

Die DH-111 DH-121

(2) Wires for cables

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

Table 14.3 Wires for option cables

Encoder cable

Communication cable

Bus cable

MR-JCCBL M-L

MR-JCCBL M-H

MR-JHSCBL M-L

MR-JHSCBL M-H

MR-ENCBL M-H

MR-J2HBUS M

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)

0.5 to 5

(1.64 to 16.4)

Core size

[mm 2 ]

0.08

0.3

0.2

0.2

0.08

0.3

0.2

0.2

0.2

0.2

0.08

Number of Cores

Structure

[Wires/mm]

Characteristics of one core

Conductor resistance[ /mm]

Insulation coating

ODd[mm] (Note 1)

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

7/0.127 222

12/0.18 62

40/0.08 105

40/0.08 105

7/0.127 222

12/0.18 62

40/0.08 105

40/0.08 105

40/0.08 105

40/0.08 105

7/0.127 222

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]

Wire model

6pair (BLACK)

6pair (BLACK)

A14B2343 6P

A14B0238 7P

4pair (BLACK)

6pair (BLACK)

A14B2339 4P

A14B2343 6P

A14B2339 4P

A14B2343 6P

3pair (BLACK)

20

(10 pairs)

7/0.127 222 0.38

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.

14 - 34


14.2.2 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 [V]

MR-J2S-10CL (1) 30 frame 5A

MR-J2S-20CL 30

K5 frame

10

10

MR-J2S-40CL 20CL1

MR-J2S-60CL 40CL1

MR-J2S-70CL

30 frame 10A

30 frame 15A

30 frame 15A

K5

K5

K5

15

20

20

250AC

MR-J2S-100CL

MR-J2S-200CL

MR-J2S-350CL

30 frame 15A

30 frame 20A

30 frame 30A

K5

K5

K5

25

40

70

MR-J2S-500CL 50 frame 50A

MR-J2S-700CL 100

K5 frame

125

150

14.2.3 Power factor improving reactors

Magnetic contactor

S-N10

S-N18

S-N20

S-N35

S-N50

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]

([Unit : in.])

NFB

MC

R

FR-BAL

X

Servo amplifier

MR-J2S- CL

L

1

3-phase

200 to 230VAC

S Y

L

2

T Z

L

3

W

D1

Installation screw

NFB MC

R

FR-BAL

X

Servo amplifier

MR-J2S- CL

L

1

RX S Y T Z

(Note)

1-phase

230VAC

S Y

L

2

C W1

T Z

L

3

1-phase

100 to120VAC

NFB

MC

R

FR-BAL

X

Servo amplifier

MR-J2S- CL1

L

1

S Y

L

2

T Z

Note. Connect a 1-phase 230VAC power supply to L

1

/L

2

and keep L

3

open.

Servo amplifier Model

Dimensions [mm (in) ] Mounting

W W1 H D D1 C

MR-J2S-

10CL(1)/20CL

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)

MR-J2S-40CL/20CL1

FR-BAL-

0.75K

135 (5.31) 120 (4.72) 115 (4.53) 69 (2.72) 57 (2.24

0

-0.098

) 7.5 (0.29)

MR-J2S-60CL/ 70CL/

40CL1

MR-J2S-100CL

FR-BAL-1.5K 160 (6.30) 145 (5.71) 140 (5.51) 71 (2.79) 55 0

-2.5

(2.17

0

-0.098

) 7.5 (0.29)

MR-J2S-200CL

MR-J2S-350CL

MR-J2S-500CL

MR-J2S-700CL

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

0

-0.098

) 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

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

0

-2.5

(4.33

0

-0.098

0

-0.098

) 12.5 (0.49)

) 12.5 (0.49)

M5

M5

14 - 35

Terminal screw size

M4

M5

Mass

[kg (lb)]

8.5 (18.74)

14.5 (32.0)


14.2.4 Relays

The following relays should be used with the interfaces.

Relay used for input signals (interface DI-1) signals To prevent defective contacts , use a relay for small signal

(twin contacts).

(Ex.) Omron : type G2A , MY

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

(Ex.) Omron : type MY

14.2.5 Surge absorbers

A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent.

Insulate the wiring as shown in the diagram.

Maximum rating

Permissible circuit voltage

Surge immunity

Energy immunity

Rated power

Maximum limit voltage

Static capacity

(reference value)

Varistor voltage rating (range) V1mA

[J] [W] [A] [V] [pF] [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)

0.8 (0.03)

Vinyl tube

Crimping terminal for M4 screw

14 - 36


14.2.6 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).

(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.

14 - 37


(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction

Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.

Noises produced 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

14 - 38


Noise transmission route

1) 2) 3)

4) 5) 6)

7)

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 (Input 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.

8)

When the cables of peripheral devices are connected to the servo amplifier to make a closed loop circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be prevented by disconnecting the grounding cable of the peripheral device.

(2) Noise reduction products

(a) Data line filter

Noise can be prevented by installing a data line filter onto the encoder cable, etc.

For example, the ZCAT3035-1330 of TDK and the ESD-SR-25 of NEC Tokin make are available as data line filters.

As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below.

This impedances are reference values and not guaranteed values.

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

Impedance[ ]

39 1(1.54 0.04)

34 1

(1.34 0.04)

Loop for fixing the cable band

10 to 100MHz 100 to 500MHz

80 150

TDK

Product name Lot number

Outline drawing (ZCAT3035-1330)

14 - 39


(b) Surge suppressor

The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent.

MC

Relay

Surge suppressor

Surge suppressor

Rated voltage

AC[V]

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

18 1.5

(0.71 0.06)

Blue vinyl cord Red vinyl cord

6(0.24) Across

T-C 1000(1 to 5s)

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

4(0.16)

10 3

(0.39

0.12) 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

0.15)

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. cutter cable

Cable clamp

(A,B)

Cable

Earth plate

External conductor

Clamp section diagram

14 - 40


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.

AERSBAN-DSET

AERSBAN-ESET

100

(3.94)

70

(2.76)

86

(3.39)

56

(2.20)

30

(1.18) clamp A: 2pcs. clamp B: 1pc.

A

B

70

(2.76)

45

(1.77)

14 - 41


(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

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

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

Approx.110 (4.33)

95 0.5 (3.74 0.02)

Approx.65 (2.56)

33 (1.30)

2- 5(0.20)

Power supply

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

Example 2

L

1

L

2

Line noise

L

3 filter

(Number of turns: 4)

NFB MC

Servo amplifier

7(0.28)

130(5.12)

85(3.35)

Power supply

L

1

Line noise filter

L

2

L

3

Two filters are used

(Total number of turns: 4)

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)

14 - 42


(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

Permissible circuit voltage

Maximum rating

Surge current immunity

Energy immunity

Rated pulse power

Maximum limit voltage

Static capacity

(reference value)

AC[V rms

] DC[V] 8/20 s[A] 2ms[J] [W] [A] [V] [pF]

Varistor voltage rating (range)

V1mA

[V]

195

1.0 100

775

1300 430(387 to 473)

1200 470(423 to 517)

D T Model

D

Max.

H

Max.

T

Max.

E

1.0

(Note)L min. d

0.05

[Unit: mm]

W

1.0

TND20V-471K 6.6 3.5

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

W

d

E

14 - 43


14.2.7 Leakage current breaker

(1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.

Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.

Select a leakage current breaker according to the following formula, and ground the 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] ..........(14.1)

K: Constant considering the harmonic contents

Cable

Leakage current breaker

K products

NV Noise filter

Servo amplifier

Cable

M

Models provided with harmonic and surge reduction techniques

NV-SP

NV-SW

NV-CP

NV-CW

NV-HW

1

Ig1 Ign Iga Ig2 Igm

General models

BV-C1

NFB

NV-L

3

Ig1: Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier (Found from Fig. 14.1.)

Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor (Found from Fig. 14.1.)

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 14.5.)

Igm: Leakage current of the servo motor (Found from Table 14.4.)

120

Table 14.4 Servo motor's leakage current

100 example (Igm)

80

Servo motor output [kW]

Leakage current [mA]

Table 14.5 Servo amplifier's

leakage current

example (Iga)

Servo amplifier capacity [kW]

Leakage current [mA]

60

40

0.05 to 0.5

0.6 to 1.0

1.2 to 2.2

0.1

0.1

0.2

0.1 to 0.6

0.7 to 3.5

0.1

0.15

5 7 2

[mA]

20 3 to 3.5 0.3

5 0.5

0

2 3.5

5.5

8 1422 38 80 150

30 60 100

Cable size[mm 2 ]

Fig. 14.1 Leakage current example

(Ig1, Ig2) for CV cable run

in metal conduit

Servo amplifier

Rated sensitivity current of leakage circuit breaker [mA]

MR-J2S-10C L to MR-J2S-350C L

MR-J2S-10C L 1 to MR-J2S-40C L 1

15

MR-J2S-500C L 30

MR-J2S-700C L 50

14 - 44


(2) Selection example

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

2mm 2 5m(196.85inch) 2mm 2 5m(196.85inch)

NV

Servo amplifier

MR-J2S-40CL

M

Servo motor

HC-MFS43

Ig1 Iga Ig2 Igm

Use a leakage current breaker designed for suppressing harmonics/surges.

Find the terms of Equation (14.1) 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 (14.1).

Ig 10 {0.1 0 0.1 1 (0.1 0.1)}

4 [mA]

According to the result of calculation, use a leakage current breaker having the rated sensitivity current (Ig) of 4[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NV-

SP/CP/ SW/CW/HW series.

14 - 45


14.2.8 EMC filter

For compliance with the EMC Directive of the EN Standard, it is recommended to use the following filter.

Some EMC filters are large in leakage current.

(1) Combination with the servo amplifier

Servo amplifier

Recommended filter

Model Leakage current [mA]

Mass [kg]([lb])

MR-J2S-10CL to MR-J2S-100CL


SF1252 38

MR-J2S-200CL MR-J2S-350CL SF1253

MR-J2S-500CL (Note) HF-3040A-TM

57

1.5

(1.65)

1.37

5.5 (12.13)

MR-J2S-700CL (Note) HF-3050A-TM 1.5 6.7 (14.77)

Note. Soshin Electric. A surge protector is separately required to use any of these EMC filters. (Refer to the EMC Installation

Guidelines.)


EMC filter

(SOSHIN Electric Co., Ltd)

(Note 1)

Power supply

NFB

EMC filter

(SF1252, SF1253)

LINE LOAD

L

1

L

1

L

2

L

3

L

L

2

3

(Note 2)

MC

Servo amplifier

L

1

L

2

(Note 1)

Power supply

L

3

L

11

L

21

NFB

1

2

3 6

E

4

5

MC

Servo amplifier

L

1

L

2

L

3

L

11

L

21

1

2

3

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 1.2 for the power supply specification.

2. Connect when the power supply has earth.

14 - 46


(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)

HF3040-TM HF3050A-TM

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

Dimensions [mm(in)]

A B C D E F G H J K L M

260

(10.23)

290

(11.42)

210

(8.27)

240

(9.45)

85

(3.35)

100

(3.94)

155

(6.10)

190

(7.48)

140

(5.51)

175

(6.89)

125

(4.92)

160

(6.30)

44

(1.73)

44

(1.73)

140

(5.51)

170

(5.51)

70

(2.76)

100

(3.94)

R3.25, length 8

M5 M4

M6 M4

14 - 47


(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)

30 0

UL-1015AWG16

1 2 3

41 1.0

14 - 48


14.2.9 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

Resistance tolerance

Dielectric strength

(for 1 minute)

Insulation resistance

2W 2k

Connection diagram Outline dimension drawing

[Unit: mm (in)]

Mechanical rotary angle

300 5

Rotary torque

10 to 100g-cm or less

Panel hole machining diagram

[Unit: mm (in)]

20 (0.79) 25 (0.98)

10 (0.39)

30 (1.18)

2.8 (0.11)

2.5 (0.10)

3.6 (0.14) hole

1.6 (0.06)

10 (0.37) hole

1 2 3

M9 0.75 (0.03)

.9

8)

R2

5

(0

3- 1.54 (0.56) hole

3

(0.08)

Connection diagram

1 3

1 30

2

30 3

(2) Multi-revolution type

Position meter: RRS10M202 (Japan Resistor make)

Analog dial: 23M (Japan Resistor make)

Rated power Resistance

1W 2k

Resistance tolerance

Dielectric strength

(for 1 minute)

A.C

Insulation resistance

Mechanical rotary angle

3600

10

0

Panel hole machining diagram

Rotary torque

100g-cm or less

[Unit: mm (in)]

Panel thickness: 2 to 6 (0.08 to 0.24)

2

CW

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)

14 - 49


MEMO

14 - 50

15. 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 15.2.2.)

15.1 Configuration

15.1.1 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

MITSUBISHI

Servo amplifier

MITSUBISHI

Servo amplifier

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

9

19

5

15

10

11

1

SD

SDP

SDN

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.

15 - 1

CHARGE

To CN3

Axis 32 (Station 31)

(Note 1)

Axis 32 (last axis) servo amplifier

CN3 connector

Plate

9

19

5

15

10

11

1

SD

SDP

SDN

RDP

RDN

TRE (Note 2)

LG

LG


15.1.2 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 14.1.4.)

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

2

5

7

8

6

4

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.

15 - 2


15.2 Communication specifications

15.2.1 Communication overview

This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station. When fetching data successively, the master station repeatedly commands the slave station to send data.

Item Description

Baud rate

Transfer code

9600/19200/38400/57600 asynchronous system

Start bit

Data bit

: 1 bit

: 8 bits

Parity bit : 1 bit (even)

Stop bit : 1 bit

Transfer protocol Character system, half-duplex communication system

(LSB) (MSB)

Start

0 1 2 3 4 5 6 7 Parity Stop

Next start

Data

1 frame (11bits)

15 - 3


15.2.2 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, choose "no station numbers" in parameter No. 57. The communication protocol will be free of station numbers.

Parameter No. 57

Protocol station number selection

0: With station numbers

1: No station numbers

15 - 4


15.3 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. 57 will make the communication protocol free of station numbers.

Since up to 32 axes may be connected to the bus, add a station number or group 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 and set the group to each station using the communication command. 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 or group

Servo side

(Slave station)


S

T

X

E

T

X

Check sum

6 frames

Positive response: Error code A

Negative response: Error code other than A

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

10 frames

Controller side

(Master station)

S

O

H

S

T

X

Data

No.

E

T

X

Check sum


Servo side

(Slave station)


S

T

X

Data*

6 frames (data)

E

T

X

Check sum

15 - 5


(3) Recovery of communication status by time-out

Controller side

(Master station)

E

O

T

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

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

15 - 6


15.4 Character codes

(1) Control codes

Code name

Hexadecimal

(ASCII code)

SOH

STX

ETX

01H

02H

03H

EOT 04H

(2) Codes for data

ASCII codes are used.

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 b

8 b

7 b

6 b

5

0 0 0 0 0 0 0 0

0 0 0 0 1 1 1 1

0 0 1 1 0 0 1 1

0 1 0 1 0 1 0 1 b

8

to b

5 b

4

b

3

b

2

b

1

R

C

0 1 2 3 4 5 6 7

0 0 0 0 0 NUL DLE Space 0 @ P ` p

0 0 0 1 1 SOH DC

1

! 1

0 0 1 0 2 STX DC

2

“ 2

0 0 1 1 3 ETX DC

3

# 3

0 1 0 0 4

0 1 0 1 5

0 1 1 0 6

0 1 1 1 7

1 0 0 0 8

1 0 0 1 9

1 0 1 0 10

1 0 1 1 11

1 1 0 0 12 , L l |

1 1 0 1 13

1 1 1 0 14 . N ^ n

_

1 1 1 1 15

(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

Station number

ASCII code

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

0 1 2 3 4 5 6 7 8 9 A B C D E F

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).

(4) Group

Group

ASCII code a b c d e f

For example, "61H" is transmitted in hexadecimal for group a.

15 - 7


15.5 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]

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.

Remarks

Positive response

Negative response

15.6 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 (Example) or group

S E

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

X X

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

STX or

SOH

ETX Check

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

152H

Checksum range

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

15 - 8


15.7 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)

15.8 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




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.

15 - 9


15.9 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.

15.10 Communication procedure example

The following example reads the set value of parameter No.2 "function selection 1" from the servo amplifier of station 0.

Data item Value Description

Station number 0 Servo amplifier station 0

Data No. 02 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


15 - 10


15.11 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.

15.11.1 Read commands

(1) Status display (Command [0][1])

Command Data No.

[1][2]

[1][2]

Description

[8][0] Output device statuses

[C][0] External output pin statuses

Display item

[0][1] [8][2]

[0][1] [8][3]

[0][1] [8][4]

[0][1] [8][5]

[0][1] [8][6]

[0][1] [8][7]

[0][1] [8][8]

[0][1] [8][9]

[0][1] [8][A]

[0][1]

[0][1]

[8][B]

[8][C]

[0][1] [8][D]

[0][1] [8][E]

[0][1] [8][F]

[0][1] [9][0]

[0][1] [9][1]

(2) Parameter (Command [0][5])



Override



Peak load ratio

Within one-revolution position


Bus voltage

Description

[0][5]

[0][0] to

[5][A]

Current value of each parameter

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

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

Description

[1][2]

[1][2]

[0][0] Input device statuses

[4][0] External input pin statuses

Frame length

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

8

8

8

8

8

8

15 - 11


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

Command Data No. Description

[3][3]

[3][3]

[3][3]

[3][3]

[1][0]

[1][1]

[1][2]

[1][3]

Alarm number in alarm history

[3][3] [1][4]

[3][3] [1][5]

[3][3]

[3][3]

[2][0]

[2][1]

Alarm occurrence time in alarm history

[3][3]

[3][3]

[3][3]

[2][2]

[2][3]

[2][4]

[3][3] [2][5]

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

Description

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

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

Command Data No. Description Status display item

Frame length

8

8

4

4

4

4

4

4

8

8

8

8

[3][5] [8][2] occurrence

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

[3][5] [8][4]

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

[3][5] [8][6]

[3][5] [8][7]

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

[3][5] [8][9]

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

[3][5]

[3][5]

[8][B]

[8][C]

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

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

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

[3][5] [9][0]

[3][5] [9][1]



Servo speed

Override



Peak load ratio

Within one-revolution position


Bus voltage

4

Frame length

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

15 - 12


(6) Current position latch data (Command [6][C])

Description

(7) General-purpose register (Rx) value (Command [6][D])

Description

[6][D]

[6][D]

[6][D]

[0][1] The value of the general-purpose register (R1)



[6][D] [0][4] The value of the general-purpose register (R4)

(8) General-purpose register (Dx) value (Command [6][E])

Description

[6][E]

[6][E]

[6][E]

[0][1] The value of the general-purpose register (D1)



[6][E] [0][4] The value of the general-purpose register (D4)

(9) Group setting (Command [1][F])

Description

(10) Software version (Command [0][2])

Description

8

8

8

8

4

8

8

8

8

8

16

15 - 13


15.11.2 Write commands

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


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


[8][4]

[0][0] to

[5][A]

Each parameter write

The decimal equivalent of the data No. value

(hexadecimal) corresponds to the parameter number.

(3) External I/O signal (Command [9][2])


Setting range Frame length

1EA5 4


Depends on the parameter. 8


Refer to section 15.12.5

8

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

Command Data No.

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

Command Data No.

Description

Description

(6) General-purpose register (Rx) value (Command [B][9])


[B][9]

[B][9]

[B][9]




[B][9] [0][4] The value of the general-purpose register (R4)

(7) General-purpose register (Dx) value (Command [B][A])

Command Data No.

[B][A]

[B][A]

[B][A]

[B][A]

[0][1]

[0][2]

[0][3]

[0][4]

Description

The value of the general-purpose register (D1)





1EA5 4


1EA5 4


Depends on the used instruction.

4


Depends on the used instruction.

4

15 - 14


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


Turns off the input devices, external analog input signals

[9][0] [0][3]

LSN, independently of the external ON/OFF statuses.

Disables all output devices (DO).

Enables the disabled input devices (DI), external analog

[9][0] [1][0]

EMG, LSP and LSN.

[9][0] [1][3] Enables the disabled output devices (DO).

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


Operation mode changing

0000: Exit from test operation mode


1EA5 4

1EA5 4

1EA5 4

1EA5 4


0000 to 0004 4

0003: Motor-less operation

0004: Output signal (DO) forced output

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






8

8


0000 to 7FFF

00000000 to

7FFFFFFF

4

8

1EA5 4

80000000 to

7FFFFFFF

8

1EA5 4

(11) Group setting (Command [9][F])

Command Data No.

[9][F] [0][0] Setting of group

Description Setting range Frame length a to f 4

15 - 15


15.12 Detailed explanations of commands

15.12.1 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-bits 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.

15 - 16


(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.

15 - 17


15.12.2 Status display

(1) Status display data read

When the master station transmits the data No. to the slave station, the slave station sends back the data value and data processing information.

(a) Transmission

Transmit command [0][1] and the data No. corresponding to the status display item to be read.


(b) 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 Data Data

[8][1] [0][0] 1EA5

For example, after sending command [0][1] and data No. [8][0] and receiving the status display data, send command [8][1], data No. [0][0] and data [1EA5] to clear the cumulative feedback pulse value to zero.

15 - 18


15.12.3 Parameter

(1) Parameter read

Read the parameter setting.

(a) Transmission

Transmit command [0][5] and the data No. corresponding to the parameter No.

Data No. definition Command Data No.

[0][5]

[0][0] to

[5][A]

Corresponds to the parameter No.

(b) 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.

15 - 19


(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 number is represented in hexadecimal. The decimal value converted from the data number value corresponds to the parameter number. Refer to (1) (a) in this section.

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][A]

See below.

Set data



0: No decimal point




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.

15 - 20


15.12.4 External I/O signal statuses

(1) Reading of input device statuses

Read the statuses of the input devices.

(a) Transmission

Transmit command [1][2] and data No. [0][0].

[1][2] [0][0]

(b) Reply

The slave station sends back the statuses of the input pins. b31 b1 b0

1:ON

0:OFF

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

0 Servo-on (SON) 12 Reverse rotation start (ST2) 24 Temporary stop/restart (STP)

1 Forward rotation stroke limit (LSP) 13

2 Reverse rotation stroke limit (LSN) 14

3 External torque limit selection (TL) 15

4 Internal torque limit selection (TL2) 16 Forced stop (EMG)

5 Proportion control selection (PC) 17 Automatic/manual selection (MD0)

25

26

Manual pulse generator multiplication 1 (TP0)


27 Gain switch (CDP)

6 Reset (RES) 18 Proximity dog (DOG) 28

7

8

9

19 Program No. selection 1 (DI0)



29 Program input 1 (PI1)



10 Current position latch input (LPS) 22 Program No. selection 4 (DI3)

11 Forward rotation start (ST1) 23 Override selection (OVR)

(2) External input pin status read

Read the ON/OFF statuses of the external output pins.

(a) Transmission


[1][2] [4][0]

(b) Reply

The ON/OFF statuses of the input pins are sent back. b31 b1 b0

1:ON

0:OFF bit


External input pin

0 CN1B-16

1 CN1B-17

2 CN1B-15

3 CN1B-5

4 CN1B-14 bit External input pin

5 CN1A-8

6 CN1B-7

7 CN1B-8

8 CN1B-9

9 CN1A-19

15 - 21


(3) Read of the statuses of input devices switched on through communication

Read the ON/OFF statuses of the input devices switched on through communication.

(a) Transmission


[1][2] [6][0]

(b) Reply

The slave station sends back the statuses of the input pins. b31 b1 b0

1:ON

0:OFF


0 Servo-on (SON) 12 Reverse rotation start (ST2)





5 Proportion control selection (PC)

6 Reset (RES)

7

8

9

17 Automatic/manual selection (MD0)

18 Proximity dog (DOG)




24 Temporary stop/restart (STP)

25

26




28






(4) 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].

[1][2] [C][0]

(b) Reply

The slave station sends back the ON/OFF statuses of the output pins. b31 b1 b0

1:ON

0:OFF


bit External output pin

0 CN1A-19

1 CN1A-18

2 CN1B-19

3 CN1B-6

4 CN1B-4 bit External output pin

5 CN1B-18

6 CN1A-14

15 - 22


(5) Read of the statuses of output devices

Read the ON/OFF statuses of the output devices.

(a) Transmission


[1][2] [8][0]

(b) Reply

The slave station sends back the statuses of the output devices. b31 b1 b0

1:ON

0:OFF


0 Ready (RD)

1

2

3 Limiting torque (TLC)

4

5

6

7 Warning (WNG)

8 Trouble (ALM)

9

15.12.5 Input devices ON/OFF

10 Electromagnetic brake (MBR)

11 Dynamic brake interlock (DBR)

12

13

14

15 Battery warning (BWNG)

16

17


(ZP)

18 Position range (POT)

19 Temporary stop (PUS)

20 Program output 1 (OUT1)



23 SYNC Synchronous output (SOUT)

24 Movement complete (PED)

25

26

27

28

POINT

The ON/OFF states of all devices in the servo amplifier are the states of the data received last. Hence, when there is a device which must be kept

ON, send data which turns that device ON every time.

Each input device can be switched on/off. However, when the device to be switched off exists in the external input signal, also switch off that input signal.

Send command [9][2], data No. [6][0] and data. b31

Command Data No. Set data

[9][2] [6][0] below. b1 b0

1:ON

0:OFF

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






5 Proportion control selection (PC)


25


26


17 Automatic/manual selection (MD0) 27 Gain switch (CDP)

6 Reset (RES)

7

8

9





28






15 - 23


15.12.6 Disable/enable of I/O devices (DIO)

Inputs can be disabled independently of the I/O devices ON/OFF. When inputs are disabled, the input signals (devices) are recognized as follows. Among the input devices, EMG, LSP and LSN cannot be disabled.

Signal Status

Input devices (DI)

External analog input signals

OFF

0V

Pulse train inputs None

(1) Disabling/enabling the input devices (DI), external analog input signals and pulse train inputs with the exception of EMG, LSP and LSN.

Transmit the following communication commands.

(a) Disable

Data

[9][0] [0][0] 1EA5

(b) Enable

Data

[9][0] [1][0] 1EA5

(2) Disabling/enabling the output devices (DO).


(a) Disable

Data

[9][0] [0][3] 1EA5

(b) Enable

Data

[9][0] [1][3] 1EA5

15 - 24


15.12.7 Input devices ON/OFF (test operation)

Each input devices can be turned on/off for test operation. when the device to be switched off exists in the external input signal, also switch off that input signal.

Send command [9] [2], data No. [0] [0] and data.

Command Data No. Set data b31 b1 b0

1: ON

0: OFF

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





25




5 Proportion control selection (PC) 17 Automatic/manual selection (MD0)

26



6 Reset (RES)

7



28


8

9







15 - 25


15.12.8 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 input devices.

2) Disable the input devices.

Data

[9][0] [0][0] 1EA5

3) Choose the test operation mode.

Command

[8][B]

Data No.

[0][0]

Transmission data

0000

[8][B] [0][0]

[8][B] [0][0]

[8][B] [0][0]

[8][B] [0][0]

Selection of test operation mode

Test operation mode cancel

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.

[A][0] [1][2]

Data

1EA5

2) Cancel the test operation mode.

[8][B] [0][0]

Data

0000

3) Enable the disabled input devices.

Data

[9][0] [1][0] 1EA5

15 - 26


(2) Jog operation


(a) Setting of jog operation data

Speed


[A][0] [1][0]

Data

Write the speed [r/min] in hexadecimal.

(b) Start

Turn on the input devices SON LSP LSN and ST1/ST2 by using command [9][2] data No.

[0][0].



[9][2]

[9][2]

[0][0]

[0][0]

Stop [9][2] [0][0]

(3) Positioning operation


(a) Setting of positioning operation data

Data

00000807: Turns on SON LSP LSN and ST1.

00001007: Turns on SON LSP LSN and ST2.

00000007: Turns on SON LSP and LSN.

[A][0] [1][0]

Data

Write the speed [r/min] in hexadecimal. Speed


Moving distance [A][0] [1][3] Write the moving distance [pulse] in hexadecimal.

(b) Input of servo-on stroke end

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

Data

[9][2] [0][0] 00000001: Turns on SON. Servo-on

Servo OFF

Stroke end ON

Servo-on

Stroke end ON

[9][2] [0][0] 00000006: Turns off SON and turns on LSP LSN.

15 - 27


(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.

[A][0] [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.

15 - 28


15.12.9 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 Data No. Setting data b31

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

b1 b0

1: ON

0: OFF bit External output pin bit External output pin bit External output pin bit

CN1A-19 8

CN1A-18 9

External output pin

CN1B-6 11

CN1B-4 20

15 - 29


15.12.10 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 15.11.1.

(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" 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 [0][1][F][5] indicates that the alarm occurred 501 hours after start of operation.

(3) Alarm history clear

Erase the alarm history.

Send command [8][2] and data No. [2][0].

Command Data Data

[8][2] [2][0] 1EA5

15 - 30


15.12.11 Current alarm

(1) Current alarm read

Read the alarm No. which is occurring currently.

(a) Transmission

Send command [0][2] and data No. [0][0].

[0][2] [0][0]

(b) Reply

The slave station sends back the alarm currently occurring.

0 0

Alarm No. is transferred in decimal.

For example, "0032" means AL.32 and "00FF" 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 15.11.1.

(b) Reply

The slave station sends back the requested status display data at alarm occurrence.

0 0



Display type




0: No decimal point







(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.

(a) Transmission

Command Data Data

[8][2] [0][0] 1EA5

15 - 31


15.12.12 Current position latch data

Read the current position latch data. When the data No. is transmitted, the data value and data processing information are sent back.

(1) Transmission

Send command [6][C] and data No. [0][1] to be read.

(2) Reply

The slave station sends back. (Current position latch data.)

0 0



Display type




0: No decimal point







15 - 32


15.12.13 General-purpose register

(1) General-purpose register (Rx) read

Read the general-purpose register (Rx) value stored in the EEP-ROM.

(a) Transmission

Transmit command [6][D] and any of data No. [0][1] to [0][4] corresponding to the general-purpose register (Rx) to be read. Refer to section 15.11.1.

(b) Reply

The slave station sends back the position data of the requested the value of the general-purpose register (Rx).



(2) General-purpose register (Dx) read

Read the general-purpose register (Dx) value stored in the RAM.

(a) Transmission

Transmit command [6][E] and any of data No. [0][1] to [0][4] corresponding to the general-purpose register (Dx) to be read. Refer to section 15.11.1.

(b) Reply

The slave station sends back the position data of the requested the value of the general-purpose register (Dx).



15 - 33


(3) General-purpose register (Rx) write

Write the value of the general-purpose register (Rx).

Write the value within the setting range. Refer to section 4.2.2 (1) for the setting range.

Transmit command [B][9], the data No., and setting value. Data to be written is hexadecimal.



0: No decimal point




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.

(4) General-purpose register (Dx) write

Write the value of the general-purpose register (Dx) to the RAM.

Write the value within the setting range. Refer to section 4.2.2 (1) for the setting range.

Transmit command [B][A], the data No., and setting value. Data to be written is hexadecimal.


15 - 34


15.12.14 Servo amplifier group designation

With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group through RS-422 communication.

(1) Group setting write

Write the group designation value to the slave station.

(a) Transmission

Transmit command [9][F], data No. [0][0] and data.

Command Data Data

0 0

Group designation

0: No group designation

1: Group a

2: Group b

3: Group c

4: Group d

5: Group e

6: Group f

Response command enable

Set whether data can be sent back or not in

response to the read command of the master station.

0: Response disable

Data cannot be set back.

1: Response enable

Data can be set back.

(2) Group setting read

Read the set group designation value from the slave station.

(a) Transmission

Transmit command [1][F] and data No. [0][0].

[1][F] [0][0]

(b) Reply

The slave station sends back the group setting requested.

0 0

Group designation

0: No group designation

1: Group a

2: Group b

3: Group c

4: Group d

5: Group e

6: Group f

Response command enable

0: Response disable

1: Response enable

15 - 35


15.12.15 Software version

Reads the software version of the servo amplifier.

(a) Transmission

Send command [0] [2] and data No. [7] [0].

[0][2] [7][0]

(b) Reply

The slave station returns the software version requested.

Space Software version (15 digits)

15 - 36

APPENDIX

App 1. Status indication block diagram

Current cont

Current po

App - 1

APPENDIX

App 2. Junction terminal block (MR-TB20) terminal block labels

19

18

17

16

15

14

13

12

11

10

For CN1A

9

19

8

18

7

17

6

16

5

15

4

14

3

13

2

12

1

11

0

10

9

8

7

6

5

4

3

2

1

0

10

11

12

13

14

15

16

17

18

19

For CN1B

9

19

8

18

7

17

6

16

5

15

4

14

3

13

2

12

1

11

0

10

6

5

4

3

8

7

9

1

0

2

App - 2

APPENDIX

App 3. Combination of servo amplifier and servo motor

The servo amplifier software versions compatible with the servo motors are indicated in the parentheses.

The servo amplifiers whose software versions are not indicated can be used regardless of the versions.


Servo motor Servo motor

(Software version) (Software version)

HC-KFS053

HC-KFS13

MR-J2S-10CL

MR-J2S-10CL 1

MR-J2S-10CL

MR-J2S-10CL 1

HC-KFS23

HC-KFS43

MR-J2S-20CL

MR-J2S-20CL 1

MR-J2S-40CL

MR-J2S-40CL 1

HC-KFS73 MR-J2S-70CL

HC-MFS053

MR-J2S-10CL

MR-J2S-10CL 1

HC-RFS103 MR-J2S-200CL





HC-UFS72 MR-J2S-70CL





HC-UFS13

MR-J2S-10CL

MR-J2S-10CL1

HC-MFS13

HC-MFS23

MR-J2S-10CL

MR-J2S-10CL 1

MR-J2S-20CL

MR-J2S-20CL 1

HC-MFS43

MR-J2S-40CL

MR-J2S-40CL1

HC-MFS73 MR-J2S-70CL

HC-SFS81 MR-J2S-100CL






HC-UFS23

HC-UFS43

MR-J2S-20CL

MR-J2S-20CL1

MR-J2S-40CL

MR-J2S-40CL1


HC-LFS52 MR-J2S-60CL





HA-LFS502 MR-J2S-500CL

HA-LFS702 MR-J2S-700CL











App - 3

APPENDIX

App 4. Change of connector sets to the RoHS compatible products

Connector sets (options) in the following table are changed to the RoHS compatible products after

September, 2006 shipment.

Please accept that the current products might be mixed with RoHS compatible products based on availability.

Model Current Product RoHS Compatible Product

MR-J2CNM

MR-J2CN1

MR-J2CNS

MR-ENCNS

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)

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

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





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


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)

Power supply connector (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)


Electromagnetic brake connector

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

App - 4

REVISIONS

*The manual number is given on the bottom left of the back cover.

Print Data *Manual Number Revision

Jan., 2003 SH(NA)030034-A First edition

Jan., 2004 SH(NA)030034-B Changing “Servo configuration Software” to “MR Configurator (Servo configuration Software)”.

Safety Instructions 1. To prevent electric shock, note the following: Addition

3. To prevent injury, note the following: Addition

4. Additional instructions

(2) Reexamination

(4) Reexamination

(5) Reexamination of the circuit diagram for electromagnetic brake operation.

(6) Reexamination

COMPLIANCE WITH EC DIRECTIVES

(3) Changing “IEC664” to “IEC60664-1” in the sentences.

(4) Changing “IEC664” to “IEC60664-1” in the sentences.

Section 1.1.1

Section 1.2

Section 1.7

Section 3.1

Section 3.8.3 (2)

Section 3.9

Section 3.9 (3) (a)

Section 4.1.2

Section 4.4.3 (2)

Section 4.4.4 (2)

Section 4.4.5 (2)

Section 4.4.6 (2)

Section 4.4.7 (2)

Section 4.4.8 (2)

Section 4.4.9 (2)

Section 5.1.2 (2)

Section 5.2.1 (1) (a)

Section 6.2 (1)

Section 6.7.2

Section 6.7.5

Section 13.5

Section 14.1.1 (3)

Section 14.1.1 (4)

Section 14.1.1 (5)

Section 14.1.3 (2)

Section 14.1.7

Section 14.1.9

Partial modification made to the wiring diagram.

Addition of inrush current.

Changing “programming” to “program”.

Addition of notes (3), (4).

Addition of Note (12) to the connection example.

Addition of CE05-2A32-17PD-B.

Reexamination of the circuit diagram for electromagnetic brake operation.

Reexamination of the timing charts.

Reexamination of the instructions.

Reexamination

Reexamination

Reexamination

Reexamination

Reexamination

Reexamination

Reexamination

Parameter No. 0: Reexamination of the regenerative option selection.

Parameter No.63: Reexamination of the low-pass filter selection.

Modification made to the CDV value: “1250”.

Modification made to the description relevant to

Windows trademark.

Addition of sentences to POINT

Addition of POINT

Reexamination

Reexamination of the regenerative option selection.

Reexamination

Reexamination of Outline drawing.

Partial change made to the connection example.

Reexamination

Addition of POINT

Print Data *Manual Number Revision

Jan., 2004 SH(NA)030034-B Section 14.2.8 (3) Partial change made to the EMC filter HF3040-

TM/HF3050-TM outline drawings.

Mar., 2005 SH(NA)-030034-C COMPLIANCE WITH EC DIRECTIVES:

"1. WHAT ARE EC DIRECTIVES?" Sentence reexamination

Section 1.1.1 (1) MR-J2S-350CL Reexamination of words and note in the figure.

Section 1.1.1 (2)

Section 1.4 (2)

Addition of the function block diagram for MR-J2S-

500CL, 700CL.

Reexamination of words in the figure.

Reexamination of CAUTION sentence.

Section 3.1

Section 3.2

Section 3.3.1 (1)

Section 3.3.2 (2)

Section 3.5

Section 3.7.3 (1)

Section 3.8.3 (1)

Section 3.9

Section 3.11

Section 4.4.2 (3)

Section 4.4.4 (2)

Section 4.4.5 (2)

Section 4.4.7 (2)

Partial reexamination of "Standard connection example".

Internal connection diagram of servo amplifier

Deletion of PG, NG Figure reexamination

Signal arrangement Deletion of PG, NG

(b) Sentence reexamination

Input signal Deletion of PG, NG

Addition of CAUTION sentence, Sentence

Reexamination

(3) Sentence reexamination

1) Sentence addition

Changing of AMP name.

Sentence Reexamination (3) (d), (e) Figure change

POINT addition (1) Sentence Reexamination

Addition of "ST2" to the timing chart.




Section 4.4.8 (2)

Section 4.4.9 (2)

Section 4.5

Section 5.1.2 (2)

Section 6.2 (1)

Section 9.4 (1)

Section 11.2.2



Addition of CAUTION sentence, Sentence

Reexamination

(5) Reexamination of WARNING sentence.

No. 55 Reexamination of words in the figure.

Sentence Reexamination

Sentence Reexamination

Addition and reexamination of CAUTION sentence.

AL. 17, AL. 19 Sentence addition, reexamination

AL. 33 Sentence addition

AL. 46 Sentence reexamination

Section 11.2.3

Section 12.1 (1) to (5)

Section 13.1

Section 13.3

Section 14.1.1 (2)

Section 14.1.1 (4)

Section 14.1.1 (4) (a)

Section 14.1.1 (4) (b)

Section 14.1.1 (5) (c)

Section 14.1.2 (2)

Section 14.1.3 (2)

CAUTION addition

AL. E3 Sentence addition

Specification addition of mounting screw.

Changing of CAUTION sentence.

Addition of HC-LFS series graph. b. Figure addition

POINT addition

Sentence reexamination


Partial changing of figure.

Note change

Sentence reexamination Addition of Note 2

Print Data *Manual Number

Mar., 2005 SH(NA)-030034-C Section 14.1.4 (1)

Section 14.1.6 (3)

Section 14.2.1 (1)

Section 14.2.3

Section 14.2.6 (2)

Section 14.2.8 (2)

Section 15.11.1 (5)

App 2

App 5

Jan., 2006 SH(NA)-030034-D Safety Instructions

Section 1.1.1

Section 1.4 (2)

Section 1.6.1

Section 1.7

Chapter 2

Section 3.6.2 (2)

Section 3.6.2 (3) (b)

Section 3.8.3

Section 3.9

Section 3.9 (d)

Section 3.11.1

Section 4.1.2 (2) (b)

Section 4.2.3 (1) (c)

Section 5.1.2 (2)

Section 5.2.4

Section 5.2.4 (2)

Section 6.7

Section 6.7.1

Section 6.7.2

Section 6.7.3

Section 11.2.3

Section 12.1

Section 14.2.6 (2)

Jul., 2006 SH(NA)-030034-E Safety Instructions

Section 1.6.2

Chapter 3

Section 3.7.2

Section 3.7.3 (3)

Section 3.8.2

Section 5.1.2 (2)

Section 5.2.1

Section 12.2 (1) (b)

Section 14.1.1 (2)

Revision

Sentence reexamination (2)

2) Sentence reexamination

Figure addition

Table 14.2 Sentence reexamination

Addition of MR-J2S- CL.

Changing of values.

Changing of company name.

(d) Sentence reexamination

(e) Connection diagram change


Sentence reexamination in the current alarm chart.

Addition of "Combination of servo amplifier and servo motor".

Reexamination of words.

Reexamination of date and telephone No.

4. (2) Sentence addition

(4) Sentence addition

Correction of error in writing

Note reexamination

Correction of instructions

Note reexamination

CAUTION addition


2) Addition of descriptions

Change of signal expression

Addition of CAUTION sentence

Change of “Servo motor speed” range

Addition of descriptions

Sentence change

Table correction

Note addition of parameter No. 17, No. 30

Sentence change

Note addition

CAUTION correction

POINT correction

POINT correction

POINT correction

POINT addition


(d) Change of outline drawing

4. Additional instructions (2) Figure change

Correction of words in CAUTION

Addition of CAUTION sentence

Addition of sentence in Table

CAUTION addition

CAUTION addition

Correction of description for parameter No.1

Correction of POINT sentence

Correction of error in dimensions

Correction of formula in Table

Print Data *Manual Number

Jul., 2006 SH(NA)-030034-E Section 14.1.7 (2)

Section 15.12.3 (2)

Sep., 2007 SH(NA)-030034-F Sefety Instructions

Section 1.1.1

Section 1.7

Chapter 2

Chapter 3

Section 3.6.2 (2)

Section 3.6.2 (6)

Section 4.5(5)

Chapter 10

Section 11.2.2

Section 11.3

Chapter 14

Section 14.1.2

Section 14.1.4

Section 14.2.6 (2) (d)

Appendix 4

Revision

Correction of signal name for CN3-1 pin

Correction of POINT sentence

1,2. Sentence change

Note reexamination

Note reexamination

WARNING reexamination


Note addition

Note addition



AL.20 Cause addition

AL.32 Cause sentence addition

AL.33 Cause 8,9 addition

Addition of MR-DP60 external digital display error


Change of "brake unit" to "FR-BU2"

Change of connector models to be compatible with RoHS

Sentence change

Addition

MODEL

MODEL

CODE

SH (NA) 030034-F (0709) 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

Program Compatible

MODEL

MR-J2S- CL

SERVO AMPLIFIER

INSTRUCTION MANUAL

F