Mitsubishi Electronics MR-J2M-P8A Car Amplifier Instruction manual

General-Purpose AC Servo

J2M

Series

General-Purpose Interface Compatible

MODEL

MR-J2M-P8A

MR-J2M- DU

MR-J2M-BU

SERVO AMPLIFIER

INSTRUCTION MANUAL

E

Safety Instructions

(Always read these instructions before using the equipment.)

Do not attempt to install, operate, maintain or inspect the units until you have read through this Instruction

Manual, Installation Guide, Servo Motor Instruction Manual and appended documents carefully and can use the equipment properly. Do not use the units until you have a full knowledge of the equipment, safety information and instructions.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

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

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols:

: Indicates what must not be done. For example, "No Fire" is indicated by

: Indicates what must be done. For example, grounding is indicated by .

.

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT".

After reading this Instruction Manual, always keep it accessible to the operator.

A - 1

1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock.

Connect the base unit and servo motor to ground.

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

Do not attempt to wire for each unit and the servo motor until they are installed. Otherwise, you can obtain the electric shock.

Operate the switches with dry hand to prevent an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.

During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric shock.

Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock.

Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the power is off. The servo amplifier is charged and you may get an electric shock.

2. To prevent fire, note the following:

CAUTION

Do not install the base unit, servo motor and regenerative brake resistor on or near combustibles.

Otherwise a fire may cause.

When each unit has become faulty, switch off the main base unit power side. Continuous flow of a large current may cause a fire.

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

3. To prevent injury, note the follow

CAUTION

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

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

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

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

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

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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 weights.

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

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

Do not hold the front cover to transport each unit. Each unit may drop.

Install the each unit in a load-bearing place in accordance with the Instruction Manual.

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

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

Leave specified clearances between the base unit and control enclosure walls or other equipment.

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

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering each unit and servo motor.

Do not drop or strike each unit or servo motor. Isolate from all impact loads.

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

Environment

Each unit

Conditions

Servo motor

Ambient temperature

Ambient humidity

Ambience

Altitude

(Note) Vibration

During operation

[ ] 0 to 55 (non-freezing)

[ ] 32 to 131 (non-freezing)

0 to 40 (non-freezing)


In storage

[ ]

[ ]





During operation 90%RH or less (non-condensing)

In storage

80%RH or less (non-condensing)


[m/s

[ft/s

2

2

]

]

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

Max. 1000m (3280 ft) above sea level

5.9 or less

19.4 or less

HC-KFS Series

HC-MFS Series

HC-UFS13 to 43

HC-KFS Series

HC-MFS Series

HC-UFS13 to 43

X Y : 49

X Y : 161

Note. Except the servo motor with reduction gear.

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation.

The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.

Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.

Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty.

Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.

When the equipment has been stored for an extended period of time, consult Mitsubishi.

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(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 drive unit.

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

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

drive unit

U

V

W

U

V

Servo Motor

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 and other protective circuits may not operate.

Interface unit

VIN

SG

Interface unit

VIN

SG

Control output signal

RA


RA

(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.

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(4) Usage

CAUTION

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

Any person who is involved in disassembly and repair should be fully competent to do the work.

Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.

Do not modify the equipment.

Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near MELSERVO-J2M.

Burning or breaking each unit may cause a toxic gas. Do not burn or break each unit.

Use the drive unit with the specified servo motor.

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

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

(5) Corrective actions

CAUTION

When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention.

Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a forced stop (EMG_ ).

Contacts must be open when servo-on (SON ) is off, when an trouble (ALM_ ) is present 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).

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(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the drive unit will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment.

Please consult our sales representative.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.

About processing of waste

When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area).

FOR MAXIMUM SAFETY

These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.

Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi.

These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes

Home position setting in the absolute position detection system

Write to the EEP-ROM due to device changes

Precautions for Choosing the Products

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.

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COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRECTIVES?

The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in

January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,

1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment into which servo (MELSERVO-J2M is contained) have been installed.

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment. This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation Guidelines (IB(NA)67310).

(2) Low voltage directive

The low voltage directive applies also to MELSERVO-J2M. Hence, they are designed to comply with the low voltage directive.

MELSERVO-J2M is certified by TUV, third-party assessment organization, to comply with the low voltage directive.

The MELSERVO-J2M complies with EN50178.

(3) Machine directive

Not being machines, MELSERVO-J2M need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE

(1) Unit and servo motors used

Use each units and servo motors which comply with the standard model.

Interface unit

Drive unit

Base unit

Servo motor

:MR-J2M-P8A

:MR-J2M- DU

:MR-J2M-BU

:HC-KFS

HC-MFS

HC-UFS

(2) Configuration

Reinforced insulating transformer

No-fuse breaker

NFB

Control box

Magnetic contactor

Reinforced insulating type

24VDC power supply

MELSERVO-

J2M

MC

Servo motor

M

A - 7

(3) Environment

Operate MELSERVO-J2M at or above the contamination level 2 set forth in IEC60664-1 For this purpose, install MELSERVO-J2M in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).

(4) Power supply

(a) Operate MELSERVO-J2M to meet the requirements of the overvoltage category II set forth in

IEC60664-1 For this purpose, a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section.

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

(5) Grounding

(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the base unit to the protective earth (PE) of the control box.

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

(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals of the base unit must be connected to the corresponding earth terminals.

(d) The protective earth (PE) of the servo motor is connected to the protective earth of the base unit via the screw which fastens the drive unit to the base unit. When fixing the drive unit to the base unit, therefore, tighten the accessory screw securely.

(6) Auxiliary equipment and options

(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant products of the models described in Section 12.2.2.

(b) The sizes of the cables described in Section 12.2.1 meet the following requirements. To meet the other requirements, follow Table 5 and 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.

(7) Performing EMC tests

When EMC tests are run on a machine/device into which MELSERVO-J2M has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications.

For the other EMC directive guidelines on MELSERVO-J2M, refer to the EMC Installation

Guidelines(IB(NA)67310).

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CONFORMANCE WITH UL/C-UL STANDARD

The MELSERVO-J2M complies with UL508C.

(1) Unit and servo motors used

Use the each units and servo motors which comply with the standard model.

Interface unit

Drive unit

Base unit

Servo motor

:MR-J2M-P8A

:MR-J2M- DU

:MR-J2M-BU

:HC-KFS

HC-MFS

HC-UFS

(2) Installation

Install a 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

MELSERVO-J2M conforms to the circuit whose peak current is limited to 5000A or less. Having been subjected to the short-circuit tests of the UL in the alternating-current circuit, MELSERVO-J2M conforms to the above circuit.

(4) Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for

15 minutes after power-off.

Base unit

MR-J2M-BU4

MR-J2M-BU6

MR-J2M-BU8

Discharge time [min]

1

1

1

(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.

A - 9

<<About the manuals>>

This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use

MELSERVO-J2M for the first time. Always purchase them and use the MELSERVO-J2M safely.

Also read the manual of the servo system controller.

Relevant manuals

Manual name

MELSERVO-J2M Series To Use the AC Servo Safely

(Packed with the MR-J2M-P8A, MR-J2M- DU and MR-J2M-BU )

MELSERVO Servo Motor Instruction Manual

EMC Installation Guidelines

Manual No.

IB(NA)0300027

SH(NA)3181

IB(NA)67310

In this Instruction Manual, the drive unit, interface unit and base unit may be referred to as follows:

Drive unit

Interface unit : IFU

Base unit

: DRU

: BU

A - 10

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-10

1.1 Overview................................................................................................................................................... 1- 1

1.2 Function block diagram .......................................................................................................................... 1- 2

1.3 Unit standard specifications................................................................................................................... 1- 3

1.4 Function list ............................................................................................................................................. 1- 4

1.5 Model code definition .............................................................................................................................. 1- 5

1.6 Combination with servo motor............................................................................................................... 1- 6

1.7 Parts identification.................................................................................................................................. 1- 7

1.8 Servo system with auxiliary equipment................................................................................................ 1- 9

2. INSTALLATION AND START UP 2- 1 to 2-10

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- 3

2.5 Mounting method .................................................................................................................................... 2- 4

2.6 When switching power on for the first time.......................................................................................... 2- 6

2.7 Start up..................................................................................................................................................... 2- 7

3. SIGNALS AND WIRING 3- 1 to 3-48

3.1 Control signal line connection example................................................................................................. 3- 2

3.2 I/O signals of interface unit .................................................................................................................... 3- 5

3.2.1 Connectors and signal arrangements............................................................................................. 3- 5

3.2.2 Signal explanations .......................................................................................................................... 3- 6

3.2.3 Detailed description of the signals................................................................................................. 3-11

3.2.4 Internal connection diagram .......................................................................................................... 3-15

3.2.5 Interface............................................................................................................................................ 3-16

3.3 Signal and wiring for extension IO unit............................................................................................... 3-20

3.3.1 Connection example ........................................................................................................................ 3-20

3.3.2 Connectors and signal configurations ........................................................................................... 3-22

3.3.3 Signal explanations ......................................................................................................................... 3-23

3.3.4 Device explanations......................................................................................................................... 3-26

3.3.5 Detailed description of the device .................................................................................................. 3-30

3.3.6 Device assignment method ............................................................................................................. 3-31

3.4 Signals and wiring for base unit ........................................................................................................... 3-35

3.4.1 Connection example for power line circuit.................................................................................... 3-35

3.4.2 Connectors and signal configurations ........................................................................................... 3-37

3.4.3 Terminals.......................................................................................................................................... 3-38

3.4.4 Power-on sequence........................................................................................................................... 3-38

3.5 Connection of drive unit and servo motor............................................................................................ 3-39

3.5.1 Connection instructions .................................................................................................................. 3-39

3.5.2 Connection diagram ........................................................................................................................ 3-40

3.5.3 I/O terminals .................................................................................................................................... 3-41

3.6 Alarm occurrence timing chart ............................................................................................................. 3-42

1

3.7 Servo motor with electromagnetic brake ............................................................................................. 3-43

3.8 Grounding................................................................................................................................................ 3-46

3.9 Instructions for the 3M connector......................................................................................................... 3-47

4. OPERATION AND DISPLAY 4- 1 to 4-18

4.1 Display flowchart..................................................................................................................................... 4- 1

4.1.1 Normal indication............................................................................................................................. 4- 2

4.1.2 If alarm/warning occurs ................................................................................................................... 4- 3

4.1.3 If test operation................................................................................................................................. 4- 4

4.2 Interface unit display .............................................................................................................................. 4- 5

4.2.1 Display flowchart of interface unit ................................................................................................. 4- 5

4.2.2 Status display of interface unit ....................................................................................................... 4- 6

4.2.3 Diagnostic mode of interface unit ................................................................................................... 4- 7

4.2.4 Alarm mode of interface unit........................................................................................................... 4- 8

4.2.5 Interface unit parameter mode ....................................................................................................... 4- 9

4.2.6 Interface unit output signal (DO) forced output........................................................................... 4-10

4.3 Drive unit display................................................................................................................................... 4-11

4.3.1 Drive unit display sequence............................................................................................................ 4-11

4.3.2 Status display of drive unit............................................................................................................. 4-12

4.3.3 Diagnostic mode of drive unit......................................................................................................... 4-14

4.3.4 Alarm mode of drive unit ................................................................................................................ 4-15

4.3.5 Drive unit parameter mode ............................................................................................................ 4-16

4.3.6 Drive unit external input signal display ....................................................................................... 4-16

4.3.7 Drive unit external output signal display ..................................................................................... 4-17

4.3.8 Drive unit output signal (DO) forced output................................................................................. 4-18

5. PARAMETERS 5- 1 to 5-30

5.1 DRU parameter list................................................................................................................................. 5- 1

5.1.1 DRU parameter write inhibit.......................................................................................................... 5- 1

5.1.2 Lists.................................................................................................................................................... 5- 2

5.2 Interface unit .......................................................................................................................................... 5-14

5.2.1 IFU parameter write inhibit........................................................................................................... 5-14

5.2.2 Lists................................................................................................................................................... 5-14

5.3 Detailed description ............................................................................................................................... 5-21

5.3.1 Electronic gear ................................................................................................................................. 5-21

5.3.2 Analog monitor................................................................................................................................. 5-25

5.3.3 Using forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) to change the stopping pattern.............................................................................................................................. 5-28

5.3.4 Alarm history clear.......................................................................................................................... 5-28

5.3.5 Position smoothing .......................................................................................................................... 5-29

6. GENERAL GAIN ADJUSTMENT 6- 1 to 6-10

6.1 Different adjustment methods ............................................................................................................... 6- 1

6.1.1 Adjustment on a MELSERVO-J2M................................................................................................ 6- 1

6.1.2 Adjustment using MR Configurator (servo configuration software) ........................................... 6- 2

6.2 Auto tuning .............................................................................................................................................. 6- 3

6.2.1 Auto tuning mode ............................................................................................................................. 6- 3

2

6.2.2 Auto tuning mode operation............................................................................................................ 6- 4

6.2.3 Adjustment procedure by auto tuning............................................................................................ 6- 5

6.2.4 Response level setting in auto tuning mode .................................................................................. 6- 6

6.3 Manual mode 1 (simple manual adjustment)....................................................................................... 6- 7

6.3.1 Operation of manual mode 1 ........................................................................................................... 6- 7

6.3.2 Adjustment by manual mode 1 ....................................................................................................... 6- 7

6.4 Interpolation mode .................................................................................................................................. 6- 9

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-10

7.1 Function block diagram .......................................................................................................................... 7- 1

7.2 Machine resonance suppression filter ................................................................................................... 7- 1

7.3 Adaptive vibration suppression control................................................................................................. 7- 3

7.4 Low-pass filter ......................................................................................................................................... 7- 4

7.5 Gain changing function........................................................................................................................... 7- 5

7.5.1 Applications....................................................................................................................................... 7- 5

7.5.2 Function block diagram ................................................................................................................... 7- 5

7.5.3 Parameters ........................................................................................................................................ 7- 6

7.5.4 Gain changing operation.................................................................................................................. 7- 8

8. INSPECTION 8- 1 to 8- 2

9. TROUBLESHOOTING 9- 1 to 9-14

9.1 Trouble at start-up .................................................................................................................................. 9- 1

9.2 Alarms and warning list ......................................................................................................................... 9- 4

9.3 Remedies for alarms................................................................................................................................ 9- 6

9.4 Remedies for warnings........................................................................................................................... 9-13

10. OUTLINE DRAWINGS 10- 1 to 10-10

10.1 MELSERVO-J2M configuration example......................................................................................... 10- 1

10.2 Unit outline drawings ......................................................................................................................... 10- 2

10.2.1 Base unit (MR-J2M-BU ) ........................................................................................................... 10- 2

10.2.2 Interface unit (MR-J2M-P8A) ..................................................................................................... 10- 2

10.2.3 Drive unit (MR-J2M- DU)......................................................................................................... 10- 3

10.2.4 Extension IO unit (MR-J2M-D01) .............................................................................................. 10- 4

10.2.5 Battery unit (MR-J2M-BT).......................................................................................................... 10- 4

10.3 Connectors............................................................................................................................................ 10- 5

11. CHARACTERISTICS 11- 1 to 11- 6

11.1 Overload protection characteristics................................................................................................... 11- 1

11.2 Power supply equipment capacity and generated loss .................................................................... 11- 2

11.3 Dynamic brake characteristics........................................................................................................... 11- 4

11.4 Encoder cable flexing life.................................................................................................................... 11- 6

12. OPTIONS AND AUXILIARY EQUIPMENT 12- 1 to 12-36

12.1 Options.................................................................................................................................................. 12- 1

3

12.1.1 Regenerative brake options ......................................................................................................... 12- 1

12.1.2 Cables and connectors.................................................................................................................. 12- 8

12.1.3 Junction terminal block (MR-TB50) ..........................................................................................12-17

12.1.4 Junction terminal block (MR-TB20) ..........................................................................................12-19

12.1.5 Maintenance junction card (MR-J2CN3TM) ............................................................................12-21

12.1.6 MR Configurator (servo configurations software)....................................................................12-23

12.2 Auxiliary equipment ..........................................................................................................................12-24

12.2.1 Recommended wires....................................................................................................................12-24

12.2.2 No-fuse breakers, fuses, magnetic contactors...........................................................................12-26

12.2.3 Power factor improving reactors ................................................................................................12-27

12.2.4 Relays............................................................................................................................................12-28

12.2.5 Surge absorbers ...........................................................................................................................12-28

12.2.6 Noise reduction techniques.........................................................................................................12-28

12.2.7 Leakage current breaker ............................................................................................................12-34

12.2.8 EMC filter.....................................................................................................................................12-35

13. COMMUNICATION FUNCTIONS 13- 1 to 13-32

13.1 Configuration ....................................................................................................................................... 13- 1

13.1.1 RS-422 configuration.................................................................................................................... 13- 1

13.1.2 RS-232C configuration ................................................................................................................. 13- 3

13.2 Communication specifications............................................................................................................ 13- 4

13.2.1 Communication overview ............................................................................................................ 13- 4

13.2.2 Parameter setting......................................................................................................................... 13- 5

13.3 Protocol ................................................................................................................................................. 13- 6

13.4 Character codes ................................................................................................................................... 13- 7

13.5 Error codes ........................................................................................................................................... 13- 8

13.6 Checksum............................................................................................................................................. 13- 8

13.7 Time-out operation .............................................................................................................................. 13- 9

13.8 Retry operation .................................................................................................................................... 13- 9

13.9 Initialization........................................................................................................................................13-10

13.10 Communication procedure example ...............................................................................................13-10

13.11 Command and data No. list.............................................................................................................13-11

13.11.1 Read commands.........................................................................................................................13-11

13.11.2 Write commands........................................................................................................................13-13

13.12 Detailed explanations of commands...............................................................................................13-15

13.12.1 Data processing..........................................................................................................................13-15

13.12.2 Status display ............................................................................................................................13-17

13.12.3 Parameter...................................................................................................................................13-18

13.12.4 External I/O pin statuses (DIO diagnosis)..............................................................................13-20

13.12.5 Disable/enable of external I/O signals (DIO) ..........................................................................13-23

13.12.6 External input signal ON/OFF (test operation) .....................................................................13-24

13.12.7 Test operation mode ..................................................................................................................13-25

13.12.8 Output signal pin ON/OFF (output signal (DO) forced output) ...........................................13-28

13.12.9 Alarm history .............................................................................................................................13-29

13.12.10 Current alarm..........................................................................................................................13-30

13.12.11 Other commands......................................................................................................................13-31

4

14. ABSOLUTE POSITION DETECTION SYSTEM 14- 1 to 14-12

14.1 Outline.................................................................................................................................................. 14- 1

14.1.1 Features......................................................................................................................................... 14- 1

14.1.2 Restrictions.................................................................................................................................... 14- 1

14.2 Specifications ....................................................................................................................................... 14- 2

14.3 Signal explanation............................................................................................................................... 14- 3

14.4 Serial communication command........................................................................................................ 14- 3

14.5 Startup procedure................................................................................................................................ 14- 4

14.6 Absolute position data transfer protocol ........................................................................................... 14- 5

14.6.1 Data transfer procedure............................................................................................................... 14- 5

14.6.2 Transfer method ........................................................................................................................... 14- 6

14.6.3 Home position setting .................................................................................................................. 14- 9

14.6.4 How to process the absolute position data at detection of stroke end....................................14-10

14.7 Confirmation of absolute position detection data............................................................................14-11

APPENDIX App- 1 to App- 2

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

5

Optional Servo Motor Instruction Manual CONTENTS

The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in this Instruction Manual.

1. INTRODUCTION

2. INSTALLATION

3. CONNECTORS USED FOR SERVO MOTOR WIRING

4. INSPECTION

5. SPECIFICATIONS

6. CHARACTERISTICS

7. OUTLINE DIMENSION DRAWINGS

8. CALCULATION METHODS FOR DESIGNING

6

1. FUNCTIONS AND CONFIGURATION


1.1 Overview

The Mitsubishi general-purpose AC servo MELSERVO-J2M series is an AC servo which has realized wiring-saving, energy-saving and space-saving in addition to the high performance and high functions of the MELSERVO-J2-Super series.

The MELSERVO-J2M series consists of an interface unit (abbreviated to the IFU) to be connected with a positioning unit, drive units (abbreviated to the DRU) for driving and controlling servo motors, and a base unit (abbreviated to the BU) where these units are installed.

A torque limit is applied to the drive unit by the clamp circuit to protect the main circuit power transistors from overcurrent caused by abrupt acceleration/deceleration or overload. In addition, the torque limit value can be changed as desired using the parameter.

The interface unit has an RS-232C or RS-422 serial communication function to allow the parameter setting, test operation, status indication monitoring, gain adjustment and others of all units to be performed using a personal computer or like where the MR Configurator (servo configuration software) is installed. By choosing the station number of the drive unit using the MR Configurator (servo configuration software), you can select the unit to communicate with, without changing the cabling.

The real-time auto tuning function automatically adjusts the servo gains according to a machine.

A maximum 500kpps high-speed pulse train is used to control the speed and direction of a motor and execute accurate positioning of 131072 pulses/rev resolution.

The position smoothing function has two different systems to allow you to select the appropriate system for a machine, achieving a smoother start/stop in response to an abrupt position command.

The MELSERVO-J2M series supports as standard the absolute position encoders which have 131072 pulses/rev resolution, ensuring control as accurate as that of the MELSERVO-J2-Super series. Simply adding the optional battery unit configures an absolute position detection system. Hence, merely setting a home position once makes it unnecessary to perform a home position return at power-on, alarm occurrence or like.

The MELSERVO-J2M series has a control circuit power supply in the interface unit and main circuit converter and regenerative functions in the base unit to batch-wire the main circuit power input, regenerative brake connection and control circuit power supply input, achieving wiring-saving.

In the MELSERVO-J2M series, main circuit converter sharing has improved the capacitor regeneration capability dramatically. Except for the operation pattern where all axes slow down simultaneously, the capacitor can be used for regeneration. You can save the energy which used to be consumed by the regenerative brake resistor.

Input signal (Axes 1 to 4)

Input signal (Axes 5 to 8)

Extension IO unit

MR-J2M-D01

Regenerative brake option

Control circuit power supply input

Main circuit power input

Forward rotation stroke end

Reverse rotation stroke end

Forced stop input

Servo motor power cable

Personal computer connection

Monitor output

Forced stop input

Electromagnetic brake interlock output

1 - 1

Encoder pulse output extension DIO (Axes 1 to 4)

Encoder pulse output extension DIO (Axes 5 to 8)

Encoder cable


1.2 Function block diagram

Base unit

CNP1B

Power supply

3-phase

200 to

230VAC

(Note)

1-phase

200 to

230VAC

NFB MC

FR-BAL

CNP1A


L

11

L

21

L

L

L

1

2

3

CNP3

P

N

C

Interface unit

Control circuit power suppy

Pulse train position command


Base amplifie r

Drive unit

RS-232C

RS-422

D/A

Overcurrent protection

Dynamic brake

Current detector

Current detection

Actual position control

Actual speed control

Current control

Pulse counter

Model position

Model speed

Model position control

Model speed control


Model torque

Virtual servo motor

Virtual encoder

Drive unit

Dynamic brake

Current detection

Input signal

Stroke end

Forced stop

I/O signals for slots 1 to 4, e.g. servo-on

I/O signals for slots 5 to 8, e.g. servo-on

Personal computer or other servo amplifier

Analog monitor

(3 channels)

Servo motor

U

V

W

(Earth)

M

Encoder

Drive unit

Dynamic brake

Current detection

Servo motor

U

V

W

(Earth)

M

Encoder

Servo motor

U

V

W

(Earth)

M

Encoder

Note. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.

1 - 2


1.3 Unit standard specifications

(1) Base unit

Model

Number of slots

(Note)

Control circuit power supply

Voltage/frequency

Permissible voltage fluctuation

Permissible frequency fluctuation

Inrush current

MR-J2M-BU4

4 slots

MR-J2M-BU6

6 slots

MR-J2M-BU8

8 slots

3-phase 200 to 230VAC or 1-phase 200 to 230VAC, 50/60Hz

1-phase 170 to 253VAC

Within 5%

20A (5ms)

Main circuit power supply

Voltage/frequency


Permissible frequency fluctuation

Maximum servo motor connection capacity [W]

Continuous capacity [W]

Inrush current

3-phase 200 to 230VAC or 1-phase 200 to 230VAC, 50/60Hz

3-phase 170 to 253VAC or 1-phase 170 to 253VAC, 50/60 Hz

Within 5%

1600 2400 3200

Function

Protective functions

Mass

[kg]

[lb]

1280 1920

62.5A (15ms)

2560

Converter function, regenerative control, rushing into current control function

Regenerative overvoltage shut-off, regenerative fault protection, undervoltage /instantaneous power failure protection

1.1

2.4

Note. The control circuit power supply is recorded to the interface unit.

1.3

2.9

1.5

3.3

(2) Drive unit

Model

Power supply

Control system

Dynamic brake

Voltage/frequency


Protective functions

Structure

Cooling method

Mass

MR-J2M-10DU MR-J2M-20DU MR-J2M-40DU MR-J2M-70DU

[kg]

[lb]

270 to 311VDC

230 to 342VDC

Sine-wave PWM control, current control system

Built-in

Overcurrent shut-off, functions overload shut-off (electronic thermal relay), servo motor overheat protection, encoder fault protection, overspeed protection, excessive error protection

Self-cooled

Open (IP00)

Force-cooling (With built-in fan unit)

0.4

0.89

0.4

0.89

0.4

0.89

0.7

1.54

(3) Interface unit

Model


Interface

DIO

AIO

Structure

Mass

[kg]

MR-J2M-P8A

[lb]

Power supply circuit for each unit(8 slots or less)

Pulse train interface 8 channels

RS-232C interface 1 channel

RS-422 interface 1 channel

Forced stop input (2 points), alarm output (2 points), input signal (40 points), output signal (16 points)

Analog monitor 3channels

Open (IP00)

0.5

1.10

1 - 3


1.4 Function list

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

(1) Drive unit (Abbreviation DRU)

Function Description

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

Auto tuning

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.

Gain changing function

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

Adaptive vibration suppression control

Low-pass filter

MELSERVO-J2M detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration.

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

Position smoothing

Slight vibration suppression control

Electronic gear

Torque limit

Speed can be increased smoothly in response to input pulse.

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

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

Servo motor torque can be limited to any value.

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

Reference

Chapter 7

Section 7.5.4

Section 7.3

Section 7.4

DRU parameter

No. 7

DRU parameter

No.20

DRU parameters

No. 3, 4, 69 to 71

Section 5.3.1

DRU parameters

No.28

DRU parameter

No. 21

(2) Interface unit (Abbreviation IFU)

Function

Position control mode

I/O signal selection

Status display

Analog monitor

Description

This servo is used as position control servo.

The servo-on (SON ), ready (RD ) and other input signals can be reassigned to any other pins.

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

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

Reference

Section 2.7

Section 3.1.2

Section 3.1.5

Section 3.2.6

Section 4.2.2

Section 4.3.2

Section 5.3.2

(3) Base unit (Abbreviation BU)

Function


Description

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

Reference

Section 12.1.1

(4) MR Configurator (servo configuration software)

Function Description

Machine analyzer function Analyzes the frequency characteristic of the mechanical system.

Machine simulation

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

Can simulate machine motions on the basis of the machine analyzer results.

Gain search function

External I/O signal display

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

Output signal (DO) forced output

Test operation mode

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

Use this function for output signal wiring check, etc.

JOG operation and positioning operation are possible.

Reference

Section 4.3.7

Section 4.2.6

Section 4.3.8

1 - 4


(5) Option unit

Function

Absolute position detection system

Encoder pulse output

1.5 Model code definition

(1) Drive unit

(a) Rating plate

Description

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

Battery unit MR-J2M-BT (shortly correspondence schedule) is necessary.

The encoder feedback is output from extension IO unit MR-J2M-D01 (shortly correspondence schedule) by the A B Z phase pulse. The number of pulses output by the parameter can be changed.

Reference

SON

ALM

MODEL

MR-J2M-40DU

POWER 400W

INPUT

OUTPUT

SERIAL

DC270V-311V

170V 0-360Hz 2.3A

N9Z95046

TC300A***G51

MITSUBISHI ELECTRIC

Rating plate

Model

Capacity

Applicable power supply

Rated output current

Serial number

Rating plate

(b) Model code

MR-J2M- DU

(2) Interface unit

(a) Rating plate

MITSUBISHI

MODEL

MR-J2M-P8A

POWER :

POWER

75W

2PH AC200-230V 50Hz

2PH AC200-230V 60Hz

OUTPUT :

SERIAL :

DC5/12/20 4.6A/1.2/0.7A

A5

TC3 AAAAG52

PASSED

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

(b) Model code

MR-J2M-P8A

Rated output

Symbol Capacity of applied servo motor

10

20

40

70

100

200

400

750

Model

Input capacity


Rating plate

Output voltage / current

Serial number

Pulse train interface compatible

1 - 5


(3) Base unit

(a) Rating plate

MITSUBISHI

MODEL

MR-J2M-BU4

INPUT :

SERIAL:

3PH 200-230

14A 50/60Hz

N87B95046

BC336U246

MITSUBISHI ELECTRIC

MADE IN JAPAN

PASSED

Rating plate

Model


Serial number

(b) Model code

MR-J2M-BU

Symbol

4

6

8

Number of slots

4

6

8

Maximum servo motor connection capacity [W]

1600

2400

3200

Continuous capacity [W]

1280

1920

2560

1.6 Combination with servo motor

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

Drive unit

MR-J2M-10DU

MR-J2M-20DU

MR-J2M-40DU

MR-J2M-70DU

HC-KFS

053 13

23

43

73

Servo motor

HC-MFS

053 13

23

43

73

HC-UFS

13

23

43

73

1 - 6


1.7 Parts identification

(1) Drive unit

Status indicator LED

Indicates the status of the drive unit.

Blinking green: Servo off status

Steady green: Servo on status

Blinking red: Warning status

Steady red: Alarm status

CN2

Encoder connector

Connect the servo motor encoder

CNP2

Servo motor connector

For connection of servo motor power line cable

(2) Interface unit

Mounting screw

Rating plate

Display

Indicates operating status or alarm.

Pushbutton switches

Used to change status indication or set IFU parameters and DRU parameters.

Mounting screw

Display/setting cover

CN1A

I/O signal (For 1 to 4 slots)

CN5



Forced stop input

CN1B

I/O signal (For 5 to 8 slots)

CN3

For connection of personal computer (RS-232C).

Outputs analog monitor.

Charge lamp

Lit when main circuit capacitor carries electrical charge.

When this lamp is on, do not remove/reinstall any unit

from/to base unit and do not unplug/plug cable and

connector from/into any unit.

1 - 7


(3) Base unit

The following shows the MR-J2M-BU4.

CNP1B

Control circuit power input connector

CON3A

First slot connector

CON3C

Third slot connector

CNP1A

Regenerative brake option connector

CNP3

Main circuit power input connector

CON1,CON2

Interface unit connectors

CON3B

Second slot connector

CON3D

Fourth slot connector

CON4

Option slot connector

CON5

Battery unit connector

1 - 8


1.8 Servo system with auxiliary equipment

WARNING

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

(terminal marked ) of the base unit to the protective earth (PE) of the control box.

3-phase 200V to 230VAC power supply

(Note) 1-phase 200V to 230VAC

No-fuse breaker

(NFB) or fuse

Magnetic contactor

(MC)

Power factor improving reactor

(FR-BAL)

L

1 L

2 L

3

L

11

L

21

Options and auxiliary equipment

No-fuse breaker

Magnetic contactor

MR Configurator

(servo configuration software)

Reference

Section 12.2.2

Section 12.2.2

Section 12.1.4

Options and auxiliary equipment Reference


Cables

Section 12.1.1

Section 12.2.1

Power factor improving reactor Section 12.2.3


Command device

(For 1 to 4 slots)

Command device

(For 5 to 8 slots)


P

C

To CNP1A

To CN1A

To CN1B

To CNP1B


To CNP3

To CN3

To CN5

Machine contact

MR Configurator

(servo configuration software

MRZJW3-SETUP151E or later)

Personal computer

Power supply lead

Encoder cable

Note. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.

1 - 9


MEMO

1 - 10

2. INSTALLATION AND START UP


CAUTION

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

Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire.

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

Manual.

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

Use the equipment within the specified environmental condition range.

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

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

Do not subject each unit to drop impact or shock loads as they are precision equipment.

Do not install or operate a faulty unit.

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

Mitsubishi.

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

2.1 Environmental conditions

The following environmental conditions are common to the drive unit, interface unit and base unit.

Ambient temperature

Ambient humidity

Environment

During operation

[ ]

[ ]

[ ]

In storage

[ ]

During operation

In storage

Conditions






Ambience

Altitude

Vibration

[m/s

[ft/s

2

]

2

]

Indoors (no direct sunlight)

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

Max. 1000m (3280 ft) above sea level

5.9 [m/s

19.4 [ft/s

2

2

] or less

] or less

2 - 1


2.2 Installation direction and clearances

CAUTION

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

Leave specified clearances between each unit and control box inside walls or other equipment.

(1) Installation of one MELSERVO-J2M

40mm(1.57inch) or more


(2) Installation of two or more MELSERVO-J2M

When installing two units vertically, heat generated by the lower unit influences the ambient temperature of the upper unit. Suppress temperature rises in the control box so that the temperature between the upper and lower units satisfies the environmental conditions. Also provide adequate clearances between the units or install a fan.


Leave 100mm(3.94inch) or more clearance or install fan for forced air cooling.


2 - 2


(3) Others

When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that MELSERVO-J2M is not affected.

Install MELSERVO-J2M on a perpendicular wall in the correct vertical direction.

2.3 Keep out foreign materials

(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering each unit.

(2) Prevent oil, water, metallic dust, etc. from entering each unit through openings in the control box or a fan installed on the ceiling.

(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air purge (force clean air into the control box from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the control box.

2.4 Cable stress

(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own mass stress are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables. Use the optional encoder cable within the flexing life range. Use the power supply and brake wiring cables within the flexing life of the cables.

(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or stamped by workers or vehicles.

(4) For installation on a machine where the servo motor will move, the flexing radius should be made as large as possible. Refer to section 11.4 for the flexing life.

2 - 3


2.5 Mounting method

(1) Base unit

As shown below, mount the base unit on the wall of a control box or like with M5 screws.

Wall

(2) Interface unit/drive unit (MR-J2M-40DU or less)

The following example gives installation of the drive unit to the base unit. The same also applies to the interface unit.

Sectional view

Drive unit

Base unit

1)

Catch Positioning hole

1) Hook the catch of the drive unit in the positioning hole of the base unit.

Sectional view

2)

Drive unit

Base unit

Wall

Wall

2) Using the catch hooked in the positioning hole as a support, push the drive unit in.

2 - 4


3)

3)

Sectional view

Wall

3) Tighten the M4 screw supplied for the base unit to fasten the drive unit to the base unit.

POINT

Securely tighten the drive unit fixing screw.

Sectional view

Wall

(3) Drive unit (MR-J2M-70DU)

When using the MR-J2M-70DU, install it on two slots of the base unit. The slot number of this drive unit is that of the left hand side slot of the two occupied slots, when they are viewed from the front of the base unit.

2 - 5


2.6 When switching power on for the first time

Before starting operation, check the following:

(1) Wiring

(a) Check that the control circuit power cable, main circuit power cable and servo motor power cable are fabricated properly.

(b) Check that the control circuit power cable is connected to the CNP1B connector and the main circuit power cable is connected to the CNP3 connector.

(c) Check that the servo motor power cable is connected to the drive unit CNP2 connector.

(d) Check that the base unit is earthed securely. Also check that the drive unit is screwed to the base unit securely.

(e) When using the regenerative brake option, check that the cable using twisted wires is fabricated properly and it is connected to the CNP1A connector properly.

(f) When the MR-J2M-70DU is used, it is wired to have the left-hand side slot number of the two slots.

(g) 24VDC or higher voltages are not applied to the pins of connector CN3.

(h) SD and SG of connector CN1A CN1B CN3 CN4A CN4B and CN5 are not shorted.

(i) The wiring cables are free from excessive force.

(j) Check that the encoder cable and servo motor power cable connected to the drive unit are connected to the same servo motor properly.

(k) When stroke end limit switches are used, the signals across LSP -SG and LSN -SG are on during operation.

(2) Parameters

(a) Check that the drive unit parameters are set to correct values using the servo system controller screen or MR Configurator (servo configuration software).

(b) Check that the interface unit parameters are set to correct values using the interface unit display or MR Configurator (servo configuration software).

(3) Environment

Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

(4) Machine

(a) The screws in the servo motor installation part and shaft-to-machine connection are tight.

(b) The servo motor and the machine connected with the servo motor can be operated.

2 - 6


2.7 Start up

WARNING

Do not operate the switches with wet hands. You may get an electric shock.

Do not operate the controller with the front cover removed. High-voltage terminals and charging area exposed and you may get an electric shock.

During power-on or for some time after power-off, do not touch or close a parts

(cable etc.) to the regenerative brake resistor, servo motor, etc. Their temperatures may be high and you may get burnt or a parts may damaged.

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 brake resistor, servo motor, etc.since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged.

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

Connect the servo motor with a machine after confirming that the servo motor operates properly alone.

2 - 7


(1) Power on

Switching on the main circuit power/control circuit power places the interface unit display in the scroll status as shown below.

In the absolute position detection system, first power-on results in the absolute position lost (A.25) alarm and the servo system cannot be switched on. This is not a failure and takes place due to the uncharged capacitor in the encoder.

The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then switching power off once and on again.

Also in the absolute position detection system, if power is switched on at the servo motor speed of

500r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.

(2) Test operation

Using JOG operation in the test operation mode, make sure that the servo motor operates. (Refer to

Section 6.8.2.)

(3) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for the parameter definitions.

After setting the parameters, switch power off once.

2 - 8


(4) Slot number confirmation

Confirm the slot number in the interface unit display section of the installed drive unit.

Display

For MR-J2M-BU4

First slot

Third slot

Slot number

Drive unit status

Slot number

Second slot

Fourth slot

(5) Servo-on

Switch the servo-on in the following procedure:

1) Switch on main circuit/control power supply.

2) Turn on the servo-on (SON ).

When the servo-on status is established, operation is enabled and the servo motor is locked. At this time, the interface unit displays "@ d@". (@ represents the slot number.)

(6) Command pulse input

Entry of a pulse train from the positioning device rotates the servo motor. At first, run it at low speed and check the rotation direction, etc. If it does not run in the intended direction, check the input signal.

On the status display, check the speed, command pulse frequency, load factor, etc. of the servo motor.

When machine operation check is over, check automatic operation with the program of the positioning device.

This servo amplifier has a real-time auto tuning function under model adaptive control. Performing operation automatically adjusts gains. The optimum tuning results are provided by setting the response level appropriate for the machine in DRU parameter No. 2. (Refer to chapter 7.)

(7) Home position return

Make home position return as required.

2 - 9


(8) Stop

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

Refer to Section 3.8, (2) for the servo motor equipped with electromagnetic brake. Note that the stop pattern of forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) OFF is as described below.

(a) Servo-on (SON ) OFF

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

(b) Alarm occurrence

When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop.

(c) 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 stop warning (A.E6) occurs.

(d) Forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) OFF

The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in the opposite direction.

POINT

A sudden stop indicates deceleration to a stop at the deceleration time constant of zero.

2 - 10

3. SIGNALS AND WIRING


WARNING

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

Before starting wiring, make sure that the voltage is safe in the tester more than 10 minutes after power-off. Otherwise, you may get an electric shock.

Ground the base unit and the servo motor securely.

Do not attempt to wire each unit and servo motor until they have been installed.

Otherwise, you may get an electric shock.

The cables should not be damaged, stressed excessively, loaded heavily, or pinched. Otherwise, you may get an electric shock.

CAUTION

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 and other protective circuits.

Interface unit Interface unit

VIN

SG

VIN

SG


RA


RA

Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be given to electronic equipment used near each unit.

Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF option) with the power line of the servo motor.

When using the regenerative brake resistor, switch power off with the alarm signal.

Otherwise, a transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

Do not modify the equipment.

3 - 1


3.1 Control signal line connection example

POINT

Refer to Section 3.4 for connection of the power supply line and to Section

3.5 for connection with servo motors.

(Note 2)

RA

(Note 13)

MR-J2M-P8A

CN1A(Note 4)

Symbol

Slot 1 Slot 2 Slot 3 Slot 4

RD 11 33 6 28

RA

RA

INP

Positioning module

QD70

CON1

24VDC power supply

(Note 13)


A1

B1

B14

B13

B3

B4

B16

B15

B6

B7

A14

A13

A3

A4

A16

A15

A6

A7

Symbol

24G

24V

CLEAR COM

CLEAR

PULSE COM

PULSE F

(Note 7)

B2

B18

B17

B5

B20

B19

A2

A18

A5

A20

A17 A19

PULSE R

PG COM

PG

RA

ALM_A

27

(Note 8)

SON

RES

LG

P5

OP_VIN

37

36

10

9

32

31

21, 46, 50

49

47

SG

VIN

OPC

1

26

2

CR

PG

PP

NG

NP

OP

12

44

19

45

20

25

34

42

17

43

18

24

OP_COM

SD

48

Plate

(Note 13) CN1B(Note 4)

7

40

15

41

16

23

(Note 2)

Symbol

5

4


29

38

13

39

14

22

RA

RD

11 33 6

28

INP

35

35

8

8

30

30

3

3

B2

B18

B17

B5

B20

B19

A2

CON2

A18

A17

A5

A20

A19

(Note 13)


B14 B16 A14

Symbol

A16 CLEAR COM

B13

B3

B4

B15

B6

B7

A13

A3

A4

A15

A6

A7

CLEAR

PULSE COM

PULSE F

PULSE R

PG COM

PG

(Note 7)

RA

(Note 8)

ALM_B

SON

RES

LG

P5

PG

PP

NG

NP

OP

OP_VIN

SG

VIN

OPC

CR

OP_COM

SD

37

36

12

44

19

45

20

25

27

10

9

34

42

17

43

18

24

21, 46, 50

49

47

1

26

2

7

40

15

41

16

23

48

Plate

32

31

5

4

29

38

13

39

14

22

3 - 2


(Note 9)

MR Configurator

(servo configuration software)

Personal computer

(Note 6)

(Note 6)

(Note 3, 6)

Communication cable

CN3

(Note 13)

CN5

Symbol Slot 1 Slot 2 Slot 3 Slot 4

LSP

LSN

SG

1

2

3

4

8

5

6

7

10

(Note 13)

CN5

Symbol Slot 5 Slot 6 Slot 7 Slot 8

LSP

LSN

11

12

13

14

15

16

17

18

CN5

Symbol Slot 1 to 8

EMG_A

EMG_B

20

19

MR-J2M-P8A

(Note 5)CN3

4

14

7

MO1

MO2

MO3

11 LG

Plate

SD

Base unit

CON3A

(Slot 1)

A

10k

A

10k

A

10k

(Note 12)

Monitor output

Max. +1mA meter

Zero-center

Drive unit

(Note 5) CN2

CON3B

(Slot 2)

Drive unit

(Note 5) CN2

CON3H

(Slot 8)

Drive unit

(Note 5) CN2

(Note 11)

Battery unit

MR-J2M-BT

MR-J2MBTCBL M

CON4

(Note 10)MR-J2M-D01

CN4A

(Note 1)

CN4B

3 - 3


Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the base unit to the protective earth (PE) of the control box.

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 forced stop and other protective circuits.

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

4. CN1A CN1B, CN4A CN4B have the same shape. Wrong connection of the connectors will lead to a fault.

5. CN2 and CN3 have the same shape. Wrong connection of the connectors can cause a fault.

6. When starting operation, always connect the forced stop (EMG_A) and forward/reverse rotation stroke end (LSN /LSP ) with

SG. (Normally closed contacts)

7. Trouble (ALM_ ) is connected with COM in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.

8. Always connect P5-OP_VIN when using the 5V output (P5). Keep them open when supplying external power.

9. Use MRZJW3-SETUP151E.

10. Refer to Section 3.3 for the MR-J2M-D01 extension IO unit.

11. The MR-J2M-BT battery unit is required to configure an absolute position detection system. Refer to Chapter 14 for details.

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

(Refer to Section 12.1.2)

13. in Symbol indicates a slot number.

3 - 4


3.2 I/O signals of interface unit

3.2.1 Connectors and signal arrangements

POINT

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

(1) Signal arrangement

CN1A

10

SON2

12

CR1

14

NP4

16

NP3

2

OPC

4

RES4

6

RD3

8

INP2

18

NP2

20

NP1

22

OP4

24

OP2

11

RD1

13

PP4

15

PP3

17

PP2

19

PP1

21

LG

23

OP3

25

OP1

1

SG

3

INP4

5

SON4

7

CR3

9

RES2

27

ALM_A

29

CR4

31

RES3

33

RD2

30

INP3

32

SON3

35

INP1

26

VIN

28

RD4

37

SON1

34

CR2

36

RES1

39

NG4

41

NG3

38

PG4

40

PG3

43

NG2

45

NG1

47

42

PG2

44

PG1

OP_VIN

49

P5

46

LG

48

OP_COM

50

LG

MR-J2M-P8A

CN1B

10

SON6

12

CR5

14

NP8

16

NP7

2

OPC

4

RES8

6

RD7

8

INP6

18

NP6

20

NP5

22

OP8

24

OP6

1

SG

3

INP8

5

SON8

7

CR7

9

RES6

11

RD5

13

PP8

15

PP7

17

PP6

19

PP5

21

LG

23

OP7

25

OP5

27

ALM_B

26

VIN

29

CR8

28

RD8

31

RES7

30

INP7

33

RD6

32

SON7

35

INP5

34

CR6

37

SON5

36

RES5

39

NG8

38

PG8

41

NG7

40

PG7

43

NG6

42

PG6

45

NG5

44

PG5

47

OP_VIN

49

P5

46

LG

48

OP_COM

50

LG

CN5

2

LSN1

4

LSN2

6

LSN3

8

SG

10

LSN4

1

LSP1

3

LSP2

5

LSP3

7

LSP4

9

11

12

LSP5

LSN5

13

14

LSP6

LSN6

15

16

LSP7

LSN7

17

18

LSP8

LSN8

19

20

EMG_A

EMG_B

The connector frames are

connected with the PE (earth)

terminal inside the servo amplifier.

CN3

2

RXD

4

MO1

6

8

10

TRE

1

LG

3

LG

5

RDP

7

MO3

9

SDP

12

TXD

14

MO2

16

18

20

P5

11

LG

13

15

RDN

17

19

SDN

3 - 5


3.2.2 Signal explanations

For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.2.5.

The pin No.s in the connector pin No. column are those in the initial status.

(1) Input signals

Signal

Reset 1

Reset 2

Reset 3

Reset 4

Reset 5

Reset 6

Reset 7

Reset 8

Servo-on 1

Servo-on 2

Servo-on 3

Servo-on 4

Servo-on 5

Servo-on 6

Servo-on 7

Servo-on 8

Symbol

Connector pin No.

Functions/Applications

SON 1 CN1A-37

SON 2 CN1A-10

SON 3 CN1A-32

SON 4 CN1A-5

SON 5 CN1B-37

SON 6 CN1B-10

SON 7 CN1B-32

SON 8 CN1B-5

RES 1 CN1A-36

RES 2 CN1A-9

RES 3 CN1A-31

RES 4 CN1A-4

RES 5 CN1B-36

RES 6

RES 7

RES 8

CN1B-9

CN1B-31

CN1B-4

SON 1: Servo-on signal for slot 1








Connect SON -SG to switch on the base circuit and make the servo amplifier ready to operate (servo-on).

Disconnect SON -SG to shut off the base circuit and coast the servo motor (servo off).

RES 1: Reset signal for slot 1








Disconnect RES -SG for more than 50ms to reset the alarm.

Some alarms cannot be deactivated by the reset (RES ). Refer to

Section 9.2.

Shorting RES -SG in an alarm-free status shuts off the base circuit.

The base circuit is not shut off when " 1 " is set in DRU parameter No. 51 (Function selection 6).

I/O division

DI-1

DI-1

3 - 6


Signal

Forward rotation stroke end 1








Reverse rotation stroke end 1








Forced stop A

Forced stop B

Symbol

Connector pin No.

LSP 1 CN5-1

LSP 2

LSP 3

LSP 4

LSP 5

LSP 6

LSP 7

LSP 8

LSN 1

LSN 2

LSN 3

LSN 4

LSN 5

LSN 6

LSN 7

LSN 8

CN5-3

CN5-5

CN5-7

CN5-11

CN5-13

CN5-15

CN5-17

CN5-2

CN5-4

CN5-6

CN5-10

CN5-12

CN5-14

CN5-16

CN5-18


LSP 1: Forward rotation stroke end signal for slot 1








LSN 1: Reverse rotation stroke end signal for slot 1








To start operation, short LSP -SG and/or LSN -SG. Open them to bring the motor to a sudden stop and make it servo-locked.

Set " 1" in parameter No. 22 (Function selection 4) to make a slow stop.

(Refer to Section 5.1.2.)

(Note) Input signals

LSP LSN

Operation

CCW direction

CW direction

1

0

1

0

1

1

0

0

Note. 0: LSP /LSN -SG off (open)

1: LSP /LSN -SG on (short)

EMG_A CN5-20 EMG_A: Forced stop signal for slots 1 to 8

EMG_B CN5-19 EMG_B: Forced stop signal for slots 1 to 8

Disconnect EMG_ -SG to bring the servo motor to forced stop state, in which the servo is switched off and the dynamic brake is operated.

Connect EMG_ -SG in the forced stop state to reset that state.

When either of EMG-A and EMG-B is to be used, short the unused signal with SG.

I/O division

DI-1

DI-1

3 - 7


Clear 1

Clear 2

Clear 3

Clear 4

Clear 5

Clear 6

Clear 7

Clear 8

Signal

Forward rotation pulse train 1

Reverse rotation pulse train 1















PP 6

NP 6

PG 6

NG 6

PP 7

NP 7

PG 7

NG 7

PP 8

NP 8

PG 8

NG 8

PP 3

NP 3

PG 3

NG 3

PP 4

NP 4

PG 4

NG 4

PP 1

NP 1

PG 1

NG 1

PP 2

NP 2

PG 2

NG 2

PP 5

NP 5

PG 5

NG 5

Symbol

Connector pin No.

CR 1

CR 2

CR 3

CR 4

CR 5

CR 6

CR 7

CR 8


CN1A-12

CN1A-34

CN1A-7

CN1A-29

CN1B-12

CN1B-34

CN1B-7

CN1B-29

CR 1: Clear signal for slot 1








Connect CR -SG to clear the position control counter droop pulses on its leading edge. The pulse width should be 10ms or more.

When the DRU parameter No.42 (Input signal selection 1) setting is " 1

", the pulses are always cleared while CR -SG are connected.

I/O division

DI-1

CN1B-17

CN1B-18

CN1B-42

CN1B-43

CN1B-15

CN1B-16

CN1B-40

CN1B-41

CN1B-13

CN1B-14

CN1B-38

CN1B-39

CN1A-19

CN1A-20

CN1A-44

CN1A-45

CN1A-17

CN1A-18

CN1A-42

CN1A-43

CN1A-15

CN1A-16

CN1A-40

CN1A-41

CN1A-13

CN1A-14

CN1A-38

CN1A-39

CN1B-19

CN1B-20

CN1B-44

CN1B-45

PP 1 NP 1 PG 1 NG 1: Forward/reverse rotation pulse train for slot 1








Used to enter a command pulse train.

In the open collector system (max. input frequency 200kpps):

Forward rotation pulse train across PP -SG

Reverse rotation pulse train across NP -SG

In the differential receiver system (max. input frequency 500kpps):

Forward rotation pulse train across PG -PP

Reverse rotation pulse train across NG -NP

The command pulse train form can be changed using DRU parameter No.

21 (Function selection 3).

DI-2

3 - 8


(2) Output signals

Signal

Trouble A

Trouble B

Ready 1

Ready 2

Ready 3

Ready 4

Ready 5

Ready 6

Ready 7

Ready 8

In position 1

In position 2

In position 3

In position 4

In position 5

In position 6

In position 7

In position 8

Encoder Z-phase pulse 1








Analog monitor 1

Analog monitor 2

Analog monitor 3

Symbol

Connector pin No.


ALM_A CN1A-27

ALM_B CN1B-27

RD 1

RD 2

RD 3

RD 4

RD 5

RD 6

RD 7

RD 8

INP 1

INP 2

OP 1

OP 2

OP 3

OP 4

OP 5

OP 6

OP 7

CN1A-11

CN1A-33

CN1A-6

CN1A-28

CN1B-11

CN1B-33

CN1B-6

CN1B-28

CN1A-35

CN1A-8

INP 3 CN1A-30

INP 4 CN1A-3

INP 5 CN1B-35

INP 6 CN1B-8

INP 7 CN1B-30

INP 8 CN1B-3

CN1A-25

CN1A-24

CN1A-23

CN1A-22

CN1B-25

CN1B-24

CN1B-23

ALM_A: Alarm signal for slot 1 to 4

ALM_B: Alarm signal for slot 5 to 8

ALM -SG are disconnected when power is switched off or the protective circuit is activated to shut off the base circuit. Without alarm, ALM -SG are connected within about 3s after power on.

RD 1: Ready signal for slot 1








RD -SG are connected when the servo is switched on and the servo amplifier is ready to operate.

INP 1: In position signal for slot 1








INP -SG are connected when the number of droop pulses is in the preset in-position range. The in-position range can be changed using

DRU parameter No. 5.

When the in-position range is increased, INP -SG may be kept connected during low-speed rotation.

OP 1: Encoder Z-phase pulse signal for slot 1








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.

I/O division

DO-1

DO-1

DO-1

DO-2

OP 8

MO1

MO2

MO3

CN1B-22

CN3-4 Used to output the data set in IFU parameter No.3 (Analog monitor 1 output) to across MO1-LG in terms of voltage. Resolution 10 bits



Analog output

Analog output

Analog output

3 - 9


(3) Communication

POINT

Refer to Chapter 13 for the communication function.

Signal

RS-422 I/F

RS-422 termination

RS-232C I/F

Symbol

Connector pin No.

SDP

SDN

RDP

RDN

TRE

RXD

TXD


CN3-9

CN3-19

CN3-5

CN3-15

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

Choose either one in IFU parameter No. 16.

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).

CN3-2

CN3-12

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

Choose either one in IFU parameter No. 0.

(4) Power supply

Signal Symbol

Connector pin No.


Digital I/F power supply input

Digital I/F common

5V output

Encoder Z-phase pulse power supply

Encoder Z-phase pulse common

Control common

Shield

VIN

SG

P5

OP_COM

LG

CN1A-26

CN1B-26

CN1A-1

CN1B-1

CN5-8

CN1A-49

CN1B-49

CN3-20

OP_VIN CN1A-47

CN1B-47

Driver power input terminal for digital interface.

Input 24VDC (300mA or more) for input interface.

24VDC 10%

Common terminal of VIN. Pins are connected internally.

Separated from LG.

Internal power supply for encoder Z-phase pulses. Connect P5-OP_VIN when using this power supply as an encoder Z-phase pulse common.

5VDC 5%

Power input for encoder Z-phase pulse common. Connect P5-OP_VIN when using the 5V output (P5) as an encoder Z-phase pulse common. Supply power to OP_VIN when using an external power supply as an encoder Z-phase pulse common. At this time, do not connect P5-OP_VIN.

Common for encoder Z-phase pulses. Power input to OP_VIN is output from

OP_COM.

Common terminal for MO1, MO2 and MO3.

SD

CN1A-48

CN1B-48

CN1A-50

CN1A-46

CN1A-21

CN1B-50

CN1B-46

CN1B-21

CN3-1

CN3-3

CN3-11

CN3-13

Plate Connect the external conductor of the shield cable.

3 - 10


3.2.3 Detailed description of the signals

(1) Pulse train input

(a) Input pulse waveform selection

Encoder pulses may be input in any of three different forms, for which positive or negative logic can be chosen. Set the command pulse train form in DRU parameter No. 21.

Arrow or in the table indicates the timing of importing a pulse train.

A- and B-phase pulse trains are imported after they have been multiplied by 4.

Pulse train form

Forward rotation pulse train

Reverse rotation pulse train

Forward rotation command

PP

NP

PP

Reverse rotation command

DRU parameter No. 21

(Command pulse train)

0010

Pulse train sign 0011

L

H

NP

PP

A-phase pulse train

B-phase pulse train

0012



NP

PP

0000

Pulse train sign

NP

PP

NP

PP

H

L

0001

A-phase pulse train

B-phase pulse train

NP

0002

3 - 11


(b) Connections and waveforms

1) Open collector system

Connect as shown below:

24VDC

OPC

Servo amplifier

PP

Approx. 1.2k

NP

SD

Approx. 1.2k

The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (DRU parameter No.21 has been set to 0010). The waveforms in the table in (a), (1) of this section are voltage waveforms of PP and NP based on SG. Their relationships with transistor ON/OFF are as follows:


(transistor)


(transistor)

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

(OFF)

(OFF)

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

Forward rotation command Reverse rotation command

3 - 12


2) Differential line driver system

Connect as shown below:

PP

Servo amplifier

PG

NP

NG

SD

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

For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows.

The waveforms of PP , PG , NP and NG are based on that of the ground of the differential line driver.


PP

PG


NP

NG

Forward rotation command Reverse rotation command

3 - 13


(2) In-position (INP )

PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset in-position range (DRU parameter No. 5). INP -SG may remain connected when low-speed operation is performed with a large value set as the in-position range.

Servo-on(SON )

ON

OFF

Alarm

Yes

No

In-position range

(3) Ready (RD )

Droop pulses

In position(INP )

ON

OFF

Servo-on(SON )

ON

OFF

Alarm

Yes

No

Ready(RD )

ON

OFF

100ms less 10ms less 10ms less

3 - 14


3.2.4 Internal connection diagram

MR-J2M-P8A

(Note) symbol

CN1A slot 1 slot 2 slot 3 slot 4

VIN

SG

SON

CR

RES

OPC

PG

37

12

36

44

10

34

9

42

26

1

2

32

7

31

40

5

29

4

38

PP

NG

NP

SD

19

45

20

17

43

18

Plate

15

41

16

13

39

14

Approx.6.8k

Approx.6.8k

Approx.100

Approx.1.2k

Approx.100

Approx.1.2k

5V 5VDC slot 1 slot 2 slot 3 slot 4 symbol

27

ALM_A

11

35

25

33

8

24

6

30

23

21, 46, 50

49

47

48

Plate

CN1A

(Note)

28

3

22

RD

INP

OP

LG

P5

OP_VIN

OP_COM

SD

NP

VIN

SG

SON

CR

RES

SD

(Note)

CN1B symbol slot 5 slot 6 slot 7 slot 8

OPC

PG

2

PP

NG

44

19

45

42

17

43

40

15

41

38

13

39

20

37

12

36

18 16

26

1

10

34

9

Plate

32

7

31

14

5

29

4

Approx.100

Approx.100

Approx.1.2k

Approx.1.2k

Approx.6.8k

Approx.6.8k

symbol

EMG_A

EMG_B

CN5 slot 1 to 8

20

19

(Note)

CN5 symbol slot 1 slot 2 slot 3 slot 4

LSP

LSN

1

2

3

4

5

6

7

10

(Note) CN5 symbol slot 5 slot 6 slot 7 slot 8

LSP

LSN

SG

11

12

13

14

8

15

16

17

18

Approx.6.8k

Approx.6.8k

Approx.6.8k

Approx.6.8k

Approx.6.8k

Approx.6.8k

CN1B (Note) slot 5 slot 6 slot 7 slot 8 symbol

25

11

47

48

49

24 23

21, 46, 50

27

33 6

22

28

OP_VIN

OP_COM

P5

OP

LG

ALM_B

RD

35 8 30

Plate

3 INP

SD

CN3

4

MO1

14

MO2

7

MO3

11

Plate

12

2

9

19

5

15

LG

SD

TXD

RXD

SDP

SDN

RDP

RDN

Note. in Symbol indicates the slot number.

3 - 15


3.2.5 Interface

(1) Common line

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

Interface unit

(Note)

DI-1

Base unit

24VDC

VIN

SON , etc.

SG

OPC

PG NG

PG NP

SG

SD

INP , etc.

SD

MO1

MO2

MO3

LG

SDP

SDN

RDP

RDN

LG

TXD

RXD

RA

Analog monitor output

RS-232C

RS-422

Drive unit

Servo motor encoder

MR

MRR

LG

SD

Servo motor

M

Extension IO unit

E

LA, etc.

LAR, etc.

LG

SD

Differential line driver output

35mA max.

Ground

SG

DI-1

EM1

24VDC

Note. Assumes a differential line driver pulse train input.

MBR

VIN

RA

3 - 16


(2) Detailed description of the interfaces

This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in

Sections 3.2.2.

Refer to this section and connect the interfaces with the external equipment.

(a) Digital input interface DI-1

Give a signal with a relay or open collector transistor.

Interface unit

For transistor

Approx. 5mA

24VDC

300mA or more VIN

SON etc.

R: Approx. 4.7k

Switch

SG TR

V

CES

1.0V

I

CE0

100 A

(b) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush current suppressing resister (R) for a lamp load. (Permissible current: 40mA or less, inrush current: 100mA or less)

1) Inductive load

Interface unit

VIN

ALM_ etc.

Load

24VDC

10%

SG

Opposite polarity of diode will fail interface unit.

2) Lamp load

Interface unit

VIN

R

24VDC

10%

ALM_ etc.

SG

3 - 17


(c) Pulse train input interface DI-2

Give a pulse train signal in an open collector or differential line driver system.


Interface unit

24VDC

OPC

2m(78.74in) or less

Max. input pulse frequency 200kpps

PP , NP

Approx.

1.2k

SD tc tHL

PP

0.9

0.1

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

NP


10m (393.70in) or less

Interface unit

Max. input pulse frequency 500kpps

PP (NP )

About 100

PG (NG )

Am26LS31 or equivalent

SD tc tHL

PP PG

0.9

0.1

tLH tHL 0.1 s tc 0.7 s tF 3 s tc tLH tF

NP NG

3 - 18


(d) Encoder pulse output DO-2


Max. intake current 35mA

Interface unit Interface unit

5 to 24VDC

OP

LG

SD

OP

LG

SD


Max. output current 35mA extension IO unit

LA

(LB , LZ )

Am26LS32 or equivalent

150

LAR

(LBR , LZR )

LG

SD extension IO unit

LA

(LB , LZ )

LAR

(LBR , LZR )

SD

100

(e) Analog output

Output voltage: 4V

Max. output current: 0.5mA

Resolution: 10bit

Interface unit

MO

LBR

/2

LZ

LZR

OP

LA

Sarvo motor CCW rotation

LAR

LB

T

400 s or more

10k

A

Reading in one or both directions 1mA meter.

LG

SD

Photocoupler

High-speed photocoupler

3 - 19


3.3 Signal and wiring for extension IO unit

3.3.1 Connection example

POINT

The pins without symbols can be assigned any devices using the MR

Configurator (servo configuration software).

(Note 3)

24VDC

VIN

SG

MR-J2M-D01

26

27

28

29

7

8

5

6

(Note 2)

CN4A

11, 36

12, 37

3

4

1

2

Approx. 6.8k

30

31

32

33

Approx. 6.8k

CN4B-11

(Note 2)

CN4A

9

10

34

35

23

47

22

46

25

49

24

48

(Note 2)

CN4A

13, 38

50

LG

LA1

LAR1

LB1

LBR1

LZ1

LZR1

LA2

LAR2

LB2

19

43

18

21

45

20

44

42

17

41

16

40

LZ3

LZR3

LA4

LAR4

LB4

15 LBR4

39 LZ4

14 LZR4 plate SD

LBR2

LZ2

LZR2

LA3

LAR3

LB3

LBR3

(Note 1)

RA1

RA2

RA3

RA4

Encoder A-phase pulse 1

(Differential line driver system)

Encoder B-phase pulse 1






















3 - 20


SG

28

29

30

31

7

8

26

27

32

33

5

6

3

4

(Note 2)

CN4B

1

2

Approx. 6.8k

12, 37

Approx. 6.8k

VIN 11, 36

CN4A-11

(Note 2)

CN4B

13, 38

LG

50 LA5

25 LAR5

49 LB5

24 LBR5

48 LZ5

23 LZR5

47 LA6

22 LAR6

46 LB6

21 LBR6

45 LZ6

20 LZR6

44 LA7

19 LAR7

43 LB7

18 LBR7

42 LZ7

17 LZR7

41 LA8

16 LAR8

40 LB8

15 LBR8

39 LZ8

14 LZR8 plate SD

(Note 2)

CN4B

9

10

34

35

(Note 1)

RA7

RA8

RA9

RA10

























MR-J2M-D01

Note 1. Connect the diodes in the correct orientation. Opposite connection may cause the servo amplifier to be faulty and

disable the signals from being output, making the forced stop and other protective circuits inoperative.

2. The signals having the same name are connected to the inside of the servo amplifier.

3. Always connect 24VDC (200mA).

3 - 21


3.3.2 Connectors and signal configurations

(1) Signal configurations

POINT

The pin configurations of the connectors are as viewed from the cable connector wiring section.

The pins without symbols can be assigned any devices using the MR

Configurator (servo configuration software).

CN4A

49

LB1

47

LA2

45

LZ2

43

LB3

41

LA4

39

LZ4

37

SG

35

33

31

29

27

42

LZ3

40

LB4

38

LG

36

VIN

34

50

LA1

48

LZ1

46

LB2

44

LA3

32

30

28

26

24

LBR1

22

LAR2

20

LZR2

18

LBR3

16

LAR4

14

LZR4

12

SG

10

17

LZR3

15

LBR4

13

LG

11

VIN

9

25

LAR1

23

LZR1

21

LBR2

19

LAR3

8

7

6

5

4

3

2

1

CN4B

49

LB5

47

LA6

45

LZ6

43

LB7

41

LA8

39

LZ8

37

SG

35

33

31

29

27

42

LZ7

40

LB8

38

LG

36

VIN

34

50

LA5

48

LZ5

46

LB6

44

LA7

32

30

28

26

24

LBR5

22

LAR6

20

LZR6

18

LBR7

16

LAR8

14

LZR8

12

SG

10

17

LZR7

15

LBR8

13

LG

11

VIN

9

25

LAR5

23

LZR5

21

LBR6

19

LAR7

8

7

6

5

4

3

2

1

3 - 22


3.3.3 Signal explanations

For the IO interfaces (system in I/O column in the table), refer to section 3.2.5.

(1) Input signal

Signal Symbol

Connector pin No.

CN4A-1

CN4A-2

CN4A-3

CN4A-4

CN4A-5

CN4A-6

CN4A-7

CN4A-8

CN4A-26

CN4A-27

CN4A-28

CN4A-29

CN4A-30

CN4A-31

CN4A-32

CN4A-33

CN4B-1

CN4B-2

CN4B-3

CN4B-4

CN4B-5

CN4B-6

CN4B-7

CN4B-8

CN4B-26

CN4B-27

CN4B-28

CN4B-29

CN4B-30

CN4B-31

CN4B-32

CN4B-33

No signals are factory-assigned to these pins. Using the MR Configurator

(servo configuration software), you can assign the input devices for corresponding slots as signals. Refer to Section 3.3.4 for assignable devices.

Device Name

Servo-on

Reset

Proportion control

Internal torque limit selection

Electronic gear selection 1


Gain switching selection


Symbol

SON

RES

PC

TL1

CM1

CM2

CDP

Device Name



Clear

(Note)

External torque limit

(Note)

Speed selection 1

(Note)

Speed selection 2

(Note)

Speed selection 3

Symbol

LSP

LSN

CR

TL

SP1

SP2

SP3

Note. You cannot select these devices when using the MR-J2M-P8A interface unit.

I/O division

DI-1

(2) Output signal

Signal Symbol

Connector pin No.

CN4A-9

CN4A-10

CN4A-34

CN4A-35

CN4B-9

CN4B-10

CN4B-34

CN4B-35


No signals are factory-assigned to these pins. Using the MR Configurator

(servo configuration software), you can assign the input devices for corresponding slots as signals. Refer to Section 3.3.4 for assignable devices.

Device Name Symbol

Ready RD

Electromagnetic brake interlock MBR

In position INP

(Note)

Up to speed

Zero speed detection

SA

ZSP

Device Name

Limiting torque

(Note)

Limiting speed

Trouble

Warning

Battery warning

Symbol

TLC

VLC

ALM_

WNG

BWNG

Note. You cannot select these devices when using the MR-J2M-P8A interface unit.

I/O division

DO-1

3 - 23


Signal

























Symbol

Connector pin No.

LA1 CN4A-50

LAR1 CN4A-25

LB1 CN4A-49

LBR1 CN4A-24

LZ1 CN4A-48

LZR1 CN4A-23

LA2 CN4A-47

LAR2 CN4A-22

LB2 CN4A-46

LBR2 CN4A-21

LZ2 CN4A-45

LZR2 CN4A-20

LA3 CN4A-44

LAR3 CN4A-19

LB3 CN4A-43

LBR3 CN4A-18

LZ3 CN4A-42

LZR3 CN4A-17

LA4 CN4A-41

LAR4 CN4A-16

LB4 CN4A-40

LBR4 CN4A-15

LZ4 CN4A-39

LZR4 CN4A-14

LA5 CN4B-50

LAR5 CN4B-25

LB5 CN4B-49

LBR5 CN4B-24

LZ5 CN4B-48

LZR5 CN4B-23

LA6 CN4B-47

LAR6 CN4B-22

LB6 CN4B-46

LBR6 CN4B-21

LZ6 CN4B-45

LZR6 CN4B-20

LA7 CN4B-44

LAR7 CN4B-19

LB7 CN4B-43

LBR7 CN4B-18

LZ7 CN4B-42

LZR7 CN4B-17

LA8 CN4B-41

LAR8 CN4B-16

LB8 CN4B-40

LBR8 CN4B-15

LZ8 CN4B-39

LZR8 CN4B-14


As LA , LAR , LB and LBR , the pulses per servo motor revolution set in the DRU parameter No. 27 (Encoder output pulses) of the corresponding slots are output in the differential line driver system.

In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of /2.

The relationships between rotation direction and phase difference of the Aand B-phase pulses can be changed using DRU parameter No. 54 (Function selection 9).

As LZ and LZR the zero-point signals of the encoders of the corresponding slots are output. One pulse is output per servo motor revolution. The same signals as OP are output in the differential line driver system.

Encoder pulse outputs for slot 1

Signal Symbol





LA1 LAR1

LB1 LBR1

LZ1 LZR1

Signal




Symbol

LA2 LAR2

LB2 LBR2

LZ2 LZR2


Signal Symbol



LA3 LAR3

LB3 LBR3

Encoder Z-phase pulse 3 LZ3 LZR3


Signal




Symbol

LA4 LAR4

LB4 LBR4

LZ4 LZR4


Signal Symbol



LA5 LAR5

LB5 LBR5



Signal




Symbol

LA6 LAR6

LB6 LBR6

LZ6 LZR6


Signal Symbol



LA7 LAR7

LB7 LBR7



Signal




Symbol

LA8 LAR8

LB8 LBR8

LZ8 LZR8

I/O division

DO-2

3 - 24


(3) Power supply

Signal

Power input for digital interface

Common for digital interface

Control common

Shield

Symbol

VIN

SG

LG

SD

Connector pin No.

CN4A-11

CN4A-36

CN4B-11

CN4B-36

CN4A-12

CN4A-37

CN4B-12

CN4B-37

CN4A-13

CN4A-38

CN4B-13

CN4B-38

Plate


Driver power input terminal for digital interface.

Used to input 24VDC (200mA or more) for input interface.

24VDC 10%

Not connected to VIN of the interface unit.

Common terminal to VIN. Pins are connected internally.

Separated from LG.

Not connected to SG of the interface unit.

Common terminal to MO1, MO2 and MO3.

Connect the external conductor of the shield cable.

3 - 25


3.3.4 Device explanations

(1) Input device

Using the MR Configurator (servo configuration software), you can assign the devices given in this section to the pins of connectors CN4A and CN4B of the MR-J2M-D01 extension IO unit.

Device name

Internal torque limit selection 1








Proportion control 1








Symbol

TL11

TL12

TL13

TL14

TL15

TL16

TL17

TL18

PC1

PC2

PC3

PC4

PC5

PC6

PC7

PC8


TL11: Internal torque limit selection device for slot 1








Refer to Section 3.3.5 (2) for details.

PC1: Proportion control device for slot 1








Short PC -SG to switch the speed amplifier from the proportional integral type to the proportional type.

If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after positioning completion (stop), switching on the proportion control (PC ) upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift.

3 - 26


Device name

















Gain switching 1

Gain switching 2

Gain switching 3

Gain switching 4

Gain switching 5

Gain switching 6

Gain switching 7

Gain switching 8

CDP1

CDP2

CDP3

CDP4

CDP5

CDP6

CDP7

CDP8

Symbol

CM11

CM12

CM13

CM14

CM15

CM16

CM17

CM18

CM21

CM22

CM23

CM24

CM25

CM26

CM27

CM28


CM11: Electronic gear selection 1 device for slot 1
















The combination of CM1 -SG and CM2 -SG gives you a choice of four different electronic gear numerators set in the DRU parameters.

CM1 and CM2 cannot be used in the absolute position detection system.

(Note) Input signal

CM2 CM1

Electronic gear numerator

0

0

1

1

0

1

0

1

DRU parameter No.3

DRU parameter No.69

DRU parameter No.70

DRU parameter No.71

Note. 0: Off across terminal-SG (open)

1: On across terminal-SG (shorted)

CDP1: Gain switching device for slot 1








Connect CDP -SG to change the load inertia moment ratio into the DRU parameter No. 61 setting and the gain values into the values multiplied by the

DRU parameter No. 62 to 64 settings.

3 - 27


(2) Output device

Device name

Ready 1

Ready 2

Ready 3

Ready 4

Ready 5

Ready 6

Ready 7

Ready 8

In position 1

In position 2

In position 3

In position 4

In position 5

In position 6

In position 7

In position 8

Limiting torque 1

Limiting torque 2

Limiting torque 3

Limiting torque 4

Limiting torque 5

Limiting torque 6

Limiting torque 7

Limiting torque 8

Zero speed detection 1








Electromagnetic brake interlock 1








INP1

INP2

INP3

INP4

INP5

INP6

INP7

INP8

TLC1

TLC2

TLC3

TLC4

TLC5

TLC6

TLC7

TLC8

MBR1

MBR2

MBR3

MBR4

MBR5

MBR6

MBR7

MBR8

ZSP1

ZSP2

ZSP3

ZSP4

ZSP5

ZSP6

ZSP7

ZSP8

Symbol

RD1

RD2

RD3

RD4

RD5

RD6

RD7

RD8


RD1: Ready device for slot 1








RD -SG are connected when the servo is switched on and the servo amplifier is ready to operate.

INP1: In position device for slot 1








INP -SG are connected when the number of droop pulses is in the preset inposition range. The in-position range can be changed using DRU parameter

No. 5.

When the in-position range is increased, INP -SG may be kept connected during low-speed rotation.

TLC1: Limiting torque device for slot 1








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

2(DRU parameter No. 76).

ZSP1: Zero speed detection device for slot 1








ZSP -SG are connected when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using DRU parameter No. 24.

MBR1: Electromagnetic brake interlock device for slot 1








In the servo-off or alarm status, MBR -SG are disconnected.

3 - 28


Warning 1

Warning 2

Warning 3

Warning 4

Warning 5

Warning 6

Warning 7

Warning 8

Device name

Battery warning 1

Battery warning 2

Battery warning 3

Battery warning 4

Battery warning 5

Battery warning 6

Battery warning 7

Battery warning 8

Symbol

WNG1

WNG2

WNG3

WNG4

WNG5

WNG6

WNG7

WNG8

BWNG1

BWNG2

BWNG3

BWNG4

BWNG5

BWNG6

BWNG7

BWNG8


WNG1: Warning device for slot 1








When warning has occurred, WNG -SG are connected.

When there is no warning, WNG -SG are disconnected within about 3 second after power-on.

BWNG1: Battery warning device for slot 1








BWNG -SG are connected when battery cable breakage warning (A.92) or battery warning (A.9F) has occurred.

When there is no battery warning, BWNG -SG are disconnected within about 3 second after power-on

3 - 29


3.3.5 Detailed description of the device

(1) Electronic gear switching

The combination of CM1 -SG and CM2 -SG gives you a choice of four different electronic gear numerators set in the DRU parameters.

As soon as Electronic gear selection (CM1 ) / Electronic gear selection 2 (CM2 ) is turned ON or

OFF, the denominator of the electronic gear changes. Therefore, if any shock occurs at this change, use position smoothing (DRU parameter No. 7) to relieve shock.

(Note) External input signal

CM2 CM1

1

1

0

0

0

1

0

1

Note. 0: CM1 /CM2 -SG off(open)

1: CM1 /CM2 -SG on(short)


DRU parameter No. 3




(2) Torque limit

CAUTION

Releasing the torque limit during servo lock may cause the servo motor to suddenly rotate according to the position deviation from the instructed position.

(a) Torque limit and torque

By setting DRU parameter No. 28 (internal torque limit 1), and DRU parameter No. 76 (internal torque limit 2), torque is always limited to the maximum value during operation. A relationship between the limit value and servo motor torque is shown below.

Max. torque

0

0 100

Torque limit value [%]

(b) Torque limit value selection

By making internal torque limit selection (TL1 ) usable, you can select the torque limit value as indicated below.

(Note 1) External input signals

TL1

0

1

(Note 2) Torque limit value made valid

Internal torque limit 1 (DRU parameter No. 28)

DRU parameter No. 76 DRU parameter No. 28: DRU parameter No. 28

DRU parameter No. 76 DRU parameter No. 28: DRU parameter No. 76

Note 1. 0: TL1 -SG off (open)

1: TL1 -SG on (short)

2. Releasing the torque limit during servo lock may cause the servo motor to suddenly rotate according to the position deviation from the instructed position.

(c) Limiting torque (TLC )

TLC-SG are connected when the torque by the servo motor reaches the torque set to internal torque limit 1 or internal torque limit 2.

3 - 30


3.3.6 Device assignment method

POINT

When using the device setting, preset "000E" in IFU parameter No. 19.

(1) How to open the setting screen

Click "Parameters" on the menu bar and click "Device setting" in the menu.

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.

3 - 31


(2) Screen explanation

(a) DIDO device setting window screen

This is the device assignment screen of the interface unit/option unit. In Dev. selection, choose the

IFU (interface unit) or D01 (extension IO unit). Making selection displays the pin assignment status per unit.

a) b) d) c)

1) Read of function assignment ( a))

Click the "Read" button reads and displays all functions assigned to the pins from the interface unit and extension IO unit.

2) Write of function assignment ( b))

Click the "Write" button writes all pins that are assigned the functions to the interface unit and extension IO unit.

3) Verify of function assignment ( c))

Click the "Verify" button verifies the function assignment in the interface unit and extension IO unit with the device information on the screen.

4) Initial setting of function assignment ( d))

Click the "Set to Default" button initializes the function assignment.

3 - 32


(b) DIDO function display window screen

This screen is used to select the slot numbers and functions assigned to the pins.

Choose the slot numbers in Input device slot selection and Output device slot selection.

The functions displayed below Input device function and Output device function are assignable.

a) b)

In the DIDO function display window, choose the slot numbers where you want to assign the functions.

Move the pointer to the place of the function to be assigned. Drag and drop it as-is to the pin you want to assign in the DIDO device setting window.

1) Assignment check/auto ON setting ( a))

Press this button to display the screen that shows the slot-by-slot assignment list and enables auto ON setting.

Refer to this section (4) for more information.

2) Quitting

Click "Close" button to exit from the window. ( b))

3 - 33


(C) Function device assignment check/auto ON setting display

Click the "Function device assignment check/auto ON setting" button in the DIDO function display window displays the following window.

a) b) c) d) e)

The assigned functions are indicated by .

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.

3 - 34


3.4 Signals and wiring for base unit

CAUTION

When each unit has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire.

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

Fabricate the cables noting the shapes of the CNP1A housing (X type) and CNP1B housing (Y type).

3.4.1 Connection example for power line circuit

Wire the power supply and main circuit as shown below so that the servo-on (SON ) turns off as soon as alarm occurrence, or a servo forced stop is made valid is detected and power is shut off.

A no-fuse breaker (NFB) must be used with the input cables of the power supply.

(1) For 3-phase 200 to 230VAC power supply

Trouble A Trouble B

RA1 RA2

Forced stop A

Power supply

3-phase

200 to 230VAC

NFB

MC

Forced stop B

OFF

ON

MC

L

1

L

2

L

3

L

11

L

21

MELSERVO-J2M

CNP3

1

2

3

CNP1B

1

2

CN1A

27

ALM_A

26 VIN

MC

SK

RA1

Trouble A

Forced stop A

Forced stop B

EMG_A

CN5

20

EMG_B

SG

19

8

CN1B

27 ALM_B

26 VIN

RA2

Trouble B

24VDC

3 - 35


(2) For 1-phase 200 to 230 VAC power supply

Trouble A Trouble B

RA1 RA2

Forced stop A

(Note)

Power supply

1-phase

200 to 230VAC

NFB

MC

Forced stop B

OFF

ON

MC

L

1

L

2

L

3

L

11

L

21

CNP3

MELSERVO-J2M

1

2

3

CNP1B

1

2

CN1A

27 ALM_A

26

VIN

MC

SK

RA1

Forced stop A

Forced stop B

EMG_A

CN5

20

EMG_B

SG

19

8

CN1B

27

26

ALM_B

VIN

RA2

Trouble A

Trouble B

Note. Connect a 1-phase 200 to 230VAC power supply to L1/L2 and keep L3 open.

24VDC

3 - 36


3.4.2 Connectors and signal configurations

POINT


CNP1A

(X type)

1

N

3

C

2

P

Base unit

CNP1B

(Y type)

1

L

11

2

L

21

3

CNP3

3

L

3

1

L

1

2

L

2

The connector frames are connected to the PE (earth) terminal of the base unit.

Connector

Cable side connector

Model

CNP1A

CNP1B

CNP3

Housing: 1-178128-3 (X type)

Contact: 917511-2 (max. sheath OD: 2.8[mm] ( 0.11[in]))

353717-2 (max. sheath OD: 3.4[mm] ( 0.13[in])) (Note)

Housing: 2-178128-3 (Y type)

Contact: 917511-2 (max. sheath OD: 2.8[mm] ( 0.11[in]))

353717-2 (max. sheath OD: 3.4[mm] ( 0.13[in])) (Note)

Housing: 1-179958-3

Contact: 316041-2

Note. This contact is not included in the option (MR-J2MCNM).

Maker

Tyco

Electronics

3 - 37


3.4.3 Terminals

Refer to Section 10.2 for the layouts and signal configurations of the terminal blocks.

Connector Pin No.

Code

Connection target

(Application)

Description

CNP3

1

2

3

L

1

L

2

L

3

Main circuit power

(1) When using a three -phase power supply

Supply L

1

, L

2

and L

3

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

(2) When using a signal -phase power supply

Supply L

1

and L

2

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

CNP1B

CNP1A

3

1

1

2

2

3

L

11

L

21

N

P

C

Control circuit power


(Earth) Protective earth (PE)

Supply L power.

11

and L

21 with single-phase, 200 to 230VAC, 50/60Hz

Connect the regenerative brake option across P-C.

Accidental connection of the regenerative brake option to P-N may cause burning (Refer to Section 12.1.1)

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

3.4.4 Power-on sequence

(1) Power-on procedure

1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with the main circuit power supply (three-phase 200V: L

1

, L

2

, L

3

). 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 3s after the main circuit power supply is switched on. Therefore, when SON is switched on simultaneously with the main circuit power supply, the base circuit will switch on in about 1 to 2s, and the ready (RD ) will switch on in further about 20ms, making the servo amplifier ready to operate. (Refer to 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

(3s)

Main circuit control circuit power

ON

OFF

Base circuit

ON

OFF

Servo-on

(SON )

Reset

(RES )

Ready

(RD )

ON

OFF

ON

OFF

ON

OFF

20ms

10ms

10ms

100ms

20ms

10ms 100ms

10ms 20ms 10ms

3 - 38


(3) Forced stop

CAUTION

Install an forced stop circuit externally to ensure that operation can be stopped and power shut off immediately.

Make up a circuit which shuts off main circuit power as soon as EMG_ -SG are opened at a forced stop. To ensure safety, always install a forced stop switch across EMG_ -SG. By disconnecting

EMG_ -SG, the dynamic brake is operated to bring the servo motor to a stop. At this time, the display shows the servo forced stop warning (A.E6).

During ordinary operation, do not use forced stop (EMG_ ) to alternate stop and run. The service life of each drive unit may be shortened.

Interface unit

24VDC

VIN

EMG_A

EMG_B

SG

3.5 Connection of drive unit and servo motor

3.5.1 Connection instructions

CAUTION

Connect the wires to the correct phase terminals (U, V, W) of the drive unit and servo motor. Otherwise, the servo motor will operate improperly.

Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur.

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) The protective earth of the servo motor joins to the base unit via the drive unit mounting screw.

Connect the protective earth terminal of the base unit to the protective earth of the control box to discharge electricity to the earth.

(2) The power supply for the electromagnetic brake should not be used as the 24VDC power supply for interface. Always use the power supply for electromagnetic brake only.

3 - 39


3.5.2 Connection diagram

The following table lists wiring methods according to the servo motor types. Use the connection diagram which conforms to the servo motor used. For cables required for wiring, refer to Section 12.2.1. For encoder cable connection, refer to Section 12.1.2. For the signal layouts of the connectors, refer to Section

3.5.3.

For the servo motor connector, refer to Chapter 3 of the Servo Motor Instruction Manual.

Servo motor Connection diagram

Base unit Drive unit

(Note 1) (Note 3)

CNP2

U

V

W

U (Red)

V (White)

W (Black)

(Green)

(Earth)

Servo motor

Motor

HC-KFS053 (B) to 73 (B)

HC-MFS053 (B) to 73 (B)

HC-UFS13 (B) to 73 (B)

24VDC

B1

B2

EM1

To be shut off when servo- on (SON ) switches off or by trouble (ALM_ )

(Note 2)


CN2

Encoder

Encoder cable

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the base unit to the protective earth (PE) of the control box.

2. This circuit applies to the servo motor with electromagnetic brake.

3. The protective earth of the servo motor is connected to the base unit via the drive unit mounting screw.

3 - 40


3.5.3 I/O terminals

(1) Drive unit

POINT


CN2

19

P5

20

P5

17

MRR

15

18

P5

16

MDR

9

BAT

7

MR

5

14

13 3

10

8

6

MD

4

Drive unit

V

1

CNP2

2 4

U

3

W

11

LG

12

LG

1

LG

2

LG

Connector

CN2

CNP2

Cable side connector

Model

1. Soldering type

Connector: 10120-3000VE

Shell kit: 10320-52F0-008

2. Insulation displacement type

Connector: 10120-6000EL

Shell kit: 10320-3210-000

Housing: 5557-04R-210

Terminal: 5556PBT3L

Maker

3M molex

(2) Servo motor (HC-KFS HC-MFS HC-UFS3000r/min series)

Encoder cable 0.3m(0.98ft)

With connector 1-172169-9

(Tyco Electronics)

Power supply connector

5557-04R-210

1 3

2 4

Pin Signal

1

U

2

V

3

W

4

(Earth)

Power supply lead

4-AWG19 0.3m(0.98ft)

Encoder connector signal arrangement

Power supply connector (molex)

Without electromagnetic brake

5557-04R-210 (receptacle)

5556PBTL (Female terminal)

With electromagnetic brake

5557-06R-210 (receptacle)

5556PBTL (Female terminal)

Power supply connector

5557-06R-210

1

MR

4

MD

7

P5

2 3

MRR BAT

6 5

MDR

8

LG

9

SHD

1 4

1

2

3

Pin Signal

U

V

W

2 5

3 6

4

(Note)

5

(Note) 6

(Earth)

B1

B2

Note. Supply electromagnetic brake power (24VDC).

There is no polarity.

3 - 41


3.6 Alarm occurrence timing chart

CAUTION

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

As soon as an alarm occurs, turn off Servo-on (SON ) and power off the main circuit.

When an alarm occurs in the MELSERVO-J2M, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the control circuit power supply from off to on, or turn the reset (RES ) from off to on. However, the alarm cannot be reset unless its cause is removed.

(Note)

Main circuit control circuit power supply

Base circuit

Dynamic brake

ON

OFF

ON

OFF

Valid

Invalid

Brake operation

Servo-on

(SON )

Ready

(RD )

Trouble

(ALM_ )

Reset

(RES )

ON

OFF

ON

OFF

ON

OFF

ON

OFF

3s

50ms or more

Alarm occurs.

Remove cause of trouble.

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

Power off

Brake operation

30ms or more

Power on

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent (A.32), overload 1 (A.50) or overload 2 (A.51) alarm after its occurrence, without removing its cause, the servo amplifier and servo motor may become faulty due to temperature rise. 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 (A.30) alarm after its occurrence, the external regenerative brake resistor will generate heat, resulting in an accident.

(3) Instantaneous power failure

Undervoltage (A.10) occurs when the input power is in either of the following statuses.

A power failure of the control circuit power supply continues for 30ms or longer and the control circuit is not completely off.

The bus voltage dropped to 200VDC or less.

(4) Incremental

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

3 - 42


3.7 Servo motor with electromagnetic brake

CAUTION

Configure the electromagnetic brake operation circuit so that it is activated not only by the interface unit signals but also by an external forced stop (EMG_ ).

Contacts must be open when servo-on (SON ) is off, when an trouble (ALM_ ) is present and when an electromagnetic brake interlock (MBR ).

Servo motor

RA

Circuit must be opened during forced stop

(EMG_ ).

EMG_

24VDC


The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking.

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

POINT

Refer to the Servo Motor Instruction Manual for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.

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

1) Using the MR Configurator (servo configuration software), make the electromagnetic brake interlock (MBR ) valid.

2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake.

3) The brake will operate when the power (24VDC) switches off.

4) While the reset (RES ) is on, the base circuit is shut off. When using the servo motor with a vertical shaft, use the electromagnetic brake interlock (MBR ).

5) Switch off the servo-on (SON ) command after the servo motor has stopped.

(1) Connection diagram

Interface unit or extension IO unit

RA

Forced stop A or

Forced stop B

B1

Servo motor

SG

24VDC

MBR

RA

24VDC

B2

(2) Setting

1) Using the MR Configurator (servo configuration software), make the electromagnetic brake interlock (MBR ) valid.

2) In DRU parameter No.33 (electromagnetic brake sequence output), set the delay time (Tb) from electromagnetic brake operation to base circuit shut-off at a servo off time as in the timing chart in (3) in this section.

3 - 43


(3) Timing charts

(a) Servo-on (SON ) command (from controller) ON/OFF

Tb [ms] after the servo-on (SON ) is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to about the same as the electromagnetic brake operation delay time to prevent a drop.

Coasting

Servo motor speed

0 r/min

(100ms) Tb

Base circuit

Electromagnetic brake(MBR )

Servo-on(SON )

ON

OFF

Invalid(ON)

Valid(OFF)

ON

OFF

(120ms)

Electromagnetic brake operation delay time

(b) Forced stop (EMG_ ) ON/OFF

Dynamic brake

Dynamic brake



Electromagnetic brake release

(180ms)

Servo motor speed

Base circuit

ON

OFF

Electromagnetic brake interlock (MBR )

Invalid (ON)

Valid (OFF)

Forced stop (EMG_ )

Invalid (ON)

Valid (OFF)

(10ms)

(c) Alarm occurrence


(180ms)

Dynamic brake

Dynamic brake



Servo motor speed

Base circuit

ON

OFF

Electromagnetic brake interlock (MBR )

Invalid(ON)

Valid(OFF)

(10ms)

Trouble (ALM_ )

No(ON)

Yes(OFF)


3 - 44


(d) Both main and control circuit power supplies off

Servo motor speed

Base circuit

Electromagnetic brake interlock(MBR )

Trouble (ALM_ )

Main circuit

Control circuit power

ON

OFF

(Note)15 to 100ms

Invalid(ON)

Valid(OFF)

No(ON)

Yes(OFF)

ON

OFF

Note. Changes with the operating status.

(10ms)

Dynamic brake

Dynamic brake




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

Servo motor speed

(10ms)

Dynamic brake

Dynamic brake



Base circuit

ON

OFF

(Note 1)15ms or more

Electromagnetic brake interlock

(MBR )

Invalid(ON)

Valid(OFF)

Trouble (ALM_ )

No(ON)

Yes(OFF)


(Note 2)


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 (A.E9) occurs and the trouble (ALM_ ) does not turn off.

3 - 45


3.8 Grounding

WARNING

Ground the base unit and servo motor securely.

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

The base unit switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, MELSERVO-J2M may 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).

Power supply

3-phase

200 to

230VAC

(Note4)

1-phase

200 to

230VAC

NFB

MC

Control box

Base unit

FR-BAL

L

1

L

2

L

3

L

11

L

21

(Note 2)

Drive unit

CNP2

U

V

W

Drive unit

CN2

CN2

Servo motor

Encoder

U

V

W

M

(Earth)

(Note 3)

Servo motor

Encoder

CNP2

U

V

W

(Note2)

U

V

W

M

(Earth)

(Note 3)

Interface unit

(Note 1)

CN1A

Protective earth(PE)

Note 1. To reduce the influence of external noise, we recommend you to ground the bus cable near

the controller using a cable clamping fixture or to connect three or four data line filters in series.

2. The mounting screw of the drive unit is also used for PE connection of the servo motor.

3. Ensure to connect it to PE terminal of the drive unit. Do not connect it directly to the protective earth of the control panel.

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

1

L

2

and leave L

3

open.

3 - 46


3.9 Instructions for the 3M connector

When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.

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 - 47


MEMO

3 - 48

4. OPERATION AND DISPLAY


On the interface unit display (5-digit, seven-segment display), check the status of communication with the servo system controller at power-on, check the slot number, and diagnose a fault at occurrence of an alarm.

4.1 Display flowchart

When powered on, the MELSERVO-J2M is placed in the automatic scroll mode in which the statuses of the interface unit/drive units installed on the base unit appear at intervals of 2 seconds in due order. At this time, open slot numbers do not appear.

In the initial status, the indication is in the automatic scroll mode. Pressing the "SET" button switches the automatic scroll mode to the fixed mode. In the fixed mode, pressing the "UP" or "DOWN" button displays the status of the subsequent-slot drive unit.

If an alarm/warning occurs in the interface unit/drive units, the alarm/warning number of the interface unit/drive unit appears. (Refer to Section 4.1.2)

Automatic scroll or

UP DOWN button

IFU status indication DRU status indication DRU status indication DRU status indication DRU status indication

(Slot 1) (Slot 2) (Slot 7) (Slot 8)

In the automatic scroll mode, pressing the "MODE" button for 2s or more switches between the normal indication and the corresponding unit-related display screen. (Refer to Section 4.2/ Section 4.3.)

4 - 1


4.1.1 Normal indication

The normal indication shows the interface unit status or the slot number and current status (during servo

ON or during servo OFF) of the corresponding drive unit to allow you to diagnose faults at alarm occurrence.

The following are the drive unit status display data in the normal indication.

(Note 1)Indication

@ C@

@ d@

(Note 2)

@A**@

@T d@.

@T C@.

Servo off

Servo-on

Alarm/Warning

Status

Test operation mode

Description

Servo off status.

Servo on status.

The encountered alarm/warning number is displayed.

(Refer to Section 9.1.)

Test operation mode status using the MR Configurator

(servo configuration software).

Displayed for JOG operation, positioning operation, motor-less operation or D0 forced output.

The indication varies with the current condition.

Note 1. @ denotes the slot number of the base unit.

2. ** indicates the warning/alarm No.

(1) When the drive unit is during servo off

1.

C 1

Slot number

Indicates servo OFF.

Slot number

(2) When the drive unit is during servo on

1.

d 1

Slot number

Indicates servo ON.

Slot number

(3) When the interface unit is normal

F.

Indicates the interface unit.

4 - 2


4.1.2 If alarm/warning occurs

(1) If alarm/warning occurs in drive unit

An alarm/warning which occurred in the drive unit is represented by the following indication.

The following indication example assumes that an encoder error (A.16) occurred in the drive unit of installed on slot 1. During alarm occurrence digits flicker.

1. A 1 6. 1

Slot number

Alarm/warning number

Denotes alarm/warning indication.

Slot number

(2) If alarm/warning occurs in interface unit

An alarm/warning which occurred in the interface unit is represented by the following indication. The following indication example assumes that interface unit undervoltage (A.10) occurred. During alarm occurrence digits flicker.

F. A 1 0.


Denotes alarm/warning indication.

Denotes interface unit.

4 - 3


4.1.3 If test operation

POINT

Test operation can be performed using the MR Configurator (servo configuration software).

(1) When test operation is being performed

Test operation being performed is indicated as follows.

@. T

C

@.

Slot number. Test operation being performed is indicated as follows.

Indicates the current status. Refer to the following table for below.

Denotes test operation indication.

Slot number

Indication

@T C@.

@T d@.

Current Status

Servo off status

Servo on status

(2) When alarm occurs during test operation

Any alarm that occurred during test operation is indicated as follows.

@. A

1 6.

@.

Slot number. The decimal point is lit during test operation.

Alarm display

Slot number

4 - 4


4.2 Interface unit display

4.2.1 Display flowchart of interface unit

Use the display (5-digit, 7-segment LED) on the front panel of the interface unit for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status.

The automatic scroll mode is selected at power-on. Before starting use, therefore, press the "UP" or

"DOWN" button to change the fifth digit to "F" and press the "MODE" button for 2s or more to change the indication.

Press the "MODE" "UP" or "DOWN" button once to move to the next screen.

Status display Diagnosis

MODE button

Alarm

Basic IFU parameters

Expansion IFU parameters

Regenerative load ratio [%]

Bus voltage [V]

Interface unit external input signa l

Interface unit external output signa l

Current alarm

Last alarm

IFU parameter No. 0 IFU parameter No. 20

IFU parameter No. 1 IFU parameter No. 21

Peak bus voltage

[V]

Interface unit output signa l (DO) forced output

Second alarm in past

Third alarm in past Software version

Low

Software version

High

Fourth alarm in past IFU parameter No. 18 IFU parameter No. 28

UP

DOWN

Fifth alarm in past IFU parameter No. 19 IFU parameter No. 29

Sixth alarm in past

Parameter error No.

Note. The parameter display range varies with the parameter write inhibit.

4 - 5


4.2.2 Status display of interface unit

MELSERVO-J2M status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears. Press the "SET" button to display its data.

(1) Display examples

The following table lists display examples:

Item Status

Displayed data

Interface unit display

Regenerative load ratio 60%

Bus voltage 270V

Peak bus voltage 350V

(2) Interface unit status display list

The following table indicates the MELSERVO-J2M statuses that can be shown. After it has been selected, each status display changes to a symbol display. Press the "SET" button to show the definition of the status display. Refer to Appendix 1 for the measurement point.

Pressing the "MODE" button during a status definition display returns to a symbol display.

Name Symbol Unit Description

Display range

Regenerative load ratio

Bus voltage

Peak bus voltage

F.L

F.Pn

F.PnP

%

V

V

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

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

Shows the maximum voltage of the main circuit converter (across P-N).

The maximum value during past 15s is displayed.

0 to 100

0 to 450

0 to 450

4 - 6


4.2.3 Diagnostic mode of interface unit

Name Display

Interface unit external input signal

Interface unit external output signal

Interface unit output signal (DO) forced output

Software version Low

2)

2)

1)

1)

Description

Shows the ON/OFF states of the external input signals.

1) Forced stop A (EMG_A)

ON: On OFF: Off

2) Forced stop B (EMG_B)

ON: On OFF: Off

Shows the ON/OFF states of the external output signals.

1) Trouble A (ALM_A)

ON: On OFF: Off

2) Trouble B (ALM_B)

ON: On OFF: Off

The digital output signal can be forced on/off. For more information, refer to section 4.2.6.

During output signal (DO) forced output, the decimal point in the first digit is lit.

Indicates the version of the software.

Software version High Indicates the system number of the software.

4 - 7


4.2.4 Alarm mode of interface unit

The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below.

Name Display Description

Indicates no occurrence of an alarm in the interface unit.

Current alarm

Indicates the occurrence of overvoltage (A.10) in the interface unit.

Flickers at occurrence of the alarm.

Indicates that the last alarm is base unit error (A.1C) in the interface unit.

Indicates that the second alarm in the past is overvoltage (A.33) in the interface unit.

Indicates that the third alarm in the past is undervoltage (A.10) in the interface unit.

Alarm history

Indicates that the fourth alarm in the past is over regenerative (A.30) in the interface unit.

Indicates that there is no fifth alarm in the past of the interface unit.

Indicates that there is no sixth alarm in the past of the interface unit.

Parameter error No.

Indicates no occurrence of parameter error (A.37) of the interface unit.

Indicates that the data of parameter No. 1 is faulty of the interface unit.

Functions at occurrence of an alarm

(1) Any mode screen displays the current alarm.

(2) The other screen is visible during occurrence of an alarm. At this time, the decimal point in the fourth digit flickers.

(3) For any alarm, remove its cause and clear it in any of the following: (for clearable alarms, refer to

Section 9.2)

(a) Switch power OFF, then ON.

(b) Press the "SET" button on the current alarm screen.

(4) Use IFU parameter No. 0 to clear the alarm history.

(5) Pressing "SET" button on the alarm history display screen for 2s or longer shows the following detailed information display screen. Note that this is provided for maintenance by the manufacturer.

(6) Press "UP" or "DOWN" button to move to the next history.

(7) Pressing the "MODE" button on the alarm detail display screen returns to the alarm history display.

4 - 8


4.2.5 Interface unit parameter mode

The parameters whose abbreviations are marked* are made valid by changing the setting and then switching power off once and switching it on again. Refer to Section 5.2.2.

The following example shows the operation procedure performed after power-on to change the regenerative brake resistor (IFU parameter No. 1) to 0005 (MR-RB15).

Using the "MODE" button, show the basic parameter screen.

The parameter number is displayed.

UP DOWN

Press SET twice.

The set value of the specified parameter number flickers.

Press UP fifth.

During flickering, the set value can be changed.

( 5: regenerative brake option MR-RB14)

Press SET to enter.

Pressing the "MODE" button during a parameter setting display or setting change display cancels the processing and returns to a parameter number display.

To shift to the next parameter, press the "UP" or "DOWN" button.

4 - 9


4.2.6 Interface unit output signal (DO) forced output

POINT

This function is available during test operation.

The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, 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 button twice.

ALM_A ALM_B

Press SET button for more than 2s.

Turns on/off the signal under the lit LED.

Always lit.

Indicates whether the output signal is ON or OFF.

The signals are the same as the external output signals. (On: ON, Off: OFF)

Pressing MODE button once moves the lit LED to the left.

Press UP button once.

The ALM_A turns on.

(There will be continuity across ALM_A-SG.)

Press DOWN button once.

The ALM_A turns off.

Press SET button for more than 2s.

4 - 10


4.3 Drive unit display

4.3.1 Drive unit display sequence

Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status.

The automatic scroll mode is selected at power-on. Before starting use, therefore, press the "UP" or

"DOWN"

button to change the fifth digit to the necessary slot number "1" to "8" and press the "MODE" button for 2s or more to change the indication.

Press the "MODE" "UP" or "DOWN" button once to move to the next screen.

To refer to or set the expansion parameters, make them valid with DRU parameter No. 19 (parameter write disable).

MODE button

Status display

Diagnosis Alarm

Expansion DRU parameters 1


@

(Note)

Cumulative feedback pulses [pulse]

@

Motor speed

[r/min]

@

Droop pulses

[pulse]

@

Cumulative command pulses [pulse]

@

Command pulse frequency [kpps]

@

Effective load ratio

[%]

@

Peak load ratio

[%]

@

Instantaneous torque

[%]

@

Within one-revolution position low [pulse]

@

Within one-revolution position, high [100 pulses]

@

ABS counter

[rev]

@

Load inertia moment ratio [times]

@

Drive unit external input signal

@

Drive unit external output signal

@

Drive unit output signal

(DO) forced output

@

Software version

Low

@

Software version

High

@

Motor series ID

@

Current alarm

@

Last alarm

@

Second alarm in past

@

Third alarm in past

@

Fourth alarm in past

@

Fifth alarm in past

@

Motor type ID

@

Encoder ID

@

Sixth alarm in past

@

Parameter error No.

@

DRU parameter No. 0

@

DRU parameter No. 1

@


@


@


@


@


@


@


@


UP

@


@


DOWN

Note 1. @ indicates the slot number.

2. The parameter display range varies with the parameter write inhibit.

4 - 11


4.3.2 Status display of drive unit

The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or

"DOWN"

button to change display data as desired. When the required data is selected, the corresponding symbol appears. Press the "SET" button to display its data.

(1) Display examples

The following table lists display examples:

Item Status

Displayed data

Servo amplifier display

Forward rotation at 3000r/min

Motor speed

Reverse rotation at 3000r/min

Reverse rotation is indicated by " ".

11252pulse

Multirevolution counter

12566pulse

Lit

Negative value is indicated by the lit decimal points in the upper four digits.

Load inertia moment

15.5 times

4 - 12


(2) Drive unit status display list

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

Refer to Appendix 2 for the measurement point.

pulses

Name

Cumulative feedback pulses

Servo motor speed

Droop pulses

Cumulative command

Command pulse frequency

Effective load ratio

Peak load ratio

Instantaneous torque

Within one-revolution position Low

Within one-revolution position High

ABS counter

Load inertia moment ratio

Symbol

@.C

@.r

@.E

@.P

@.n

@.J

@.b

@.T

@.CY1

@.CY2

@.LS

@.dC

Unit Description pulse Feedback pulses from the servo motor encoder are counted and displayed. The value in excess of 99999 is counted, bus since the interface display is five digits, it shows the lower five digits of the actual value. Press the "SET" button to reset the display value to zero.

Reverse rotation is indicated by the lit decimal points in the upper four digits.

r/min The servo motor speed is displayed.

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

pulse pulse kpps

%

%

% pulse

100 pulse rev

0.1

Times

The number of droop pulses in the deviation counter is displayed.

When the servo motor is rotating in the reverse direction, the decimal points in the upper four digits are lit.

Since the servo amplifier display is five digits, it shows the lower five digits of the actual value.

The number of pulses displayed is not yet multiplied by the electronic gear.

The position command input pulses are counted and displayed.

As the value displayed is not yet multiplied by the electronic gear

(CMX/CDV), it may not match the indication of the cumulative feedback pulses.

The value in excess of 99999 is counted, but since the interface display is five digits, it shows the lower five digits of the actual value.

Press the "SET" button to reset the display value to zero. When the servo motor is rotating in the reverse direction, the decimal points in the upper four digits are lit.

The frequency of the position command input pulses is displayed.

The value displayed is not multiplied by the electronic gear

(CMX/CDV).

The continuous effective load torque is displayed.

The effective value in the past 15 seconds is displayed relative to the rated torque of 100%.

The maximum torque generated during acceleration/deceleration, etc.

The highest value in the past 15 seconds is displayed relative to the rated torque of 100%.

Torque that occurred instantaneously is displayed.

The value of the torque that occurred is displayed in real time relative to the rate torque of 100%.

Position within one revolution is displayed in encoder pulses.

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

The value is incremented in the "CCW" direction of rotation.

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

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

The value is incremented in the "CCW" direction of rotation.

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

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

Display range

99999 to

99999

5400 to

5400

99999 to

99999

99999 to

99999

32768 to

32768

0.0

to

300.0

0 to

400

0 to

99999

800 to

800

0 to

300

0 to

400

0 to

13107

4 - 13


4.3.3 Diagnostic mode of drive unit

Name (Note) Display

Drive unit external input signal

Refer to section 4.3.6.

Drive unit external output signal

Drive unit output signal (DO) forced output

@


Software version Low

@

Software version High

@

Motor series ID

@

Motor type ID

@

Encoder ID

@

Note. @ indicates the slot number.

Description

Shows the ON/OFF statuses of the external input signals.

Each signal corresponds to the function assignment. (The corresponding segment is lit when the function-assigned signal turns on.)

Shows the ON/OFF statuses of the external output signals.

When the corresponding segment is lit, the output is provided to the assigned signal.

The digital output signal can be forced on/off. For more information, refer to section 4.3.8.

Indicates the version of the drive unit software.

Indicates the system number of the drive unit software.

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

For indication details, refer to the optional MELSERVO Servo

Motor Instruction Manual.

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



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



4 - 14


4.3.4 Alarm mode of drive unit

Name (Note) Display

@

Current alarm

@

@

@

@

Alarm history

@

@

Description

Indicates no occurrence of an alarm in the drive unit.

Indicates the occurrence of overvoltage (A.33) in the drive unit.

Flickers at occurrence of the alarm.

Indicates that the last alarm is overload 1 (A.50) in the drive unit.

Indicates that the second alarm in the past is overvoltage (A.33) in the drive unit.

Indicates that the third alarm in the past is undervoltage (A.52) in the drive unit.

Indicates that the fourth alarm in the past is encoder error (A.20) in the drive unit.

Indicates that there is no fifth alarm in the past in the drive unit.

@

Indicates that there is no sixth alarm in the past in the drive unit.

@

Indicates no occurrence of parameter error (A.37) in the drive unit.

Parameter error No.

@

Indicates that the data of parameter No. 1 is faulty in the drive unit.

Note. @ indicates the slot number.

Functions at occurrence of an alarm

(1) Any mode screen displays the current alarm.

(2) The other screen is visible during occurrence of an alarm. At this time, the decimal point in the fourth digit flickers.

(3) For any alarm, remove its cause and clear it in any of the following methods: (for clearable alarms, refer to Section 9.2)

(a) Switch power OFF, then ON.

(b) Turn on the reset (RES ).

(4) Use DRU parameter No. 16 to clear the alarm history.

(5) Pressing "SET" button on the alarm history display screen for 2s or longer shows the following detailed information display screen. Note that this is provided for maintenance by the manufacturer.

@

(6) Press "UP" or "DOWN" button to move to the next history.

4 - 15


4.3.5 Drive unit parameter mode

The parameter setting of the drive unit is the same as that of the interface unit. Refer to Section 4.2.5.

To use the expansion parameters, change the setting of DRU parameter No. 19 (parameter write disable).


4.3.6 Drive unit external input signal display

The ON/OFF states of the digital input signals connected to the servo amplifier can be confirmed.

(1) Operation

Call the display screen shown after power-on.

Using the "MODE" button, show the diagnostic screen.

@

External input signal display screen

(2) Display definition

Corresponds to the signals of the seven-segment LED.

Slot number

TL1 PC

CR

RES SON LSN LSP

Always lit

CM2 CM1 CDP

Lit: ON

Extinguished: OFF

The 7-segment LED shown above indicates ON/OFF.

Each segment at top indicates the input signal and each segment at bottom indicates the output signal.

The following table indicates the signal names.

Signal Name List

Signal

LSP

LSN

SON

RES

CR

Signal Name



Servo-on

Reset

Clear

Signal

PC

TL1

CM1

CM2

CDP

Signal Name

Proportion control

Internal torque limit selection

Electronic gear 1 selection

Electronic gear 2 selection

Gain switch selection

4 - 16


4.3.7 Drive unit external output signal display

The ON/OFF states of the digital output signals connected to the servo amplifier can be confirmed.

(1) Operation



@

@


External output signal display screen

(2) Display definition

Slot number

Always lit

WNG

BWNG

ALM_ TLC ZSP INP OP MBR RD

Lit: ON

Extinguished: OFF

The 7-segment LED shown above indicates ON/OFF.

Each segment at top indicates the input signal and each segment at bottom indicates the output signal.

The following table indicates the signal names.

Signal Name List

Signal

RD

MBR

OP

INP

ZSP

Signal Name

Ready

Electromagnetic brake sequence output

Encoder Z-phase pulse

In position

Zero speed

Signal

TLC

ALM_

WNG

BWNG

Limiting torque

Signal Name

Trouble

Warning

Battery warning

4 - 17


4.3.8 Drive unit output signal (DO) forced output

POINT

This function is usable during test operation only.

The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, etc. This operation must be performed in the servo off state (SON off).



@

Press UP button twice.

@

@

WNG

BWNG

ZSP

TLC

ALM_

INP

OP

MBR

RD

Press SET button 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 external output signal display.

(Lit: ON, extinguished: OFF)

Press the MODE button once to shift the lit LED to the left.

@

@


RD is switched on.

(RD -SG conduct.)

Press DOWN button once.

RD is switched off.

Press SET button for more than 2 seconds.

4 - 18

5. PARAMETERS

5. PARAMETERS

CAUTION

Never adjust or change the parameter values extremely as it will make operation instable.

5.1 DRU parameter list

5.1.1 DRU parameter write inhibit

POINT

After setting the DRU parameter No. 19 value, switch power off, then on to make that setting valid.

In the MELSERVO-J2M servo amplifier, its parameters are classified into the DRU basic parameters

(No. 0 to 19), DRU expansion parameters 1 (No. 20 to 49) and DRU expansion parameters 2 (No.50 to

84) according to their safety aspects and frequencies of use. In the factory setting condition, the customer can change the basic parameter values but cannot change the DRU expansion parameter values. When fine adjustment, e.g. gain adjustment, is required, change the DRU parameter No. 19 setting to make the expansion parameters write-enabled.

The following table indicates the parameters which are enabled for reference and write by the setting of

DRU parameter No. 19. Operation can be performed for the DRU parameters marked .

DRU parameter

No. 19 setting

0000

(initial value)

Operation

DRU basic parameters

No. 0 to 19

DRU expansion parameters 1

No. 20 to 49

DRU expansion parameters 2

No. 50 to 84

000A

000B

000C

000E

100B

100C

100E

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

No. 19 only

No. 19 only

No. 19 only

No. 19 only

No. 19 only

5 - 1

5. PARAMETERS

5.1.2 Lists

POINT

For any DRU parameter whose symbol is preceded by *, set the DRU parameter value and switch power off once, then switch it on again to make that DRU parameter setting valid.

(1) Item list

No. Symbol Name

0

1

2

3

4

5

6

7

For manufacturer setting

*OP1 Function selection 1

ATU Auto tuning

CMX


(Command pulse multiplying factor numerator)

CDV

Electronic gear denominator

(Command pulse multiplying factor denominator)

INP In-position range

PG1 Position loop gain 1

PST

Position command acceleration/deceleration time constant

(Position smoothing)


8

9

10

11

12

13

14

15

16 *BPS Alarm history clear

17 For manufacturer setting

18

19 *BLK DRU parameter write inhibit

Initial value

0000

0000

0105

1

Unit

Customer setting

1

100

35

3

100

500

1000

0

0000

0100

0000

0000

0

0

0

0 pulse rad/s ms

5 - 2

5. PARAMETERS

No. Symbol

47

48

49

43

44

45

46

39

40

41

42

35

36

37

38

Name

20

21

22

23

24

25

26

*OP2

*OP3

Function selection 2

Function selection 3 (Command pulse selection)


FFC Feed forward gain

ZSP Zero speed


28

29

30

31

32

33

27 *ENR Encoder output pulses

TL1 Internal torque limit 1


34

MBR Electromagnetic brake sequence output

GD2 Ratio of load inertia moment to servo motor inertia moment


VG1 Speed loop gain 1


VIC Speed integral compensation

VDC Speed differential compensation


*DIA

*DI1 Input signal selection 1


Initial value

100

0

0

0

0

100

70

0000

0000

0000

0

50

0

100

4000

0000

0000

0000

0000

0000

0000

0000

35

177

817

48

980

0

0000

0003

Unit

% r/min pulse

/rev

% ms

0.1

times rad/s rad/s rad/s ms

Customer setting

5 - 3

5. PARAMETERS

No. Symbol Name

50

51



52

53

56

57


54 *OP9 Function selection 9

55 *OPA Function selection A


58

59

NH1 Machine resonance suppression filter 1


60 LPF Low-pass filter, adaptive vibration suppression control

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

81

82

83

84

76

77

78

79

80

73

74

75

62 PG2B Position control gain 2 changing ratio

63 VG2B Speed control gain 2 changing ratio

64 VICB Speed integral compensation changing ratio

65 *CDP Gain changing selection

66

67

CDS Gain changing condition

CDT Gain changing time constant


69 CMX2 Command pulse multiplying factor numerator 2






Note. Depends on the parameter No. 65 setting.

Initial value

0000

0000

0000

0000

0000

0000

0

10

0000

0000

0000

70

300

500

800

100

100

10000

10

10

100

100

100

0

100

100

100

0000

10

1

1

1

0

1

200

Unit

0.1

times

%

%

%

(Note) ms

%

Customer setting

5 - 4

5. PARAMETERS

(2) Details list

Class No. Symbol

0

1

Name and function


Do not change this value any means.


Used to select the absolute position detection system.

0 0 0

Selection of absolute position detection system

(Refer to Chapter 15)

0: Used in incremental system

1: Used in absolute position detection system

(Serial communication)

Initial value

0000

0000

2 ATU Auto tuning

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

Refer to Chapter 6.

0 0

Auto tuning response level setting

Set value

C

D

A

B

E

F

7

8

5

6

9

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 6.1.1.)

Set value

0

Gain adjustment mode

Interpolation mode

Description

1

2

3

4

Auto tuning mode 1

Auto tuning mode 2

Manual mode 1

Manual mode 2

Fixes position control gain 1

(DRU parameter No. 6).

Ordinary auto tuning.

Fixes the load inertia moment ratio set in DRU parameter

No. 34. Response level setting can be changed.

Simple manual adjustment.

Manual adjustment of all gains.

0105

Unit

Setting range

Refer to

Name and function column.

Refer to


5 - 5

5. PARAMETERS

Class No. Symbol

3

4

5

6

7

CMX

Name and function

Electronic gear numerator (Command pulse multiplying factor numerator)

Used to set the electronic gear numerator value.

For the setting, refer to Section 5.2.1.

Setting "0" automatically sets the resolution of the servo motor connected.

For the HC-MFS series, 131072 pulses are set for example.

CDV Electronic gear denominator (Command pulse multiplying factor denominator)

Used to set the electronic gear denominator value.

For the setting, refer to Section 5.2.1.

INP In-position range

Set the in-position (INP ) output range in the command pulse unit that was used before electronic gear calculation.

For example, when you want to set 100 m when the ballscrew is directly coupled, the lead is 10mm, the feedback pulse count is 131072 pulses/rev, and the electronic gear numerator (CMX)/electronic gear denominator

(CDV) is 16384/125 (setting in units of 10 m per pulse), set "10" as indicated by the following expression.

100[ m] 10

6

131072[pulse/rev]

10[mm] 10

3

125

16384

10


Used to set the gain of position loop.

Increase the gain to improve trackability in response to the position command.

When auto turning mode 1,2 is selected, the result of auto turning is automatically used.

PST Position command acceleration/deceleration time constant

(position smoothing)

Used to set the time constant of a low pass filter in response to the position command.

You can use DRU parameter No. 55 to choose the primary delay or linear acceleration/deceleration control system. When you choose linear acceleration/deceleration, the setting range is 0 to 10ms. Setting of longer than 10ms is recognized as 10ms.

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

Initial value

1

1

100

35

3

Unit pulse red/s ms

Setting range

0 1 to

65535

4 to

2000

0 to

20000

1 to

65535

0 to

10000

Synchronizing detector

Start

Servo motor

Servo amplifier

Without time constant setting

Servo motor speed

Start

ON

OFF

5 - 6

With time constant setting t

5. PARAMETERS

Class No. Symbol Name and function

11

12

13

14

8

9

10



15

16 *BPS Alarm history clear

Clear the alarm history.

0 0 0

17

18

19 *BLK

Alarm history clear

0: Invalid

1: Valid

When alarm history clear is made valid, the alarm history is cleared at next power-on.

After the alarm history is cleared, the setting is automatically made invalid (reset to 0).



DRU parameter write inhibit

Used to select the reference and write ranges of the parameters.

Operation can be performed for the parameters marked .

Set value

Operation

Basic DRU parameters

No. 0 to No. 19


No. 20 to No. 49

Expansion

DRU parameters 2

No. 50 to No. 84

0000

(Initial value)

Reference

000A

000B

000C

000E

100B

100C

100E

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

No. 19 only

No. 19 only

No. 19 only

No. 19 only

No. 19 only


Used to select slight vibration suppression control.

0 0

Slight vibration suppression control

Made valid when auto tuning selection is set to "0400" in DRU parameter No. 2.

Used to suppress vibration at a stop.

0: Invalid

1: Valid

Encoder cable selection

0: 2-wire type (when MR-JCCBL M-L/H is used)

1: 4-wire type (when MR-JC4CBL M-H is used)

5 - 7

Initial value

100

500

1000

0

0

0

0

0

0000

0100

0000

0000

0000

Unit

Setting range

Refer to


Refer to


Refer to


5. PARAMETERS


21 *OP3 Function selection 3 (Command pulse selection)

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

(Refer to Section 3.2.3.)

0 0

Command pulse train input form

0: Forward/reverse rotation pulse train

1: Signed pulse train

2: A/B phase pulse train

Pulse train logic selection

0: Positive logic

1: Negative logic


Used to select stop processing at the forward rotation stroke end

(LSP ) reveres rotation stroke end (LSN ) off.

0 0

0

23

24

How to make a stop when the forward rotation stroke end (LSP ) reveres rotation stroke end

(LSN ) is valid.

0: Sudden stop

1: Slow stop

FFC Feed forward gain

Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1s or more as the acceleration/deceleration time constant up to the rated speed.

ZSP Zero speed

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

25

26

27 *ENR



Encoder output pulses

POINT

The MR-J2M-D01 extension IO unit is required to output the encoder pulses (A phase, B phase, Z phase).

Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier.

Set the value 4 times greater than the A-phase or B-phase pulses.

You can use DRU parameter No. 54 to choose the output pulse setting or output division ratio setting.

The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses.

The maximum output frequency is 1.3Mpps (after multiplication by 4). Use this parameter within this range.

For output pulse designation

Set " 0 " (initial value) in DRU parameter No. 54.

Set the number of pulses per servo motor revolution.

Output pulse set value [pulses/rev]

At the setting of 5600, for example, the actually output A/B-phase pulses are as indicated below:

A B-phase output pulses

5600

4

For output division ratio setting

1400[pulse/rev]

Set " 1 " in DRU parameter No. 54.

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

Output pulse

Resolution per servo motor revolution

Set value

[pulses/rev]

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

A B-phase output pulses

131072

8

1

4

4096[pulse/rev]

Initial value

0000

0000

0

50

0

100

4000

5 - 8

% r/min pulse/ rev

Unit

Setting range

Refer to


Refer to


0 to

100

0 to

10000

1 to

65535

5. PARAMETERS


40

41

42

28 TL1

Internal torque limit 1

Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[%].

When 0 is set, torque is not produced.

When torque is output in analog monitor, this set value is the maximum output voltage ( 4V). (Refer to Section 3.3.5 (2))



29

30

31

32

33 MBR Electromagnetic brake sequence output

Used to set the delay time (Tb) between electronic brake interlock (MBR ) and the base drive circuit is shut-off.

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

Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used.

(Refer to section 6.2.1)

In this case, it varies between 0 and 1000.

35

36

37


Used to set the gain of the position loop.

Set this parameter to increase the position response to level load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise.

When auto tuning mode 1 2 and interpolation mode is selected, the result of auto tuning is automatically used.


Normally this parameter setting need not be changed.

Higher setting increases the response level but is liable to generate vibration and/or noise.

When auto tuning mode 1 2, manual mode and interpolation mode is selected, the result of auto tuning is automatically used.


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.


38

39


Used to set the integral time constant of the speed loop.

Lower setting increases the response level but is liable to generate vibration and/or noise.


VDC Speed differential compensation

Used to set the differential compensation.

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



*DI1 Input signal selection 1

Used to set the clear (CR ).

0 0 3

Initial value

100

0

0

0

0

100

70

35

177

817

48

980

0

0000

0003

Clear (CR ) selection

0: Droop pulses are cleared on the leading edge.

1: While on, droop pulses are always cleared.

Unit

% ms

0.1

times rad/s rad/s rad/s ms

Setting range

0 to

100

0 to

1000

0 to

3000

1 to

1000

20 to

8000

20 to

20000

1 to

1000

0 to

1000

Refer to


5 - 9

5. PARAMETERS


43

44

45

46



47

48

49

50


Used to select the operation to be performed when the reset (RES ) switches on.

0 0 0

Initial value

0000

0000

0000

0000

0000

0000

0000

0000

0000

Unit

Setting range

Refer to


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

0: Base drive circuit is shut-off

1: Base drive circuit is not shut-off

52

53




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

0

Servo motor rotation direction changing

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

Set value

0

1

Servo motor rotation direction

At forward rotation At reverse rotation pulse input (Note) pulse input (Note)

CW

CCW

Note. Refer to Section 3.1.5 .

CCW

CW

Encoder pulse output phase changing

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

Set value

Servo motor rotation direction

CCW CW

0

A phase

B phase

A phase

B phase

1

A phase

B phase

A phase

B phase

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

0: Output pulse designation

1: Division ratio setting

0000

0000

0000

Refer to


5 - 10

5. PARAMETERS


55 *OPA Function selection A

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

0 0 0

Initial value

0000

Unit

Setting range

Refer to


56

57

58

Position command acceleration/deceleration time constant control

0: Primary delay

1: Linear acceleration/deceleration




Used to selection the machine resonance suppression filter.


0

59

Setting value

04

05

06

07

00

01

02

03

Notch frequency selection

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

(DRU parameter No. 60: 1 or 2 ).

Frequency Frequency Setting value

Invalid

4500

2250

1500

1125

900

750

642.9

0C

0D

0E

0F

08

09

0A

0B

Frequency Setting value

562.5

500

450

409.1

375

346.2

321.4

300

14

15

16

17

10

11

12

13

Frequency Setting value

281.3

264.7

250

236.8

225

214.3

204.5

195.7

1C

1D

1E

1F

18

19

1A

1B

187.5

180

173.1

166.7

160.1

155.2

150

145.2

Notch depth selection

Setting value

Depth Gain

0

1

2

3

Deep to

Shallow

40dB

14dB

8dB

4dB


Used to set the machine resonance suppression filter.

0

0

10

0000

0000

Refer to


Refer to


Notch frequency

Same setting as in DRU parameter No. 58

However, you need not set "00" if you have set adaptive vibration suppression control to be "valid" or "held".

Notch depth

Same setting as in DRU parameter No. 58

5 - 11

5. PARAMETERS

Class No. Symbol

60

Name and function

LPF Low-pass filter/adaptive vibration suppression control

Used to selection the low-pass filter and adaptive vibration suppression control. (Refer to Chapter 7.)

0

Initial value

0000

Low-pass filter selection

0: Valid (Automatic adjustment)

1: Invalid

When you choose "valid",

VG2 setting 10

2 (1 GD2 setting 0.1) bandwidth filter is set automatically.

[H z

]

Adaptive vibration suppression control selection

Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance control filter 1 (DRU parameter No. 58) invalid.

0: Invalid

1: Valid

Machine resonance frequency is always detected

and the filter is generated in response to resonance to

suppress machine vibration.

2: Held

The characteristics of the filter generated so far are held,

and detection of machine resonance is stopped.

Adaptive vibration suppression control sensitivity selection

Used to set the sensitivity of machine resonance detection.

0: Normal

1: Large sensitivity

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

Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid.

Made valid when auto tuning is invalid.

62 PG2B Position control gain 2 changing ratio

Used to set the ratio of changing the position control gain 2 when gain changing is valid.


63 VG2B Speed control gain 2 changing ratio

Used to set the ratio of changing the speed control gain 2 when gain changing is valid.


64 VICB Speed integral compensation changing ratio

Used to set the ratio of changing the speed integral compensation when gain changing is valid. Made valid when auto tuning is invalid.

65 *CDP Gain changing selection

Used to select the gain changing condition. (Refer to Section 7.5.)

0 0 0

70

100

100

100

0000

Gain changing selection

Gains are changed in accordance with the settings of DRU parameters No. 61 to 64 under any of the following conditions:

0: Invalid

1: Gain changing (CDP ) is ON

2: Command frequency is equal to higher than

DRU parameter No. 66 setting

3: Droop pulse value is equal to higher than


4: Servo motor speed is equal to higher than


5 - 12

0.1

times

%

%

%

Unit

Setting range

Refer to


0 to

3000

10 to

200

10 to

200

50 to

1000

Refer to


5. PARAMETERS


66

67

68

81

82

83

84

77

78

79

80


Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No. 65 (Gain changing selection). The set value unit changes with the changing condition item.


CDT Gain changing time constant

Used to set the time constant at which the gains will change in response to the conditions set in parameters No. 65 and 66.




74

75

76


Used to set the multiplier for the command pulse.

Setting "0" automatically sets the connected motor resolution.







72

73




Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[%].

When 0 is set, torque is not produced.

When torque is output in analog monitor, this set value is the maximum output voltage ( 4V). (Refer to Section 3.3.5 (2))



Initial value

10

1

0

1

1

1

100

10000

10

10

100

100

100

0

200

300

500

800

100

Unit kpps pulse r/min

Setting range

10 to

9999 ms

%

0 to

100

0 to

100

0 1 to

65535

0 1 to

65535

0 1 to

65535

5 - 13

5. PARAMETERS

5.2 Interface unit

5.2.1 IFU parameter write inhibit

POINT

Use the unit operation section pushbutton switches or MR Configurator

(servo configuration software) to set the IFU parameters of the interface unit.

Use the unit pushbutton switches or MR Configurator (servo configuration software) to set the interface unit parameters.

When assigning the devices, change the setting to "000E".

The following table indicates the IFU parameters which are made valid for reference and write by setting the IFU parameter No. 19.

Setting IFU basic parameter

Expansion

IFU parameter

I/O assignment

0000

(initial value)

000A

000B

000C

000E

100B

100C

Setting operation

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

IFU parameter No. 19




5.2.2 Lists

POINT

For any parameter whose symbol is preceded by *, set the IFU parameter value and switch power off once, then switch it on again to make that parameter setting valid.

5 - 14

5. PARAMETERS

(1) Item list

Classification

No. Symbol

20

21

22

23

16

17

18

19

12

13

14

15

10

11

8

9

24

25

26

27

28

29

0

5

6

7

3

4

1

2

Name

*BPS Serial communication function selection, alarm history clear

SIC Regenerative brake option selection


MD1 Analog monitor 1 output



MO1 Analog monitor 1 offset




*ISN Interface unit serial communication station number selection

*SL1 1 slot serial communication station number selection








*BLK IFU parameter write inhibit

SIC Serial communication time-out selection


Initial

Value

0000

3

4

1

2

0

0020

0

0

0

0000

0000

0000

0000

0

0

0

0

0

0

0

0

0

0

0

0

5

6

7

0000

Unit

Customer setting mV mV mV s

5 - 15

5. PARAMETERS

(2) Details list

Classification

No.

Symbol

0

Name and Function

*BPS Serial communication function selection, alarm history clear

Used to select the serial communication baudrate function selection, select various communication conditions, and clear the alarm history.

Initial

Value

0000

Unit

Setting

Range

Refer to name and function column.

1

Serial communication baudrate selection

0: 9600 [bps]

1: 19200[bps]

2: 38400[bps]

3: 57600[bps]

Alarm history clear

0: Invalid

1: valid

When alarm history clear is made valid, the alarm history is cleared at next power-on.

After the alarm history is cleared, the setting is automatically made invalid (reset to 0).

Serial communication I/F selection

0: RS-232C

1: RS-422

Communication response delay time selection

0: Invalid

1: valid, reply sent after time of 888 s or more

*REG Regenerative brake option selection

Used to select the regenerative brake option.

0 0

Selection of regenerative brake option

00: Not used

01: Spare (do not set)

02: MR-RB032

05: MR-RB14

06: MR-RB34

07: MR-RB54


Used to select the protocol of serial communication.

0 0 0

Protocol checksum selection

0: Yes (checksum added)

1: No (checksum not added)

0000

0000

Refer to



5 - 16

5. PARAMETERS

Classification

No.

Symbol

3

Name and Function


Choose the signal to be output to analog monitor 1.

0 0

Initial

Value

0000

4

Analog monitor 1 selection

0: Servo motor speed ( 4V/max. Servo motor speed)

1: Torque ( 4V/max. Torque)



4: Current command ( 4V/max. Current command)

5: Command pulse frequency( 4V/500kpps)

6: Droop pulses ( 4V/128pulse)




A: Droop pulses ( 4V/131072pulse)

B: Bus voltage ( 4V/400V)

C: In position ( 4V/ON)

D: Ready ( 4V/ON)

E: Trouble ( 4V/ON)

Slot number of analog monitor 1

Choose the slot number output to analog monitor 1.

Slot number set value. Selecting "0" disables output.

*MD2 Analog monitor 2 output


0 0

0000







5: Command pulse frequency ( 4V/500kpps)








D: Ready ( 4V/ON)

E: Trouble ( 4V/ON)




Unit

Setting

Range



5 - 17

5. PARAMETERS

Classification

No.

Symbol

5

Name and Function

*MD3 Analog monitor 3 output


0 0

Initial

Value

0000

6

7

8

9







5: Command pulse frequency ( 4V/500kpps)








D: Ready ( 4V/ON)

E: Trouble ( 4V/ON)





Used to set the offset voltage of the analog monitor 1 (MO1).






Used to select the input signal filter.

0 0 2 0

Input signal filter

0 : None

1 : 1.777ms

2 : 3.555ms

0

0

0

0200

Unit

Setting

Range


mV mV mV

999 to

999

999 to

999

999 to

999


5 - 18

5. PARAMETERS

Classification

No.

Symbol

10

11

12

13

14

15

Name and Function

*INS Interface unit serial communication

Choose the serial communication station number of the interface unit.

When making selection, avoid setting the station number used by any other unit.


Choose the station number of the drive unit connected to the first slot of the base unit.



Choose the station number of the drive unit connected to the second slot of the base unit.



Choose the station number of the drive unit connected to the third slot of the base unit.



Choose the station number of the drive unit connected to the fourth slot of the base unit.



Choose the station number of the drive unit connected to the fifth slot of the base unit.


Initial

Value

0

1

2

3

4

5

Unit

Setting

Range

0 to

31

0 to

31

0 to

31

0 to

31

0 to

31

0 to

31

5 - 19

5. PARAMETERS

Classification

No.

Symbol Name and Function

16

17

18


Choose the station number of the drive unit connected to the sixth slot of the base unit.



Choose the station number of the drive unit connected to the seventh slot of the base unit.



Choose the station number of the drive unit connected to the eighth slot of the base unit.


19 *BLK Parameter write inhibit

Used to select reference and write ranges of the parameters.

Setting

Setting operation

IFU basic parameter

Expansion

IFU parameter

I/O assignment

0000

(initial value)

Reference

Write

000A

000B

000C

000E

100B

100C

Reference IFU parameter No. 19

Write

Reference


Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write



Initial

Value

6

7

8

0000

20 0 SIC Serial communication time-out selection

Set the time-out period of the communication protocol in the [s] unit.

Setting "0" disables time-out checking.



0 21

22

23

24

25

26

27

28

29

Unit

Setting

Range

0 to

31 s and

0 to

31

0 to

31

Refer to name function column.

0 to

60

5 - 20

5. PARAMETERS

5.3 Detailed description

5.3.1 Electronic gear

CAUTION Wrong setting can lead to unexpected fast rotation, causing injury.

POINT

500.

If the set value is outside this range, noise may be generated during acceleration/ deceleration or operation may not be performed at the preset speed and/or acceleration/deceleration time constants.

CMX

CDV

The following specification symbols are required to calculate the electronic gear.

(1) Concept of electronic gear

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

CMX

CDV

DRU parameter No.3

DRU parameter No.4

CMX

CDV

Deviation counter

Feedback pulse

Electronic gear

Motor

Encoder

The following setting examples are used to explain how to calculate the electronic gear:

POINT

The following specification symbols are required to calculate the electronic gear

Pb : Ballscrew lead [mm] n : Reduction ratio

Pt : Servo motor resolution [pulses/rev]

0

: Travel per command pulse [mm/pulse]

S : Travel per servo motor revolution [mm/rev]

: Angle per pulse [ /pulse]

: Angle per revolution [ /rev]

(a) For motion in increments of 10 m per pulse

Machine specifications n NL/NM 1/2

NL n

Ballscrew lead Pb 10 [mm]

Reduction ratio: n 1/2

Servo motor resolution: Pt 131072 [pulses/rev]

CMX

CDV

0

Pt

S

0

Pt n Pb

10 10

3

131072 262144

1/2 10

1000

NM

Servo motor

131072 [pulse/rev]

32768

125

Hence, set 32768 to CMX and 125 to CDV.

Pb 10[mm]

5 - 21

5. PARAMETERS

(b) Conveyor setting example

For rotation in increments of 0.01 per pulse

Servo motor

131072 [pulse/rev]

Machine specifications

Table

Table : 360 /rev

Reduction ratio: n 4/64

Servo motor resolution: Pt 131072 [pulses/rev]

Timing belt : 4/64

CMX

CDV

Pt

0.01

131072

4/64 360

65536

1125

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

Since CMX is not within the setting range in this status, it must be reduced to the lowest term.

When CMX has been reduced to a value within the setting range, round off the value to the nearest unit.

CMX 65536

CDV 1125

26214.4

450

26214

450

Hence, set 26214 to CMX and 450 to CDV.

POINT

When “0” is set to parameter No.3 (CMX), CMX is automatically set to the servo motor resolution. Therefore, in the case of Expression (5.1), setting

0 to CMX and 2250 to CDX concludes in the following expression:

CMX/CDV=131072/2250, and electric gear can be set without the necessity to reduce the fraction to the lowest term.

For unlimited one-way rotation, e.g. an index table, indexing positions will be missed due to cumulative error produced by rounding off.

For example, entering a command of 36000 pulses in the above example causes the table to rotate only:

36000

26214

450

1

131072

4

64

360 359.995

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

(2) Instructions for reduction

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

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

CMX 65536

CDV

1125

58.25422 ................................................................................................................... (5.2)

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

CMX 65536

CDV 1125

32768

562.5

32768

563

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

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

CMX 65536

CDV 1125

26214.4

450

26214

450

58.25333.................................................................................. (5.4)

As a result, it is understood that the value nearer to the calculation result of Expression (5.2) is the result of Expression (5.4). Accordingly, the set values of (1), (b) in this section are CMX 26214,

CDV 450.

5 - 22

5. PARAMETERS

(3) Setting for use of AD75P

The AD75P also has the following electronic gear parameters. Normally, the servo amplifier side electronic gear must also be set due to the restriction on the command pulse frequency (differential

400kpulse/s, open collector 200kpulse/s).

AP: Number of pulses per motor revolution

AL: Moving distance per motor revolution

AM: Unit scale factor

AP75P Servo amplifier

Command value

AP

Control unit

AL AM

Electronic gear

Command pulse

CMX

CDV

Deviation counter

Electronic gear Feedback pulse

Servo motor

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

Servo motor speed [r/min]

2000

3000

Required pulse command

131072 2000/60 4369066 pulse/s

131072 3000/60 6553600 pulse/s

For the AD75P, the maximum value of the pulse command that may be output is 200kpulse/s in the open collector system or 400kpulse/s in the differential line driver system. Hence, either of the servo motor speeds exceeds the maximum output pulse command of the AD75P.

Use the electronic gear of the servo amplifier to run the servo motor under the maximum output pulse command of the AD75P.

5 - 23

5. PARAMETERS f

To rotate the servo motor at 3000r/min in the open collector system (200kpulse/s), set the electronic gear as follows

CMX N

0

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

N

0

: Servo motor speed [r/min]

Pt : Servo motor resolution [pulse/rev]

200 10

3

CMX 3000

CDV

60

131072

CMX 3000

CDV

60

131072

200

3

3000 131072

60 200000

4096

125

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

AD75P is used in this way.

Servo amplifier

AD75P

Rated servo motor speed

Input system

Max. input pulse frequency [kpulse/s]

Feedback pulse/revolution [pulse/rev]

Electronic gear (CMX/CDV)

Command pulse frequency [kpulse/s] (Note)

Number of pulses per servo motor revolution as viewed from AD75P[pulse/rev]

Electronic gear

3000r/min

Open collector

200

4096/125

200

4000

Differential line driver

500

131072

2048/125

400

8000

2000r/min

Open collector

200

Differential line driver

500

131072

8192/375 4096/375

200 400

6000 12000

Minimum command unit

1pulse

Minimum command unit

0.1 m

AP 1 1 1 1

AL

AM

1

1

1

1

1

1

1

1

AP 4000 8000 6000 12000

AL 1000.0 [ m] 1000.0 [ m] 1000.0 [ m] 1000.0 [ m]

AM 10 10 10 10

Note. Command pulse frequency at rated speed

5 - 24

5. PARAMETERS

5.3.2 Analog monitor

The servo status can be output to 3 channels in terms of voltage. Using an ammeter enables monitoring the servo status.

(1) Setting

Change the following digits of IFU parameter No.3 to 5:

IFU parameter No. 3


(Signal output to across MO1-LG)


IFU parameter No. 4




IFU parameter No. 5




IFU parameters No.6 to 8 can be used to set the offset voltages to the analog output voltages. The setting range is between 999 and 999mV.

IFU parameter No.

6

7

8

Description

Used to set the offset voltage for the analog monitor 1.



Setting range [mV]

999 to 999

(2) Settings

The three channels are all factory-set to output servo motor speeds. By changing the IFU parameter

No. 3 to 5 values, you can change the data as shown in the following tale.

Refer to (3) for measurement points.

Setting

0

Output item

Servo motor speed

Data

4[V]

CCW direction

Setting

1

Output item

Torque (Note)

4[V]

Data

Driving in

CCW direction

Max. speed

0

Max. speed

Max. torque

0

Max. torque

CW direction

4[V]

Driving in

CW direction

4[V]

5 - 25

5. PARAMETERS

Setting

2

Output item

Servo motor speed

3 Torque (Note)

Data

CW direction

4[V]

CCW direction

Max. speed 0 Max. speed

Driving in

CW direction 4[V]

Driving in

CCW direction

Setting

9

Output item

Droop pulses

( 4V/32768pulse)

Data

4[V]

CCW direction

A Droop pulses

( 4V/131072pulse)

32768[pulse]

0

32768[pulse]

CW direction

4[V]

4[V]

CCW direction

B Bus voltage

131072[pulse]

0

131072[pulse]

CW direction

4[V]

4[V]

4 Current command

Max. torque

0

Max. torque

Max. current command

4[V]

CCW direction

0

Max. current command

CW direction

4[V]

CCW direction

4[V]

0

400[V]

5 Command pulse frequency

C In-position

4[V]

500[kpps]

0

500[kpps]

OFF ON

0

6 Droop pulses

( 4V/128pulse)

4[V]

CW direction

4[V]

CCW direction D Ready

4[V]

128[pulse]

0

128[pulse]

CW direction

4[V]

CCW direction

4[V]

0

OFF ON

7 Droop pulses

( 4V/2048pulse)

2048[pulse]

0

2048[pulse]

CW direction

4[V]

4[V]

CCW direction

E Failure

4[V]

0

Alarm provided

Alarm not provided

8 Droop pulses

( 4V/8192pulse)

8192[pulse]

0

8192[pulse]

CW direction

4[V]

Note. 4V is outputted at the maximum torque. However, when DRU parameter No. 28 76 are set to limit torque, 4V is outputted at the torque highly limited.

5 - 26

5. PARAMETERS

(3) Analog monitor block diagram

Speed con

5 - 27

5. PARAMETERS

5.3.3 Using forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) to change the stopping pattern

The stopping pattern is factory-set to make a sudden stop when the forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) is made valid. A slow stop can be made by changing the DRU parameter No. 22 (Function selection 2) value.

DRU parameter No.22 Setting

0

(initial value)

1

Stopping method

Sudden stop

Motor stops with droop pulses cleared.

Slow stop

The motor is decelerated to a stop in accordance with the DRU parameter No. 7 value.

(Position command acceleration/deceleration time constant)

5.3.4 Alarm history clear

The servo amplifier stores one current alarm and five past alarms from when its power is switched on first. To control alarms which will occur during operation, clear the alarm history using DRU parameter

No.16 or IFU parameter No.0 before starting operation.

These parameters are made valid when you switch power off, then on after setting their values. DRU parameter No. 16 and IFU parameter No. 0 return to " 0 " automatically when the alarm history is cleared.

DRU parameter No.16

Alarm history clear

0: Invalid

1: Valid

IFU parameter No.0

Alarm history clear

0: Invalid

1: Valid

5 - 28

5. PARAMETERS

5.3.5 Position smoothing

By setting the position command acceleration/deceleration time constant (DRU parameter No.7), you can run the servo motor smoothly in response to a sudden position command.

The following diagrams show the operation patterns of the servo motor in response to a position command when you have set the position command acceleration/deceleration time constant.

Choose the primary delay or linear acceleration/deceleration in DRU parameter No. 55 according to the machine used.

(1) For step input t

: Input position command

: Position command after

filtering for primary delay

: Position command after filtering

for linear acceleration/deceleration

: Position command acceleration/

deceleration time constant

(DRU parameter No. 7) t

(2) For trapezoidal input

(3t) t t

(3t)

Time t

(3t)

Time t

: Input position command

: Position command after filtering

for linear acceleration/deceleration

: Position command after

filtering for primary delay

: Position command acceleration/

deceleration time constant

(DRU parameter No. 7)

5 - 29

5. PARAMETERS

MEMO

5 - 30

6. GENERAL GAIN ADJUSTMENT


6.1 Different adjustment methods

6.1.1 Adjustment on a MELSERVO-J2M

The gain adjustment in this section can be made on the MELSERVO-J2M. For gain 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

Auto tuning mode 1

(initial value)

Auto tuning mode 2

Manual mode 1

Manual mode 2

Interpolation mode

DRU parameter

No. 2 setting

010

Estimation of load inertia moment ratio

Always estimated

020

030

Fixed to parameter

No. 34 value

Automatically set

DRU parameters

PG1 (DRU parameter No. 6)

GD2 (DRU parameter No. 34)


VG1 (DRU parameter No. 36)


VIC (DRU parameter No. 38)








040

000 Always estimated

Manually set

DRU parameters

Response level setting of DRU parameter No. 2


Response level setting of parameter No. 2

















6 - 1


(2) Adjustment sequence and mode usage

START

Interpolation

made for 2 or more axes?

No

Auto tuning mode 1

Operation

Yes

OK?

No

Auto tuning mode 2

Operation

Yes

OK?

No

Manual mode 1

Operation

Yes

OK?

No

Manual mode 2

END

Yes

No

Interpolation mode

Operation

OK?

Yes

Usage

Used when you want to match the position gain 1

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

Allows adjustment by merely changing the response level setting.

First use this mode to make adjustment.

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

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

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

6.1.2 Adjustment using MR Configurator (servo configuration software)

This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR Configurator (servo configuration software) which operates on a personal computer.

Function

Machine analyzer

Gain search

Description

With the machine and servo motor coupled, the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response.

Adjustment

You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter.

You can automatically set the optimum gains in response to the machine characteristic. This simple adjustment is suitable for a machine which has large machine resonance and does not require much settling time.

You can automatically set gains which make positioning settling time shortest.

Machine simulation

Executing gain search under to-and-fro positioning command measures settling characteristic while simultaneously changing gains, and automatically searches for gains which make settling time shortest.

Response at positioning settling of a machine can be simulated from machine analyzer results on personal computer.

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

6 - 2


6.2 Auto tuning

6.2.1 Auto tuning mode

The MELSERVO-J2M has a real-time auto tuning function which estimates the machine characteristic

(load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the MELSERVO-J2M.

(1) Auto tuning mode 1

The MELSERVO-J2M is factory-set to the auto tuning mode 1.

In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains automatically.

The following DRU parameters are automatically adjusted in the auto tuning mode 1.

DRU parameter No.

6

34

35

36

37

38

Abbreviation

PG1

GD2

PG2

VG1

VG2

VIC

Name

Position control gain 1

Ratio of load inertia moment to servo motor inertia moment


Speed control gain 1


Speed integral compensation

POINT

The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied.

Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or less.

Speed is 150r/min or higher.

The ratio of load inertia moment to servo motor is not more than 100 times.

The acceleration/deceleration torque is 10% or more of the rated torque.

Under operating conditions which will impose sudden disturbance torque during acceleration/deceleration or on a machine which is extremely loose, auto tuning may not function properly, either. In such cases, use the auto tuning mode 2 or manual mode 1 2 to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1.

Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment ratio (DRU parameter No. 34).

The following DRU parameters are automatically adjusted in the auto tuning mode 2.

DRU parameter No.

6

35

36

37

38

Abbreviation

PG1

PG2

VG1

VG2

VIC






Name

6 - 3


6.2.2 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

DRU parameter

No. 2

Third digit

Auto tuning selection

First digit

Response level setting


Load inertia moment ratio estimation value

When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor. The results of estimation are written to DRU parameter No. 34 (the ratio of load inertia moment to servo motor). These results can be confirmed on the status display screen of the servo amplifier display section.

If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, chose the "auto tuning mode 2" (DRU parameter No.2: 2 ) to stop the estimation of the load inertia moment ratio (Switch in above diagram turned off), and set the load inertia moment ratio (DRU parameter No. 34) manually.

From the preset load inertia moment ratio (DRU parameter No. 34) value and response level (The first digit of DRU parameter No. 2), the optimum control gains are automatically set on the basis of the internal gain tale.

The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since 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" (DRU parameter No. 2: 020 ) and set the correct load inertia moment ratio in DRU parameter No. 34.

When any of the auto tuning mode 1, auto tuning mode 2 and manual mode 1 settings is changed to the manual mode 2 setting, the current control gains and load inertia moment ratio estimation value are saved in the EEP-ROM.

6 - 4


6.2.3 Adjustment procedure by auto tuning

Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows.

Auto tuning adjustment

Acceleration/deceleration repeated

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

(DRU parameter No.2 : 020 )and set the load inertia moment ratio

(DRU parameter No.34) manually.

Adjust response level setting so that desired response level is achieved on vibration-free level.

Acceleration/deceleration repeated

Requested performance satisfied?

Yes

END

No

To manual mode

6 - 5


6.2.4 Response level setting in auto tuning mode

Set the response (The first digit of DRU parameter No.2) of the whole servo system. As the response level setting is increased, the trackability and settling 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 (DRU parameter No. 60) or machine resonance suppression filter (DRU parameter No. 58 59) may be used to suppress machine resonance. Suppressing machine resonance may allow the response level setting to increase. Refer to Section 7.2 for adaptive vibration suppression control and machine resonance suppression filter.

DRU parameter No. 2


D

E

F

A

B

8

9

C

5

6

7

1

2

3

4

Machine rigidity

Low

Middle

High


Auto tuning selection

Machine characteristic

Machine resonance frequency guideline

Guideline of corresponding machine

15Hz

20Hz

25Hz

30Hz

Large conveyor

35Hz

45Hz

55Hz

Arm robot

General machine tool conveyor

70Hz

85Hz

105Hz

130Hz

160Hz

Precision working machine

Inserter

Mounter

Bonder

200Hz

240Hz

300Hz

6 - 6


6.3 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 DRU parameters.

6.3.1 Operation of manual mode 1

In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.

GD2

User setting

PG1

VG2

VIC

Automatic setting

PG2

VG1

Therefore, you can adjust the model adaptive control system in the same image as the general PI control system (position gain, speed gain, speed integral time constant). Here, the position gain corresponds to

PG1, the speed gain to VG2 and the speed integral time constant to VIC. When making gain adjustment in this mode, set the load inertia moment ratio (DRU parameter No. 34) correctly.

6.3.2 Adjustment by manual mode 1

POINT

If machine resonance occurs, adaptive vibration suppression control (DRU parameter No. 60) or machine resonance suppression filter (DRU parameter No. 58 59) may be used to suppress machine resonance. (Refer to Section 7.1.)

(1) DRU parameters

The following parameters are used for gain adjustment:

DRU parameter No.

6

34

37

38

Abbreviation

PG1

GD2

VG2

VIC

Name





(2) Adjustment procedure

Step

1

2

3

4

5

6

7

Operation

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

Set a slightly smaller value to the position control gain 1 (DRU parameter No.

6).

Increase the speed control gain 2 (DRU parameter No. 37) within the vibration- and unusual noise-free range, and return slightly if vibration takes place.

Decrease the speed integral compensation (DRU parameter No. 38) within the vibration-free range, and return slightly if vibration takes place.

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

If the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be increased by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 3 to 5.

While checking the settling characteristic and rotational status, fine-adjust each gain.

Description

Increase the speed control gain.

Decrease the time constant of the speed integral compensation.

Increase the position control gain.

Suppression of machine resonance.

Refer to Section 7.1.

Fine adjustment

6 - 7


(3) Adjustment description

(a) Position control gain 1 (DRU parameter No. 6)

This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling.

Position control gain 1 guideline

Speed control gain 2 setting

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

( 1

to

1

5

)

(b) Speed control gain 2 (VG2: DRU parameter No. 37)

This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual 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

(c) Speed integral compensation (DRU parameter No. 38)

To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control.

Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression:

Speed integral compensation setting(ms)

Speed control gain 2 setting/

2000 to 3000

(1 ratio of load inertia moment to

servo motor inertia moment setting 0.1)

6 - 8


6.4 Interpolation mode

The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 2 and speed control gain 2 which determine command trackability are set manually and the other parameter for gain adjustment are set automatically.

(1) Parameter

(a) Automatically adjusted parameters

The following parameters are automatically adjusted by auto tuning.

DRU parameter No.

34

35

37

38

Abbreviation

GD2

PG2

VG2

VIC

Name





(b) Manually adjusted parameters

The following parameters are adjustable manually.

DRU parameter No.

6

36

Abbreviation

PG1

VG1



Name

(2) Adjustment procedure

Step

1

2

3

4

5

6

7

Operation

Set 15Hz (DRU parameter No. 2: 010 ) as the machine resonance frequency of response in the auto tuning mode 1.

During operation, increase the response level setting (DRU parameter No. 2), and return the setting if vibration occurs.

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

Set the interpolation mode (DRU parameter No. 2: 000 ).

Using the position control gain 1 value checked in step 3 as the guideline of the upper limit, set in PG1 the value identical to the position loop gain of the axis to be interpolated.

Using the speed control gain 1 value checked in step 3 as the guideline of the upper limit, look at the rotation status and set in speed control gain 1 the value three or more times greater than the position control gain 1 setting.

Looking at the interpolation characteristic and rotation status, fine-adjust the gains and response level setting.

Description

Select the auto tuning mode 1.

Adjustment in auto tuning mode

1.

Check the upper setting limits.

Select the interpolation mode.

Set position control gain 1.

Set speed control gain 1.

Fine adjustment.

(3) Adjustment description

(a) Position control gain 1 (DRU parameter No.6)

This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling. The droop pulse value is determined by the following expression.

Droop pulse value (pulse)

Rotation speed (r/min)

60

131072(pulse)

Position control gain set value

(b) Speed control gain 1 (DRU parameter No. 36)

Set the response level of the speed loop of the model. Make setting using the following expression as a guideline.

Speed control gain 1 setting Position control gain 1 setting 3

6 - 9


MEMO

6 - 10

7. 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 6.

If a mechanical system has a natural resonance point, increasing the servo system response level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.

Using the machine resonance suppression filter and adaptive vibration suppression control functions can suppress the resonance of the mechanical system.

7.1 Function block diagram

Speed control

00

DRU parameter

No.58

0

DRU parameter

No.60

Machine resonance suppression filter 1 except

Adaptive vibration

suppression control 1

00 or 2

DRU parameter

No.59

00

Low-pass filter

Machine resonance suppression filter 2 except

00

DRU parameter

No.60

0

Current command

Servo motor

1

Encoder

7.2 Machine resonance suppression filter

(1) Function

The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency) and gain decreasing depth.

Machine resonance point

Mechanical system response level

Frequency

Notch depth

Notch frequency

Frequency

7 - 1


You can use the machine resonance suppression filter 1 (DRU parameter No. 58) and machine resonance suppression filter 2 (DRU parameter No. 59) to suppress the vibration of two resonance frequencies. Note that if adaptive vibration suppression control is made valid, the machine resonance suppression filter 1 (DRU parameter No. 58) is made invalid.



Frequency

Notch depth

Frequency

DRU parameter No. 58 DRU parameter No. 59

POINT

The machine resonance suppression filter is a delay factor for the servo system. Hence, vibration may increase if you set a wrong resonance frequency or a too deep notch.

(2) Parameters

(a) Machine resonance suppression filter 1 (DRU parameter No. 58)

Set the notch frequency and notch depth of the machine resonance suppression filter 1 (DRU parameter No. 58)

When you have made adaptive vibration suppression control selection (DRU parameter No. 60)

"valid" or "held", make the machine resonance suppression filter 1 invalid (DRU parameter No. 58:

0000).


0

Notch frequency

Setting value

00

01

02

03

04

05

06

07

Frequency

Invalid

4500

2250

1500

1125

900

750

642.9

0A

0B

0C

0D

0E

0F

Setting value

Frequency

08

09

562.5

500

450

409.1

375

346.2

321.4

300

12

13

14

15

16

17

Setting value

Frequency

10

11

281.3

264.7

250

236.8

225

214.3

204.5

195.7

18

19

1A

1B

1C

1D

1E

1F

Setting value

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)

7 - 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 DRU parameter No. 58 59 is used to select a close notch frequency and set a deep notch.

(b) Machine resonance suppression filter 2 (DRU parameter No. 59)

The setting method of machine resonance suppression filter 2 (DRU parameter No. 59) is the same as that of machine resonance suppression filter 1 (DRU parameter No. 58). However, the machine resonance suppression filter 2 can be set independently of whether adaptive vibration suppression control is valid or invalid.

7.3 Adaptive vibration suppression control

(1) Function

Adaptive vibration suppression control is a function in which the drive unit detects machine resonance and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system. Also, while adaptive vibration suppression control is valid, the servo amplifier always detects machine resonance, and if the resonance frequency changes, it changes the filter characteristics in response to that frequency.



Frequency



Frequency

Notch depth

Notch depth

Frequency Frequency

Notch frequency Notch frequency

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

POINT

The machine resonance frequency which adaptive vibration suppression control can respond to is about 150 to 500Hz. Adaptive vibration suppression control has no effect on the resonance frequency outside this range. Use the machine resonance suppression filter for the machine resonance of such frequency.

Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics or which has too large resonance.

Under operating conditions in which sudden disturbance torque is imposed during operation, the detection of the resonance frequency may malfunction temporarily, causing machine vibration. In such a case, set adaptive vibration suppression control to be "held" (DRU parameter No. 60: 2 ) to fix the characteristics of the adaptive vibration suppression control filter.

7 - 3


(2) Parameters

The operation of adaptive vibration suppression control selection (DRU parameter No.60).


Adaptive vibration suppression control selection

Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 (DRU parameter No. 58) invalid.

0: Invalid

1: Valid

Machine resonance frequency is always detected to generate the filter in response to resonance, suppressing machine vibration.

2: Held

Filter characteristics generated so far is held, and detection of machine resonance is stopped.

Adaptive vibration suppression control sensitivity selection

Select the sensitivity at which machine resonance is detected.

0: Normal

1: Large sensitivity

POINT

Adaptive vibration suppression control is factory-set to be invalid (DRU parameter No. 60: 0000).

The filter characteristics generated are saved in the EEP-ROM every 60 minutes since power-on. At next power-on, vibration suppression control is performed with this data saved in the EEP-ROM being used as an initial value.

Setting the adaptive vibration suppression control sensitivity can change the sensitivity of detecting machine resonance. Setting of "large sensitivity" detects smaller machine resonance and generates a filter to suppress machine vibration. However, since a phase delay will also increase, the response of the servo system may not increase.

7.4 Low-pass filter

(1) Function

When a ballscrew or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque command. The filter frequency of this low-pass filter is automatically adjusted to the value in the following 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 (DRU parameter No. 60.)


Low-pass filter selection

0: Valid (automatic adjustment) initial value

1: Invalid

POINT

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

7 - 4


7.5 Gain changing function

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

7.5.1 Applications

This function is used when:

(1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.

(2) You want to increase the gains during settling to shorten the stop settling time.

(3) You want to change the gains using an external signal to ensure stability of the servo system since the load inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).

7.5.2 Function block diagram

The valid control gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions selected by gain changing selection (DRU parameter No. 65) and gain changing condition (DRU parameter No. 66).

CDP

DRU parameter No.65

External signal

CDP

Command pulse frequency

Droop pulses

Changing

Model speed

Comparator

CDS

DRU parameter No.66

GD2

DRU parameter No.34

GD2B

DRU parameter No.61

PG2

DRU parameter No.35

PG2 PG2B

100

VG2

DRU parameter No.37

VG2 VG2B

100

VIC

DRU parameter No.38

VIC VICB

100

7 - 5

Valid

GD2 value

Valid

PG2 value

Valid

VG2 value

Valid

VIC value


7.5.3 Parameters

When using the gain changing function, always set " 4 " in DRU parameter No.2 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.

DRU parameter No.

6

36

34

35

37

38

61

62

63

64

65

66

Abbreviation

Name

PG1 Position control gain 1

VG1 Speed control gain 1

GD2


PG2 Position control gain 2

VG2 Speed control gain 2


GD2B

PG2B

Ratio of load inertia moment to servo motor inertia moment 2

Position control gain 2 changing ratio

VG2B

VICB

Speed control gain 2 changing ratio

Speed integral compensation changing ratio

CDP Gain changing selection


Unit rad/s rad/s

0.1

times rad/s rad/s ms

0.1

times

%

%

% kpps pulse r/min

Description

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

Control parameters before changing

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.

67 CDT Gain changing time constant ms

You can set the filter time constant for a gain change at changing.

7 - 6


(1) DRU parameters No. 6 34 to 38

These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain

2 and speed integral compensation to be changed.

(2) Ratio of load inertia moment to servo motor inertia moment 2 (GD2B: DRU parameter No. 61)

Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia moment ratio does not change, set it to the same value as ratio of load inertia moment to servo motor inertia moment (DRU parameter No. 34).

(3) Position control gain 2 changing ratio (DRU parameter No. 62), speed control gain 2 changing ratio (DRU parameter No. 63), speed integral compensation changing ratio (DRU parameter No. 64)

Set the values of after-changing position control gain 2, speed control gain 2 and speed integral compensation in ratio (%). 100% setting means no gain change.

For example, at 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 (DRU parameter No. 65)

Used to set the gain changing condition. Choose the changing condition in the first digit. If you set "1" here, you can use the gain changing (CDP ) external input signal for gain changing. The gain changing (CDP ) can be assigned to the pins using DRU parameters No. 43 to 48.


Gain changing (CDP ) selection

Gains are changed in accordance with the settings of

DRU parameters No. 61 to 64 under any of the following conditions:

0: Invalid

1: Gain changing (CDP ) is ON

2: Command frequency is equal to higher than DRU parameter No. 66 setting

3: Droop pulse value is equal to higher than DRU parameter No. 66 setting

4: Servo motor speed is equal to higher than DRU parameter No. 66 setting

(5) Gain changing condition (DRU parameter No. 66)

When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing selection (DRU parameter No.65), set the gain changing level.

The setting unit is as follows:

Gain changing condition

Command frequency

Droop pulses

Servo motor speed

Unit kpps pulse r/min

(6) Gain changing time constant (DRU parameter No. 67)

You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress shock given to the machine if the gain difference is large at gain changing, for example.

7 - 7


7.5.4 Gain changing operation

This operation will be described by way of setting examples.

(1) When you choose changing by external input

(a) Setting

DRU parameter No.

6

36

34

35

37

38

61

62

63

64

65

67

(b) Changing operation

Gain changing

(CDP )

Abbreviation

PG1

VG1

GD2

PG2

VG2

VIC

GD2B

PG2B

VG2B

VICB

CDP

CDT

OFF

Name












Gain changing time constant

Setting

100

1000

4

120

3000

20

100

70

133

250

0001

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

100

Unit rad/s rad/s

0.1 times rad/s rad/s ms

0.1 times

%

%

% ms

ON

After-changing gain

OFF

Change of each gain

Before-changing gain

CDT 100ms







4.0

120

3000

20

100

1000

10.0

84

4000

50

4.0

120

3000

20

7 - 8


(2) When you choose changing by droop pulses

(a) Setting

DRU parameter No.

6

36

34

35

37

38

61

62

63

64

65

66

67

(b) Changing operation

Abbreviation

PG1

VG1

GD2

PG2

VG2

VIC

GD2B

PG2B

VG2B

VICB

CDP

CDS

CDT

Command pulse

Name












Gain changing condition

Gain changing time constant

Setting

100

1000

40

120

3000

20

100

70

133

250

0003

(Changed by droop pulses)

50

100

Unit rad/s rad/s

0.1 times rad/s rad/s ms

0.1 times

%

%

% pulse ms

Droop pulses

Droop pulses [pulses]

0

CDS

CDS

After-changing gain

Change of each gain

Before-changing gain

CDT 100ms







4.0

120

3000

20

10.0

84

4000

50

100

1000

4.0

120

3000

20

10.0

84

4000

50

7 - 9


MEMO

7 - 10

8. INSPECTION

8. INSPECTION

WARNING

Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 15 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock.

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

Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.

POINT

Do not test MELSERVO-J2M with a megger (measure insulation resistance), or it may become faulty.

Do not disassemble and/or repair the equipment on customer side.

(1) Inspection

It is recommended to make the following checks periodically:

(a) Check for loose terminal block screws. Retighten any loose screws.

(b) Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating conditions.

(2) Life

The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. For parts replacement, please contact your sales representative.

Part name

Smoothing capacitor

Relay

Cooling fan

Absolute position battery unit

Life guideline

10 years

Number of power-on and number of forced

Stop times:100,000times.

10,000 to 30,000hours (2 to 3 years)

Refer to Section 13.2

(a) Smoothing capacitor

Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment.

(b) Relays

Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life when the cumulative number of power-on and forced stop times is 100,000, which depends on the power supply capacity.

(c) Drive unit cooling fan

The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the fan must be changed in a few years of continuous operation as a guideline.

It must also be changed if unusual noise or vibration is found during inspection.

8 - 1

8. INSPECTION

MEMO

8 - 2

9. TROUBLESHOOTING

9. TROUBLESHOOTING

9.1 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 optional MR Configurator (servo configuration software), you can refer to unrotated servo motor reasons, etc.

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.

(1) Troubleshooting

No.

Start-up sequence

1 Power on

2 Switch on servo-on

(SON ).

3 Enter input command.

(Test operation)

Fault

LED is not lit.

LED flickers.

Alarm occurs.

Alarm occurs.

Servo motor shaft is not servo-locked

(is free).

Servo motor does not rotate.

Servo motor run in reverse direction.

Investigation Possible cause

Not improved if connectors

CN1A, CN1B, CN2 and CN3 are disconnected.

Improved when connectors

CN1A and CN1B are disconnected.

Improved when connector

CN2 is disconnected.

1. Power supply voltage fault

2. MELSERVO-J2M is faulty.

Power supply of CNP1 cabling is shorted.

Improved when connector

CN3 is disconnected.

1. Power supply of encoder cabling is shorted.

2. Encoder is faulty.

Power supply of CN3 cabling is shorted.

Refer to Section 9.2 and remove cause.

Refer to Section 9.2 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 the servo-on (SON ) is

ON.

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

2. 24VDC power is not supplied to VIN.

Check cumulative command pulses.

1. Wiring mistake

(a) For open collector pulse train input, 24VDC power is not supplied to

OPC.

(b) LSP /LSN -SG are not connected.

2. No pulses is input.

1. Mistake in wiring to controller.

2. Mistake in setting of DRU parameter No. 54.

Reference

Section 9.2

Section 9.2

Section 4.3.6

Section 4.3.2

Chapter 5

9 - 1

9. TROUBLESHOOTING

No.

Start-up sequence

4 Gain adjustment

5 Cyclic operation

Fault

Rotation ripples

(speed fluctuations) are large at low speed.

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

Investigation

Make gain adjustment in the following procedure:

1. Increase the auto tuning response level.

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

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

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

Possible cause

Gain adjustment fault

Gain adjustment fault

Pulse counting error, etc.

due to noise.

Reference

Chapter 6

Chapter 6

(2) in this section

9 - 2

9. TROUBLESHOOTING

(2) How to find the cause of position shift

Positioning unit

(a) Output pulse

counter

MELSERVO-J2M

Electronic gear (DRU parameters No. 3, 4)

Q

P

CMX

CDV

(A)

(C) Servo-on (SON ),

forward rotation stroke

end (LSP ) reverse

rotation stroke end

(LSD ) input

(b) Cumulative command

pulses

C

(c) Cumulative

feedback pulses

Machine

Servo motor

M

L

(d) Machine stop

position M

(B)

Encoder

When a position shift occurs, check (a) output pulse counter, (b) cumulative command pulse display, (c) cumulative feedback pulse display, and (d) machine stop position in the above diagram.

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

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

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

2) P

CMX(parameter No.3)

CDV(parameter No.4)

C (cumulative command pulses electronic gear cumulative feedback pulses)

3) C M (cumulative feedback pulses travel per pulse machine position)

Check for a position shift in the following sequence:

1) When Q P

Noise entered the pulse train signal wiring between positioning unit and servo amplifier, causing pulses to be miss-counted. (Cause A)

Make the following check or take the following measures:

Check how the shielding is done.

Change the open collector system to the differential line driver system.

Run wiring away from the power circuit.

2)

Install a data line filter. (Refer to (2)(a) Section 12.2.6.)

When

P

CMX

CDV

C

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

(Cause C)

If a malfunction may occur due to much noise, increase the input filter setting (DRU parameter

No. 1).

3) When C M

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

9 - 3

9. TROUBLESHOOTING

9.2 Alarms and warning list

POINT

The alarm/warning whose indication is not given does not exist in that unit.

When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 9.3 or 9.4 and take the appropriate action.

When an alarm occurs in any of slots 1 to 4, ALM_A-SG open. When an alarm occurs in any of slots 5 to 8,

ALM_B-SG open.

The alarm can be canceled by turning the power OFF to ON.

After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column.

When an alarm/warning occurs, the interface unit display shows the corresponding unit and alarm number.

Interface unit display

Slot number


Symbol

6

7

4

5

8

2

3

F

1

Definition (Slot)

Interface unit

First slot

Second slot

Third slot

Fourth slot

Fifth slot

Sixth slot

Seventh slot

Eight slot

9 - 4

9. TROUBLESHOOTING

Display Name

Power

OFF ON

Alarm deactivation

Press “SET” on current alarm screen.

A.10

A.12

A.13

A.15

A.16

A.17

A.19

A.1A

A.1C

A.1D

A.1E

A.20

Undervoltage

Memory error 1

Clock error

Memory error 2

Encoder error 1

Board error

Memory error 3

Servo motor combination error

Base unit bus error 1


Drive unit mounting error

Encoder error 2

A.24

A.25

A.30

A.31

A.32

A.33

A.35

A.37

A.45

A.46

A.50

A.51

A.52

A.53

A.54

Main circuit error

Absolute position erase

Regenerative error

Overspeed

Overcurrent

Overvoltage

Command pulse frequency error

IFU parameter error

DRU parameter error

Main circuit device overheat

Servo motor overheat

Overload 1

Overload 2

Error excessive

Multiple axis overload

Drive unit alarm

A.78

A.79

A.8A

A.8E

Option slot fault

Option slot loading error

Serial communication time-out

Serial communication error

88888 Watchdog

A.92

Open battery cable warning

A.96

A.9F

Home position setting warning

Battery warning

A.E0

A.E1

A.E3

A.E6

A.E9

Excessive regenerative warning

Overload warning

Absolute position counter warning

Servo forced stop warning

Main circuit off warning

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 2)

(Note 1)

(Note 2)

Removing the cause of occurrence deactivates the alarm automatically.

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

2. Automatically deactivated when the alarm of the drive unit is reset.

Reset (RES)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 2)

9 - 5

9. TROUBLESHOOTING

9.3 Remedies for alarms

CAUTION

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

If an absolute position erase (A.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 the main circuit.

POINT

When any of the following alarms has occurred, always remove its cause and allow about 30 minutes for cooling before resuming operation. If operation is resumed by switching control circuit power off, then on to reset the alarm, each unit and servo motor may become faulty.

Regenerative error (A.30)

Overload 1 (A.50)

Overload 2 (A.51)

The alarm can be deactivated by switching power off, then on press the

“SET”

button on the interface unit current alarm screen or by turning on the reset (RES ). For details, refer to Section 9.2.

When an alarm occurs, 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.

@ in the Indication field denotes the slot number of the base unit.

Display

IFU

FA.10

DRU

Name Definition Cause Action

Undervoltage Power supply voltage fell to or below

160VAC.

1. Power supply voltage is low.

2. There was an instantaneous control circuit power failure of 30ms or longer.

3. Shortage of power supply capacity caused the power supply voltage to drop at start, etc.

4. Power was restored after the bus voltage had dropped to 200VDC.

(Main circuit power switched on within 5s after it had switched off.)

5. Faulty parts in the base unit.

Checking method

Alarm (A.10) occurs if interface unit is changed.

Review the power supply.

Change the base unit.

6. Faulty parts in interface unit.

Checking method

Alarm (A.10) occurs if base unit is changed.

Change the interface unit.

FA.12

FA.13

FA.15

Memory error 1 RAM, memory fault

Clock error Printed board fault.

Memory error 2 EEP-ROM fault

7. CNP3 or CNP1B connector unplugged.

Faulty parts in the interface unit.

Checking method

Alarm (any of A.11 and 13) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.

Connect properly.


9 - 6

9. TROUBLESHOOTING

Display

IFU DRU

Name Definition

@A.12@ Memory error 1 RAM, memory fault

@A.13@ Clock error

@A.15@ Memory error 2 EEP-ROM fault

@A.16@ Encoder error 1 Communication error occurred between encoder and servo amplifier.

@A.17@ Board error 2

Printed board fault.

CPU/parts fault

Cause Action

1. Faulty parts in the drive unit

Checking method

Alarm (A.15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.

Change the drive unit.

2. The number of write times to EEP-

ROM exceeded 100,000.

1. Encoder connector (CN2) disconnected.

2. Encoder fault.

3. Encoder cable faulty.

(Wire breakage or shorted)

1. Faulty parts in the drive unit.

Checking method


Connect correctly.

Change the servo motor.

Repair or change cable.


The output terminals

U, V, W of the drive unit and the input terminals U, V, W of the servo motor are not connected.

FA.19 @A.19@ Memory error 3 ROM memory fault

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

Faulty parts in the interface unit or drive unit.

Checking method


Correctly connect the output terminals U, V, W of the drive unit and the input terminals U,

V, W of the servo motor.

Change the interface unit or drive unit.

FA.1C

FA.1D

FA.1E

@A.1A@ Servo motor combination error



Drive unit mounting error

Wrong combination of drive unit and servo motor.

There is error in communication between interface unit and drive unit.

Wrong combination of drive unit and servo motor connected.

1. Interface unit connection fault.

2. Interface unit failure.

3. Base unit failure.

1. Drive unit connection fault.

There is error in communication between interface unit and drive unit.

Drive unit came off the base unit after initialization.

2. Drive unit failure.


1. Drive unit connection fault.


3. Faulty parts in drive unit.

Checking method

Alarm (A.1E) occurs if power is switched on after disconnection of the U, V, W power cables.

Use correct combination.

Connect the interface unit to the base unit properly.



Connect the drive unit to the base unit properly.



Connect the drive unit to the base unit properly.



@A.20@ Encoder error 2 Communication error occurred between encoder and drive unit.

1. Encoder connector (CN2) disconnected. Connect correctly.

2. Encoder fault.

3. Encoder cable faulty.

(Wire breakage or shorted)


Repair or change cable.

9 - 7

9. TROUBLESHOOTING

Display

IFU DRU

Name

@A.24@ Main circuit error

Definition Cause Action

Ground fault occurred at the servo motor outputs (U,V and W phases) of the drive unit.

1. Power input wires and servo motor output wires are in contact at CNP2.

Connect correctly.

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

Change the cable.

3. Main circuit of drive unit failed.

Checking method


Alarm (A.24) occurs if power is switched on after disconnection of the U, V, W power cables.

FA.30

@A.25@ Absolute position erase

Regenerative alarm

Absolute position data in error.

1. Battery voltage low.

2. Battery cable or battery is faulty.

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

Permissible regenerative power of the regenerative brake option is exceeded.

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

1. Mismatch between used regenerative brake option and IFU parameter No. 1 setting.

2. Regenerative brake option is not connected.

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

Checking method

Call the status display and check the regenerative load ratio.

Change battery.

Always make home position setting again.

After leaving the alarm occurring for a few minutes, switch power off, then on again. Always make home position setting again.

Set correctly.

Connect correctly.

1. Reduce the frequency of positioning.

2. Use the regenerative brake option of larger capacity.

3. Reduce the load.

4. Power supply voltage rose to or above 260VAC.

5. Regenerative brake option faulty.

Review power supply.

Regenerative transistor fault

Change regenerative brake option.


6. Regenerative transistor faulty.

Checking method

1) The regenerative brake option

has overheated abnormally.

2) The alarm occurs even after

removal of the built-in

regenerative brake resistor or

regenerative brake option.

9 - 8

9. TROUBLESHOOTING

Display

IFU DRU

Name

@A.31@ Overspeed

@A.32@ Overcurrent


Speed has exceeded the instantaneous permissible speed.

Current that flew is higher than the permissible current of the drive unit.

1. Input command pulse frequency is too high.

2. Small acceleration/deceleration time constant caused overshoot to be large.

3. Servo system is instable to cause overshoot.

Set the command pulse correctly.

Increase acceleration/ deceleration time constant.

1. Reset 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.

4. Electronic gear ratio is large.

(DRU parameter No. 3 4)

5. Encoder faulty.

1. Short occurred in drive unit output phases U, V and W.

2. Transistor of the servo drive unit faulty.

Checking method

Alarm (A.32) occurs if power is switched on after disconnection of the U, V, W power cables.


Correct the wiring.


FA.33

Overvoltage

@A.35@ Command pulse frequency error

Converter bus voltage exceeded 400VDC.

Input frequency of command pulse is too high.

3. Ground fault occurred in servo amplifier output phases U, V and W.

4. External noise caused the overcurrent detection circuit to misoperate.

1. Regenerative brake option is not used.

2. Though the regenerative brake option is used, the IFU parameter

No. 1 setting is " 00 (not used)".

3. Regenerative brake option is open or disconnected.

4. Regenerative transistor faulty.

5. Wire breakage of regenerative brake option.

6. Power supply voltage high.

1. Command given is greater than the maximum speed of the servo motor.

2. Noise entered bus cable.

3. Servo system controller failure.

Correct the wiring.

Take noise suppression measures.

Use the regenerative brake option.

Make correct setting.

1. Change lead.

2. Connect correctly.

Change drive unit.

For wire breakage of regenerative brake option, change regenerative brake option.

Review the power supply.

Review operation program.

Take action against noise.

Change the servo system controller.

9 - 9

9. TROUBLESHOOTING

Display

IFU DRU

FA.37


IFU parameter error

@A.37@ DRU parameter error

@A.45@ Main circuit device overheat

@A.46@ Servo motor overheat

@A.50@ Overload 1

IFU parameter setting is wrong.

DRU parameter setting is wrong.

Main circuit device overheat.

Servo motor temperature rise actuated the thermal sensor.

Load exceeded overload protection characteristic of servo amplifier.

1. Interface unit fault caused the IFU parameter setting to be rewritten.


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


Change the interface unit

1. Drive unit fault caused the DRU parameter setting to be rewritten.


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

1. Drive unit faulty.

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

3. Air cooling fan of drive unit stops.

4. Wrong connection of servo motor.

Drive unit's output U, V, W do not match servo motor's input U, V, W.

5. Encoder faulty.




The drive method is reviewed.

1. Ambient temperature of servo motor is over 40 .

1. Change the drive unit or cooling fan.

2. Reduce ambient temperature.

Review environment so that ambient temperature is 0 to

40 .

2. Servo motor is overloaded.

3. Thermal sensor in encoder is faulty. Change servo motor.

1. Drive unit is used in excess of its continuous output current.

1. Reduce load.

2. Review operation pattern.

3. Use servo motor that provides larger output.

2. Servo system is instable and hunting.

1. Reduce load.



1. Repeat acceleration/ deceleration to execute auto tuning.

2. Change auto tuning response level setting.

3. Set auto tuning to OFF and make gain adjustment manually.

3. Machine struck something.


2. Install limit switches.

Connect correctly.


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.

9 - 10

9. TROUBLESHOOTING

Display

IFU DRU

Name

@A.51@ Overload 2


Machine collision or the like caused max.

output current to flow successively for several seconds.

Servo motor locked:

0.3s or more

During rotation:

2.5s or more



Drive unit's output terminals U, V,

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




Connect correctly.

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.


@A.52@ Error excessive The difference between the model position and the actual servo motor position exceeds 2.5

rotations. (Refer to the function block diagram in Section

1.2)

1. Acceleration/deceleration time constant is too small.

2. Torque limit value (DRU parameter

No.28) is too small.

3. Motor cannot be started due to torque shortage caused by power supply voltage drop.

4. Position control gain 1 (DRU parameter No.36) value is small.

5. Servo motor shaft was rotated by external force.


7. Encoder faulty.


Drive unit's output U, V, W do not match servo motor's input U, V, W.

Increase the acceleration/ deceleration time constant.

Increase the torque limit value.

1. Review the power supply capacity.

2. Use servo motor which provides larger output.

Increase set value and adjust to ensure proper operation.

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

2. Reduce load.





Connect correctly.

9 - 11

9. TROUBLESHOOTING

Display

IFU DRU

FA.53

FA.54

FA.78

FA.79

FA.8A

FA.8E

88888


Multiple axis overload

Drive unit whose effective load factor is

85% or more is adjacent.

1. Drive unit having large load is adjacent.


1. Change the slot of the drive unit whose load is large.

2. Reduce the load.

3. Reexamine the operation pattern.

4. Use a servo motor whose output is large.

1. Repeat acceleration/ deceleration and perform auto tuning.

2. Change the response setting of auto tuning.

3. Turn off auto tuning and make gain adjustment manually.

Make correct connection.

Drive unit alarm

Alarm occurred in one or more axes of drive units installed to the base unit.

Option slot fault Extension IO unit is faulty.

3. Encoder cable and power cable (U,

V, W) coming out of one drive unit are connected to the incorrect servo motor.

Alarm occurred in one or more axes of drive units installed to the base unit.

1. Extension IO unit is not inserted properly.

2. Incompatibility with the extension

IO unit.

Option slot loading error

Serial communication time-out

Serial communication error

Watchdog

Remove the alarm causes of all drive units where alarm has occurred.

Insert correctly.

Extension IO unit is connected improperly.

Serial communication stopped for longer than the time set in

IFU parameter No.20.

Serial communication error occurred between interface unit and communication device (e.g. personal computer).

CPU, parts faulty

3. Extension IO unit is faulty.

4. Base unit is faulty.

Extension IO unit is disconnected.

1. Communication cable fault.

(Wire break or short circuit)

2. Communication cycle is longer than the IFU parameter No.20 setting.

3. Protocol is incorrect.

1. Communication cable fault.

(Open cable or short circuit)

2. Communication device (e.g. personal computer) faulty.

Fault of parts in interface unit.

Checking method

Alarm (8888) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.

Change the interface unit for the one compatible with the extension IO unit.

Change the extension IO unit.


Switch power off and reinsert the extension IO unit.

Repair or change the cable.

Set the IFU parameter value correctly.

Correct the protocol.

Repair or change the cable.

Change the communication device (e.g. personal computer).

Change interface unit.

9 - 12

9. TROUBLESHOOTING

9.4 Remedies for warnings

CAUTION

If an absolute position counter warning (A.E3) occurred, always make home position setting again. Otherwise, misoperation may occur.

POINT

When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. 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 (A.E0)

Overload warning 1 (A.E1)

If servo forced stop warning (A.E6) or main circuit off warning (A.E9) occurs, the servo off status is established. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Eliminate the cause of the warning according to this section. Use the optional MR Configurator (servo configuration software) to refer to the cause of warning.

@ in the Indication field denotes the slot number of the base unit.

Display

IFU DRU

FA.9F

FA.E0

Name

@A.92@ Open battery cable warning

@A.96@ Home position setting warning

Battery warning

Excessive regenerative warning

@A.E1@ Overload warning

Definition

Absolute position detection system battery voltage is low.

Home position return could not be made in the precise position.

Voltage of battery for absolute position detection system reduced.

There is a possibility that regenerative power may exceed permissible regenerative power of regenerative brake option.

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

Cause

1. Battery cable is open.

2. Battery voltage supplied from the battery unit to the encoder fell to about 3.2V or less.

(Detected with the encoder)

3. Encoder cable is open.

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

Repair cable or changed.

Change battery unit.

Change the encoder cable.

Remove the cause of droop pulse occurrence.

2. Home position return was executed during operation command.

3. Creep speed high.

Reduce creep speed.

Battery voltage fell to 3.2V or less.

(Detected with the servo amplifier)

Change the battery unit.

Regenerative power increased to 85% or more of permissible regenerative power of regenerative brake option.

Checking method

Call the status display and check regenerative load ratio.

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

Cause, checking method

Refer to A.50, A.51.

positioning.

capacity.

Action

1. Reduce frequency of

2. Change regenerative brake option for the one with larger

3. Reduce load.

Refer to A.50, A.51.

FA.E6

FA.E9

@A.E3@ Absolute position counter warning

Servo forced stop warning

Main circuit off warning

Absolute position encoder pulses faulty.

1. Noise entered the encoder.

2. Encoder faulty.

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

3. The movement amount from the home position exceeded a 32767 rotation or -37268 rotation in succession.

maximum revolution range.

EMG_ -SG are open. External forced stop was made valid.

(EMG_ -SG opened.)

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

9 - 13

Take noise suppression measures.

Change servo motor.

Make home position setting again.

Ensure safety and deactivate forced stop.

Switch on main circuit power.

9. TROUBLESHOOTING

MEMO

9 - 14

10. OUTLINE DRAWINGS


10.1 MELSERVO-J2M configuration example

The following diagram shows the MR-J2M-BU8 base unit where one interface unit and eight drive units are installed.

[Unit: mm]

([Unit: in])

6 (0.24)

35

(1.38) 50 (1.67)

30

(1.12)

240 (9.45)

350 (13.78)

338 (13.31)

25

(0.98)

C

N

P

1

A

C

N

P

1

B

C

N

P

3

MITSUBISHI

MELSERVO

MR-J2M-J2M

SON

ALM

MELSERVO

SON

ALM

MELSERVO

SON

ALM

MELSERVO

SON

ALM

MELSERVO

SON

ALM

MELSERVO

SON

ALM

MELSERVO

SON

ALM

MELSERVO

SON

ALM

MELSERVO

C

N

1

A

C

N

5

CHARGE

C

N

3

C

N

1

B MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC

C

N

2

C

N

2

C

N

2

C

N

2

C

N

2

C

N

2

C

N

2

N

2

N

2

N

2

N

2

N

2

N

2

N

2

C

N

2

N

2

CON4

CON5

6 (0.24)

(80 (3.15)) (70 (2.76))

NAME

PLATE

NAME

PLATE

10 - 1


10.2 Unit outline drawings

10.2.1 Base unit (MR-J2M-BU )

6 (0.24)

C

N

P

1

A

C

N

P

1

B

NAME

PLATE

C

N

P

3

10.2.2 Interface unit (MR-J2M-P8A)

139 (5.47)

NAME PLATE

A

B

50 (1.97)

MITSUBISHI

MELSERVO

MR-J2M-J2M

C

N

1

A

C

N

1

B

C

N

5

CHARG

C

N

3

Approx.80 (3.15)

Display/setting cover

[Unit: mm]

([Unit: in])

Base Unit

Variable Dimensions

A B

MR-J2M-BU4 230 (9.06)

MR-J2M-BU6 290 (11.42)

MR-J2M-BU8 350 (13.78)

218 (8.58)

278 (10.95)

338 (13.307)

Mass

[kg]([lb])

1.1 (2.43)

1.3 (2.87)

1.5 (3.31)

6 (0.24)

Connector layout

CNP1A, CNP1B

1

2

3

A

N

P

C

B

L

11

L

21

3 L

3

2

CNP3

L

2

1 L

1

PE

2 (0.08)

2- 6 ( 0.24) mounting hole

Terminal screw : M4

Tightening torque : 3.24 [N m]

(28.7 [lb in])

Mounting screw : M5


(28.7 [lb in])

[Unit: mm]

([Unit: in])

130 (5.12)

6.5 (0.26)

5 (0.2) mounting hole

25

(0.98)

NAME PLATE

Mounting screw : M4


(13.3 [lb in])

Mass: 0.5kg (1.10lb)

10 - 2


10.2.3 Drive unit (MR-J2M- DU)

(1) MR-J2M-10DU to MR-J2M-40DU

30

(1.18)

SON

ALM

MITSUBISHI

MELSERVO

NAME

PLATE

MITSUBISHI

C

N

P

2

C

N

2

Approx.70 (2.76) 138.5 (5.45)

130 (4.72)

NAME PLATE

6.5 (0.26)

(2) MR-J2M-70DU

[Unit: mm]

([Unit: in])

5

(0.20)

4.5 ( 0.18) mounting hole

Connector layout

V

1

2

CNP2

4

U

3

W

Mounting screw : M4


(13.3 [lb in])


[Unit: mm]

([Unit: in])

60 (2.36)

SON

ALM

MITSUBISHI

MELSERVO

NAME

PLATE

MITSUBISHI

C

N

P

2

C

N

2

Approx.70 (2.76)

138.5 (5.47)

130 (4.72)

6.5 (0.26)

NAME PLATE

5 (0.20)

2- 5 ( 0.2) mounting hole

30 (1.18)

Connector layout

CNP2

2 4

V

1

U

3

W

Mounting screw : M4


(13.3 [lb in])


10 - 3


10.2.4 Extension IO unit (MR-J2M-D01)

25

(0.89)

Approx.80 (3.15)

[Unit: mm]

([Unit: in])

138.5 (5.45)

130 (4.72)

6.5 (0.26)

5 (0.20)

2- 4.5 ( 0.18) mounting hole

Mounting screw : M4


(13.3 [lb in])

C

N

4

A

C

N

4

B

10.2.5 Battery unit (MR-J2M-BT)

25(0.89)

Approx.70 (2.76)

NAME PLATE

130 (5.45)

6.5 (0.26)


[Unit: mm]

([Unit: in])

5 (0.20)

2- 4.5 ( 0.18) mounting hole

Mounting screw : M4


(13.3 [lb in])

C

N

1

C

NAME PLATE


10 - 4


10.3 Connectors

(1) CN1A CN1B CN4A CN4B connector

<3M>

(a) Soldered type

Model Connector : 10150-3000VE

Shell kit : 10350-52F0-008

41.1 (1.62)

18.0 (0.71)

[Unit: mm]

([Unit: in])

17.0 (0.67)

46.5 (1.83)

Logo, etc. are indicated here.

52.4 (2.06)

12.7

(0.50)

(b) Threaded type


Shell kit : 10350-52A0-008

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

41.1 (1.62)

18.0 (0.71)

[Unit: mm]

([Unit: in])

17.0 (0.67)

46.5 (1.83)


52.4 (2.06)

12.7

(0.50)

10 - 5


(2) CN2 CN3 connector

<3M>

(a) Soldered type


Shell kit : 10320-52F0-008

22.0 (0.87) 14.0 (0.55)

12.0 (0.47)

[Unit: mm]

([Unit: in])


33.3 (1.31)

12.7

(0.50)

(b) Threaded type


Shell kit : 10320-52A0-008

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

12.0 (0.47)

[Unit: mm]

([Unit: in])

22.0 (0.87)

14.0 (0.55)

27.4

(1.08)


33.3

(1.31)

12.7

(0.50)

10 - 6


(c) Insulation displacement type

Model Connector : 10120-6000EL

Shell kit : 10320-3210-000

2- 0.5

( 0.02)

20.9 (0.82)

6.7 ( 0.26)

[Unit: mm]

([Unit: in])


(3) CN5 connector

<3M>

29.7

(1.17)

[Unit: mm]

([Unit: in])

12.0 (0.47)

22.0 (0.87) 14.0 (0.55)

27.4

(1.08)


R

4.0

(0.16)

4.0

(0.16)

23.35 (0.92)

33.3 (1.31)

A

4.0 (0.16)

7.6

(0.3)

12.7

(0.50)

10.7 0.2

(0.42 0.08)

R

3.0 (0.12)

M

AX.

R 0.3

Details A

10 - 7


(4) CNP1A/CNP1B connector

<Tyco Electronics>

Model CNP1A housing : 1-178128-3

CNP1B housing

Contact

Applicable tool

: 2-178128-3

: 917511-2 (max. sheath OD: 2.8 [mm] ( 0.11 [in]))

353717-2 (max. sheath OD: 3.4 [mm] ( 0.13 [in]))

: 91560-1 (for 917511-2)

937315-1 (for 353717-2)

5.08 (0.2)

[Unit: mm]

([Unit: in])

7.15 (0.28)

AMP

29.7 (0.12)

3 2 1

0-3

X

19.24 (0.76)

6.55

(0.26)

(5) CNP3 connector

<AMP>

Model Housing

Contact

: 1-179958-3

: 316041-2

Applicable tool : 234171-1

10.16 (0.4)

[Unit: mm]

([Unit: in)

9.8 (0.39)

AMP

3

45.29 (1.79)

2 1

0-5

Y

33.92 (1.33)

10 - 8


(6) Connectors for CNP2

<molex>

1

0.6 (0.024)

2 3 4 5

6 7

3 (0.118)

5.4 (0.213)

5.4 (0.213)

9 10

R0.3

1.2

(0.047)

Circuit number

11.6

(0.457)

[Unit: mm]

([Unit: in])

Layout diagrams classified by the number of poles

1 2

3 4

4 poles

3

(0.118)

3.5

(0.138)

1.5

(0.059)

Model

5557-04R

Variable Dimensions

A

4.2 (0.165)

B

9.6 (0.378)

2.7 (0.106)

4.2

(Pitch)

(0.165)

A

B

Terminal

Model: 5556

2.7 (0.106)

1.9 (0.075)

[Unit: mm]

([Unit: in])

1.2 (0.047)

OMIN

5.5 (0.217)

4.3 (0.169)

1

(0.039)

2

(0.079)

14.7 (0.579)

6.6 (0.26) 2.6

(0.102)

Applicable wire

Core size : AWG#18 to #24 (5556-PBTL)

AWG28 (5556-PBT2L)

Sheath OD: 3.1mm ( 0.122 in) max.

Strip length: 3.0 to 3.5 [mm] (0.118 to 0.138 [in])

Exclusive tools

Terminal

5556-PBL

5556-PBT2L

5556-PBT3L

Core size

Wire specifications

Sheath OD [mm(inch)]

AWG18 to AWG24

1.5 to 2.2 (0.06 to 0.09)

2.3 to 3.1 (0.06 to 0.12)

AWG28

AWG16

Tool number

57026-5000

57027-5000

57064-5000

57022-5300

10 - 9


MEMO

10 - 10

11. CHARACTERISTICS

11. CHARACTERISTICS

11.1 Overload protection characteristics

An electronic thermal relay is built in the drive unit to protect the servo motor and drive unit from overloads.

Overload 1 alarm (A.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 11.1. Overload 2 alarm (A.51) occurs if the maximum current flows continuously for several seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or broken line in the graph.

In a machine like the one for vertical lift application where unbalanced torque will be produced, it is recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque.

The overload protection characteristic is about 20% lower than that of the MELSERVO-J2-Super series.

However, operation at the 100% continuous rating can be performed.

1000

1000

During rotation

100

100

During rotation

During servo lock

10

During servo lock

10

1

1

0.1

0 50 100 150 200 250 300

0.1

0 50 100 150

Load ratio [%]

Load ratio [%] a. MR-J2M-10DU to MR-J2M-40DU b. MR-J2M-70DU

Fig 11.1 Electronic thermal relay protection characteristics

200 250 300

Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the electronic thermal relay protection is not activated.

11 - 1

11. CHARACTERISTICS

11.2 Power supply equipment capacity and generated loss

(1) Amount of heat generated by the drive unit

Table 11.1 indicates drive unit's power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 11.1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation. When the servo motor is run at less than the maximum speed, the power supply capacity will be smaller than the value in the table, but the drive unit's generated heat will not change.

Table 11.1 Power supply capacity and generated heat at rated output

Unit

MR-J2M-10DU

MR-J2M-20DU

MR-J2M-40DU

MR-J2M-70DU

MR-J2M-P8A

MR-J2M-BU4

MR-J2M-BU6

MR-J2M-BU8

Servo motor

HC-KFS053 13

HC-MFS053 13

HC-UFS13

HC-KFS23

HC-MFS23

HC-UFS23

HC-KFS43

HC-MFS43

HC-KFS73

HC-MFS73

HC-UFS73

(Note 1)

Power supply capacity[kVA]

0.3

0.3

0.3

0.5

0.5

0.5

0.9

0.9

1.3

1.3

1.3

0.1

0

0

0

(Note 2)

Generated heat[W]

At rated torque

4

4

9

4

20

40

40

40

14

14

20

11

11

11

14

At servo off

6

4

4

9

4

6

6

6

6

6

6

6

6

6

6

Area required for heat dissipation

[m

2

0.2

0.1

0.1

0.1

0.4

0.7

0.7

0.7

0.2

0.2

0.2

0.3

0.3

0.3

0.4

]

Note 1. Note that the power supply capacity will vary according to the power supply impedance.

This value applies to the case where the power factor improving reactor is not used.

2. Heat generated during regeneration is not included in the drive unit-generated heat. To calculate heat generated by the regenerative brake option, use Equation 12.1 in Section 12.1.1.

[ft

2

]

4.32

7.54

7.54

7.54

2.16

1.08

1.08

1.08

2.16

2.16

2.16

3.24

3.24

3.24

4.32

11 - 2

11. CHARACTERISTICS

(2) Heat dissipation area for enclosed drive unit

The enclosed control box (hereafter called the control box) which will contain the drive unit should be designed to ensure that its temperature rise is within 10 (50 ) at the ambient temperature of

40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 11.1:

P

A K T.............................................................................................................................................(11.1) 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 11.1, assume that P is the sum of all losses generated in the enclosure. Refer to Table 11.1 for heat generated by the drive unit. "A" indicates the effective area for heat dissipation, but if the enclosure is directly installed on an insulated wall, that extra amount must be added to the enclosure's surface area.

The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the enclosure and the use of a fan should be considered.

Table 11.1 lists the enclosure dissipation area for each drive unit when the drive unit is operated at the ambient temperature of 40 (104 ) under rated load.

(Outside)

(Inside)

Air flow

Fig. 11.2 Temperature distribution in enclosure

When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because the temperature slope inside and outside the enclosure will be steeper.

11 - 3

11. CHARACTERISTICS

11.3 Dynamic brake characteristics

Fig. 11.4 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated.

Use Equation 11.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to Fig. 11.4)

Forced stop(EMG_ )

ON

OFF

Time constant

Machine speed

V

0 t e

Time

Fig. 11.3 Dynamic brake operation diagram

L max

V

0

60 t e

1

J

L

J

M

....................................................................................................................... (11.2)

L max

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

Vo : Machine rapid feedrate ......................................................................................... [mm/min][in/min]

J

M

J

L

: Servo motor inertial moment.................................................................................[kg cm

2

][oz in

2

]

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

2

][oz in

2

]

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

: Delay time of control section .......................................................................................................... [s]

(There is internal relay delay time of about 30ms.)

11 - 4

11. CHARACTERISTICS

0.05

0.04

0.03

0.02

0.01

16

14

12

10

8

6

4

2

0

0

053

73

23

43

13

500 1000 1500 2000 2500 3000

Speed [r/min] a. HC-KFS series

0.07

73

0.06

13

23

43

0

0 50 500 1000 1500 2000 2500 3000

Speed [r/min] c. HC-UFS3000r/min series

Fig. 11.4 Dynamic brake time constant

0.02

0.018

0.016

0.014

0.012

0.01

0.008

0.006

0.004

0.002

0

0

23

43

73

053

13

500 1000 1500 2000 2500 3000

Speed [r/min] b. HC-MFS series

Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi.

Load inertia moment ratio [times] Drive unit

MR-J2M-10DU

MR-J2M-20DU

MR-J2M-40DU

MR-J2M-70DU

30

11 - 5

11. CHARACTERISTICS

11.4 Encoder cable flexing life

The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.

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-JC4CBL M-H b : Standard encoder cable

MR-JCCBL M-L

11 - 6

12. OPTIONS AND AUXILIARY EQUIPMENT


WARNING

Before connecting any option or auxiliary equipment, make sure that the charge lamp is off more than 15 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock.

CAUTION

Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire.

12.1 Options

12.1.1 Regenerative brake options

CAUTION

The specified combinations of regenerative brake options and base units may only be used. Otherwise, a fire may occur.

(1) Combinations and regenerative powers

The power values in the table are resistor-generated powers and not rated powers.

Base unit

MR-RB032

[40 ]

Regenerative power [W]

MR-RB14

[26 ]

MR-RB34

[26 ]

MR-RB54

[26 ]

MR-J2M-BU4

MR-J2M-BU6

MR-J2M-BU8

30 100 300 500

(2) Selection of regenerative brake option

(a) Simple judgment of regenerative brake option necessity

The MELSERVO-J2M series does not contain a regenerative brake resistor. Check whether the regenerative brake option is needed or not in the following method.

1) Requirements

The drive units mounted to the same base unit are all horizontal axes.

The operation pattern is clear and the load inertia moments of the axes to be decelerated simultaneously are clear.

2) Checking method

The following table gives the permissible load inertia moment that does not require the regenerative brake option when speed is reduced from 3000r/min.

Drive unit

MR-J2M-10DU

MR-J2M-20DU

MR-J2M-40DU

MR-J2M-70DU

Permissible Load Inertia Moment

1.42kg cm

2

4.94kg cm

2

Calculate the 3000r/min-equivalent inertia moment of each drive unit.

(Load inertia moment equivalent for 3000r/min) (J

L

J

M

) (running speed/3000)

2

12 - 1


Calculate the total of the 3000r/min-equivalent inertia moments of the axes to be decelerated simultaneously, and find the maximum total of 3000r/min-equivalent inertia moments.

Also find the sum total of permissible load inertia moments of the drive units installed on the same base unit.

(Maximum total of 3000r/min-equivalent inertia moments) (Sum total of permissible load inertia moments of drive units) 1.42

Regenerative brake option is unnecessary.

(Maximum total of 3000r/min-equivalent inertia moments) (Sum total of permissible load inertia moments of drive units) 1.42

Regenerative brake option is necessary.

3) Confirmation example

In the following 8-axis system, the total 3000r/min-equivalent inertia moment is maximum

(9.75kg cm

2

) at the timing of 7). The permissible inertia moment of this 8-axis system is

11.36[kg cm

2

] as indicated by the following expression.

8 [axes] 1.42[kg cm

2

] 11.36[kg cm

2

]

Hence,

(Maximum total of 3000r/min-equivalent load inertia moments 9.75) 11.36[kg cm

2

]

The regenerative brake option is unnecessary.

Operation pattern

Speed

1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11) 12) 13)

First slot

Second slot

Third slot

Fourth slot

Fifth slot

Sixth slot

Seventh slot

Eighth slot

Axis

No.

Servo

Motor

Model

Servo

Motor

Inertia

Moment kg cm

2

First slot

Second slot

HC-KFS13

HC-KFS23

0.084

0.42

Third slot

Fourth slot

HC-KFS43

HC-KFS13

0.67

0.084

Fifth slot

Sixth slot

Seventh slot

Eighth slot

HC-MFS13

HC-MFS23

HC-KFS13

HC-KFS43

0.03

0.088

0.084

0.67

3000r/min-equivalent total inertia moment

Load Inertia

Moment

(Servo motor

shaft equivalent) kg cm

2

1.3

2.1

2.0

0.8

0.9

2.5

0.4

5.83

kg cm

2

Total inertia moment kg cm

2

1.384

2.52

2.67

0.884

0.93

2.588

0.484

6.5

r/min

3000

3000

3000

2500

2500

3000

3300

3000

Running speed

3000r/minequivalent

Total Inertia

Moment kg cm

2

1.38

2.52

2.67

0.61

0.65

2.59

0.59

6.5

1.38

2.52

2.67

0.61

0.65

6.57

1.26

1.38

2.52

2.67

2.59

0.59

9.75

1.38

2.52

2.67

6.5

6.5 6.57

0.61

0.65

1.26

Simultaneous deceleration total inertia moment maximum value

12 - 2


(b) To make selection according to regenerative energy

Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative brake option:

1) Regenerative energy calculation

Use the following table to calculate the regenerative energy.

Formulas for calculating torque and energy in operation

Regenerative power

1)

2)

3)

4), 8)

5)

T

1

T

2

T

3

T

4

T

5

Torque applied to servo motor [N m]

(J

L

J

M

)

No

9.55 10

4

T

1 psa1

T

U

T

F

T

U

T

F

(J

L

J

M

)

No

9.55 10

4

T

U

(J

L

J

M

)

No

9.55 10

4

T

T

1 psd1

1 psa2

T

T

U

U

T

T

F

F

E

1

E

2

E

3

E

4

E

5

0.1047

2

Energy [J]

No T

1

T psa1

0.1047 No T

2

0.1047

2

No T

3 t

1

T psd1

0 (No regeneration)

0.1047

2

No T

5

T psa2

6)

7)

T

6

T

7

T

U

T

F

(J

L

J

M

)

No

9.55 10

4

1

T psd2

T

U

T

F

E

6

E

7

0.1047 No T

6

0.1047

2

No T

7 t

3

T psd2

From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.

2) Losses of servo motor and drive unit in regenerative mode

The following table lists the efficiencies and other data of the servo motor and drive unit in the regenerative mode.

C charging [J] Drive unit

MR-J2M-10DU

MR-J2M-20DU

MR-J2M-40DU

MR-J2M-70DU

Inverse efficiency [%]

55

70

85

80

5.5

18

Using the following expression, find the total of C charging [J] of the MELSERVO-J2M.

Number of drive unit axes 5.5J

Then, find the energy at each timing in a single-cycle operation pattern. The energy is positive in the driving mode and negative in the regenerative mode. Enter signed driving/regenerative energy values into the following calculation table. The shaded areas indicate negative values.

12 - 3


<Entry example>

Timing

First slot

Second slot

Third slot

Fourth slot

Fifth slot

Sixth slot

Seventh slot

Eighth slot

Total

Regenerative ES

|ES|-EC

PR(W)

1)

E1

E1

E1

E1

E1

E1

E4

E4

E 1)

2)

E2

E2

E2

E2

E2

E2

E4

E4

E 2)

3)

E3

E2

E2

E2

E3

E3

E1

E4

E 3)

ES 3)

ER

ER/t f

4)

E4

E3

E3

E3

E4

E4

E2

E4

E 4)

ES 4)

ER

5)

E1

E4

E4

E4

E1

E5

E3

E4

E 5)

6)

E2

E2

E6

E4

E1

E4

E4

E4

E 6)

7)

E3

E1

E1

E1

E3

E7

E4

E2

E 7)

Calculate the total of energies at each timing. Only when the total is negative (timings 3, 4 in the example), use the following expression for calculation.

Energy total ER regenerative energy ES (absolute value) C charging total (EC)

If the subtraction results are negative at all timings, the regenerative brake option is not needed. From the total of ER's whose subtraction results are positive and a single-cycle period, the power consumption of the regenerative brake option can be calculated with the following expression.

Power consumption PR [W] (total of positive ER's)/1-cycle operation period (t f

)

8)

E4

E2

E2

E2

E4

E8

E4

E3

E 8)

12 - 4


(3) Connection of the regenerative brake option

POINT

When using the MR-RB54, cooling by a fan is required. Please obtain a cooling fan at your discretion.

Set IFU parameter No.1 according to the option to be used. The regenerative brake option will generate heat of about 100 (212 ). Fully examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use flame-resistant cables and keep them clear of the regenerative brake option body. Always use twisted cables of max. 5m(16.4ft) length for connection with the base unit.

The G3 and G4 terminals act as a thermal sensor. G3-G4 are disconnected when the regenerative brake option overheats abnormally.

DRU parameter No.2

Selection of regenerative

0: Not used.

2: MR-RB032

5: MR-RB14

6: MR-RB34

7: MR-RB54

Base unit

CNP1A

2 P

3 C


P

C

(Note)

G3

G4

5m (16.4 ft) max.

Note. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs.

G3-G4 contact specifications

Maximum voltage: 120V AC/DC

Maximum current: 0.5V/4.8VDC

Maximum capacity: 2.4VA

12 - 5


(4) Outline drawing

(a) MR-RB032 MR-RB14

LB

LA

6 (0.24) mounting hole

MR-RB

[Unit: mm (in)]

TE1

G3

G4

P

C

6 (0.23)

(b) MR-RB34

10 (0.39)

7(0.28)

90 (3.54)

100 (3.94)

17

(0.67)

5 (0.20)

20

(0.79)

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])

LD

LC


MR-RB032

MR-RB14

LA

Variable dimensions

LB LC LD

Mass

[kg] [lb]

30 (1.18) 15 (0.59) 119 (4.69) 99 (3.9) 0.5 1.1

40 (1.57) 15 (0.59) 169 (6.69) 149 (5.87) 1.1 2.4

[Unit: mm (in)]

318 (12.52)

335 (13.19)

Terminal block

P

C

G3

G4

Terminal screw: M4

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

Mounting screw

Screw : M6

Tightening torque: 5.4 [N m](47.79 [lb in])

Regenerative Brake Option

MR-RB34

Mass [kg(lb)]

2.9 (6.393)

12 - 6


(c) MR-RB54

49

(1.93)

82.5

(3.25)

Fan mounting screw

(2-M3 screw)

On opposite side

12.5 (0

7 14 slot

Wind blows in the arrow direction.

Terminal block

[Unit: mm (in)]

P

C

G3

G4

Terminal screw: M4


Mounting screw

Screw : M6


82.5 (3.25

133 (5

2.3

(0.09)

200 (7.87)

223 (8.78)

17 (0.67)

12

(0.47)

7 (0.28)

108 (4.25)

120 (4.73)

Approx.30 (1.18)

8 (0.32)

Regenerative Brake Option

MR-RB54

Mass [kg(lb)]

5.6 (12.346)

12 - 7


12.1.2 Cables and connectors

(1) Cable make-up

The following cables are used for connection with the servo motor and other models.

The broken line areas in the diagram are not options.

Operation panel

5) 5)

Operation panel

Programmable controller

16)

14)

‡L

‡N


12)

To regenerative brake option

To control circuit power supply

To main circuit power supply

Supplied with interface unit

BU

CNP1A CNP1B

IFU

CN1A CN1B

DRU

CN2

CN3

CN5 CN3

CNP2

17) 10)

15)


1) 2) 3)

DRU

Inhancin IO unit

MR-J2M-D01

CN4A

CN2

CN4B

CNP2

CON5

13)

9) 10)

Battery unit

MR-J2M-BT

CN1C

HC-KFS

HC-MFS

HC-UFS 3000r/min

Personal computer

7)

4)

8)

6)

12 - 8


No.

Product Model

1) Standard encoder cable

MR-JCCBL M-L

Refer to (2) (a) in this section.

2) Long flexing life encoder cable

3)

MR-JCCBL M-H

Refer to (2) (a) in this section.

MR-JC4CBL M-H

Refer to (2) (b) in this section.

4) Encoder connector set

MR-J2CNM


Shell kit: 10320-52F0-008

(3M or equivalent)


Shell kit: 10320-52F0-008

(3M or equivalent)

Description

Housing: 1-172161-9

Pin: 170359-1

(Tyco Electronics or equivalent)

Cable clamp: MTI-0002

(Toa Electric Industry)

Application

Standard flexing life

IP20

Long flexing life

IP20

4 line type

Long flexing life

IP20

IP20 Housing: 1-172161-9

Pin: 170359-1

(Tyco Electronics or equivalent)

Cable clamp: MTI-0002

(Toa Electric Industry)

5) Connector set

6) Bus cable

MR-J2MCN1

MR-J2HBUS M

Refer to section

12.1.4 (4).


Shell kit: 10350-52F0-008

(3M or equivalent)


Shell kit: 10320-3210-000

(3M or equivalent)

Qty: 2 each


Shell kit: 10320-3210-000

(3M or equivalent)

7) Maintenance junction card

8) Communication cable

9) Power supply connector set

10) Power supply connector set

MR-J2CN3TM

MR-CPCATCBL3M

Refer to (3) in this section.

MR-PWCNK1

MR-PWCNK2

Refer to Section 12.1.4.

Connector: DE-9SF-N

Case: DE-C1-J6-S6

(Japan Aviation Electronics)


Shell kit: 10320-3210-000

(3M or equivalent)

For connection with PC-ATcompatible personal computer

IP20 Plug: 5559-04P-210

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

(Molex)

Plug: 5559-06P-210

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

(Molex)

For motor with brake

IP20

12 - 9


No.

Product

11) Power supply connector

12) Base unit connector set

13) Battery cable

Model

MR-PWCNK3

MR-J2MCNM

Y

X

Description

Plug: 5557-04R-210

Terminal: 5556PBT3L (for AWG16) (6 pcs.)

(Molex)

Housing: 2-178128-3 (5 pcs.)

Contact: 917511-2 (max. sheath OD 2.8 [mm]

( 0.11[in]) 15 pcs.)

(Tyco Electronics)

Housing: 1-178128-3 (5 pcs.)

Contact: 917511-2 (max. sheath OD 2.8 [mm]

( 0.11[in]) 15 pcs.)

(Tyco Electronics)

MR-J2MBTCBL M Housing: 51030-0230

Terminal: 50083-8160

(molex)

Housing: 1-179958-3 (5 pcs.)

Contact: 316041-2 (20 pcs.)

(Tyco Electronics)


Shell kit: 10320-52F0-008

(3M or equivalent)

Application

Servo motor power cable

For CNP1B

For CNP1A

For CNP3

14) Junction terminal block cable

MR-J2M-CN1TBL M

Cable length

0.5, 1m D7950-B500FL (connector)

(1.64, 3.28ft)

Junction terminal block connector

(3M)

Interface unit connector

(3M or equivalent)

10150-6000EL(connector)

10350-3210-000(shell kit)

For MR-TB50

15) MR-J2TBL M-1A

Cable length

0.5, 1m D7920-B500FL (connector)

(1.64, 3.28ft)

Junction terminal block connector

(3M)

Interface unit connector

(3M or equivalent)

10120-6000EL(connector)

10320-52F0-F08-M1A(shell kit)

For MR-TB20

16)

17)

Junction terminal MR-TB50

MR-TB20

Refer to Section 12.1.3

Refer to Section 12.1.4

12 - 10


(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 11.4 for the flexing life of the encoder cable.

When the encoder cable is used, the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2.4 .

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/H

1) Model explanation

Model: MR-JCCBL M-

Symbol

10

20

2

5

Symbol

L

H

Specifications

Standard flexing life

Long flexing life

Cable length [m(ft)]

2 (6.56)

5 (16.4)

10 (32.8)

20 (65.6)

2) Connection diagram

The signal assignment of the encoder connector is as viewed from the pin side. For the pin assignment on the drive unit side, refer to Section 3.5.3

Drive unit

Encoder cable supplied to servo motor

Encoder connector

Encoder cable

(option or fabricated)

Servo motor

Encoder connector

1-172169-9

(Tyco Electronics)

CN2

Less than 30m(98ft)

30cm

(0.98ft)

Encoder

1 2 3

MR MRR BAT

4 5 6

MD MDR

7

P5

8 9

LG SHD

12 - 11


P5

LG

P5

LG

P5

LG

MR-JCCBL2M-L

MR-JCCBL5M-L

MR-JCCBL2M-H

MR-JCCBL5M-H

Drive unit side Encoder side

19

11

20

12

18

2

7

MR-JCCBL10M-L

MR-JCCBL20M-L

Drive unit side

P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

Encoder side

7

MR

MRR

7

17

MD 6

MDR 16

BAT

LG

9

1

8

1

2

4

5

3

MR

MRR

7

17

MD 6

MDR 16

BAT

LG

9

1

(Note) (Note)

SD

Plate

9 SD

Plate

9

Note. Always make connection for use in an absolute position detection system.

This wiring is not needed for use in an incremental system.

8

1

2

4

5

3

MR-JCCBL10M-H

MR-JCCBL20M-H

Drive unit side

P5

LG

P5

LG

P5

LG

19

11

20

12

18

2

Encoder side

7

MR

MRR

MD

MDR 16

BAT

LG

7

17

6

9

1

SD

Plate

(Note)

8

1

2

4

5

3

9

When fabricating an encoder cable, use the recommended wires given in Section 12.2.1 and the

MR-J2CNM connector set for encoder cable fabrication, and fabricate an encoder cable as shown in the following wiring diagram. Referring to this wiring diagram, you can fabricate an encoder cable of less than 30m(98ft) length including the length of the encoder cable supplied to the servo motor.

When the encoder cable is to be fabricated by the customer, the wiring of MD and MDR is not required.

Refer to Chapter 3 of the servo motor instruction manual and choose the encode side connector according to the servo motor installation environment.

P5

LG

P5

LG

P5

LG

For use of AWG22

Drive unit side

(3M)

Encoder side

19

11

20

12

18

2

7

MR

MRR

7

17

8

1

2

BAT

LG

9

1

3

(Note)

SD

Plate 9



12 - 12


(b) MR-JC4CBL M-H

POINT

When using this encoder cable, set "1

1) Model explanation

Model: MR-JC4CBL MH

Long flexing life

" in DRU parameter No. 20.

Symbol

30

40

50


30 (98.4)

40 (131.2)

50 (164.0)

2) Connection diagram

The signal assignment of the encoder connector is as viewed from the pin side. For the pin assignment on the drive unit side, refer to Section 3.5.3.

Drive unit

Encoder cable supplied to servo motor

Encoder connector

Encoder cable

(option or fabricated)

Servo motor

Encoder connector

1-172169-9

(Tyco Electronics)

CN2

50m(164ft) max.

30cm

(0.98ft)

Encoder

1 2 3

MR MRR BAT

4 5

MD MDR

7

P5

8

6

CNT

9

LG SHD

12 - 13


P5

LG

P5

LG

P5

LG

Drive unit side

19

11

20

12

18

2

MR-JC4CBL30M-H to

MR-JC4CBL50M-H

Encoder side

7

MR

MRR

7

17

MD 6

MDR 16

BAT

LG

9

1

8

1

2

4

5

3

(Note)

SD

Plate

9



When fabricating an encoder cable, use the recommended wires given in Section 12.2.1 and the

MR-J2CNM connector set for encoder cable fabrication, and fabricate an encoder cable as shown in the following wiring diagram. Referring to this wiring diagram, you can fabricate an encoder cable of up to 50m(164.0ft) length.

When the encoder cable is to be fabricated by the customer, the wiring of MD and MDR is not required.

Refer to Chapter 3 of the servo motor instruction manual and choose the encode side connector according to the servo motor installation environment.

P5

LG

P5

LG

P5

LG

For use of AWG22

Drive unit side

(3M)

Encoder side

7 19

11

20

12

18

2

MR

MRR

7

17

6

8

1

2

BAT

LG

9

1

3

(Note)

SD

Plate

9



12 - 14


(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

Interface unit side

Plate

2

1

12

11

FG

RXD

LG

TXD

LG

Half-pitch 20 pins

When fabricating the cable, refer to the connection diagram in this section.

The following must be observed in fabrication:

1) Always use a shielded, multi-core cable and connect the shield with FG securely.

2) The optional communication cable is 3m(10ft) long. When the cable is fabricated, its maximum length is 15m(49ft) in offices of good environment with minimal noise.

12 - 15


(4) Battery cable

When fabricating, use the recommended wire given in Section 12.2.1 and fabricate as in the connection diagram shown in this section.

(a) Definition of model

Model: MR-J2MBTCBL M

Symbol Cable Length L [m(ft)]

03 0.3 (0.1)

1 1 (3.28)

(b) Outline drawing

L

(c) Connection diagram

Base unit side

Housing: 51030-0230

Terminal: 50083-8160

LG

BAT

1

2

Battery unit side


Shell kit: 10320-52F0-008

1 LG

9

BAT

Plate

SD

12 - 16


12.1.3 Junction terminal block (MR-TB50)

(1) How to use the junction terminal block

Always use the junction terminal block (MR-TB50) with the junction terminal block cable (MR-J2M-

CN1TBL M) as a set. A connection example is shown below:

Interface unit

Junction terminal block

MR-TB50

CN1A or

CN1B

Junction terminal block cable

(MR-J2M-CN1TBL 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

12.2.6, (2)(c).

(2) Terminal labels

Use the following junction terminal block labels.

(a) For CN1A

SG

INP4

SON4 CR3 RES2 RD1 PP4 PP3 PP2 PP1 LG OP3 OP1

ALM

_A

CR4 RES3 RD2 INP1 SON1 NG4 NG3 NG2 NG1

OP_

VIN

P5

OPC RES4 RD3 INP2 SON2

CR1 NP4 NP3 NP2

NP1 OP4 OP2 VIN RD4 INP3 SON3 CR2

RES1PG4 PG3 PG2

PG1 LG

OP_

COM

(b) For CN1B

SG INP8 SON8 CR7 RES6 RD5 PP8 PP7 PP6 PP5 LG OP7 OP5

ALM

_B CR8 RES7 RD6 INP5 SON5 NG8 NG7 NG6 NG5

OP_

VIN P5

OPC

RES8 RD7 INP6 SON6 CR5 NP8 NP7 NP6 NP5 OP8 OP6 VIN RD8 INP7 SON7 CR6 RES5 PG8 PG7 PG6 PG5 LG

OP_

COM

(3) Outline drawing

235(9.25)

[Unit: mm]

([Unit: in.])

2- 4.5(0.18)

2

1

50

49

MITSUBISHI

MR-TB50

244(9.61) 46.5(1.83)

Terminal screw: M3.5

Applicable cable: 2mm

2

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

12 - 17


(4) Junction terminal block cable (MR-J2M-CN1TBL M)

(a) Model explanation

Model: MR-J2M-CN1TBL M

Symbol

05

1

Cable length[m(ft)]

0.5 (1.64)

1 (3.28)


PCR-S50FS(Servo amplifier side) JE1S-501(Junction terminal side)

RD4

CR4

INP3

RES3

SON3

RD2

CR2

INP1

RES1

SON1

PG4

NG4

PG3

NG3

PG2

NG2

PG1

NG1

LG

PP2

NP2

PP1

NP1

LG

OP4

OP3

OP2

OP1

VIN

RES2

SON2

RD1

CR1

PP4

NP4

PP3

NP3

Symbol

CN1A CN1B

SG

OPC

INP4

RES4

SON4

RD3

CR3

INP2

SG

Pin No.

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

ALM_A

P5

LG

SD

OPC

INP8

RES8

SON8

RD7

CR7

INP6

RES6

SON6

RD5

CR5

PP8

NP8

PP7

NP7

PP6

NP6

PP5

NP5

LG

OP8

OP7

OP6

OP5

VIN

ALM_B

RD8

CR8

INP7

RES7

SON7

RD6

CR6

INP5

RES5

SON5

PG8

NG8

PG7

NG7

PG6

NG6

PG5

NG5

LG

OP_VIN OP_VIN

OP_COM OP_COM

P5

LG

SD

45

46

47

48

41

42

43

44

37

38

39

40

33

34

35

36

49

50 plate

29

30

31

32

25

26

27

28

21

22

23

24

17

18

19

20

Pin No.

29

30

31

32

25

26

27

28

21

22

23

24

17

18

19

20

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

45

46

47

48

41

42

43

44

49

50

37

38

39

40

33

34

35

36

12 - 18


12.1.4 Junction terminal block (MR-TB20)

(1) How to use the junction terminal block

Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MR-

J2TBL M-1A) as a set. A connection example is shown below:

Servo amplifier

Cable clamp

(AERSBAN-ESET)

Junction terminal block

MR-TB20

CN5

Junction terminal block cable

(MR-J2TBL M-1A)

Ground the junction terminal block cable on the junction terminal block side with the standard accessory cable clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to Section

13.2.6, (2)(c).

(2) Terminal labels

Use the following junction terminal block label designed for CN5. When changing the input signals in parameters No. 43 to 48, refer to (4) in this section and Section 3.2.1 and apply the accessory signal seals to the labels.

LSN1 LSN2 LSN3 SG LSP5 LSP6 LSP7 LSP8 EMG_B SD

LSP1 LSP2 LSP3 LSP4 LSN4 LSN5 LSN6 LSN7 LSN8 EMG_A

(3) Outline drawing

[Unit: mm]

([Unit: in.])

126(4.96)

117(4.61)

10

0

MITSUBISHI

MR-TB20

19

9

2- 4.5(0.18)

Terminal screw: M3.5

Applicable cable: Max. 2mm

2

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

12 - 19


(4) Junction terminal block cable (MR-J2TBL M-1A)


Model: MR-J2TBL M-1A


Junction terminal block side connector(3M)

D7920-B500FL(Connector)

LSP1

LSN1

LSP2

LSN2

LSP3

LSN3

LSP4

SG

LSN4

LSP5

LSN5

LSP6

LSN6

LSP7

LSN7

LSP8

LSN8

EMG_B

EMG_A

SD

Symbol

CN5

Junction

Terminal

Block No.

0

10

1

11

2

12

3

13

4

16

7

17

8

14

5

15

6

18

9

19

Pin No.

9

14

15

16

17

10

11

12

13

18

19

20

5

6

7

3

4

1

2

8

Symbol

05

1

Cable length[m(ft)]

0.5 (1.64)

1 (3.28)

Servo amplifierside(CN5)connector(3M)

10120-6000EL(Connector)

10320-52F0-R08-M1A(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

12 - 20


12.1.5 Maintenance junction card (MR-J2CN3TM)

(1) Usage

The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor are used at the same time.

Interface unit

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

TRE RDP P5 SDN LG LG PE LG LG MO1 MO2

Not used.

Analog monitor 2

Analog monitor 1

(2) Connection diagram

B5

B6

A5

A6

TE1

LG

LG

MO1

MO2

LG

RXD

LG

MO1

RDP

MO3

SDP

TRE

LG

TXD

LG

MO2

SDN

P5

CN3A

13

14

15

16

9

10

11

12

17

18

19

20

7

8

5

6

3

4

1

2

Shell

CN3B

13

14

15

16

9

10

11

12

17

18

19

20

7

8

5

6

3

4

1

2

Shell

CN3C

13

14

15

16

9

10

11

12

17

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

TRE

RDP

P5

SDN

LG

Not used.

LG

PE

(3) Outline drawing

[Unit: mm]

([Unit: in.])

CN3A CN3B

CN3C

2- 5.3(0.21)(mounting hole)

A1

B1

TE1

88 (3.47)

100 (3.94)

12 - 21

A6

B6

3 (0.12)

41.5 (1.63)

Mass: 110g (0.24lb)


(4) Bus cable (MR-J2HBUS M)


Model: MR-J2HBUS M

Symbol

05

1

5


0.5 (1.64)

1 (3.28)

5 (16.4)


MR-J2HBUS05M

MR-J2HBUS1M

MR-J2HBUS5M

10120-6000EL (connector)

10320-3210-000 (shell kit)

10120-6000EL (connector)

10320-3210-000 (shell kit)

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

18

14

5

15

6

9

19

10

20

1

11

2

12

3

13

4

Plate

12 - 22


12.1.6 MR Configurator (servo configurations software)

POINT

Required to assign devices to the pins of CN4A and CN4B of the MR-

J2M-D01 extension IO unit.

The MR Configurator (servo configuration software) uses the communication function of the interface unit to perform parameter setting changes, graph display, test operation, etc. on a personal computer.

(1) Specifications

Item Description

Communication signal Conforms to RS-232C.

Baudrate [bps] 57600, 38400, 19200, 9600

System

Monitor

Station selection, automatic demo

Display, high speed monitor, trend graph

Alarm

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

Display, history, amplifier data

Diagnostic

Parameters

Test operation

Advanced function

File operation

Others

Digital I/O, function device display no motor rotation, total power-on time, amplifier version info, motor information, tuning data, absolute encoder data, Axis name setting, unit composition listing.

Turning, change list, detailed information, IFU parameter, DRU parameter, device setting.

Jog operation, positioning operation, operation w/o motor, forced output, demo mode.

Machine analyzer, gain search, machine simulation.

Data read, save, print

Automatic demo, help display

(2) System configuration

(a) Components

To use this software, the following components are required in addition to MELSERVO-J2M 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 or Windows ® 2000 Professional operates

Processor: Pentium ® 133MHz or more (Windows ® 95, Windows ® 98, Windows NT ® Workstation 4.0,

Windows ® 2000 Professional)

Pentium ® 150MHz or more (Windows ® Me)

Memory: 16MB or more (Windows ® 95), 24MB or more (Windows ® 98)

32MB or more (Windows ® Me, Windows NT

Free hard disk space: 60MB or more

® Workstation 4.0, Windows ® 2000 Professional)

Serial port used

Windows ® 95, Windows ® 98, Windows ® Me, Windows NT ® Workstation 4.0, Windows ® 2000

Professional (English version)

One whose resolution is 800 600 or more and that can provide a high color (16 bit) display.

Connectable with the above personal computer.


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


MR-CPCATCBL3M

When this cannot be used, refer to (3) Section 12.1.2 and fabricate.

Note 1. Windows and Windows NT are the registered trademarks of Microsoft Corporation in the United State and other countries.

Pentium is the registered trademarks of Intel Corporation.

2. On some personal computers, this software may not run properly.

(b) Configuration diagram

Personal computer

Communication cable

IFU

CN3

BU

DRU (First slot)

CN2

Servo motor

To RS-232C connector

DRU (Eighth slot)

CN2

Servo motor

12 - 23


12.2 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.

12.2.1 Recommended wires

(1) Wires for power supply wiring

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

1) Main circuit power supply lead

3) Motor power supply lead

Servo motor

Power supply


L

1

L

2

L

3

U

V

W

U

V

W

Motor

(Earth)

2) Control circuit power supply lead

L

11

L

21

5) Electromagnetic

brake lead


CN2

B1

B2


C

P

Encoder

4) Regenerative brake option lead

Encoder cable (refer to Section 12.1.2(2))

The following table lists wire sizes. The wires used assume that they are 600V vinyl wires and the wiring distance is 30m(98.4ft) max. If the wiring distance is over 30m(98.4ft), choose the wire size in consideration of voltage drop.

The servo motor side connection method depends on the type and capacity of the servo motor. Refer to

Section 3.5.3.

To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or more for wiring.

Table 12.1 Recommended wires

Wires [mm

2

]

2) L

11

L

21

3) U V W 4) P C 5) B1 B2

Unit

MR-J2M-BU4

MR-J2M-BU6

MR-J2M-BU8

MR-J2M-10DU

MR-J2M-20DU

MR-J2M-40DU

MR-J2M-70DU

1) L

1

L

2

L

3

2 (AWG14)

3.5 (AWG12)

5.5 (AWG10)

2 (AWG14)

1.25 (AWG16)

2 (AWG14)

1.25 (AWG16)

12 - 24


(2) Wires for cables

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

Type Model

Length

[m(ft)]

Encoder cable

MR-JCCBL M-L

MR-JCCBL M-H

MR-JC4CBL M-H

2 to 10

(6.56 to 32.8)

20 30

(65.6 98.4)

2 5

(6.56 16.4)

10 to 20

(32.8 to 65.6)

30 to 50

(98.4 to 164)

Communication cable

MR-CPCATCBL3M 3 (9.84)

Bus cable MR-J2HBUS M

Battery unit cable

MR-J2MBATCBL M

Note 1. d is as shown below:

0.5 to 5

(1.64 to 16.4)

0.3 1

(0.98 3.28)

Table 12.2 Wires for option cables

Core size

[mm 2 ]

Number of Cores

Structure

[Wires/mm]

Characteristics of one core

Conductor resistance[ /mm]

Insulation coating

ODd[mm] (Note 1)

0.08

0.3

0.2

0.2

0.2

0.08

0.08

0.3

12

(6 pairs)

12

(6 pairs)

12

(6 pairs)

14

(7 pairs)

14

(7 pairs)

6

(3 pairs)

20

(10 pairs)

2

(1 pairs)

7/0.127

12/0.18

40/0.08

40/0.08

40/0.08

7/0.127

7/0.127

12/0.18

222

62

105

105

105

222

222

63

0.38

1.2

0.88

0.88

0.88

0.38

0.38

1.5

d

(Note 3)

Finishing

OD [mm]

5.6

8.2

7.2

8.0

8.0

4.6

6.1

5.1

Wire model

UL20276 AWG#28

6pair (BLACK)

UL20276 AWG#22

6pair (BLACK)

(Note 2)

A14B2343 6P

(Note 2)

A14B0238 7P

(Note 2)

A14B0238 7P

UL20276 AWG#28

3pair (BLACK)

UL20276 AWG#28

10pair (CREAM)

MVVS IP 0.3mm

2

Conductor Insulation sheath

2. Purchased from Toa Electric Industry

3. Standard OD. Max. OD is about 10% greater.

12 - 25


12.2.2 No-fuse breakers, fuses, magnetic contactors

Always use one no-fuse breaker and one magnetic contactor with one drive unit. Make selection as indicated below according to the total output value of the servo motors connected to one base unit. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section.

(1) No-fuse breaker

Servo motor output total

550W max.

More than 550W to 1100W max.




(2) Fuse


800W max.





(3) Magnetic contactor


1700W max.



No-fuse breaker

30A frame 5A

30A frame 10A

30A frame 15A

30A frame 20A

30A frame 30A

Class

K5

K5

K5

K5

K5

Magnetic contactor

S-N10

S-N18

S-N20

Fuse

Current [A]

15

20

30

40

70

Rated current [A]

5

10

15

20

30

Voltage [V]

AC250

AC250

AC250

AC250

AC250

12 - 26


12.2.3 Power factor improving reactors

The input power factor is improved to be about 90%. Make selection as described below according to the sum of the outputs of the servo motors connected to one base unit.

[Unit : mm]

([Unit : in])

Base unit

MR-J2M-BU

NFB

3-phase

200 to 230VAC

MC

R

FR-BAL

X

S Y

T Z

L

1

L

2

L

3

W

D1

Installation screw

(Note)

1-plase

200 to 230VAC

RX S Y T Z

C W1

Note. Connect a 1-phase 200 to 230VAC power supply to L1/L2 and keep L3 open.

NFB

MC

R

S

T

FR-BAL

X

Y

Z

Base unit

MR-J2M-BU

L

1

L

2

L

3


300W max.

Model

W W1

Dimensions [mm (in) ]

H D D1 C

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)

Mounting screw size

Terminal screw size

M4 M3.5

More than 300W to

450W max.

More than 450W to

750W max.

More than 750W to

1100W max.

More than 1100W to

1900W max.

More than 1900W to

2500W max.

More than 2500W to

3800W max.

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

FR-BAL-1.5K 160 (6.30) 145 (5.71) 140 (5.51) 71 (2.79)

FR-BAL-2.2K 160 (6.30) 145 (5.71) 140 (5.51) 91 (3.58)

FR-BAL-3.7K 220 (8.66) 200 (7.87) 192 (7.56) 90 (3.54)

FR-BAL-5.5K 220 (8.66) 200 (7.87) 192 (7.56) 96 (3.78)

57

55

75

70

75

0

2.5

0

2.5

0

2.5

0

2.5

0

2.5

(2.24

(2.17

(2.95

(2.76

(2.95

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

) 7.5 (0.29)

0

0.098

)

7.5 (0.29)

0

0.098

)

7.5 (0.29)

0

0.098

)

10 (0.39)

0

0.098

)

10 (0.39)

0

0.098

) 10 (0.39)

M4

M4

M4

M5

M5

M5

M3.5

M3.5

M3.5

M4

M4

M5

Mass

[kg (lb)]

2.0 (4.4)

2.8 (6.17)

3.7 (8.16)

5.6 (12.35)

8.5 (18.74)

9.5 (20.94)

14.5 (32.0)

12 - 27


12.2.4 Relays

The following relays should be used with the interfaces:

Interface

Relay used for digital input signals (interface DI-1)

Relay used for digital output signals (interface DO-1)

Selection example

To prevent defective contacts , use a relay for small signal

(twin contacts).

(Ex.) Omron : type G2A , MY

Small relay with 12VDC or 24VDC of 40mA or less

(Ex.) Omron : type MY

12.2.5 Surge absorbers

A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent.

Insulate the wiring as shown in the diagram.

Maximum rating

Permissible circuit voltage

AC[Vma] DC[V]

Surge immunity

Energy immunity

[J]

Rated power

[W]

Maximum limit voltage

[A] [V]

Static capacity

(reference value)

[pF]

Varistor voltage rating (range) V1mA

140 180

[A]

(Note)

500/time

5 0.4

25 360 300

[V]

220

(198 to 242)

Note. 1 time 8 20 s

(Example) ERZV10D221 (Matsushita Electric Industry)

TNR-10V221K (Nippon Chemi-con)

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

13.5 (0.53) 4.7 1.0 (0.19 0.04)

0.8 (0.03)

Vinyl tube

Crimping terminal for M4 screw

12.2.6 Noise reduction techniques

Noises are classified into external noises which enter MELSERVO-J2M to cause it to malfunction and those radiated by MELSERVO-J2M to cause peripheral devices to malfunction. Since MELSERVO-J2M is an electronic device which handles small signals, the following general noise reduction techniques are required.

Also, the drive unit can be a source of noise as its outputs are chopped by high carrier frequencies. If peripheral devices malfunction due to noises produced by the drive unit, noise suppression measures must be taken. The measures will vary slightly with the routes of noise transmission.

(1) Noise reduction techniques

(a) General reduction techniques

Avoid laying power lines (input cables) and signal cables side by side or do not bundle them together. Separate power lines from signal cables.

Use shielded, twisted pair cables for connection with the encoder and for control signal transmission, and connect the shield to the SD terminal.

Ground the base unit, servo motor, etc. together at one point (refer to Section 3.8).

12 - 28


(b) Reduction techniques for external noises that cause MELSERVO-J2M to malfunction

If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near MELSERVO-J2M and MELSERVO-J2M may malfunction, the following countermeasures are required.

Provide surge absorbers on the noise sources to suppress noises.

Attach data line filters to the signal cables.

Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings.

(c) Techniques for noises radiated by MELSERVO-J2M that cause peripheral devices to malfunction

Noises produced by MELSERVO-J2M are classified into those radiated from the cables connected to MELSERVO-J2M and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.

Noises produced by MELSERVO-J2M

Noises transmitted in the air

Noise radiated directly from MELSERVO-J2M

Route 1)

Noise radiated from the power supply cable

Noise radiated from servo motor cable

Routes 4) and 5)

Route 2)

Route 3)

Magnetic induction noise

Static induction noise

Noises transmitted through electric channels

Route 6)

Noise transmitted through power supply cable

Noise sneaking from grounding cable due to leakage current

Route 7)

Route 8)

5)

Instrument

7)

Receiver

7) 7)

2)

3)

1)

MELSERVO-

J2M

6)

4)

2)

Sensor

power

supply

Sensor

8)

3)

Servo motor M

12 - 29


Noise transmission route

1) 2) 3)

4) 5) 6)

7)

8)

Suppression techniques

When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the

MELSERVO-J2M or run near MELSERVO-J2M, such devices may malfunction due to noises transmitted through the air. The following techniques are required.

1. Provide maximum clearance between easily affected devices and MELSERVO-J2M.

2. Provide maximum clearance between easily affected signal cables and the I/O cables of

MELSERVO-J2M.

3. Avoid laying the power lines (I/O cables of MELSERVO-J2M) and signal cables side by side or bundling them together.

4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.

5. Use shielded wires for signal and power cables or put cables in separate metal conduits.

When the power lines and the signal cables are laid side by side or bundled together, magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur. The following techniques are required.

1. Provide maximum clearance between easily affected devices and MELSERVO-J2M.

2. Provide maximum clearance between easily affected signal cables and the I/O cables of

MELSERVO-J2M.

3. Avoid laying the power lines (I/O cables of MELSERVO-J2M) and signal cables side by side or bundling them together.

4. Use shielded wires for signal and power cables or put the cables in separate metal conduits.

When the power supply of peripheral devices is connected to the power supply of MELSERVO-J2M system, noises produced by MELSERVO-J2M may be transmitted back through the power supply cable and the devices may malfunction. The following techniques are required.

1. Insert the radio noise filter (FR-BIF) on the power cables (input cables) of MELSERVO-J2M.

2. Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of MELSERVO-J2M.

When the cables of peripheral devices are connected to MELSERVO-J2M to make a closed loop circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be prevented by disconnecting the grounding cable of the peripheral device.

(2) Noise reduction products

(a) Data line filter

Noise can be prevented by installing a data line filter onto the encoder cable, etc.

For example, the ZCAT3035-1330 of TDK and the ESD-SR-25 of NEC TOKIN are available as data line filters.

As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below.

This impedances are reference values and not guaranteed values.

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

Impedance[ ]

10 to 100MHZ

80

100 to 500MHZ

150

39 1(1.54 0.04)

34 1

(1.34 0.04)

Loop for fixing the cable band

TDK

Product name Lot number

Outline drawing (ZCAT3035-1330)

12 - 30


(b) Surge suppressor

The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near MELSERVO-J2M is shown below. Use this product or equivalent.

MC

Relay

Surge suppressor

Surge suppressor

Rated voltage

AC[V]

200

C [ F]

0.5

Surge suppressor

R [ ]

This distance should be short

(within 20cm(0.79 in.)).

(Ex.) 972A.2003 50411

(Matsuo Electric Co.,Ltd. 200VAC rating)

Test voltage AC[V]

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

Vinyl sheath

18 1.5

(0.71 0.06)

Blue vinyl cord Red vinyl cord

50

(1W)

Across

T-C 1000(1 to 5s)

6(0.24)

10 3

(0.39

0.12)

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

200(7.87) or more

15 1(0.59 0.04)

48 1.5

(1.89 0.06)

200(7.87) or more

10 3

(0.39

0.15)

4(0.16)

31(1.22)

Note that a diode should be installed to a DC relay, DC valve or the like.

Maximum voltage: Not less than 4 times the drive voltage of the relay or the like

Maximum current: Not less than twice the drive current of the relay or the like

RA

Diode

(c) Cable clamp fitting (AERSBAN -SET)

Generally, the earth of the shielded cable may only be connected to the connector's SD terminal.

However, the effect can be increased by directly connecting the cable to an earth plate as shown below.

Install the earth plate near the drive unit for the encoder cable. Peel part of the cable sheath to expose the external conductor, and press that part against the earth plate with the cable clamp. If the cable is thin, clamp several cables in a bunch.

The clamp comes as a set with the earth plate.

Cable clamp

(A,B)

Cable

Earth plate

Strip the cable sheath of the clamped area. cutter cable

External conductor

Clamp section diagram

12 - 31


Outline drawing

Earth plate

2- 5(0.20) hole installation hole

17.5(0.69)

[Unit: mm]

([Unit: in])

Clamp section diagram

0 0.

(Note) M4 screw

6

(0.24)

35(1.38)

22(0.87)

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

Type

AERSBAN-DSET

AERSBAN-ESET

A

100

(3.94)

70

(2.76)

B

86

(3.39)

56

(2.20)

C

30

(1.18)

Accessory fittings clamp A: 2pcs.

clamp B: 1pc.

Clamp fitting

A

B

L

70

(2.76)

45

(1.77)

L or less

10(0.39)

12 - 32


(d) Line noise filter (FR-BLF, FR-BSF01)

This filter is effective in suppressing noises radiated from the power supply side and output side of

MELSERVO-J2M and also in suppressing high-frequency leakage current side (zero-phase current) especially within 0.5MHz to 5MHz band.

Outline drawing [Unit: mm] ([Unit: in]) Connection diagram

Wind the 3-phase wires by the equal number of times in the same direction, and connect the filter to the power supply side and output side of the base unit.

The effect of the filter on the power supply side is higher as the number of winds is larger. The number of turns is generally four.

If the wires are too thick to be wound, use two or more filters and make the total number of turns as mentioned above.

On the output side, the number of turns must be four or less.

Do not wind the grounding wire together with the 3-phase wires.

The filter effect will decrease. Use a separate wire for grounding.

Example 1

NFB MC

Base unit

Power supply

L

1

L

2

Line noise filter

L

(Number of turns: 4)

3

Example 2

NFB MC

Base unit

Power supply

L

1

L

2

Line noise filter

L

3

Two filters are used

(Total number of turns: 4)

FR-BSF01

110 (4.33)

95 0.5 (3.74 0.02)

65 (2.56)

33 (1.3)

2- 5 (0.20)

(e) Radio noise filter (FR-BIF)...for the input side only

This filter is effective in suppressing noises radiated from the power supply side of MELSERVO-

J2M especially in 10MHz and lower radio frequency bands. The FR-BIF is designed for the input only.

Connection diagram

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.

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

Leakage current: 4mA

Red White Blue Green

NFB MC

Power supply

Base unit

L

1

L

2

L

3

29 (1.14)

5 (0.20) hole

Radio noise filter FR-BIF

58 (2.28)

29 (1.14)

44 (1.73)

7 (0.28)

12 - 33


12.2.7 Leakage current breaker

(1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.

Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.

Select a leakage current breaker according to the following formula, and ground the base unit, servo motor, etc. securely.

Make the input and output cables as short as possible, and also make the grounding cable as long as possible (about 30cm (11.8 in)) to minimize leakage currents.

Rated sensitivity current 10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] ..........(12.1)

Cable

NV

Noise filter

MELSERVO

-J2M

Ig1 Ign Iga

Cable

Ig2

M

Igm

K: Constant considering the harmonic contents

Leakage current breaker

Type

Mitsubishi products

Models provided with harmonic and surge reduction techniques

General models

NV-SP

NV-SW

NV-CP

NV-CW

NV-HW

BV-C1

NFB

NV-L

K

1

3

Ig1: Leakage current on the electric channel from the leakage current breaker to the input terminals of the base unit (Found from Fig. 12.1.)

Ig2: Leakage current on the electric channel from the output terminals of the drive unit to the servo motor (Found from Fig. 12.1.)

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

Iga: Leakage current of the drive unit (Found from Table 12.4.)

Igm: Leakage current of the servo motor (Found from Table 12.3.)

120

100

80

60

40

[mA]

20

0

2 3.5

5.5

8 1422 38 80 150

30 60 100

Cable size[mm

2

]

Fig. 12.1 Leakage current example

(Ig1, Ig2) for CV cable run

in metal conduit

Table 12.3 Servo motor's leakage current example (Igm)

Servo motor output [kW]

0.05 to 0.4

Leakage current [mA]

0.1

Table 12.4 Drive unit's leakage current example (Iga)

Drive unit capacity [kW]

0.1 to 0.4

0.75

Leakage current

[mA]

0.3

0.6

12 - 34


12.2.8 EMC filter

For compliance with the EMC directive of the EN standard, it is recommended to use the following filter:

Some EMC filters are large in leakage current.:

(1) Combination with the base unit

Base unit

MR-J2M-BU4

MR-J2M-BU6

MR-J2M-BU8

Model

Recommended filter

Leakage current [mA]

SF1253 57

Mass [kg(lb)]

1.37 (3.02)

(2) Connection example

(Note 2)

Power supply

NFB LINE

EMC filter

LOAD

L

1

L

1

L

2

L

2

L

3

(Note 1)

L

3

MC

Base unit

L

1

L

2

L

3

L

11

L

21

Note 1. Connect when the power supply has earth.

2. Connect a 1-phase 200 to 230VAC power supply to L1/L2 and keep L3 open.

(3) Outline drawing

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)

23.0(0.906)

49.0

(1.929)

12 - 35


MEMO

12 - 36

13. COMMUNICATION FUNCTIONS


MELSERVO-J2M has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc.

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

422 and RS-232C with IFU parameter No.0. (Refer to Section 13.2.2.)

13.1 Configuration

13.1.1 RS-422 configuration

(1) Outline (Example)

The interface unit and drive units of stations 0 to 31 can be run/operated on the same bus.

Similarly, any servo amplifiers that enable station number setting can be connected on the same bus.

It should be noted that the commands/data should be handled without mistakes since they are specific to each servo amplifier.

Controller such as personal computer

Station

0

Station

1

Station

2

Station

3

Station

4

Station

5

Station

6

Station

7

Station

8

RS-232C/

RS-422 converter

RS-422

To CN3

Unavailable as option.

To be prepared by customer.

RS-422

MITSUBISHI

Station

9

To CN3

CHARGE

MELSERVO-J2S-A

Station

10

Station

11

Station

12

Station

13

Station

14

Station

15

Station

16

RS-422

MELSERVO-J2M

(General-purpose interface type)

To CN3

MELSERVO-J2M

(General-purpose interface type)

13 - 1


(2) Cable connection diagram

Wire as shown below:

(Note 3) 30m(98.4ft) max.

(Note 1)

Interface unit or Servo amplifier

CN3 connector

Plate SD

9

SDP

19

5

SDN

RDP

15

10

RDN

TRE

11

1

LG

LG

(Note 1)


CN3 connector

Plate

SD

9 SDP

19

5

15

10

11

1

SDN

RDP

RDN

TRE

LG

LG

RS-422 output unit

RDP

RDN

SDP

SDN

GND

GND

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


Shell kit: 10320-52F0-008

2. In the last axis, connect TRE and RDN.

3. 30m (98.4ft) max. in environment of little noise.

(Note 1)


CN3 connector

Plate

9

SD

SDP

19

5

15

10

11

1

SDN

RDP

RDN

TRE

(Note 2)

LG

LG

13 - 2


13.1.2 RS-232C configuration

(1) Outline (Example)

Run/operate.

Controller such as personal computer

MELSERVO-J2M

Station

0

Station

1

Station

2

Station

3

Station

4

Station

5

Station

6

Station

7

Station

8

To CN3

(2) Cable connection diagram

Wire as shown below. The communication cable for connection with the personal computer (MR-

CPCATCBL3M) is available. (Refer to Section 12.1.2 (3))

Personal computer connector D-SUB9 (socket)

(Note 2) 15m(49.2ft) max.

(Note 1)

Interface unit

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. For CN3 connector (3M)


Shell kit: 10320-3210-000

2. 15m(49.2ft) max. in environment of little noise. However, this distance should be 3m(9.84ft) max. for use at

38400bps or more baudrate.

13 - 3


13.2 Communication specifications

13.2.1 Communication overview

This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (drive unit) is called a slave station. When fetching data successively, the master station repeatedly commands the slave station to send data.

Baudrate

Item

Transfer code

Transfer protocol

Start

Description

9600/19200/38400/57600 asynchronous system

Start bit : 1 bit

Data bit : 8 bits

Parity bit: 1 bit (even)

Stop bit : 1 bit

Character system, half-duplex communication system

(LSB)

0 1 2 3 4

Data

1 frame (11bits)

5 6

(MSB)

7 Parity Stop

Next start

13 - 4


13.2.2 Parameter setting

When the RS-422/RS-232C communication function is used to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters.

After setting the values of these parameters, they are made valid by switching power off once, then on again.

(1) Serial communication baudrate

Choose the communication speed. Match this value to the communication speed of the sending end

(master station).

IFU parameter No. 0

Communication baudrate selection

0: 9600[bps]

1: 19200[bps]

2: 38400[bps]

3: 57600[bps]

(2) Serial communication selection

Select the RS-422 or RS-232C communication standard. RS-422 and RS-232C cannot be used together.

IFU parameter No. 0

Serial communication standard selection

0: RS-232C used

1: RS-422 used

(3) Serial communication response delay time

Set the time from when the servo amplifier (slave station) receives communication data to when it sends back data. Set "0" to send back data in less than 800 s or "1" to send back data in 800 s or more.

IFU parameter No. 0

Serial communication response delay time selection

0: Invalid

1: Valid, reply sent in 800 s or more

(4) Station number setting

In IFU parameter No. 10 to 18, set the station numbers of the units connected to the slots. Do not use the station numbers used by the other units.

IFU parameter No.

10

11

12

13

14

15

16

17

18

Slot Whose Station Number Is Set

Interface unit slot

Slot 1

Slot 2

Slot 3

Slot 4

Slot 5

Slot 6

Slot 7

Slot 8

Default Station Number

2

3

0

1

4

5

6

7

8

Usable Station Numbers

0 to 31

13 - 5


13.3 Protocol

POINT

Whether station number setting will be made or not must be selected if the RS-232C communication function is used.

Since up to 32 axes may be connected to the bus, add a station number to the command, data No., etc. to determine the destination unit of data communication. Set the station number per unit using the IFU parameters. Send data are valid for the unit of the specified station number.

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

Master station

S

O

H

S

T

X

Data

No.

Data*

E

T

X

Check sum

10 frames (data)

Station number

Slave station

Station number

S

T

X

E

T

X

Check sum

6 frames

Positive response: Error code A

Negative response: Error code other than A

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

10 frames

Master station

S

O

H

S

T

X

Data

No.

E

T

X

Check sum

Station number

Slave station

Station number

S

T

X

Data*

6 frames (data)

E

T

X

Check sum

(3) Recovery of communication status by time-out

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

Master station

E

O

T

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

13 - 6


13.4 Character codes

(1) Control codes

Code name

SOH

STX

ETX

EOT

Hexadecimal

(ASCII code)

01H

02H

03H

04H

(2) Codes for data

ASCII unit codes are used.

b

8 b

7 b

6 b

5

0

0

0

0

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

0

1

0

0

1

0

0

0

Personal computer terminal key operation

(General) ctrl A ctrl B ctrl C ctrl D

0 0 0 0

0 1 1 1

1 0 0 1

1 0 1 0

1

1

0

1 b

8

to b

5 b

4 b

3 b

2 b

1

0 0 0 0

0 0 0 1

0 0 1 0

0 0 1 1

0 1 0 0

0 1 0 1

0 1 1 0

0 1 1 1

1 0 0 0

1 0 0 1

1 0 1 0

1 0 1 1

1 1 0 0

1 1 0 1

1 1 1 0

1 1 1 1

R

11

12

13

14

7

8

9

10

15

C

0 1 2

.

/

(

‘

)

,

3 4 5

0 NUL DLE Space 0 @ P

1

2

3

4

5

6

SOH

STX

DC

DC

1

2

ETX DC

3

“

!

#

$

%

&

1

2

3

4

5

6

A

B

C

D

E

F

Q

R

S

T

U

V

6 a b d e f

` c

7

9

:

7 G W g

8 H X h

;

I

J

K

L

Y

Z

[ j i k l

?

M ] m

N ^ n

O _

}



{

| o DEL y z w x t u v r s p q

(3) Station numbers

You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to specify the stations.

Station number

ASCII code

0

0

1

1

2

2

3

3

4

4

5

5

6

6

7

7

8

8

9

9

10 11 12 13 14 15

A B C D E F

Station number

ASCII code

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

G H I J K L M N O P Q R S T U V

For example, "30H" is transmitted in hexadecimal for the station number of "0".

13 - 7


13.5 Error codes

Error codes are used in the following cases and an error code of single-code length is transmitted.

On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station.

The error code sent in upper case indicates that the MELSERVO-J2M is normal and the one in lower case indicates that an alarm occurred.

Error code

Servo normal Servo alarm

[A]

[B]

[C]

[a]

[b]

[c]

[D]

[E]

[F]

[d]

[e]

[f]

Error name Description

Normal operation Data transmitted was processed properly.

Parity error

Checksum error

Character error

Command error

Data No. error

Parity error occurred in the transmitted data.

Checksum error occurred in the transmitted data.

Character not existing in the specifications was transmitted.

Command not existing in the specifications was transmitted.

Data No. not existing in the specifications was transmitted.

Remarks

Positive response

Negative response

13.6 Checksum

The check sum is a ASCII-coded hexadecimal representing the lower two digits of the sum of ASCII-coded hexadecimal numbers up to ETX, with the exception of the first control code (STX or S0H).

Station number

(Example)

STX or

SOH

ETX Check

S

T

X

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

E

T

X

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

[5] [2]

Checksum range

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

152H

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

13 - 8


13.7 Time-out operation

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

100ms 100ms 100ms

300ms 300ms 300ms 300ms

*Time-out

Master station

E

O

T

E

O

T

E

O

T

Slave station

13.8 Retry operation

When a fault occurs in communication between the master and slave stations, the error code in the response data from the slave station is a negative response code ([B] to [F], [b] to [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

Master station

Slave station

S

T

X

S

T

X

S

T

X

Station number Station number Station number

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

13 - 9


13.9 Initialization

After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after:

(1) 1s or more time has elapsed after the slave station is switched on; and

(2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems.

13.10 Communication procedure example

The following example reads the set value of DRU parameter No.2 "function selection 1" from the drive unit of station 0:

Data item

Station number

Command

Data No.

Value

0

05

02

Description

Interface unit station 0

Read command

DRU 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

Error processing

Receive data analysis

End

Error processing

No

3 consecutive times?

Yes

100ms after EOT transmission


13 - 10


13.11 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.

The commands/data No. of the respective interface unit and drive units are those marked in the Unit field.

Command

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

[0][1]

13.11.1 Read commands

(1) Status display (Command [0][1])

Data No.

[8][5]

[8][6]

[8][7]

[8][8]

[8][9]

[8][A]

[8][0]

[8][1]

[8][2]

[8][0]

[8][1]

[8][2]

[8][3]

[8][4]

Description

Status display data value and processing information

Status display data value and processing information

Display item regenerative load ratio

Bus voltage

Peak Bus voltage cumulative feedback pulses

Servo motor speed droop pulses cumulative command pulses command pulse frequency effective load ratio peak load ratio

Instantaneous torque within one-revolution position

ABS counter load inertia moment ratio

Frame length

12

12

12

12

12

12

12

12

12

12

12

12

12

12

Unit

IFU DRU

(2) Parameter (Command [0][5])

Command

[0][5]

[0][5]

Data No.

[0][0] to

[1][D]

[0][0] to

[5][4]

Description

Current value of each parameter

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

Current value of each parameter

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

Frame length

8

8

Unit

IFU DRU

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

Command Data No.

[1][2]

[1][2]

[1][2]

[1][2]

[1][2]

[4][0]

[4][1]

[4][3]

[C][0]

[C][1]

External input pin statuses



External output pin statuses

External output pin statuses

Description

Frame length

8

8

8

8

8

Unit

IFU DRU

13 - 11


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

Command

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

[3][3]

Data No.

[1][0]

[1][1]

[1][2]

[1][3]

[1][4]

[1][5]

[2][0]

[2][1]

[2][2]

[2][3]

[2][4]

[2][5]

Description

Alarm number in alarm history

Alarm occurrence time in alarm history

Alarm occurrence sequence most recent alarm first alarm in past second alarm in past third alarm in past fourth alarm in past fifth alarm in past most recent alarm first alarm in past second alarm in past third alarm in past fourth alarm in past fifth alarm in past

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

Command Data No.

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

Description

Frame length

4

4

4

4

4

4

4

4

4

4

4

4

Unit

IFU DRU

Frame length

4

Unit

IFU DRU

Command

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[3][5]

[8][0]

[8][1]

[8][2]

[8][0]

[8][1]

[8][2]

[8][3]

[8][4]

[8][5]

[8][6]

[8][7]

[8][8]

[8][9]

[8][A]

Data No.

Description Display item

Status display data value and processing information at alarm occurrence

Status display data value and processing information at alarm occurrence regenerative load ratio

Bus voltage

Peak Bus voltage cumulative feedback pulses

Servo motor speed droop pulses cumulative command pulses command pulse frequency effective load ratio peak load ratio

Instantaneous torque within one-revolution position

ABS counter load inertia moment ratio

(6) Others

Command

[0][2]

[0][2]

[0][2]

[0][0]

Data No.

[9][0]

[9][1]

[7][0]

[8][0]

Description

Servo motor end pulse unit absolute position

Command unit absolute position

Software version

Read of slot connection status

Frame length

12

12

12

12

12

12

12

12

12

12

12

12

12

12

Frame length

16

8

8

8

Unit

IFU DRU

Unit

IFU DRU

13 - 12


13.11.2 Write commands

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

Command

[8][1]

Data No.

[0][0]

Description

Status display data clear

Setting range

1EA5

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

Command Data No.

[8][4]

[8][4]

[0][0] to

[1][D]

[0][0] to

[5][4]

Description Setting range

Each parameter write

The decimal equivalent of the data No. value

(hexadecimal) corresponds to the parameter number.

Each parameter write

The decimal equivalent of the data No. value

(hexadecimal) corresponds to the parameter number.

Depends on the parameter.

Depends on the parameter.

Frame length

4

Frame length

8

8

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

Command

[8][2]

Data No.

[2][0] Alarm history clear

Description

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

Command Data No.

[8][2] [0][0] Alarm reset

Description

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

Command Data No.

Description

[8][B] [0][0] Exit from test operation mode

Jog operation

Positioning operation

Motor-less operation

Output signal (DO) forced output

Setting range

1EA5

Setting range

1EA5

Setting range

0000

0001

0002

0003

0004

Frame length

4

Frame length

4

Frame length

4

Unit

IFU DRU

Unit

IFU DRU

Unit

IFU DRU

Unit

IFU DRU

Unit

IFU DRU

13 - 13


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

Command Data No.

[9][0] [0][0]

[9][0]

[9][0]

[9][0]

[0][3]

[1][0]

[1][3]

Description

Turns off the external input signals (DI), external input signals and pulse train inputs with the exception of EMG_ ,

LSP and LSN , independently of the external ON/OFF statuses.

Changes the external output signals (DO) into the value of command [8][B] or command [A][0] data No. [0][1].

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

EMG_ , LSP and LSN .

Enables the disabled external output signals (DO).

Setting range

1EA5

1EA5

1EA5

1EA5

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

Command Data No.

Description

[9][2] [0][0] Input signal for test operation

[9][2] [A][0] Forced output from signal pin

Frame

Unit length

IFU DRU

4

4

4

4

Setting range

Refer to section

13.12.6

Refer to section

13.12.8

Frame

Unit length

IFU DRU

8

8

Command Data No.

[A][0] [1][0]

[A][0]

[A][0]

[A][0]

[A][0]

[1][1]

[1][2]

[1][3]

[1][5]

Description Setting range

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

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

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

Writes the moving distance (in pulses) of the test operation mode (jog operation, positioning operation).

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

0000 to

Permissible instantaneous speed

00000000 to

20000

1EA5

80000000 to

7FFFFFFF

1EA5

Frame

Unit length

IFU DRU

4

8

4

8

4

13 - 14


13.12 Detailed explanations of commands

13.12.1 Data processing

When the master station transmits a command data No. or a command data No. data to a slave station, a reply or data is returned from the slave station according to the purpose.

When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc.

Therefore, data must be processed according to the application.

Since whether data must be processed or not and how to process data depend on the monitoring, parameters, etc., follow the detailed explanation of the corresponding command.

The following methods are how to process send and receive data when reading and writing data.

(1) Processing the read data

When the display type is 0, the eight-character data is converted from hexadecimal to decimal and a decimal point is placed according to the decimal point position information.

When the display type is 1, the eight-character data is used unchanged.

The following example indicates how to process the receive data "003000000929" given to show.

The receive data is as follows.

0 0 3 0 0 0 0 0 0 9 2 9

Data 32-bit length (hexadecimal representation)

(Data conversion is required as indicated in the display type)

Display type

0: Data must be converted into decimal.

1: Data is used unchanged in hexadecimal.

Decimal point position

0: No decimal point

1: First least significant digit (normally not used)

2: Second least significant digit

3: Third least significant digit

4: Forth least significant digit

5: Fifth least significant digit

6: Sixth least significant digit

Since the display type is "0" in this case, the hexadecimal data is converted into decimal.

00000929H 2345

As the decimal point position is "3", a decimal point is placed in the third least significant digit.

Hence, "23.45" is displayed.

13 - 15


(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.

13 - 16


13.12.2 Status display

(1) Status display data read

When the master station transmits the data No. (refer to the following table for assignment) to the slave station, the slave station sends back the data value and data processing information.

1) Transmission

Transmit command [0][1] and the data No. corresponding to the status display item to be read.

Refer to Section 13.11.1.

2) Reply

The slave station sends back the status display data requested.

0 0

Data 32 bits long (represented in hexadecimal)

(Data conversion into display type is required)

Display type

0: Used unchanged in hexadecimal

1: Conversion into decimal required


0: No decimal point

1: Lower first digit (usually not used)

2: Lower second digit

3: Lower third digit

4: Lower fourth digit

5: Lower fifth digit

6: Lower sixth digit

(2) Status display data clear

The cumulative feedback pulse data of the status display is cleared. Send this command immediately after reading the status display item. The data of the status display item transmitted is cleared to zero.

Command

[8][1]

Data No.

[0][0]

Data

1EA5

IFU

Unit

DRU

For example, after sending command [0][1] and data No. [8][0] and receiving the status display data, send command [8][1], data No. [0][0] and data [1EA5] to clear the cumulative feedback pulse value to zero.

13 - 17


13.12.3 Parameter

(1) Parameter read

Read the parameter setting.

1) Transmission

Transmit command [0][5] and the data No. corresponding to the parameter No.

The data No. is expressed in hexadecimal equivalent of the data No. value corresponds to the parameter number.

Unit

Command

[0][5]

[0][5]

Data No.

[0][0] to

[1][D]

[0][0] to

[5][4]

IFU DRU

2) Reply

The slave station sends back the data and processing information of the requested parameter No.


0


0: No decimal point

1: Lower first digit





Display type



Parameter write type

0: Valid after write

1: Valid when power is switched on again after write

Read enable/disable

0: Read enable

1: Read disable

Enable/disable information changes according to the setting of parameter No.19 "parameter write inhibit". When the enable/disable setting is read disable, ignore the parameter data part and process it as unreadable.

13 - 18


(2) Parameter write

POINT

The number of write times to the EEP-ROM is limited to 100,000.

Write the parameter setting.

Write the value within the setting range. Refer to Section 5.1 for the setting range.

Transmit command [8][4], the data No., and the set data.

The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to the parameter number.

When the data to be written is handled as decimal, the decimal point position must be specified. If 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]

[8][4]

Data No.

[0][0] to

[1][D]

[0][0] to

[5][4]

Set data

See below.

IFU

Unit

DRU



0: No decimal point

1: Lower first digit



4: Lower forth digit


Write mode

0: Write to EEP-ROM

3: Write to RAM

When the parameter data is changed frequently through communication, set "3" to the write mode to change only the RAM data in the servo amplifier.

When changing data frequently (once or more within one hour), do not write it to the EEP-ROM.

13 - 19

13. COMMUNICATION FUNCTIONS bit

2

3

0

1

6

7

4

5

13.12.4 External I/O pin statuses (DIO diagnosis)

(1) External input pin status read (CN1A CN1B)

Read the ON/OFF statuses of the external input pins.

(a) Transmission

Transmit command [1][2] and data No. [4][0].

Unit

Command Data No.

IFU DRU

[1][2] [4][0]

(b) Reply

The ON/OFF statuses of the input pins are sent back.

b31 b1 b0

1: ON

0: OFF

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

bit

2

3

0

1

4

5

6

7

External input pin

CN1A-4

CN1A-5

CN1A-7

CN1A-9

CN1A-10

CN1A-12

CN1A-29

CN1A-31 bit

10

11

8

9

12

13

14

15

External input pin

CN1A-32

CN1A-34

CN1A-36

CN1A-37

CN1B-4

CN1B-5

CN1B-7

CN1B-9 bit

16

17

18

19

20

21

22

23

External input pin

CN1B-10

CN1B-12

CN1B-29

CN1B-31

CN1B-32

CN1B-34

CN1B-36

CN1B-37

(2) External input pin status read (CN5)

Read the ON/OFF statuses of the external output pins.

(a) Transmission


Unit

Command Data No.

IFU DRU

[1][2] [4][1]

(b) Reply

The slave station sends back the ON/OFF statuses of the output pins.

b31 b1 b0

1: ON

0: OFF

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

External input pin

CN5-1

CN5-2

CN5-3

CN5-4

CN5-5

CN5-6

CN5-7

CN5-10 bit

10

11

8

9

12

13

14

15

External input pin

CN5-11

CN5-12

CN5-13

CN5-14

CN5-15

CN5-16

CN5-17

CN5-18 bit

16

17

18

19

20

21

22

23

13 - 20

External input pin

CN5-20

CN5-19 bit

24

25

26

27

28

29

30

31

External input pin bit

24

25

26

27

28

29

30

31

External input pin


(3) External input pin status read (CN4A CN4B)

Read the ON/OFF statuses of the external input pins.

(a) Transmission


Unit

Command Data No.

IFU DRU

[1][2] [4][3]

(b) Reply


b31 b1b0

1: ON

0: OFF

Command of each bit is transmitted to the master station as hexadecimal date.

bit

0

1

2

5

6

3

4

7

External input pin

CN4A-1

CN4A-2

CN4A-3

CN4A-4

CN4A-5

CN4A-6

CN4A-7

CN4A-8 bit

8

9

10

11

12

13

14

15

External input pin

CN4A-26

CN4A-27

CN4A-28

CN4A-29

CN4A-30

CN4A-31

CN4A-32

CN4A-33 bit

16

17

18

19

20

21

22

23

External input pin

CN4B-1

CN4B-2

CN4B-3

CN4B-4

CN4B-5

CN4B-6

CN4B-7

CN4B-8

(4) External output pin status read (CN1A CN1B)


(a) Transmission

Transmit command [1][2] and data No. [C][0].

Unit

Command Data No.

IFU DRU

[1][2] [C][0]

(b) Reply


b31 b1b0

1: ON

0: OFF


bit

4

5

6

2

3

0

1

7

External output pin

CN1A-3

CN1A-6

CN1A-8

CN1A-11

CN1A-28

CN1A-30

CN1A-33

CN1B-3 bit

12

13

14

10

11

8

9

15

External output pin

CN1B-6

CN1B-8

CN1B-11

CN1A-11

CN1A-28

CN1A-30

CN1A-32

CN1A-35 bit

20

21

22

16

17

18

19

23

External output pin

CN1A-27

CN1B-27

CN1A-25

CN1A-24

CN1A-23

CN1A-22

CN1B-25

CN1B-24

13 - 21 bit

24

25

26

27

28

29

30

31

External input pin

CN4B-26

CN4B-27

CN4B-28

CN4B-29

CN4B-30

CN4B-31

CN4B-32

CN4B-33 bit

28

29

30

24

25

26

27

31

External output pin

CN1B-23

CN1B-22


(5) External output pin status read (CN4A CN4B)


(a) Transmission

Transmit command [1][2] and data No. [C][1].

Unit

Command Data No.

IFU DRU

[1][2] [C][1]

(b) Reply

The slave station sends back the statuses of the output pins.

b31 b1b0

1: ON

0: OFF


bit

2

3

0

1

4

5

6

7

External output pin

CN4A-9

CN4A-10

CN4A-34

CN4A-35

CN4B-9

CN4B-10

CN4B-34

CN4B-35 bit

10

11

8

9

12

13

14

15

External output pin bit

16

17

18

19

20

21

22

23


24

25

26

27

28

29

30

31

External output pin

13 - 22


13.12.5 Disable/enable of external I/O signals (DIO)

Inputs can be disabled independently of the external I/O signal ON/OFF. When inputs are disabled, the input signals are recognized as follows. Among the external input signals, forced stop (EMG_ ), forward rotation stroke end (LSP ) and reverse rotation stroke end (LSN ) cannot be disabled.

Signal

External input signals (DI)

Pulse train inputs

Status

OFF

None

(1) Disabling/enabling the external input signals (DI), external analog input signals and pulse train inputs with the exception of forced stop (EMG_ ), forward rotation stroke end (LSP ) and reverse rotation stroke end (LSN ).

Transmit the following communication commands:

(a) Disable

Command Data No.

Data

IFU

Unit

DRU

[9][0] [0][0] 1EA5

(b) Enable

Command

[9][0]

Data No.

[1][0]

Data

1EA5

IFU

Unit

DRU

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


(a) Disable

Command Data No.

Data

IFU

Unit

DRU

[9][0] [0][3] 1EA5

(b) Enable

Command

[9][0]

Data No.

[1][3]

Data

1EA5

IFU

Unit

DRU

13 - 23


13.12.6 External input signal ON/OFF (test operation)

Each input signal can be turned on/off for test operation. Turn off the external input signals.

Send command [9] [2], data No. [0] [0] and data.

Command Data No.

Data

IFU

Unit

DRU

[9][2] [0][0] See below b31 b1 b0

1: ON

0: OFF

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

bit

0

5

6

7

3

4

1

2

Signal abbreviation

SON

LSP

LSN

TL

PC

RES

CR bit

8

13

14

15

9

10

11

12

Signal abbreviation

ST1

ST2 bit

16

21

22

23

17

18

19

20

Signal abbreviation bit

24

29

30

31

25

26

27

28

Signal abbreviation

13 - 24


13.12.7 Test operation mode

(1) Instructions for test operation mode

The test operation mode must be executed in the following procedure. If communication is interrupted for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a stop and servo-locked. To prevent this, continue communication without a break, e.g. monitor the status display.

(a) Execution of test operation

1) Turn off all external input signals.

2) Disable the external input signals.

Command Data No.

Data

IFU

Unit

DRU

[9][2] [0][0] 1EA5

3) Choose the test operation mode.

Command Data No.

Transmission data Selection of test operation mode

IFU

Unit

DRU

[8][B]

[8][B]

[8][B]

[8][B]

[8][B]

[0][0]

[0][0]

[0][0]

[0][0]

[0][0]

0000

0001

0002

0003

0004

Test operation mode cancel

Jog operation

Positioning operation

Motor-less operation

DO forced output

4) Set the data needed for test operation.

5) Start.

6) Continue communication using the status display or other command.

(b) Termination of test operation

To terminate the test operation mode, complete the corresponding operation and:

1) Clear the test operation acceleration/deceleration time constant.

Command Data No.

Data

IFU

Unit

DRU

[A][0] [1][2] 1EA5

2) Cancel the test operation mode.

Command

[8][B]

Data No.

[0][0]

Data

0000

IFU

Unit

DRU

3) Enable the disabled external input signals.

Command Data No.

Data

IFU

Unit

DRU

[9][0] [1][0] 1EA5

13 - 25


(2) Jog operation


(a) Setting of jog operation data

Item

Speed

Acceleration/deceleration time constant

Command

[A][0]

[A][0]

Data No.

[1][0]

[1][1]

Data

Write the speed [r/min] in hexadecimal.

Write the acceleration/deceleration time constant

[ms] in hexadecimal.

Unit

IFU DRU

(b) Start

Turn on the external input signals servo-on (SON ) forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) and ST1/ST2 by using command [9][2] data No. [0][0].

Unit

Item Command Data No.

Data

IFU DRU

Forward rotation start

Reverse rotation start

Stop

[9][2]

[9][2]

[9][2]

[0][0]

[0][0]

[0][0]

00000807: Turns on SON

LSN

and ST1.


LSN

and ST2.


and LSN

.

LSP

LSP

LSP

(3) Positioning operation


(a) Setting of positioning operation data

Item

Speed

Acceleration/decelera-tion time constant

Moving distance

Command

[A][0]

[A][0]

[A][0]

Data No.

[1][0]

[1][1]

[1][3]

Data

Write the speed [r/min] in hexadecimal.

Write the acceleration/deceleration time constant

[ms] in hexadecimal.

Write the moving distance [pulse] in hexadecimal.

Unit

IFU DRU

(b) Input of servo-on stroke end

Turn on the external input signals servo-on (SON ) forward rotation stroke end (LSP ) and reverse rotation stroke end (LSN ) by using command [9][2] data No. [0][0].

Item Command Data No.

Data

Unit

IFU DRU

Servo-on

Servo OFF

Stroke end ON

Servo-on

Stroke end ON

[9][2]

[9][2]

[9][2]

[0][0]

[0][0]

[0][0]


00000006: Turns off SON and turns on

LSP LSN .

00000007: Turns on SON LSP LSN .

13 - 26


(c) Start of positioning operation

Transmit the speed and acceleration/deceleration time constant, turn on the servo-on (SON ) and forward rotation stroke end (LSP ) reverse rotation stroke end (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 rotation stroke end (LSP ) reverse rotation stroke end

(LSN ) are off, the transmission of the moving distance is invalid. Therefore, positioning operation will not start if the servo-on (SON ) and forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) are turned on after the setting of the moving distance.

(d) Temporary stop

A temporary stop can be made during positioning operation.

Command Data No.

Data

IFU

Unit

DRU

[A][0] [1][5] 1EA5

Retransmit the same communication commands as at the start time to resume operation.

To stop positioning operation after a temporary stop, retransmit the temporary stop communication command. The remaining moving distance is then cleared.

13 - 27


13.12.8 Output signal pin ON/OFF (output signal (DO) forced output)

In the test operation mode, the output signal pins can be turned on/off independently of the servo status.

Using command [9][0], disable the output signals in advance.

(1) Choosing DO forced output in test operation mode

Transmit command [8][B] data No. [0][0] data "0004" to choose DO forced output.

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

[9][2] [A][0] See below.

b31 b1 b0

1: ON

0: OFF

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

bit

2

3

0

1

6

7

4

5

External output pin

CN1A-19

CN1A-18

CN1B-19

CN1B-6

CN1B-4

CN1B-18

CN1A-14 bit

10

11

8

9

12

13

14

15


16

17

18

19

20

21

22

23


24

25

26

27

28

29

30

31

External output pin

13 - 28


13.12.9 Alarm history

(1) Alarm No. read

Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last alarm) to No. 5 (sixth alarm in the past) are read.

(a) Transmission

Send command [3][3] and data No. [1][0] to [1][5]. Refer to Section 13.11.1(4).

(b) Reply

The alarm No. corresponding to the data No. is provided.

0 0

Alarm No. is transferred in decimal.

For example, “0032” means A.32 and “00FF” means A._ (no alarm).

(2) Alarm occurrence time read

Read the occurrence time of alarm which occurred in the past.

The alarm occurrence time corresponding to the data No. is provided in terms of the total time beginning with operation start, with the minute unit omitted.

(a) Transmission

Send command [3][3] and data No. [2][0] to [2][5].

Refer to Section 13.11.1(4).

(b) Reply

The alarm occurrence time is transferred in decimal.

Hexadecimal must be converted into decimal.

For example, data “01F5” means that the alarm occurred in 501 hours after start of operation.

(3) Alarm history clear

Erase the alarm history.

Send command [8][2] and data No. [2][0].

Command Data No.

Data

Unit

IDU DRU

[8][2] [2][0] 1EA5

13 - 29


13.12.10 Current alarm

(1) Current alarm read

Read the alarm No. which is occurring currently.

(a) Transmission


Unit

Command Data No.

IFU DRU

[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 A.32 and “00FF” means A._ (no alarm).

(2) Read of the status display at alarm occurrence

Read the status display data at alarm occurrence. When the data No. corresponding to the status display item is transmitted, the data value and data processing information are sent back.

(a) Transmission

Send command [3][5] and any of data No. [8][0] to [8][A] corresponding to the status display item to be read. Refer to Section 13.11.1 (5).

(b) Reply

The slave station sends back the requested status display data at alarm occurrence.

0 0

Data 32 bits long (represented in hexadecimal)

(Data conversion into display type is required)

Display type




0: No decimal point

1: Lower first digit (usually not used)





6: Lower sixth digit

(3) Current alarm clear

As by the entry of the reset (RES ), reset the servo amplifier alarm to make the servo amplifier ready to operate. After removing the cause of the alarm, reset the alarm with no command entered.

Unit

Command Data No.

Data

IFU DRU

[8][2] [0][0] 1EA5

13 - 30


13.12.11 Other commands

(1) Servo motor end pulse unit absolute position

Read the absolute position in the servo motor end pulse unit.

Note that overflow will occur in the position of 16384 or more revolutions from the home position.

(a) Transmission


Unit

Command Data No.

IFU DRU

[0][2] [9][0]

(b) Reply

The slave station sends back the requested servo motor end pulses.

Absolute value is sent back in hexadecimal in the servo motor end pulse unit.

(Must be converted into decimal)

For example, data "000186A0" is 100000 [pulse] in the motor end pulse unit.

(2) Command unit absolute position

Read the absolute position in the command unit.

(a) Transmission


Unit

Command Data No.

IFU DRU

[0][2] [9][1]

(b) Reply

The slave station sends back the requested command pulses.

Absolute value is sent back in hexadecimal in the command unit.

(Must be converted into decimal)

For example, data "000186A0" is 100000 [pulse] in the command unit.

(3) Software version

Reads the software version of the servo amplifier.

(a) Transmission

Send command [0][2] and data No.[7][0].

Unit

Command Data No.

IFU DRU

[0][2] [7][0]

(b) Reply

The slave station returns the software version requested.

Space Software version (15 digits)

13 - 31

13. COMMUNICATION FUNCTIONS bit

2

3

0

1

4

5

6

7

(4) Read of slot connection status

Read the absolute position in the command unit.

(a) Transmission

Send command [0][0] and data No.[8][0].

Unit

Command Data No.

IFU DRU

[0][0] [8][0]

(b) Reply

The slave stations send back the statuses of the units connected to the slots.

b31 b1b0

1: Connected

0: Not connected

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

Slot

3

4

1

2

5

6

7

8 bit

10

11

8

9

12

13

14

15

Slot bit

16

17

18

19

20

21

22

23

Slot

Option bit

24

25

26

27

28

29

30

31

Slot

13 - 32

14. ABSOLUTE POSITION DETECTION SYSTEM


CAUTION

If an absolute position erase (A.25) or an absolute position counter warning

(A E3) has occurred, always perform home position setting again. Not doing so can cause runaway.

14.1 Outline

14.1.1 Features

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

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

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

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

Controller

Drive unit Battery unit

Current position data

Changing the current position data

Pulse train command

Home position data

EEP-ROM memory

LSO

1XO

Backed up in the case of power failure

Current position data

LS

Detecting the number of revolutions

1X

Detecting the position within one revolutions

RS-422/

RS-232C

Serial communication

High speed serial communication

Servo motor

Within-one-revolution counter

1pulse/rev Accumulative revolution counter

Super capacitor

14.1.2 Restrictions

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

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

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

14 - 1


14.2 Specifications

(1) Specification of battery unit MR-J2M-BT

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 dangerous goods (Class 9), requires packing compliant with the

Packing Standard 903. When a self-certificate is necessary for battery safety tests, contact our branch or representative. For more information, consult our branch or representative. (As of October, 2005).

Item Description

Model

System

Battery unit

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

MR-J2M-BT

Electronic battery backup system

Lithium battery (primary battery, nominal 3.6V)

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.

(2) Configuration

Controller

Pulse train command IO

CN1A

Interface unit


RS-422

/RS-232C

CN1B

CN3

Servo motor

Battery unit

14 - 2


(3) DRU parameter setting

Set " 1 " in DRU parameter No.1 to make the absolute position detection system valid.

DRU parameter No. 1

Selection of absolute position detection system

0: Used in incremental system

1: Used in absolute position detection system

14.3 Signal explanation

The following is the signal used in an absolute position detection system. For the I/O interfaces (symbols in the I/O category column in the table), refer to section 3.2.5.

Signal name

Clear

(home position setting)

Code

CR


Shorting CR -SG clears the position control counter and stores the home position data into the non-volatile memory (backup memory).

I/O category

DI-1

14.4 Serial communication command

The following commands are available for reading absolute position data using the serial communication function. When reading data, take care to specify the correct station number of the drive unit from where the data will be read.

When the master station sends the data No. to the slave station (drive unit), the slave station returns the data value to the master station.

(1) Transmission


(2) Reply

The absolute position data in the command pulse unit is returned in hexadecimal.

Data 32-bit length (hexadecimal representation)

14 - 3


14.5 Startup procedure

(1) Connection of a battery unit

(2) Parameter setting

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

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

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

(4) Confirmation of absolute position data transfer

After making sure that the ready (RD ) output after the servo-on (SON ) had turned on has turned on, read the absolute value data with the serial communication function.

(5) Home position setting

The home position must be set if:

(a) System setup is performed;

(b) When the drive unit or interface unit is replaced;

(c) The servo motor has been changed; or

(d) The absolute position erase (A.25) occurred.

In the absolute position system, the absolute position coordinates are made up by making home position setting at the time of system setup.

The motor shaft may misoperate if positioning operation is performed without home position setting.

Always make home position setting before starting operation.

For the home position setting method and types, refer to Section 14.6.3.

14 - 4


14.6 Absolute position data transfer protocol

14.6.1 Data transfer procedure

Every time the servo-on (SON ) turns on at power-on or like, the controller must read the current position data in the drive unit. Not performing this operation will cause a position shift.

Time-out monitoring is performed by the controller.

MELSERVO-J2M Controller

SON ON

RD ON

Absolute position data command transmission

Command [0][2] data No.[9][1]

Absolute position

data acquisition

Watch dog timer

Absolute position data return

Current position acquisition

Current value change

Position command start

14 - 5


14.6.2 Transfer method

The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the servo-on (SON ) going OFF, a forced stop, or alarm, is explained below. In the absolute position detection system, always give the serial communication command to read the current position in the drive unit to the controller every time the ready (RD ) turns on. The drive unit sends the current position to the controller on receipt of the command. At the same time, this data is set as a position command value in the drive unit.

(1) Sequence processing at power-on

Power supply

Servo-on

(SON )

Base circuit

Ready

(RD )

ON

OFF

ON

OFF

ON

OFF

ON

OFF


Absolute position data receive

Current position

100ms

20ms

Current position change

ABS data

Pulse train command

During this period, get absolute position data.

1) 100ms after the servo-on (SON ) has turned on, the base circuit turns on.

2) After the base circuit has turned on, the ready (RD ) turns on.

3) After the ready (RD ) turned on and the controller acquired the absolute position data, give command pulses to the drive unit. Providing command pulses before the acquisition of the absolute position data can cause a position shift.

(2) Communication error

If a communication error occurs between the controller and MELSERVO-J2M, the MELSERVO-J2M sends the error code. The definition of the error code is the same as that of the communication function. Refer to Section 13.5 for details.

If a communication error has occurred, perform retry operation. If several retries do not result in a normal termination, perform error processing.

14 - 6


(3) At the time of alarm reset

If an alarm has occurred, detect the trouble (ALM_ ) and turn off the servo-on (SON ). After removing the alarm occurrence factor and deactivating the alarm, get the absolute position data again from the drive unit in accordance with the procedure in (1) of this section.

Servo-on

(SON )

Reset

(RES )

Base circuit

Trouble

(ALM_ )

Ready

(RD )

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

100ms

20ms




ABS data

Current position

Pulse train command


14 - 7


(4) At the time of forced stop reset

200ms after the forced stop is deactivated, the base circuit turns on, and further 20ms after that, the ready (RD ) turns on. Always get the current position data from when the ready (RD ) is triggered until before the position command is issued.

(a) When power is switched on in a forced stop status

Power supply

Servo-on

(SON )

ON

OFF

ON

OFF

Forced stop

(EMG_ )

Base circuit

Ready

(RD )


ON(Valid)

OFF(Invalied)

ON

OFF

ON

OFF

200ms

20ms


Current position


ABS data

Pulse train command


(b) When a forced stop is activated during servo on

Servo-on

(SON )

Forced stop

(EMG_ )

Base circuit

Ready

(RD )


ON

OFF

ON(Valid)

OFF(Invalid)

ON

OFF

ON

OFF


Current position

Pulse train command

100ms

20ms


ABS data


14 - 8


14.6.3 Home position setting

(1) Dog type home position return

Preset a home position return creep speed at which the machine will not be given impact. On detection of a zero pulse, the home position setting (CR ) is turned from off to on. At the same time, the servo amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the nonvolatile memory as the home position ABS data.

The home position setting (CR ) should be turned on after it has been confirmed that the in-position

(INP ) is on. If this condition is not satisfied, the home position setting warning (A.96) will occur, but that warning will be reset automatically by making home position return correctly.

The number of home position setting times is limited to 100,000 times.

Servo motor

Dog signal

ON

OFF

Zero pulse signal

Completion of positioning

(INP )

ON

OFF

Home position setting

(CR )

ON

OFF

Home position

ABS data

Near-zero point dog

20ms or more 20ms or more

Update

14 - 9


(2) Data set type home position return

POINT

Never make home position setting during command operation or servo motor rotation. It may cause home position sift.

It is possible to execute data set type home position return when the servo off.

Perform manual operation such as JOG operation to move to the position where the home position is to be set. When the home position setting (CR ) is on for longer than 20ms, the stop position is stored into the non-volatile memory as the home position ABS data.

When the servo on, set home position setting (CR ) to ON after confirming that the in-position

(INP ) is ON. If this condition is not satisfied, the home position setting warning (A.96) will occur, but that warning will be reset automatically by making home position return correctly.

The number of home position setting times is limited to 100,000 times.

Manual feed (JOG, etc.)

(more than 1 revolution of the motor shaft)

Servo Motor

Completion of positioning

( INP )

Home position setting (CR )

ON

OFF

ON

OFF

Home position

ABS data

20 [ms] or more

Update

14.6.4 How to process the absolute position data at detection of stroke end

The drive unit stops the acceptance of the command pulse when forward rotation stroke end

(LSP ) reverse rotation stroke end (LSN ) is detected, clears the droop pulses to 0 at the same time, and stops the servo motor rapidly.

At this time, the controller keeps outputting the command pulse. Since this causes a discrepancy between the absolute position data of the servo amplifier and the controller, a difference will occur between the position data of the servo amplifier and that of the controller.

When the stroke end is detected, therefore, perform JOG operation or like to return to the position where stroke end detection can be deactivated, and read the current position data in the drive unit again.

14 - 10


14.7 Confirmation of absolute position detection data

You can confirm the absolute position data with MR Configurator (servo configuration software MRZJW3-

SETUP151E).

Clicking "Diagnostics" on the menu bar and click "Absolute encoder data" in the menu.

(1)

(2) By clicking "Absolute encoder data" in the sub-menu, the absolute encoder data display window appears.

(3) Click the "Close" button to close the absolute encoder data display window.

14 - 11


MEMO

14 - 12

APPENDIX

App 1. Status indication block diagram

App - 1

APPENDIX

MEMO

App - 2

REVISIONS

*The manual number is given on the bottom left of the back cover.

Print Data *Manual Number Revision

Jan., 2002 SH(NA)030014-A First edition

Sep., 2002 SH(NA)030014-B Safety Instructions: Addition of Note to 4. (1)

Deletion of (7) in 4. Additional instructions

Addition of About processing of waste

Addition of EEP-ROM life

Section 1.5 (2) (a): Partial change of rating plate

Section 2.7: Partial change of CAUTION sentences

Section 2.7 (8): Change of POINT

Section 3.1: Partial change of drawing

Section 3.2.1: Partial change of drawing

Section 3.2.2: Addition of forced stop B text



Section 3.4.2: Change of table

Section 3.5.1: Addition of POINT

Section 3.6: Addition of NOTE

Section 5.1.2: Partial change of DRU parameter No. 20 data

Section 5.2.1: Partial addition of text, change of table

Section 6.2.2: Addition of POINT sentences

Section 6.4 (3) (a): Change of expression

Section 9.2: Deletion of A. 7A

Section 9.3: Deletion of 4. in A. 16A

Deletion of A. 7A

Section 10.3 (4): Partial addition of contacts and applicable tools

Section 11.1: Reexamination

Section 11.2: Partial addition of NOTE sentences

Section 11.4: Addition of MR-JC4CBL M-H

Section 12.1.1 (1): Addition of text

Section 12.1.2: Addition of cable

Section 12.1.2 (2): Addition of POINT sentences

Section 12.1.2 (2) (a): Addition and change of items, partial change of drawing

Section 12.1.2 (2) (b): Addition of item

Section 12.1.3 (2): Change of text

Section 12.1.4: Deletion of POINT

Section 12.1.4 (2): Change of terminal label sketch

Section 12.1.4 (4) (b): Partial change of connection diagram

Section 12.1.6 (1): Reexamination of table

Section 12.1.6 (2): Partial change of contents

Section 12.2.1 (2): Addition of cable

Section 12.2.8: Partial addition of text

Section 13.10: Partial addition of drawing

Section 13.12.3 (2): Partial change of drawing

Section 14.7: Partial reexamination of text

Mar., 2004 SH(NA)030014-C Reexamination of description on configuration software

Safety Instructions 1. To prevent electric shock: Addition of sentence


Mar., 2004 SH(NA)030014-C 3. To prevent injury: Reexamination of sentence

4. Additional instructions (1): Addition of Note/Reexamination of sentence

(5): Reexamination of wiring drawing

COMPLIANCE WITH EC DIRECTIVES 2. PRECAUTIONS FOR

COMPLIANCE: IEC664-1 is modified to IEC60664-1 in (3) and (4).

CONFORMANCE WITH UL/C-UL STANDARD (2): Reexamination of sentence

Section 1.3 (1): Addition of “Inrush current”

Section 2.4 (2): Reexamination of sentence

Section 2.7: Reexamination and addition of NOTE sentence

Section 2.7 (8): Addition of POINT

Section 3.1: The following modification is made to the diagram:

CLEAR COMPULSE COM of positioning module QD70 is connected to SG (24G).

Section 3.2.5 (1): Reexamination of diagram

Section 3.2.5 (2) (c) 2): Reexamination of diagram

Section 3.3.5 (2): Addition of NOTE

Section 3.7 (3) (a): Partial change of diagram

Section 5.3.1 (1) (b): Addition of POINT sentence

Section 9.2: Reexamination of sentence

Section 9.3: A.12 to 15: Reexamination of occurrence cause

A.37: Addition of occurrence cause

A.51: “Rotation: 2.5s or more” is added.

A.52: Change of content

Section 12.1.1 (4): Addition of terminal block and mounting screw

Section 12.1.6 (2) (a): Reexamination of Windows trademark

Section 12.1.6 (2) (b): Change of FR-BSF01 outline drawing

Section 14.2 (1): Addition of POINT

Section 14.6.2 (4): Reexamination of forced stop

Feb., 2005 SH(NA)030014-D Section 14.2 (1): Error in writing correction of POINT

Oct., 2005 SH(NA)030014-E Reexamination of description on configuration software

Safety Instructions: 1. To prevent electric shock: Change of description from 10 minutes to 15 minutes

4. Additional instructions (2), (4): Addition of instructions

COMPLIANCE WITH EC DIRECTIVES: Partial change of sentence

CONFORMANCE WITH UL/C-UL STANDARD (4): Partial change of sentence

Chapter 2: Addition of CAUTION sentence

Chapter 3: Partial change of WARNING sentences

Section 3.2.2 (4): Deletion of open collector power input

Section 3.2.5 (2) (d) 2): Modification of servo motor CCW rotation

Section 3.3.4 (2): Limiting torque: Partial change of sentences

Warning Battery warning: Modification of description from within 3 seconds to after approximately 3 seconds

Section 3.6: Addition of CAUTION sentences

Section 3.6 (3): Change of sentences

Section 3.7: Addition of CAUTION sentences

Change of sentences

Section 3.7(3): Modification of drawing (d), (e)


Oct., 2005 SH(NA)030014-E Section 5.1.2 (2): Correction of DRU parameter No.38

Section 5.3.2: Partial reexamination of sentences

Section 5.3.2 (2): Addition of Note in table


Section 9.2: Alarm code No.A. 45 A.46: Addition of Note in table

Section 9.3: Addition of CAUTION sentence

DRU parameter [email protected]@: Addition of contents

Section 9.4: Addition of CAUTION sentence

Addition of POINT

DRU parameter [email protected]@: Reexamination of Cause 2

IFU parameter No.FA.9F: Partial addition of Cause

IFU parameter [email protected]@: Addition of contents

Section 10.2: Addition of Mounting screw Tightening torque

Section 11.1: Partial change of CAUTION sentences


Section 12.1.1 (3): Addition of POINT

Section 12.1.1 (4): Reexamination of Outline drawing (b), (c)

Section 12.1.6 (2) (a): Partial reexamination of table and Note

Section 12.2.3: Correction of Dimensions for D1 in table

Section 12.2.6 (2) (d): Reexamination of Outline drawing for FR-BSF01

Section 12.2.6 (2) (e): Addition of sentences

Section 13.12.7 (3) (b): Correction in table

Chapter 14: Reexamination of CAUTION sentences

MEMO

MODEL

MODEL

CODE

HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH (NA) 030014-E (0510) MEE Printed in Japan

This Instruction Manual uses recycled paper.

Specifications subject to change without notice.

Mitsubishi Electronics MR-J2M-P8A Car Amplifier Instruction manual

General-Purpose AC Servo

Series

General-Purpose Interface Compatible

MODEL

SERVO AMPLIFIER

INSTRUCTION MANUAL

WARNING

CAUTION

1. To prevent electric shock, note the following:

2. To prevent fire, note the following:

3. To prevent injury, note the follow

4. Additional instructions

(1) Transportation and installation

(2) Wiring

(3) Test run adjustment

(4) Usage

(5) Corrective actions

(6) Maintenance, inspection and parts replacement

(7) General instruction

FOR MAXIMUM SAFETY

EEP-ROM life

Precautions for Choosing the Products

1. WHAT ARE EC DIRECTIVES?

2. PRECAUTIONS FOR COMPLIANCE

1. FUNCTIONS AND CONFIGURATION

MITSUBISHI

MITSUBISHI

2. INSTALLATION AND START UP

3. SIGNALS AND WIRING

4. OPERATION AND DISPLAY

5. PARAMETERS

6. GENERAL GAIN ADJUSTMENT

7. SPECIAL ADJUSTMENT FUNCTIONS

8. INSPECTION

9. TROUBLESHOOTING

10. OUTLINE DRAWINGS

11. CHARACTERISTICS

12. OPTIONS AND AUXILIARY EQUIPMENT

13. COMMUNICATION FUNCTIONS

14. ABSOLUTE POSITION DETECTION SYSTEM

APPENDIX

REVISIONS

MODEL

MODEL

CODE

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Table of contents