Page 1 General-Purpose AC Servo J2-Super Series General-Purpose Interface MODEL MR-J2S- A SERVO AMPLIFIER INSTRUCTION MANUAL...
Page 2: Safety Instructions
Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly.
Page 3 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 servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work.
Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their masses. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder.
Page 5 CAUTION 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.
Page 6 (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident.
Page 7 (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment.
Page 8 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).
Page 9 (4) Power supply (a) Operate the servo amplifier 7kW or less to meet the requirements of the overvoltage category II set forth in IEC60664-1. For this purpose, a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section. Since the 11kW or more servo amplifier can be used under the conditions of the overvoltage category III set forth in IE60664-1, a reinforced insulating transformer is not required in the power input section.
Page 10 (7) Auxiliary equipment and options (a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant products of the models described in Section 13.2.2. (b) The sizes of the cables described in Section 13.2.1 meet the following requirements. To meet the other requirements, follow Table 5 and Appendix C in EN60204-1.
Page 11 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :MR-J2S-10A to MR-J2S-22KA MR-J2S-10A1 to MR-J2S-40A1 Servo motor :HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS HA-LFS HC-LFS (2) Installation Install a fan of 100CFM (2.8m...
Page 12 <> This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General-Purpose AC servo MR-J2S-A for the first time. Always purchase them and use the MR- J2S-A safely. Relevant manuals Manual name Manual No.
Page 13 MEMO A - 12...
Page 14: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-24 1.1 Introduction.............................. 1- 1 1.2 Function block diagram .......................... 1- 2 1.3 Servo amplifier standard specifications ....................1- 5 1.4 Function list ............................. 1- 6 1.5 Model code definition ..........................1- 7 1.6 Combination with servo motor.......................
Page 15 3.8.2 Connection diagram......................... 3-50 3.8.3 I/O terminals ............................ 3-52 3.9 Servo motor with electromagnetic brake ..................... 3-54 3.10 Grounding ............................. 3-57 3.11 Servo amplifier terminal block (TE2) wiring method ............... 3-58 3.11.1 For the servo amplifier produced later than Jan. 2006 ............. 3-58 3.11.2 For the servo amplifier produced earlier than Dec.
Page 16 6.8.3 Positioning operation........................6-15 6.8.4 Motor-less operation ........................6-16 7. GENERAL GAIN ADJUSTMENT 7- 1 to 7-12 7.1 Different adjustment methods ....................... 7- 1 7.1.1 Adjustment on a single servo amplifier..................7- 1 7.1.2 Adjustment using MR Configurator (servo configuration software) ........... 7- 2 7.2 Auto tuning ..............................
Page 17 11.2 Connectors............................11- 8 12. CHARACTERISTICS 12- 1 to 12- 8 12.1 Overload protection characteristics ....................12- 1 12.2 Power supply equipment capacity and generated loss ..............12- 2 12.3 Dynamic brake characteristics......................12- 5 12.4 Encoder cable flexing life ........................12- 7 12.5 Inrush currents at power-on of main circuit and control circuit ............
Page 18 14.9 Initialization............................14-10 14.10 Communication procedure example ....................14-10 14.11 Command and data No. list......................14-11 14.11.1 Read commands ......................... 14-11 14.11.2 Write commands ........................14-12 14.12 Detailed explanations of commands....................14-14 14.12.1 Data processing.......................... 14-14 14.12.2 Status display ..........................14-16 14.12.3 Parameter...........................
Page 19: Introduction
Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual. 1.
Page 20 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is based on the MELSERVO-J2 series and has further higher performance and higher functions. It has position control, speed control and torque control modes. Further, it can perform operation with the control modes changed, e.g.
Page 21: Function Block Diagram
1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-J2S-350A or less Regenerative brake option Servo amplifier Servo motor (Note2) (Note1) Power supply 3-phase Current 200 to detector CHARGE 230VAC, Regene- lamp rative...
Page 22 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-500A MR-J2S-700A Regenerative brake option Servo amplifier Servo motor Power supply 3-phase Current 200 to detector CHARGE 230VAC Regene- lamp rative Dynamic brake Electro- Control magnetic circuit power brake supply Regenerative brake Base amplifier Voltage Current Overcurrent detection...
Page 23 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-11KA or more Regenerative brake option Servo amplifier Servo motor Power supply 3-phase Current 200 to detector 230VAC, CHARGE Regene- 1-phase lamp rative 230VAC Control Electro- power magnetic supply brake Regenerative Voltage Current Base Overcurrent brake detection detection...
Page 24: Servo Amplifier Standard Specifications
1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications Servo Amplifier MR-J2S- 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A 11KA 15KA 22KA 10A1 20A1 40A1 Item 3-phase 200 to 230VAC, 1-phase 100 to Voltage/frequency 50/60Hz or 1-phase 3-phase 200 to 230VAC, 50/60Hz 120VAC 230VAC, 50/60Hz...
Page 25: Function List
1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. (Note) Function Description Reference Control mode Section 3.1.1 Position control mode This servo is used as position control servo. Section 3.4.1 Section 4.2.2 Section 3.1.2...
Page 26: Model Code Definition
600W POWER INPUT 3.2A 3PH 1PH200-230V 50Hz Applicable power supply 3PH 1PH200-230V 60Hz 5.5A 1PH 230V 50/60Hz OUTPUT : 170V 0-360Hz 3.6A Rated output current SERIAL : Serial number AAAAG52 PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN 1 - 7...
Page 27 1. FUNCTIONS AND CONFIGURATION (2) Model MR–J2S– MR–J2S–100A or less MR–J2S–200A 350A Series With no regenerative resistor Symbol Description Indicates a servo amplifier of 11 to 22kw that does not use a regenerative resistor Rating plate as standard accessory. Rating plate Power Supply Symbol Power supply...
Page 28: Combination With Servo Motor
1. FUNCTIONS AND CONFIGURATION 1.6 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes and the models with reduction gears. Servo motors HC-SFS HC-UFS Servo amplifier HC-KFS HC-MFS...
Page 29: Structure
1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) MR-J2S-100A or less POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Reference Battery holder Section15.3 Contains the battery for absolute position data backup. Battery connector (CON1) Section15.3 Used to connect the battery for absolute position data...
Page 30 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200A MR-J2S-350A POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Reference Battery holder Section15.3 Contains the battery for absolute position data backup. Battery connector (CON1) Section15.3 Used to connect the battery for absolute position data...
Page 31 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500A POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Reference Battery connector (CON1) Used to connect the battery for absolute position data Section15.3 backup.
Page 32 1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700A POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to next page. Reference Name/Application Battery connector (CON1) Used to connect the battery for absolute position data Section15.3 backup.
Page 33 1. FUNCTIONS AND CONFIGURATION (5) MR-J2S-11KA or more POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1. 7. 2. Name/Application Reference Battery holder Section15.3 Contains the battery for absolute position data backup. Display The 5-digit, seven-segment LED shows the servo Chapter6...
Page 34: Removal And Reinstallation Of The
1. FUNCTIONS AND CONFIGURATION 1.7.2 Removal and reinstallation of the front cover To avoid the risk of an electric shock, do not open the front cover while power is CAUTION (1) For MR-J2S-350A or less Removal of the front cover Reinstallation of the front cover Front cover hook (2 places)
Page 35 1. FUNCTIONS AND CONFIGURATION (3) For MR-J2S-700A Removal of the front cover Reinstallation of the front cover Front cover hook (2 places) Front cover socket (2 places) 1) Push the removing knob A) or B), and put you 1) Insert the two front cover hooks at the bottom into the finger into the front hole of the front cover.
Page 36 1. FUNCTIONS AND CONFIGURATION (4) For MR-J2S-11KA or more Removal of the front cover Mounting screws (2 places) Mounting screws (2 places) 2) Remove the front cover mounting screws (2 places). 1) Remove the front cover mounting screws (2 places) and remove the front cover.
Page 37 1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Mounting screws (2 places) 2) Fix it with the mounting screws (2 places). 1) Insert the front cover in the direction of arrow. Mounting screws (2 places) 3) Fit the front cover and fix it with the mounting screws (2 places). 1 - 18...
Page 38: Servo System With Auxiliary Equipment
1. FUNCTIONS AND CONFIGURATION 1.8 Servo system with auxiliary equipment To prevent an electric shock, always connect the protective earth (PE) terminal WARNING (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. (1) MR-J2S-100A or less (a) For 3-phase 200V to 230VAC or 1-phase 230VAC (Note2) 3-phase 200V...
Page 39 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC 1-phase 100V to 120VAC Options and auxiliary equipment Reference Options and auxiliary equipment Reference power supply Regenerative brake option Section 13.1.1 No-fuse breaker Section 13.2.2 Cables Section 13.2.1 Magnetic contactor Section 13.2.2 MR Configurator Power factor improving reactor Section 13.2.3...
Page 40 1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200A MR-J2S-350A or more Reference Options and auxiliary equipment Options and auxiliary equipment Reference 3-phase 200V Regenerative brake option Section 13.1.1 No-fuse breaker Section 13.2.2 to 230VAC power supply Magnetic contactor Section 13.2.2 Cables Section 13.2.1 Power factor improving reactor Section 13.2.3 MR Configurator Section 13.1.9...
Page 41 1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500A 3-phase 200V Reference Reference Options and auxiliary equipment Options and auxiliary equipment to 230VAC No-fuse breaker Section 13.2.2 Regenerative brake option Section 13.1.1 power supply Cables Section 13.2.1 Magnetic contactor Section 13.2.2 MR Configurator Power factor improving reactor Section 13.2.3 Section 13.1.9 (Servo configuration software)
Page 42 1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700A Options and auxiliary equipment Reference Options and auxiliary equipment Reference No-fuse breaker Section 13.2.2 Regenerative brake option Section 13.1.1 Cables Section 13.2.1 Magnetic contactor Section 13.2.2 3-phase 200V MR Configurator Power factor improving reactor Section 13.2.3 to 230VAC Section 13.1.9 power supply...
Page 43 1. FUNCTIONS AND CONFIGURATION (5) MR-J2S-11KA or more Options and auxiliary equipment Options and auxiliary equipment Reference Reference No-fuse breaker Section 13.2.2 Regenerative brake option Section 13.1.1 Cables Section 13.2.1 Magnetic contactor Section 13.2.2 3-phase 200V to 230VAC MR Configurator Power factor improving reactor Section 13.2.3 Section 13.1.9 power supply...
Page 44: Installation
2. INSTALLATION 2. INSTALLATION 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.
Page 45: Installation Direction And Clearances
2. INSTALLATION 2.2 Installation direction and clearances The equipment must be installed in the specified direction. Otherwise, a fault may occur. CAUTION Leave specified clearances between the servo amplifier and control box inside walls or other equipment. (1) Installation of one servo amplifier Control box Control box 40mm...
Page 46: Keep Out Foreign Materials
2. INSTALLATION (2) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
Page 47: Cable Stress
2. INSTALLATION 2.4 Cable stress (1) The way of clamping the cable must be fully examined so that flexing stress and cable's own mass stress are not applied to the cable connection. (2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables.
Page 48: Signals And Wiring
3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, switch power off, then wait for more than 15 minutes, and after the charge lamp has gone off, make sure that the voltage is safe in the tester or like.
Page 49: Standard Connection Example
3. SIGNALS AND WIRING 3.1 Standard connection example POINT Refer to Section 3.7.1 for the connection of the power supply system and to Section 3.8 for connection with the servo motor. 3.1.1 Position control mode (1) FX-10GM Positioning module Servo amplifier FX-10GM (Note 4, 9) (Note 4) CN1A...
Page 50 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.
Page 51 3. SIGNALS AND WIRING (2) AD75P (A1SD75P Positioning module AD75P Servo amplifier (A1SD75P (Note 10) 10m(32ft) max. (Note 4,9) (Note 4) CN1A CN1B Ready (Note 12) INPS (Note 7) (Note 2,5) Trouble PGO(24V) PGO(5V) Zero speed PGO COM CLEAR Limiting torque CLEAR COM PULSE F PULSE F...
Page 52 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.
Page 53: Speed Control Mode
3. SIGNALS AND WIRING 3.1.2 Speed control mode Servo amplifier (Note 4) CN1B (Note 12) (Note 4,9) (Note 7) CN1A (Note 2,5) Trouble Speed selection 1 Zero speed Limiting torque 10m(32ft) max. 10m(32ft) or less (Note 4,9) (Note 4,9) CN1B CN1A (Note 3, 6) Emergency stop Servo-on...
Page 54 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.
Page 55: Torque Control Mode
3. SIGNALS AND WIRING 3.1.3 Torque control mode Servo amplifier (Note 4) CN1B (Note 10) (Note 4,8) (Note 6) CN1A (Note 2,5) Trouble Speed selection 1 Zero speed Limiting torque 10m(32ft) max. 10m(32ft) or less (Note 4,8) (Note 4,8) CN1B CN1A (Note 3) Emergency stop Servo-on...
Page 56 3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the (terminal marked ) servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.
Page 57: Internal Connection Diagram Of Servo Amplifier
3. SIGNALS AND WIRING 3.2 Internal connection diagram of servo amplifier The following is the internal connection diagram where the signal assignment has been made in the initial status in each control mode. Servo amplifier CN1B DC24V (Note1) (Note1) CN1A CN1A COM COM COM Approx.
Page 58: I/O Signals
3. SIGNALS AND WIRING 3.3 I/O signals 3.3.1 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. Refer to the next page for CN1A and CN1B signal assignment. (1) MR-J2S-700A or less CN1A CN1B MITSUBISHI...
Page 59 3. SIGNALS AND WIRING (2) MR-J2S-11KA or more MITSUBISHI CN1A Same as the one of the MR-J2S-700A or less. CN1B Same as the one of the MR-J2S-700A or less. CHARGE CON2 For maker adjustment. Keep this open. The connector frames are connected with the PE (earth) terminal inside the servo amplifier.
Page 60 3. SIGNALS AND WIRING (3) CN1A and CN1B signal assignment The signal assignment of connector changes with the control mode as indicated below; For the pins which are given parameter No.s in the related parameter column, their signals can be changed using those parameters.
Page 61 3. SIGNALS AND WIRING (4) Symbols and signal names Symbol Signal name Symbol Signal name Servo-on Limiting speed Forward rotation stroke end Ready Reverse rotation stroke end Zero speed Clear In position Speed selection 1 Speed reached Speed selection 2 Trouble Proportion control Warning...
Page 62: Signal Explanations
3. SIGNALS AND WIRING 3.3.2 Signal explanations For the I/O interfaces (symbols in I/O division column in the table), refer to Section 3.6.2. In the control mode field of the table P : Position control mode, S: Speed control mode, T: Torque control mode : Denotes that the signal may be used in the initial setting status.
Page 63 3. SIGNALS AND WIRING Control Connec- mode Signal Symbol tor pin Functions/Applications division External torque CN1B Turn TL off to make Internal torque limit 1 (parameter No. 28) DI-1 limit selection valid, or turn it on to make Analog torque limit (TLA) valid. For details, refer to (5), Section 3.4.1.
Page 64 3. SIGNALS AND WIRING Connec- Control mode Signal Symbol tor pin Functions/Applications division Speed selection 1 CN1A DI-1 Used to select the command speed for operation. When using SP3, make it usable by making the setting of parameter No.
Page 65 3. SIGNALS AND WIRING Control Connec- Signal Symbol tor pin Functions/Applications mode division Proportion CN1B Connect PC-SG to switch the speed amplifier from the DI-1 control 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.
Page 66 3. SIGNALS AND WIRING Control Connec- mode Signal Symbol tor pin Functions/Applications division Control change CN1B DI-1 Refer to Used to select the control mode in the position/speed control Functions/ change mode. Appli- cations. (Note) LOP Control mode Position Speed...
Page 67 3. SIGNALS AND WIRING (2) Output signals Control Connec- mode Signal Symbol tor pin Functions/Applications division Trouble CN1B ALM turns off when power is switched off or the protective circuit DO-1 is activated to shut off the base circuit. Without alarm occurring, ALM turns on within about 1s after power-on.
Page 68 3. SIGNALS AND WIRING Control Connec- mode Signal Symbol tor pin Functions/Applications division Alarm code ACD 0 CN1A To use this signal, set " 1 " in parameter No.49. DO-1 This signal is output when an alarm occurs. When there is no ACD 1 CN1A alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
Page 69 3. SIGNALS AND WIRING Control Connector pin No. mode Signal Symbol Functions/Applications division 7kW or 11kW or less more Encoder Z-phase CN1A CN1A Outputs the zero-point signal of the encoder. One pulse is DO-2 pulse output per servo motor revolution. OP turns on when the (Open collector) zero-point position is reached.
Page 70 3. SIGNALS AND WIRING (4) Power supply Control Connector pin No. mode Signal Symbol Functions/Applications I/O division 7kW or 11kW or P S T less more I/F internal CN1B CN1B Used to output 24V 10% to across VDD-SG. power supply When using this power supply for digital interface, connect it with COM.
Page 71: Detailed Description Of The Signals
3. SIGNALS AND WIRING 3.4 Detailed description of the signals 3.4.1 Position control mode (1) Pulse train input (a) Input pulse waveform selection Command pulses may be input in any of three different forms, for which positive or negative logic can be chosen.
Page 72 3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collector system Connect as shown below: Servo amplifier Approx. 1.2k Approx. 1.2k The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (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.
Page 73 3. SIGNALS AND WIRING 2) Differential line driver system Connect as shown below: Servo amplifier The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows.
Page 74 3. SIGNALS AND WIRING (2) In-position (INP) PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset in-position range (parameter No. 5). INP-SG may remain connected when low-speed operation is performed with a large value set as the in-position range. Servo-on (SON) Alarm In-position range...
Page 75 3. SIGNALS AND WIRING (5) Torque limit If the torque limit is canceled during servo lock, the servomotor may suddenly CAUTION rotate according to position deviation in respect to the command position. (a) Torque limit and torque By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation.
Page 76: Speed Control Mode
3. SIGNALS AND WIRING 3.4.2 Speed control mode (1) Speed setting (a) Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command (VC). A relationship between the analog speed command (VC) applied voltage and the servo motor speed is shown below: The maximum speed is achieved at 10V.
Page 77 3. SIGNALS AND WIRING (b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC). (Note) External input signals Speed command value Analog speed command (VC)
Page 78: Torque Control Mode
3. SIGNALS AND WIRING 3.4.3 Torque control mode (1) Torque control (a) Torque command and torque A relationship between the applied voltage of the analog torque command (TC) and the torque by the servo motor is shown below. The maximum torque is generated at 8V. Note that the torque at 8V input can be changed with parameter No.
Page 79 3. SIGNALS AND WIRING (b) Analog torque command offset Using parameter No. 30, the offset voltage of 999 to 999mV can be added to the TC applied voltage as shown below. Max. torque Parameter No.30 offset range 999 to 999mV 8( 8) TC applied voltage [V] (2) Torque limit...
Page 80 3. SIGNALS AND WIRING (b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection 1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the speed limit command (VLA), as indicated below.
Page 81: Position/Speed Control Change Mode
3. SIGNALS AND WIRING 3.4.4 Position/speed control change mode Set "0001" in parameter No. 0 to switch to the position/speed control change mode. This function is not available in the absolute position detection system. (1) Control change (LOP) Use control change (LOP) to switch between the position control mode and the speed control mode from an external contact.
Page 82 3. SIGNALS AND WIRING (3) Speed setting in speed control mode (a) Speed command and speed The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed set in the applied voltage of the analog speed command (VC). A relationship between analog speed command (VC) applied voltage and servo motor speed and the rotation directions determined by the forward rotation start (ST1) and reverse rotation start (ST2) are as in (a), (1) in section 3.4.2.
Page 83: Speed/Torque Control Change Mode
3. SIGNALS AND WIRING 3.4.5 Speed/torque control change mode Set "0003" in parameter No. 0 to switch to the speed/torque control change mode. (1) Control change (LOP) Use control change (LOP) to switch between the speed control mode and the torque control mode from an external contact.
Page 84 3. SIGNALS AND WIRING (4) Speed limit in torque control mode (a) Speed limit value and speed The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is as in (a), (3) in section 3.4.3.
Page 85: Torque/Position Control Change Mode
3. SIGNALS AND WIRING 3.4.6 Torque/position control change mode Set "0005" in parameter No. 0 to switch to the torque/position control change mode. (1) Control change (LOP) Use control change (LOP) to switch between the torque control mode and the position control mode from an external contact.
Page 86: Alarm Occurrence Timing Chart
3. SIGNALS AND WIRING 3.5 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting CAUTION operation. As soon as an alarm occurs, turn off Servo-on (SON) and power off the main circuit.
Page 87: Interfaces
3. SIGNALS AND WIRING 3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line. CN1A CN1B DC24V CN1A CN1B ALM .etc DO-1 SON, etc. DI-1 (Note) PG NG PP NP Isolated 15VDC 10% 30mA P15R LA etc.
Page 88: Detailed Description Of The Interfaces
3. SIGNALS AND WIRING 3.6.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.3.2. Refer to this section and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.
Page 89 3. SIGNALS AND WIRING (b) Lamp load For use of internal power supply For use of external power supply Servo amplifier Servo amplifier 24VDC Do not connect VDD-COM. 24VDC 24VDC ALM, etc. ALM, etc. (3) Pulse train input interface DI-2 Provide a pulse train signal in the open collector or differential line driver system.
Page 90 3. SIGNALS AND WIRING (b) Differential line driver system 1) Interface Servo amplifier Max. input pulse frequency 500kpps 10m (393.70in) or less PP(NP) About 100 PG(NG) Am26LS31 or equivalent 2) Conditions of the input pulse tLH tHL 0.1 s PP PG tc 1 s tF 3 s NP NG...
Page 91 3. SIGNALS AND WIRING (b) Differential line driver system 1) Interface Max. output current: 35mA Servo amplifier Servo amplifier Am26LS32 or equivalent High-speed photocoupler (LB, LZ) (LB, LZ) (LBR, LZR) (LBR, LZR) 2) Output pulse Servo motor CCW rotation The time cycle (T) is determined by the setting of the parameter No.
Page 92 3. SIGNALS AND WIRING (7) Source input interface When using the input interface of source type, all Dl-1 input signals are of source type. Source output cannot be provided. For use of internal power supply For use of external power supply Servo amplifier Servo amplifier R: Approx.
Page 93: Input Power Supply Circuit
3. SIGNALS AND WIRING 3.7 Input power supply circuit When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. CAUTION Use the trouble signal to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
Page 94 3. SIGNALS AND WIRING (2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply Emergency stop Power supply Servo amplifier 1-phase 100 to 120VAC or 1-phase 230VAC (Note) Emergency stop Servo-on Trouble Note. Not provided for 1-phase 100 to 120VAC. 3 - 47...
Page 95: Terminals
3. SIGNALS AND WIRING 3.7.2 Terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to Section 11.1. Connection Target Symbol Description (Application) Supply L and L with the following power: For 1-phase 230VAC, connect the power supply to L and leave L open.
Page 96: Power-On Sequence
3. SIGNALS AND WIRING 3.7.3 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with the main circuit power supply (three-phase 200V: L , single-phase 230V, single-phase 100V: ).
Page 97: Connection Of Servo Amplifier And Servo Motor
3. SIGNALS AND WIRING 3.8 Connection of servo amplifier and servo motor 3.8.1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric WARNING shock. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.
Page 98 3. SIGNALS AND WIRING Servo motor Connection diagram Servo amplifier Servo motor U (Red) V (White) Motor W (Black) (Green) 24VDC (Note 1) HC-KFS053 (B) to 73 (B) (Note 2) HC-MFS053 (B) to 73 (B) Electromagnetic HC-UFS13 (B) to 73 (B) brake To be shut off when servo-off or Trouble (ALM)
Page 99: I/O Terminals
3. SIGNALS AND WIRING 3.8.3 I/O terminals (1) HC-KFS HC-MFS HC-UFS3000r/min series Encoder connector signal arrangement Power supply lead 4-AWG19 0.3m (0.98ft.) Power supply connector (Molex) Without electromagnetic brake 5557-04R-210 (receptacle) Encoder cable 0.3m (0.98ft.) 5556PBTL (Female terminal) With connector 1-172169-9 With electromagnetic brake (Tyco Electronics) 5557-06R-210 (receptacle)
Page 100 3. SIGNALS AND WIRING (2) HC-SFS HC-RFS HC-UFS2000 r/min series Servo motor side connectors Servo motor Electromagnetic For power supply For encoder brake connector HC-SFS81(B) The connector CE05-2A22- HC-SFS52(B) to 152(B) for power is 23PD-B HC-SFS53(B) to 153(B) shared. HC-SFS121(B) to 301(B) CE05-2A24- HC-SFS202(B) to 502 (B) 10PD-B...
Page 101: Servo Motor With Electromagnetic Brake
3. SIGNALS AND WIRING 3.9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal. Contacts must be open when Circuit must be servo-off, when an trouble (ALM) opened during...
Page 102 3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on (SON) command (from controller) ON/OFF Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.
Page 103 3. SIGNALS AND WIRING (c) Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed Electromagnetic brake (10ms) Base circuit Invalid(ON) Electromagnetic brake Electromagnetic operation delay time brake interlock (MBR) Valid(OFF) No(ON) Trouble (ALM) Yes(OFF) (d) Both main and control circuit power supplies off Dynamic brake Dynamic brake (10ms)
Page 104: Grounding
3. SIGNALS AND WIRING 3.10 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box. The servo amplifier switches the power transistor on-off to supply power to the servo motor.
Page 105: Servo Amplifier Terminal Block (Te2) Wiring Method
3. SIGNALS AND WIRING 3.11 Servo amplifier terminal block (TE2) wiring method POINT Refer to Table 13.1 (2) and (4) in Section 13.2.1 for the wire sizes used for wiring. 3.11.1 For the servo amplifier produced later than Jan. 2006 (1) Termination of the cables (a) Solid wire After the sheath has been stripped, the cable can be used as it is.
Page 106 3. SIGNALS AND WIRING (2) Termination of the cables (a) When the wire is inserted directly Insert the wire to the end pressing the button with a small flat blade screwdriver or the like. Button Small flat blade When removing the short-circuit bar screwdriver or the like from across P-D, press the buttons of P and D alternately pulling the...
Page 107: For The Servo Amplifier Produced Earlier Than Dec. 2005
3. SIGNALS AND WIRING 3.11.2 For the servo amplifier produced earlier than Dec. 2005 (1) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. Approx. 10mm (0.39inch) Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole.
Page 108: Instructions For The 3M Connector
3. SIGNALS AND WIRING 3.12 Instructions for the 3M connector When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core...
Page 109: Power Line Circuit Of The Mr-J2S-11Ka To Mr-J2S-22Ka
3. SIGNALS AND WIRING 3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA When the servo amplifier has become faulty, switch power off on the amplifier power side. Continuous flow of a large current may cause a fire. CAUTION 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.
Page 110: Servo Amplifier Terminals
3. SIGNALS AND WIRING 3.13.2 Servo amplifier terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to Section 11.1. Connection Target Symbol Description (Application) Main circuit power supply Supply L and L with three-phase 200 to 230VAC, 50/60Hz power.
Page 111: Servo Motor Terminals
3. SIGNALS AND WIRING 3.13.3 Servo motor terminals Terminal box Encoder connector Signal Signal Encoder connector MS3102A20-29P signal arrangement MS3102A20-29P Terminal box inside (HA-LFS11K2) Thermal sensor terminal block (OHS1 OHS2) M4 screw Motor power supply Cooling fan terminal block terminal block (BU BV) M4screw (U V W) M6 screw Earth terminal...
Page 112 3. SIGNALS AND WIRING Terminal box inside (HA-LFS15K2 HA-LFS-22K2) Thermal sensor terminal block (OHS1, OHS2) Cooling fan terminal M4 screw block (BU, BV, BW) M4 screw Terminal block signal arrangement OHS1OHS2 Encoder connector Moter power supply MS3102A20-29P terminal block (U, V, W) M8 screw Earth terminal M6 screw Power supply connection screw size Servo motor...
Page 113 3. SIGNALS AND WIRING MEMO 3 - 66...
Page 114: Operation
4. OPERATION 4. OPERATION 4.1 When switching power on for the first time Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (L ) of the servo amplifier. (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.
Page 115: Startup
4. OPERATION 4.2 Startup Do not operate the switches with wet hands. You may get an electric shock. WARNING 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 CAUTION...
Page 116 4. OPERATION (4) Servo-on Switch the servo-on in the following procedure: 1) Switch on main circuit/control circuit power supply. 2) Switch on the servo-on (SON). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.
Page 117: Speed Control Mode
4. OPERATION 4.2.3 Speed control mode (1) Power on 1) Switch off the servo-on (SON). 2) When main circuit power/control circuit power is switched on, the display shows "r (servo motor speed)", and in two second later, shows data. (2) Test operation Using jog operation in the test operation mode, operate at the lowest speed to confirm that the servo motor operates.
Page 118: Torque Control Mode
4. OPERATION (6) Stop In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake. Note that simultaneous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation start (ST1) or reverse rotation start (ST2) has the same stop pattern as described below.
Page 119: Multidrop Communication
4. OPERATION (4) Servo-on Switch the servo-on in the following procedure: 1) Switch on main circuit/control circuit power supply. 2) Switch on the servo-on (SON). When placed in the servo-on status, the servo amplifier is ready to operate. (5) Start Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed.
Page 120: Parameters
5. PARAMETERS 5. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. 5.1 Parameter list 5.1.1 Parameter write inhibit POINT After setting the parameter No. 19 value, switch power off, then on to make that setting valid.
Page 121: Lists
5. PARAMETERS 5.1.2 Lists POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. The symbols in the control mode column of the table indicate the following modes: P : Position control mode S : Speed control mode...
Page 122 5. PARAMETERS Control Initial Customer No. Symbol Name Unit mode value setting *OP2 Function selection 2 0000 *OP3 Function selection 3 (Command pulse selection) 0000 *OP4 Function selection 4 P S T 0000 Feed forward gain Zero speed P S T r/min Analog speed command maximum speed (r/min)
Page 123 5. PARAMETERS Control Initial Customer No. Symbol Name Unit mode value setting For manufacturer setting 0000 *OP6 Function selection 6 P S T 0000 For manufacturer setting 0000 *OP8 Function selection 8 P S T 0000 *OP9 Function selection 9 P S T 0000 *OPA...
Page 124 5. PARAMETERS (2) Details list Initial Setting Control Class No. Symbol Name and function Unit value range mode Control mode, regenerative brake option selection *STY 0000 Refer to P S T Used to select the control mode and regenerative brake option. Name function column.
Page 125 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *OP1 Function selection 1 0002 P S T Refer to Used to select the input signal filter, pin CN1B-19 function and Name absolute position detection system. function.
Page 126 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Auto tuning 7kW or Refer to Used to selection the response level, etc. for execution of auto tuning. less: 0105 Name Refer to Chapter 7. 11kW or more: 0102 function...
Page 127 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode In-position range pulse Used to set the in-position (INP) output range in the command pulse increments prior to electronic gear calculation. 10000 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),...
Page 128 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Internal speed command 2 r/min 0 to Used to set speed 2 of internal speed commands. instan- taneous Internal speed limit 2 permi- Used to set speed 2 of internal speed limits. ssible speed Internal speed command 3...
Page 129 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Torque command time constant Used to set the constant of a low pass filter in response to the torque command. 20000 Torque command Torque After filtered Time TQC: Torque command time constant...
Page 130 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Analog monitor output 0100 P S T Refer to Used to selection the signal provided to the analog monitor (MO1) Name analog monitor (MO2) output. (Refer to Section 5.2.2) function column.
Page 131 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Status display selection 0000 P S T Refer to Used to select the status display shown at power-on. Name function Selection of status display at column.
Page 132 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *BLK Parameter write inhibit 0000 P S T Refer to Used to select the reference and write ranges of the parameters. Name Operation can be performed for the parameters marked function Basic Expansion...
Page 133 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *OP3 Function selection 3 (Command pulse selection) 0000 Refer to Used to select the input form of the pulse train input signal. Name (Refer to Section 3.4.1.) function column.
Page 134 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode 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.
Page 135 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Analog speed command offset Depends Used to set the offset voltage of the analog speed command (VC). on servo For example, if CCW rotation is provided by switching on forward amplifier rotation start (ST1) with 0V applied to VC, set a negative value.
Page 136 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Speed differential compensation Used to set the differential compensation. Made valid when the proportion control (PC) is switched on. 1000 For manufacturer setting Do not change this value by any means. *DIA Input signal automatic ON selection 0000...
Page 137 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *DI2 Input signal selection 2 (CN1B-5) 0111 P S T Refer to This parameter is unavailable when parameter No.42 is set to assign Name the control change (LOP) to CN1B-pin 5. Allows any input signal to be assigned to CN1B-pin 5.
Page 138 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Input signal selection 4 (CN1A-8) *DI4 0665 P S T Refer to Allows any input signal to be assigned to CN1A-pin 8. Name The assignable signals and setting method are the same as in input signal selection 2 (parameter No.
Page 139 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *DO1 Output signal selection 1 0000 P S T Refer to Used to select the connector pins to output the alarm code, warning Name (WNG) and battery warning (BWNG). function column.
Page 140 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode For manufacturer setting 0000 Do not change this value by any means. *OP6 Function selection 6 0000 P S T Refer to Used to select the operation to be performed when the reset (RES) Name switches on.
Page 141 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *OPA Function selection A 0000 Refer to Used to select the position command acceleration/deceleration time Name constant (parameter No. 7) control system. function column. Position command acceleration/deceleration time constant control 0: Primary delay 1: Linear acceleration/deceleration...
Page 142 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode Low-pass filter/adaptive vibration suppression control 0000 P S T Refer to Used to selection the low-pass filter and adaptive vibration Name suppression control. (Refer to Chapter 8.) function column.
Page 143 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode *CDP Gain changing selection 0000 Refer to Used to select the gain changing condition. (Refer to Section 8.3.) Name function column. Gain changing selection Gains are changed in accordance with the settings of parameters No.
Page 144 5. PARAMETERS Initial Setting Control Class No. Symbol Name and function Unit value range mode r/min 0 to in- Internal speed command 5 stanta- Used to set speed 5 of internal speed commands. neous permi- Internal speed limit 5 ssible Used to set speed 5 of internal speed limits.
Page 145: Detailed Description
5. PARAMETERS 5.2 Detailed description 5.2.1 Electronic gear CAUTION Wrong setting can lead to unexpected fast rotation, causing injury. POINT The guideline of the electronic gear setting range is 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.
Page 146 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 131072 65536 .................
Page 147 5. PARAMETERS (3) Setting for use of A1SD75P The A1SD75P also has the following electronic gear parameters. Normally, the servo amplifier side electronic gear must also be set due to the restriction on the command pulse frequency (differential 400kpulse/s, open collector 200kpulse/s). AP: Number of pulses per motor revolution AL: Moving distance per motor revolution AM: Unit scale factor...
Page 148 5. PARAMETERS To rotate the servo motor at 3000r/min in the open collector system (200kpulse/s), set the electronic gear as follows Input pulses [pulse/s] Servo motor speed [r/min] Pt : Servo motor resolution [pulse/rev] 3000 131072 3000 131072 3000 131072 4096 60 200000 The following table indicates the electronic gear setting example (ballscrew lead...
Page 149: Analog Monitor
5. PARAMETERS 5.2.2 Analog monitor The servo status can be output to two channels in terms of voltage. The servo status can be monitored using an ammeter. (1) Setting Change the following digits of parameter No.17: Parameter No. 17 Analog monitor (MO1) output selection (Signal output to across MO1-LG) Analog monitor (MO2) output selection (Signal output to across MO2-LG)
Page 150 5. PARAMETERS (2) Set content The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 (MO1) and the torque to analog monitor (MO2). The setting can be changed as listed below by changing the parameter No.17 value: Refer to Appendix 2 for the measurement point.
Page 151 5. PARAMETERS (3) Analog monitor block diagram 5 - 32...
Page 152: Using Forward/Reverse Rotation Stroke End To Change The Stopping Pattern
5. PARAMETERS 5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern The stopping pattern is factory-set to make a sudden stop when the forward/reverse rotation stroke end is made valid. A slow stop can be made by changing the parameter No. 22 value. Parameter No.22 Setting Stopping method Sudden stop...
Page 153: Position Smoothing
5. PARAMETERS 5.2.5 Position smoothing By setting the position command acceleration/deceleration time constant (parameter No.7), you can run the servo motor smoothly in response to a sudden position command. The following diagrams show the operation patterns of the servo motor in response to a position command when you have set the position command acceleration/deceleration time constant.
Page 154: Display And Operation
6. DISPLAY AND OPERATION 6. DISPLAY AND OPERATION 6.1 Display flowchart Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status.
Page 155: Status Display
6. DISPLAY AND OPERATION 6.2 Status display The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears.
Page 156: Status Display List
6. DISPLAY AND OPERATION 6.2.2 Status display list The following table lists the servo statuses that may be shown: Refer to Appendix 2 for the measurement point. Display Name Symbol Unit Description range Cumulative feedback pulse Feedback pulses from the servo motor encoder are counted and 99999 pulses displayed.
Page 157: Changing The Status Display Screen
6. DISPLAY AND OPERATION Display Name Symbol Unit Description range Within one-revolution The within one-revolution position is displayed in 100 pulse position high pulse increments of the encoder. The value returns to 0 when it exceeds the maximum number of 1310 pulses.
Page 158: Diagnostic Mode
6. DISPLAY AND OPERATION 6.3 Diagnostic mode Name Display Description Not ready. Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. Indicates the ON-OFF states of the external I/O signals.
Page 159 6. DISPLAY AND OPERATION Name Display Description Press the "SET" button to show the motor series ID of the servo motor currently connected. Motor series 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.
Page 160: Alarm Mode
6. DISPLAY AND OPERATION 6.4 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below.
Page 161: Parameter Mode
6. DISPLAY AND OPERATION 6.5 Parameter mode The parameters whose abbreviations are marked* are made valid by changing the setting and then switching power off once and switching it on again. Refer to Section 5.1.2. (1) Operation example The following example shows the operation procedure performed after power-on to change the control mode (parameter No.
Page 162: External I/O Signal Display
6. DISPLAY AND OPERATION 6.6 External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. Press UP once.
Page 163 6. DISPLAY AND OPERATION (a) Control modes and I/O signals Signal (Note 2) Symbols of I/O signals in control modes Related Connector Pin No. input/output parameter (Note 1) I/O CR/SP1 SP1/CR No.43 to 48 CN1A INP/SA /INP No.49 No.49 (Note 3) 4 No.43 to 48 TLC/VLC VLC/TLC...
Page 164 6. DISPLAY AND OPERATION (3) Default signal indications (a) Position control mode EMG(CN 1 B-15) Emergency stop TL (CN 1 B-9) Torque limit PC (CN 1 B-8) Proportional control CR (CN 1 A-8) Clear RES (CN 1 B-14) Reset SON(CN 1 B-5) Servo-on LSN (CN 1 B-17) Reverse rotation stroke end LSP (CN 1 B-16) Forward rotation stroke end Input signals...
Page 165: Output Signal (Do) Forced Output
6. DISPLAY AND OPERATION 6.7 Output signal (DO) forced output POINT When the servo system is used in a vertical lift application, turning on the electromagnetic brake interlock (MBR) after assigning it to pin CN1B-19 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.
Page 166: Test Operation Mode
6. DISPLAY AND OPERATION 6.8 Test operation mode The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. CAUTION Always use the servo motor alone. If any operational fault has occurred, stop operation using the emergency stop (EMG) signal.
Page 167: Jog Operation
6. DISPLAY AND OPERATION 6.8.2 Jog operation Jog operation can be performed when there is no command from the external command device. (1) Operation Connect EMG-SG to start jog operation and connect VDD-COM to use the internal power supply. Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the MR Configurator (servo configuration software), you can change the operation conditions.
Page 168: Positioning Operation
6. DISPLAY AND OPERATION 6.8.3 Positioning operation POINT The MR Configurator (servo configuration software) is required to perform positioning operation. Positioning operation can be performed once when there is no command from the external command device. (1) Operation Connect EMG-SG to start positioning operation and connect VDD-COM to use the internal power supply.
Page 169: Motor-Less Operation
6. DISPLAY AND OPERATION 6.8.4 Motor-less operation Without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals. This operation can be used to check the sequence of a host programmable controller or the like.
Page 170: General Gain Adjustment
7. GENERAL GAIN ADJUSTMENT 7. GENERAL GAIN ADJUSTMENT POINT For use in the torque control mode, you need not make gain adjustment. 7.1 Different adjustment methods 7.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1.
Page 171: Adjustment Using Mr Configurator (Servo Configuration Software)
7. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Used when you want to Interpolation made for 2 or more match the position gain axes? (PG1) between 2 or more Interpolation mode axes. Normally not used for other purposes.
Page 172 7. GENERAL GAIN ADJUSTMENT 7.2 Auto tuning 7.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.
Page 173: Auto Tuning Mode Operation
7. GENERAL GAIN ADJUSTMENT 7.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia Automatic setting moment Encoder Control gains Command Current Servo PG1,VG1 control motor PG2,VG2,VIC Current feedback Real-time auto Set 0 or 1 to turn on. Position/speed tuning section feedback...
Page 174: Adjustment Procedure By Auto Tuning
7. GENERAL GAIN ADJUSTMENT 7.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.
Page 175: Response Level Setting In Auto Tuning Mode
7. GENERAL GAIN ADJUSTMENT 7.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No.2) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration.
Page 176: Manual Mode 1 (Simple Manual Adjustment)
7. GENERAL GAIN ADJUSTMENT 7.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 7.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.
Page 177 7. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed control gain 2 (parameter No. 37) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression: Speed control gain 2 setting Speed loop response...
Page 178 7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (parameter No. 6) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling.
Page 179: Interpolation Mode
7. GENERAL GAIN ADJUSTMENT 7.4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 2 and speed control gain 2 which determine command trackability are set manually and the other parameter for gain adjustment are set automatically.
Page 180: Differences In Auto Tuning Between Melservo-J2 And Melservo-J2-Super
7. GENERAL GAIN ADJUSTMENT 7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super 7.5.1 Response level setting To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level setting range from the MELSERVO-J2 series. The following table lists comparison of the response level setting.
Page 181 7. GENERAL GAIN ADJUSTMENT MEMO 7 - 12...
Page 182: Special Adjustment Functions
8. SPECIAL ADJUSTMENT FUNCTIONS 8. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 7. If a mechanical system has a natural resonance point, increasing the servo system response level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
Page 183 8. SPECIAL ADJUSTMENT FUNCTIONS You can use the machine resonance suppression filter 1 (parameter No. 58) and machine resonance suppression filter 2 (parameter No. 59) to suppress the vibration of two resonance frequencies. Note that if adaptive vibration suppression control is made valid, the machine resonance suppression filter 1 (parameter No.
Page 184: Adaptive Vibration Suppression Control
8. SPECIAL ADJUSTMENT FUNCTIONS POINT If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.
Page 185: Low-Pass Filter
8. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (parameter No.60). Parameter No. 60 Adaptive vibration suppression control selection Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 (parameter No. 58) invalid. 0: Invalid 1: Valid Machine resonance frequency is always detected to...
Page 186: Gain Changing Function
8. SPECIAL ADJUSTMENT FUNCTIONS 8.5 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation. 8.5.1 Applications This function is used when: (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.
Page 187: Parameters
8. SPECIAL ADJUSTMENT FUNCTIONS 8.5.3 Parameters When using the gain changing function, always set " " in parameter No.2 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.
Page 188 8. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. 6, 34 to 38 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and speed integral compensation to be changed.
Page 189: Gain Changing Operation
8. SPECIAL ADJUSTMENT FUNCTIONS 8.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. Abbreviation Name Setting Unit Position control gain 1 rad/s Speed control gain 1 1000 rad/s Ratio of load inertia moment to...
Page 190 8. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Name Setting Unit Position control gain 1 rad/s Speed control gain 1 1000 rad/s Ratio of load inertia moment to 0.1 times servo motor inertia moment Position control gain 2 rad/s Speed control gain 2...
Page 191 8. SPECIAL ADJUSTMENT FUNCTIONS MEMO 8 - 10...
Page 192: Inspection
9. INSPECTION 9. INSPECTION 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. WARNING Any person who is involved in inspection should be fully competent to do the work.
Page 193 9. INSPECTION MEMO 9 - 2...
Page 194: Troubleshooting
10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 Trouble at start-up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable. POINT Using the MR Configurator (servo configuration software), you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up.
Page 195 10. TROUBLESHOOTING Start-up sequence Fault Investigation Possible cause Reference Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7 (speed fluctuations) following procedure: are large at low 1. Increase the auto tuning speed. response level. 2. Repeat acceleration and deceleration several times to complete auto tuning.
Page 196 10. TROUBLESHOOTING (2) How to find the cause of position shift Positioning unit Servo amplifier (a) Output pulse Electronic gear (parameters No. 3, 4) Machine counter Servo motor (d) Machine stop position M (b) Cumulative command pulses (C) Servo-on (SON), stroke end (LSP/LSN) input Encoder...
Page 197: Speed Control Mode
10. TROUBLESHOOTING 10.1.2 Speed control mode Start-up sequence Fault Investigation Possible cause Reference Power on LED is not lit. Not improved if connectors 1. Power supply voltage fault LED flickers. CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty. are disconnected.
Page 198: Torque Control Mode
10. TROUBLESHOOTING 10.1.3 Torque control mode Start-up sequence Fault Investigation Possible cause Reference Power on LED is not lit. Not improved if connectors 1. Power supply voltage fault LED flickers. CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty. are disconnected.
Page 199: When Alarm Or Warning Has Occurred
10. TROUBLESHOOTING 10.2 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) and turn off the servo-on (SON) at occurrence of an alarm. 10.2.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 10.2.2 or 10.2.3 and take the appropriate action.
Page 200: Remedies For Alarms
10. TROUBLESHOOTING 10.2.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase (AL.25) occurred, always make home position setting CAUTION again.
Page 201 10. TROUBLESHOOTING Display Name Definition Cause Action AL.15 Memory error 2 EEP-ROM fault 1. Faulty parts in the servo amplifier Change the servo amplifier. Checking method Alarm (AL.15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
Page 202 10. TROUBLESHOOTING Display Name Definition Cause Action AL.25 Absolute Absolute position 1. Reduced voltage of super capacitor After leaving the alarm occurring for a few position erase data in error in encoder minutes, switch power off, then on again. Always make home position setting again. 2.
Page 203 10. TROUBLESHOOTING Display Name Definition Cause Action AL.32 Overcurrent Current that flew is 1. Short occurred in servo amplifier Correct the wiring. higher than the output phases U, V and W. permissible current 2. Transistor (IPM) of the servo Change the servo amplifier. of the servo amplifier faulty.
Page 204 10. TROUBLESHOOTING Display Name Definition Cause Action AL.45 Main circuit Main circuit device 1. Servo amplifier faulty. Change the servo amplifier. device overheat overheat 2. The power supply was turned on The drive method is reviewed. and off continuously by overloaded status.
Page 205 10. TROUBLESHOOTING Display Name Definition Cause Action AL.52 Error excessive The difference 1. Acceleration/deceleration time Increase the acceleration/deceleration between the model constant is too small. time constant. (Note) position and the 2. Torque limit value (parameter Increase the torque limit value. actual servomotor No.28) is too small.
Page 206: Remedies For Warnings
10. TROUBLESHOOTING 10.2.3 Remedies for warnings If an absolute position counter warning (AL.E3) occurred, always make home CAUTION 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.
Page 207 10. TROUBLESHOOTING Display Name Definition Cause Action AL.E5 ABS time-out 1. PC lader program wrong. Contact the program. warning 2. Reverse rotation start (ST2) Limiting Connect properly. torque (TLC) improper wiring AL.E6 Servo emergency EMG is off. External emergency stop was made valid. Ensure safety and deactivate stop warning (EMG was turned off.)
Page 208: Outline Dimension Drawings
11. OUTLINE DIMENSION DRAWINGS 11. OUTLINE DIMENSION DRAWINGS 11.1 Servo amplifiers (1) MR-J2S-10A to MR-J2S-60A MR-J2S-10A1 to MR-J2S-40A1 [Unit: mm] ([Unit: in]) Approx.70 (2.76) 135 (5.32) 6 ( 0.24) mounting hole Terminal layout (Terminal cover open) MITSUBISHI MITSUBISHI OPEN OPEN Name plate (Note) PE terminal...
Page 209 11. OUTLINE DIMENSION DRAWINGS (2) MR-J2S-70A MR-J2S-100A [Unit: mm] 6 ( 0.24) 70(2.76) ([Unit: in]) mounting hole Approx.70(2.76) 190(7.48) Terminal layout (0.87) (Terminal cover open) MITSUBISHI MITSUBISHI OPEN OPEN Name plate PE terminal 6(0.24) 6(0.24) (0.87) (1.65) 6(0.24) Mass Servo amplifier [kg]([lb]) MR-J2S-70A (3.75)
Page 210 11. OUTLINE DIMENSION DRAWINGS (3) MR-J2S-200A MR-J2S-350A [Unit: mm] ([Unit: in]) Approx.70 6 ( 0.24) (2.76) 195(7.68) 90(3.54) mounting hole 78(3.07) (0.24) Terminal layout MITSUBISHI MITSUBISHI PE terminal Fan air orientation Mass Servo amplifier [kg]([lb]) MR-J2S-200A MR-J2S-350A (4.41) Terminal signal layout PE terminals Mounting Screw Screw Size:M5...
Page 211 11. OUTLINE DIMENSION DRAWINGS (4) MR-J2S-500A [Unit: mm] 2- 6( 0.24) mounting hole ([Unit: in]) Approx. (0.24) (0.24) 130(5.12) 200(7.87) (2.76) 118(4.65) (0.19) 5 Terminal layout MITSUBISHI MITSUBISHI OPEN OPEN OPEN N.P. N.P. 6(0.24) Fan air orientation Mass Servo amplifier [kg]([lb]) MR-J2S-500A 4.9(10.8)
Page 212 11. OUTLINE DIMENSION DRAWINGS (5) MR-J2S-700A 2- 6( 0.24) [Unit: mm] mounting hole ([Unit: in]) 200(7.87) Approx.70 180(7.09) (0.39) 160(6.23) 138(5.43) (2.76) 6(0.24) (2.44) (0.39) Terminal layout MITSUBISHI MITSUBISHI OPEN OPEN OPEN 6 (0.24) Fan air orientation Mass Servo amplifier [kg]([lb]) MR-J2S-700A 7.2(15.9)
Page 213 11. OUTLINE DIMENSION DRAWINGS (6) MR-J2S-11KA 15KA [Unit: mm] ([Unit: in]) Fan air orientation Approx. 2- 12( 0.47) mounting hole (2.95) MITSUBISHI CON2 CHARGE 12(0.47) (0.47)12 236(9.29) 260(10.24) 12(0.47) Mass Servo amplifier [kg]([lb]) MR-J2S-11KA 15(33.1) MR-J2S-15KA 16(35.3) Terminal signal layout Mounting Screw PE terminal Screw Size:M10...
Page 214 11. OUTLINE DIMENSION DRAWINGS (7) MR-J2S-22KA [Unit: mm] ([Unit: in]) Fan air orientation Approx. 2- 12( 0.47) mounting hole (2.95) MITSUBISHI CON2 CHARGE 12(0.47) (0.47)12 326(12.84) 350(13.78) 12(0.47) Mass Servo amplifier [kg]([lb]) MR-J2S-22KA 20(44.1) Terminal signal layout Mounting Screw PE terminal Screw Size:M10 Tighting torque: 26.5[N m]...
Page 215: Connectors
11. OUTLINE DIMENSION DRAWINGS 11.2 Connectors (1) Servo amplifier side <3M> (a) Soldered type Model Connector : 10120-3000VE [Unit: mm] Shell kit : 10320-52F0-008 12.0(0.47) ([Unit: in]) 14.0 (0.55) Logo, etc. are indicated here. 12.7 (0.50) Variable dimensions Connector Shell kit 10120-3000VE 10320-52F0-008 22.0(0.87)
Page 216 11. OUTLINE DIMENSION DRAWINGS (c) Insulation displacement type Model Connector : 10120-6000EL Shell kit : 10320-3210-000 [Unit: mm] ( 0.26) ([Unit: in]) 2- 0.5 20.9(0.82) Logo, etc. are indicated here. (0.02) 29.7 (1.17) (2) Bus cable connector [Unit: mm] ([Unit: in]) PCR-LS20LA1...
Page 217 11. OUTLINE DIMENSION DRAWINGS (3) Communication cable connector [Unit: mm] ([Unit: in]) Fitting fixing screw G E (max. diameter of cable used) Type 0.25 Reference DE-C1-J6-S6 34.5(1.36) 19(0.75) 24.99(0.98) 33(1.30) 6(0.24) 18(0.71) #4-40 11 - 10...
Page 218: Characteristics
12. CHARACTERISTICS 12. CHARACTERISTICS 12.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 12.1.
Page 219: Power Supply Equipment Capacity And Generated Loss
12. CHARACTERISTICS 12.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 12.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 12.1 in consideration for the worst operating conditions.
Page 220 12. CHARACTERISTICS (Note 1) (Note 2) Area required for heat dissipation Servo amplifier-generated heat[W] Servo amplifier Servo motor Power supply capacity[kVA] At rated torque With servo off HC-SFS502 42.0 HC-RFS353 29.1 HC-RFS503 42.0 MR-J2S-500A HC-UFS352 42.0 HC-UFS502 42.0 HC-LFS302 25.8 HA-LFS502 42.0 HC-SFS702...
Page 221 12. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 .
Page 222: Dynamic Brake Characteristics
12. CHARACTERISTICS 12.3 Dynamic brake characteristics Fig. 12.6 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 12.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds.
Page 223 12. CHARACTERISTICS 0.04 0.045 0.035 0.04 0.035 0.03 0.03 0.025 0.025 0.02 0.02 0.015 0.015 0.01 0.01 0.005 0.005 1000 1000 1500 2000 Speed [r/min] Speed [r/min] c. HC-SFS1000r/min series d. HC-SFS2000r/min series 0.12 0.018 0.016 0.014 0.08 0.012 0.01 0.06 0.008 0.04...
Page 224: Encoder Cable Flexing Life
12. CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. Servo amplifier Load inertia moment ratio [times] MR-J2S-10A to MR-J2S-200A...
Page 225: Inrush Currents At Power-On Of Main Circuit And Control Circuit
12. CHARACTERISTICS 12.5 Inrush currents at power-on of main circuit and control circuit The following table indicates the inrush currents (reference value) that will flow when the maximum permissible voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of Inrush Currents (A Servo Amplifier Main circuit power supply (L...
Page 226: Options And Auxiliary Equipment
13. OPTIONS AND AUXILIARY EQUIPMENT 13. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment, make sure that the charge WARNING 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. Use the specified auxiliary equipment and options.
Page 227 13. OPTIONS AND AUXILIARY EQUIPMENT (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: a.
Page 228 13. OPTIONS AND AUXILIARY EQUIPMENT Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative brake option. ER [J] Calculate the power consumption of the regenerative brake option on the basis of single-cycle operation period tf [s] to select the necessary regenerative brake option.
Page 229 13. OPTIONS AND AUXILIARY EQUIPMENT (4) Connection of the regenerative brake option POINT When using the MR-RB50 and MR-RB51, cooling by a fan is required. Please obtain a cooling fan at your discretion. The regenerative brake option will cause a temperature rise of +100 (+212 ) degrees relative to the ambient temperature.
Page 230 13. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J2S-500A MR-J2S-700A Always remove the wiring (across P-C) of the servo amplifier built-in regenerative brake resistor and fit the regenerative brake option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 are opened when the regenerative brake option overheats abnormally.
Page 231 13. OPTIONS AND AUXILIARY EQUIPMENT For the MR-RB50 MR-RB51 install the cooling fan as shown. [Unit : mm(in)] Fan installation screw hole dimensions 2-M3 screw hole (for fan installation) Terminal block Depth 10 or less (Screw hole already machined) Thermal relay Bottom 82.5 40 (1.58)
Page 232 13. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-J2S-11KA-PX to MR-J2S-22KA-PX (when using the regenerative brake option) The MR-J2S-11KA-PX to MR-J2S-22KA-PX servo amplifiers are not supplied with regenerative brake resistors. When using any of these servo amplifiers, always use the MR-RB65, 66 or 67 regenerative brake option.
Page 233 13. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawing (a) MR-RB032 MR-RB12 [Unit: mm (in)] 6 (0.24) mounting hole MR-RB 5 (0.20) Terminal block Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m](4 to 5 [lb in]) Mounting screw 1.6 (0.06) 6 (0.23) Screw size: M5 (0.79)
Page 234 13. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB50 MR-RB51 [Unit: mm (in)] Terminal block Fan mounting screw (2-M3 screw) 82.5 On opposite side (3.25) (1.93) Terminal screw: M4 Tightening torque: 1.2 [N m](10.6 [lb in]) 14 slot Mounting screw Screw : M6 Tightening torque: 5.4 [N m](47.79 [lb in]) Wind blows in the arrow direction.
Page 235: Brake Unit
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.2 Brake unit POINT The brake unit and resistor unit of other than 200V class are not applicable to the servo amplifier. The brake unit and resistor unit of the same capacity must be combined. The units of different capacities may result in damage.
Page 236 13. OPTIONS AND AUXILIARY EQUIPMENT The cables between the servo amplifier and brake unit and between the resistor unit and brake unit should be as short as possible. The cables longer than 5m(16.404ft) should be twisted. If twisted, the cables must not be longer than 10m(32.808ft). The cable size should be equal to or larger than the recommended size.
Page 237: Power Regeneration Converter
13. OPTIONS AND AUXILIARY EQUIPMENT (b) Resistor unit (FR-BR) [Unit : mm(in)] 2- D Control circuit (Note) terminals Main circuit terminals FR-BR-55K Two eye bolts are provided (as shown below). AA 5 (0.197) Eye bolt (8.031) A 5 (0.197) Note. Ventilation ports are provided in both side faces and top face. The bottom face is open. Resistor Approx.
Page 238 13. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier (Note3)Power factor improving reactor FR-BAL Power supply 3-phase 200V or 230VAC (Note2) 5m(16.4ft) or less (Note4) Ready output Alarm output R R X (Note 1) Phase detection terminals Power regeneration converter FR-RC FR-RC Operation ready...
Page 239 13. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm(in)] Mounting foot (removable) 2- D hole Mounting foot movable Rating plate Display panel Front cover window Cooling fan Heat generation area outside mounting dimension Power Approx.
Page 240: External Dynamic Brake
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.4 External dynamic brake (1) Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated, and is built in the 7kW or less servo amplifier. Since it is not built in the 11kW or more servo amplifier, purchase it separately if required.
Page 241 13. OPTIONS AND AUXILIARY EQUIPMENT Coasting Coasting Servo motor rotation Dynamic brake Dynamic brake Present Alarm Absent Base Invalid Dynamic brake Valid Short emergency stop (EMG) Open a. Timing chart at alarm occurrence b. Timing chart at emergency stop (EMG) validity 13 - 16...
Page 242 13. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline dimension drawing [Unit: mm] ([Unit: in]) (0.2) (0.2)5 100(3.94) 2.3(0.09) Terminal block 13 14 (GND) Screw : M4 Screw : M3.5 Tightening torque : 1.2 [N m](10.6 [lb in])] Tightening torque : 0.8 [N m](7 [lb in])] Mass Connection Dynamic brake...
Page 243: Cables And Connectors
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.5 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. Those indicated by broken lines in the figure are not options. Operation panel Servo amplifier Controller CN1A CN1B Personal...
Page 244 13. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Standard encoder MR-JCCBL M-L Connector: 10120-3000VE Housing : 1-172161-9 Standard cable Refer to (2) in this Shell kit: 10320-52F0-008 Connector pin : 170359-1 flexing life section. (3M or equivalent) (Tyco Electronics or equivalent) IP20 Cable clamp : MTI-0002...
Page 245 13. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application Control signal MR-J2CN1 Connector: 10120-3000VE connector set Shell kit: 10320-52F0-008 (3M or equivalent) Qty: 2 each Junction MR-J2TBL M Connector: HIF3BA-20D-2.54R Connector: 10120-6000EL For junction terminal block Refer to (Hirose Electric) Shell kit: 10320-3210-000 terminal cable...
Page 246 13. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable If you have fabricated the encoder cable, connect it correctly. CAUTION Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to Section 12.4 for the flexing life of the encoder cable. When the encoder cable is used, the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2.4 .
Page 247 13. OPTIONS AND AUXILIARY EQUIPMENT MR-JCCBL10M-L MR-JCCBL10M-H MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL30M-L MR-JCCBL50M-H MR-JCCBL5M-H Drive unit side Encoder side Drive unit side Encoder side Drive unit side Encoder side (Note) (Note) (Note) Plate Plate Plate Note. Always make connection for use in an absolute position detection system. This wiring is not needed for use in an incremental system.
Page 248 13. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors. 1) Model explanation Model: MR-JHSCBL M- Symbol Specifications Standard flexing life Long flexing life Symbol Cable length [m(ft)] 2 (6.56) 5 (16.4) 10 (32.8)
Page 249 13. OPTIONS AND AUXILIARY EQUIPMENT MR-JHSCBL2M-L MR-JHSCBL10M-L MR-JHSCBL10M-H MR-JHSCBL5M-L MR-JHSCBL2M-H MR-JHSCBL30M-L MR-JHSCBL50M-H MR-JHSCBL5M-H MR-ENCBL10M-H MR-ENCBL2M-H MR-ENCBL5M-H MR-ENCBL50M-H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side (Note1) Plate (Note2) Use of AWG24 (Less than 10m(32.8ft)) (Note1) (Note1) Note 1.
Page 250 13. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable. (a) Model definition Model : MR-CPCATCBL3M Cable length 3[m](10[ft]) (b) Connection diagram MR-CPCATCBL3M...
Page 251: Junction Terminal Block (Mr-Tb20)
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.6 Junction terminal block (MR-TB20) POINT When using the junction terminal block, you cannot use SG of CN1A-20 and CN1B-20. Use SG of CN1A-10 and CN1B-10. (1) How to use the junction terminal block Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MR- J2TBL M) as a set.
Page 252 13. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable (MR-J2TBL M) Model : MR-J2TBL Symbol Cable length[m(ft)] 0.5 (1.64) 1 (3.28) Junction terminal block side connector (Hirose Electric) Servo amplifier side (CN1A CN1B) connector (3M) HIF3BA-20D-2.54R (connector) 10120-6000EL (connector) 10320-3210-000 (shell kit) (Note) Symbol Junction terminal...
Page 253: Maintenance Junction Card (Mr-J2Cn3Tm)
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.7 Maintenance junction card (MR-J2CN3TM) POINT Cannot be used with the MR-J2S-11KA to MR-J2S-22KA. (1) Usage The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor outputs are used at the same time. Communication cable Servo amplifier Maintenance junction card (MR-J2CN3TM)
Page 254: Battery (Mr-Bat, A6Bat)
13. OPTIONS AND AUXILIARY EQUIPMENT (4) Bus cable (MR-J2HBUS Model: MR-J2HBUS M Symbol Cable length [m(ft)] 0.5 (1.64) 1 (3.28) 5 (16.4) MR-J2HBUS05M MR-J2HBUS1M MR-J2HBUS5M 10120-6000EL (connector) 10120-6000EL (connector) 10320-3210-000 (shell kit) 10320-3210-000 (shell kit) Plate Plate 13.1.8 Battery (MR-BAT, A6BAT) POINT The revision (Edition 44) of the Dangerous Goods Rule of the International Air Transport Association (IATA) went into effect on...
Page 255: Mr Configurator (Servo Configurations Software)
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.9 MR Configurator (Servo configurations software) The MR Configurator (servo configuration software MRZJW3-SETUP151E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications Item Description...
Page 256 13. OPTIONS AND AUXILIARY EQUIPMENT (b) Configuration diagram 1) When using RS-232C Servo amplifier Personal computer Communication cable Servo motor To RS-232C connector 2) When using RS-422 You can make multidrop connection of up to 32 axes. Servo amplifier Personal computer RS-232C/RS-422 (Note) converter...
Page 257: Power Regeneration Common Converter
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.10 Power regeneration common converter POINT For details of the power regeneration common converter FR-CV, refer to the FR-CV Installation Guide (IB(NA)0600075). Do not supply power to the main circuit power supply terminals (L1, L2, L3) of the servo amplifier.
Page 258 13. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection diagram FR-CVL FR-CV Servo amplifier Servo motor R2/L R2/L1 Three-phase S2/L S2/L2 (Note 5) 200 to 230VAC W Thermel T2/L T2/L3 relay OHS2 (Note 4) (Note 2) OHS1 T/MC1 RESET (Note 3) (Note 3) RDYB (Note1) RDYA...
Page 259 13. OPTIONS AND AUXILIARY EQUIPMENT 2) Grounding For grounding, use the wire of the size equal to or greater than that indicated in the following table, and make it as short as possible. Power regeneration common converter Grounding wire size [mm FR-CV-7.5K TO FR-CV-15K FR-CV-22K •...
Page 260 13. OPTIONS AND AUXILIARY EQUIPMENT (5) Specifications Power regeneration common converter 7.5K FR-CV- Item Total of connectable servo amplifier capacities [kW] 3.75 18.5 27.5 Maximum servo amplifier capacity [kW] Total of connectable servo motor rated currents Short-time Output Total capacity of applicable servo motors, 300% torque, 60s (Note1) rating Regenerative braking torque...
Page 261: Heat Sink Outside Mounting Attachment (Mr-Jacn)
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.11 Heat sink outside mounting attachment (MR-JACN) Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed.
Page 262 13. OPTIONS AND AUXILIARY EQUIPMENT (3) Fitting method Attachment Fit using the Servo Punched assembiling Servo amplifier hole screws. amplifier Attachment Control box a. Assembling the heat sink outside mounting attachment b. Installation to the control box (4) Outline dimension drawing (a) MR-JACN15K (MR-J2S-11KA, MR-J2S-15KA) 20 (0.787) Panel...
Page 263 13. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JACN22K (MR-J2S-22KA) 68(2.677) Panel Attachment Servo amplifer Servo amplifer Attachment Panel 326(12.835) 4- 12 Mounting hole 370(14.567) 3.2(0.126) 350(13.78) 155(6.102) 11.5 (4.134) (0.453) (10.236) 13 - 38...
Page 264: Auxiliary Equipment
13. OPTIONS AND AUXILIARY EQUIPMENT 13.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C- UL (CSA) Standard, use the products which conform to the corresponding standard. 13.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring.
Page 265 13. OPTIONS AND AUXILIARY EQUIPMENT Table 13.1 Recommended wires (Note 1) Wires [mm Servo amplifier 4) P C N 1) L 2) L 3) U V W 5) B1 B2 6) BU BV BW MR-J2S-10A(1) MR-J2S-20A(1) MR-J2S-40A(1) 1.25 (AWG16) : a 2 (AWG14) : a MR-J2S-60A MR-J2S-70A...
Page 266 13. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 13.3 Wires for option cables Characteristics of one core (Note 3) Length Core size Number Type Model Finishing...
Page 267: No-Fuse Breakers, Fuses, Magnetic Contactors
13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.2 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. Fuse Servo amplifier No-fuse breaker...
Page 268: Power Factor Improving Dc Reactors
13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.4 Power factor improving DC reactors The input power factor is improved to be about 95%. (Note 1) Terminal cover Screw size G Name plate 2-F L Notch B or less A or less Mounting foot part 5m or less Servo amplifier FR-BEL...
Page 269: Relays
13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.5 Relays The following relays should be used with the interfaces: Interface Selection example Relay used for digital input command signals (interface To prevent defective contacts , use a relay for small signal DI-1) (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less...
Page 270 13. OPTIONS AND AUXILIARY EQUIPMENT (b) Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required.
Page 271 13. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air.
Page 272 13. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. Relay Surge suppressor Surge suppressor Surge suppressor This distance should be short...
Page 273 13. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] ([Unit: in.]) Earth plate Clamp section diagram 2- 5(0.20) hole 17.5(0.69) installation hole L or less 10(0.39) 22(0.87) (Note)M4 screw 35(1.38) (0.24) Note. Screw hole for grounding. Connect it to the earth plate of the control box. Type Accessory fittings Clamp fitting...
Page 274 13. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.
Page 275: Leakage Current Breaker
13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.8 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
Page 276 13. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: Servo Servo motor amplifier HC-MFS73 MR-J2S-60A Use a leakage current breaker generally available. Find the terms of Equation (13.2) from the diagram: Ig1 20 0.1 [mA] 1000...
Page 277: Emc Filter
13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.9 EMC filter For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter Servo amplifier Mass [kg]([lb])
Page 278 13. OPTIONS AND AUXILIARY EQUIPMENT HF3040A-TM HF3050A-TM HF3060A-TMA Dimensions [mm(in)] Model HF3040A-TM (10.24) (8.27) (8.35) (6.10) (5.51) (4.92) (1.73) (5.51) (2.76) R3.25 (0.13), HF3050A-TM (11.42) (9.45) (3.94) (7.48) (6.89) (6.29) (1.73) (6.69) (3.94) length 8 (0.32) HF3060A-TMA (11.42) (9.45) (3.94) (7.48) (6.89) (6.29)
Page 279: Setting Potentiometers For Analog Inputs
13. OPTIONS AND AUXILIARY EQUIPMENT 13.2.10 Setting potentiometers for analog inputs The following variable resistors are available for use with analog inputs. (1) Single-revolution type WA2WYA2SEBK2K Ω (Japan Resistor make) Resistance Dielectric strength Insulation Mechanical Rated power Resistance Rotary torque tolerance (for 1 minute) resistance...
Page 280: Communication Functions
14. COMMUNICATION FUNCTIONS 14. COMMUNICATION FUNCTIONS This servo amplifier has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc. However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS- 422 and RS-232C with parameter No.16.
Page 281: Rs-232C Configuration
14. COMMUNICATION FUNCTIONS 14.1.2 RS-232C configuration (1) Outline A single axis of servo amplifier is operated. Servo amplifier MITSUBISHI CHARGE To CN3 RS-232C Controller such as personal computer (2) Cable connection diagram Wire as shown below. The communication cable for connection with the personal computer (MR- CPCATCBL3M) is available.
Page 282: Communication Specifications
14. COMMUNICATION FUNCTIONS 14.2 Communication specifications 14.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station.
Page 283: Parameter Setting
14. COMMUNICATION FUNCTIONS 14.2.2 Parameter setting When the RS-422/RS-232C communication function is used to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again.
Page 284: Protocol
14. COMMUNICATION FUNCTIONS 14.3 Protocol POINT Whether station number setting will be made or not must be selected if the RS-232C communication function is used. Note that choosing "no station numbers" in parameter No. 53 will make the communication protocol free of station numbers as in the MR-J2-A servo amplifiers. Since up to 32 axes may be connected to the bus, add a station number to the command, data No., etc.
Page 285 14. COMMUNICATION FUNCTIONS (2) Transmission of data request from the controller to the servo 10 frames Data Check Station number Controller side (Master station) Station number Check Servo side Data* (Slave station) 6 frames (data) (3) Recovery of communication status by time-out EOT causes the servo to return to the receive neutral status.
Page 286: Character Codes
14. COMMUNICATION FUNCTIONS 14.4 Character codes (1) Control codes Hexadecimal Personal computer terminal key operation Code name Description (ASCII code) (General) start of head ctrl start of text ctrl end of text ctrl end of transmission ctrl (2) Codes for data ASCII unit codes are used.
Page 287: Error Codes
14. COMMUNICATION FUNCTIONS 14.5 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station.
Page 288: Time-Out Operation
14. COMMUNICATION FUNCTIONS 14.7 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times.
Page 289: Initialization
14. COMMUNICATION FUNCTIONS 14.9 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after: (1) 1s or more time has elapsed after the slave station is switched on; and (2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems.
Page 290: Command And Data No. List
14. COMMUNICATION FUNCTIONS 14.11 Command and data No. list POINT If the command/data No. is the same, its data may be different from the interface and drive units and other servo amplifiers. 14.11.1 Read commands (1) Status display (Command [0][1]) Command Data No.
Page 291: Write Commands
14. COMMUNICATION FUNCTIONS (5) Current alarm (Command [0][2] [3][5]) Command Data No. Description Frame length [0][2] [0][0] Current alarm number Command Data No. Description Display item Frame length [3][5] [8][0] Status display data value and cumulative feedback pulses processing information at alarm [3][5] [8][1] servo motor speed...
Page 292 14. COMMUNICATION FUNCTIONS (5) Operation mode selection (Command [8][B]) Command Data No. Description Setting range Frame length [8][B] [0][0] Operation mode changing 0000 to 0004 0000: Exit from test operation mode 0001: Jog operation 0002: Positioning operation 0003: Motor-less operation 0004: Output signal (DO) forced output (6) External input signal disable (Command [9][0]) Command...
Page 293: Detailed Explanations Of Commands
14. COMMUNICATION FUNCTIONS 14.12 Detailed explanations of commands 14.12.1 Data processing When the master station transmits a command data No. or a command data No. data to a slave station, the servo amplifier returns a reply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc.
Page 294 14. COMMUNICATION FUNCTIONS (2) Writing the processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position.
Page 295: Status Display
14. COMMUNICATION FUNCTIONS 14.12.2 Status display (1) Status display data read When the master station transmits the data No. (refer to the following table for assignment) to the slave station, the slave station sends back the data value and data processing information. 1) Transmission Transmit command [0][1] and the data No.
Page 296: Parameter
14. COMMUNICATION FUNCTIONS 14.12.3 Parameter (1) Parameter read Read the parameter setting. 1) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No. The data No. is expressed in hexadecimal equivalent of the data No. value corresponds to the parameter number.
Page 297 14. COMMUNICATION FUNCTIONS (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.
Page 298: External I/O Pin Statuses (Dio Diagnosis)
14. COMMUNICATION FUNCTIONS 14.12.4 External I/O pin statuses (DIO diagnosis) (1) External input pin status read Read the ON/OFF statuses of the external input pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. Command Data No. [1][2] [4][0] (b) Reply The ON/OFF statuses of the input pins are sent back.
Page 299: Disable/Enable Of External I/O Signals (Dio)
14. COMMUNICATION FUNCTIONS 14.12.5 Disable/enable of external I/O signals (DIO) Inputs can be disabled independently of the external I/O signal ON/OFF. When inputs are disabled, the input signals are recognized as follows. Among the external input signals, EMG, LSP and LSN cannot be disabled.
Page 300: External Input Signal On/Off (Test Operation)
14. COMMUNICATION FUNCTIONS 14.12.6 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. Set data [9][2] [0][0] See below...
Page 301: Test Operation Mode
14. COMMUNICATION FUNCTIONS 14.12.7 Test operation mode (1) Instructions for test operation mode The test operation mode must be executed in the following procedure. If communication is interrupted for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a stop and servo-locked.
Page 302 14. COMMUNICATION FUNCTIONS (2) Jog operation Transmit the following communication commands: (a) Setting of jog operation data Item Command Data No. Data Speed [A][0] [1][0] Write the speed [r/min] in hexadecimal. Acceleration/decelerati [A][0] [1][1] Write the acceleration/deceleration time constant on time constant [ms] in hexadecimal.
Page 303: Output Signal Pin On/Off Output Signal (Do) Forced Output
14. COMMUNICATION FUNCTIONS 14.12.8 Output signal pin ON/OFF output signal (DO) forced output In the test operation mode, the output signal pins can be turned on/off independently of the servo status. Using command [9][0], disable the output signals in advance. (1) Choosing DO forced output in test operation mode Transmit command [8][B] data No.
Page 304: Alarm History
14. COMMUNICATION FUNCTIONS 14.12.9 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last alarm) to No. 5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data No.
Page 305: Current Alarm
14. COMMUNICATION FUNCTIONS 14.12.10 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. Alarm No.
Page 306: Other Commands
14. COMMUNICATION FUNCTIONS 14.12.11 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. Note that overflow will occur in the position of 16384 or more revolutions from the home position. (a) Transmission Send command [0][2] and data No.
Page 307 14. COMMUNICATION FUNCTIONS MEMO 14 - 28...
Page 308: Absolute Position Detection System
15. ABSOLUTE POSITION DETECTION SYSTEM 15. ABSOLUTE POSITION DETECTION SYSTEM If an absolute position erase alarm (AL.25) or an absoluto position counter marning CAUTION (AL.E3) has occurred, always perform home position setting again. Not doing so can cause runaway. POINT When configuring an absolute position detection system using the QD75P/D PLC, refer to the Type QD75P/QD75D Positioning Module User's Manual QD75P1/QD75P2/QD75P4, QD75D1/QD75D2/QD75D4 (SH (NA) 080058).
Page 309: Specifications
15. ABSOLUTE POSITION DETECTION SYSTEM 15.2 Specifications (1) Specification list Item Description System Electronic battery backup system 1 piece of lithium battery ( primary battery, nominal 3.6V) Battery Type: MR-BAT or A6BAT Maximum revolution range Home position 32767 rev. (Note 1) Maximum speed at power failure 500r/min (Note 2) Battery backup time Approx.
Page 310: Battery Installation Procedure
15. ABSOLUTE POSITION DETECTION SYSTEM 15.3 Battery installation procedure Before starting battery installation procedure, make sure that the charge lamp is off WARNING 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. POINT The internal circuits of the servo amplifier may be damaged by static electricity.
Page 311: Standard Connection Diagram
15. ABSOLUTE POSITION DETECTION SYSTEM 15.4 Standard connection diagram Servo amplifier CN1B-3 CN1B-13 CN1B-16 (Note 2) Stroke end in forward rotation CN1B-17 Stroke end in reverse rotation (Note 3) CN1B-7 External torque control Reset CN1B-14 CN1B-10 EMG (Note 1) Emergency stop Output CN1B-15 Electromagnetic...
Page 312: Signal Explanation
15. ABSOLUTE POSITION DETECTION SYSTEM 15.5 Signal explanation When the absolute position data is transferred, the signals of connector CN1 change as described in this section. They return to the previous status on completion of data transfer. The other signals are as described in Section 3.3.2.
Page 313: Startup Procedure
15. ABSOLUTE POSITION DETECTION SYSTEM 15.6 Startup procedure (1) Battery installation. Refer to Section 15.3 installation of absolute position backup battery. (2) Parameter setting Set "1 "in parameter No. 1 of the servo amplifier and switch power off, then on. (3) Resetting of absolute position erase (AL.25) After connecting the encoder cable, the absolute position erase (AL.25) occurs at first power-on.
Page 314: Absolute Position Data Transfer Protocol
15. ABSOLUTE POSITION DETECTION SYSTEM 15.7 Absolute position data transfer protocol POINT After switching on the ABS transfer mode (ABSM), turn on the servo-on signal (SON). When the ABS transfer mode is off, turning on the servo-on signal (SON) does not switch on the base circuit. 15.7.1 Data transfer procedure Each time the servo-on (SON) is turned ON (when the power is switched ON for example), the programmable controller reads the position data (present position) of the servo amplifier.
Page 315: Transfer Method
15. ABSOLUTE POSITION DETECTION SYSTEM 15.7.2 Transfer method The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the servo-on (SON) going OFF, an emergency stop (EMG), or alarm (ALM), is explained below. In the absolute position detection system, every time the servo-on (SON) is turned on, the ABS transfer mode (ABSM) should always be turned on to read the current position in the servo amplifier to the controller.
Page 316 15. ABSOLUTE POSITION DETECTION SYSTEM 1) The ready (RD) is turned ON when the ABS transfer mode (ABSM) is turned OFF after transmission of the ABS data. While the ready (RD) is ON, the ABS transfer mode (ABSM) input is not accepted. 2) Even if the servo-on (SON) is turned ON before the ABS transfer mode (ABSM) is turned ON, the base circuit is not turned ON until the ABS transfer mode (ABSM) is turned ON.
Page 317 15. ABSOLUTE POSITION DETECTION SYSTEM (b) Detailed description of absolute position data transfer Servo-on (programmable controller) Servo-on (SON) (Note) ABS transfer mode During transfer of ABS (ABSM) ABS request (ABSR) Send data ready (TLC) Lower Check sum Transmission (ABS) data 2 bits Upper 2 bits Note.
Page 318 15. ABSOLUTE POSITION DETECTION SYSTEM (c) Checksum The check sum is the code which is used by the programmable controller to check for errors in the received ABS data. The 6-bit check sum is transmitted following the 32-bit ABS data. At the programmable controller, calculate the sum of the received ABS data using the ladder program and compare it with the check sum code sent from the servo.
Page 319 15. ABSOLUTE POSITION DETECTION SYSTEM (2) Transmission error (a) Time-out warning(AL.E5) In the ABS transfer mode, the time-out processing shown below is executed at the servo. If a time- out error occurs, an ABS time-out warning (AL.E5) is output. The ABS time-out warning (AL.E5) is cleared when the ABS transfer mode (ABSM) changes from OFF to ON.
Page 320 15. ABSOLUTE POSITION DETECTION SYSTEM 3) ABS transfer mode finish-time time-out check If the ABS transfer mode (ABSR) is not turned OFF within 5s after the last ready to send signal (19th signal for ABS data transmission) is turned ON, it is regarded as the transmission error and the ABS time-out warning (AL.E5) is output.
Page 321 15. ABSOLUTE POSITION DETECTION SYSTEM (3) At the time of alarm reset If an alarm occurs, turn OFF the servo-on (SON) by detecting the alarm output (ALM). If an alarm has occurred, the ABS transfer mode (ABSM) cannot be accepted. In the reset state, the ABS transfer mode (ABSM) can be input.
Page 322 15. ABSOLUTE POSITION DETECTION SYSTEM (4) At the time of emergency stop reset (a) If the power is switched ON in the emergency stop state The emergency stop state can be reset while the ABS data is being transferred. If the emergency stop state is reset while the ABS data is transmitted, the base circuit is turned ON 80[ms] after resetting.
Page 323 15. ABSOLUTE POSITION DETECTION SYSTEM (b) If emergency stop is activated during servo-on The ABS transfer mode (ABSM) is permissible while in the emergency stop state. In this case, the base circuit and the ready (RD) are turned ON after the emergency stop state is reset. Servo-on (SON) Emergency stop...
Page 324: Home Position Setting
15. ABSOLUTE POSITION DETECTION SYSTEM 15.7.3 Home position setting (1) Dog type home position return Preset a home position return creep speed at which the machine will not be given impact. On detection of a zero pulse, the home position setting (CR) is turned from off to on. At the same time, the servo amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the non- volatile memory as the home position ABS data.
Page 325 15. ABSOLUTE POSITION DETECTION SYSTEM (2) Data set type home position return POINT Never make home position setting during command operation or servo motor rotation. It may cause home position sift. It is possible to execute data set type home position return when the servo off.
Page 326: Use Of Servo Motor With Electromagnetic Brake
15. ABSOLUTE POSITION DETECTION SYSTEM 15.7.4 Use of servo motor with electromagnetic brake The timing charts at power on/off and servo-on (SON) on/off are given below. Preset " 1 " in parameter No. 1 to make the electromagnetic brake interlock (MBR) usable. When the ABS transfer mode is ON, the electromagnetic brake interlock (MBR) is used as the ABS data bit 1.
Page 327: How To Process The Absolute Position Data At Detection Of Stroke End
15. ABSOLUTE POSITION DETECTION SYSTEM 15.7.5 How to process the absolute position data at detection of stroke end The servo amplifier stops the acceptance of the command pulse when stroke end (LSP LSN) is detected, clears the droop pulses to 0 at the same time, and stops the servo motor rapidly. At this time, the programmable controller keeps outputting the command pulse.
Page 328: Examples Of Use
15. ABSOLUTE POSITION DETECTION SYSTEM 15.8 Examples of use 15.8.1 MELSEC-A1S (A1SD71) (1) Instructions The absolute coordinate system (programmable controller coordinate system) of the A1SD71 (AD71) only covers the range in which the address increases (positive coordinate values) on moving away from the machine home position (the position reached in the home position return operation).
Page 329 15. ABSOLUTE POSITION DETECTION SYSTEM If the address of the machine home position is changed to any coordinate value other than "0", the programmable controller coordinate system will be as illustrated below. The power should be turned ON/OFF in the range in which the address increases on moving away from the home position.
Page 330 15. ABSOLUTE POSITION DETECTION SYSTEM (d) Slot arrangement The sequence programs presented in this section show I/O numbers (X, Y) assuming the arrangement of modules on the main base unit is as illustrated below. A1SD71 is mounted at I/O slots 0 and 1, a 16-point input module at slot 2, and 16-point output module at slot 3. If the actual arrangement of the modules differs from this arrangement, change the X and Y numbers accordingly.
Page 331 15. ABSOLUTE POSITION DETECTION SYSTEM (2) Connection diagram Servo amplifier General purpose programmable controller CN1B A1S62P Power INPUT supply AC100/200 A1SCPU A1SX40 ABS bit 0/Completion of positioning ABS bit 1/Zero speed Send data ready/Torque limit control Trouble Alarm reset Emergency stop Servo-on Home position return Operation mode I...
Page 332 15. ABSOLUTE POSITION DETECTION SYSTEM (3) Sequence program example (a) Conditions This sample program is an ABS sequence program example for a single axis (X axis). To transmit the ABS data using the OFF-to-ON change of the servo-on (SON) as the trigger. 1) When the servo-on (SON) and the GND of the power supply are shorted, the ABS data is transmitted when the power to the servo amplifier power is turned ON, or at the leading edge of the RUN signal after a PC reset operation (PC-RESET).
Page 333 15. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X axis This sequence program example assumes the following conditions: Parameters of the A1SD71-S2 positioning module 1) Unit setting pulse (PLS) 2) Travel per pulse : 1 1 pulse To select the unit other than the pulse, conversion into the unit of the feed command value per pulse is required.
Page 334 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Setting retry flag ABS data Servo-on request transmission retry control Resetting retry counter Retry flag reset request Alarm reset output Error reset Error flag Alarm reset Error flag output Servo alarm Emergency detection, alarm stop PB...
Page 335 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Saving ABS 32-bit data DMOVP Counter Check sum counter transfer mode Clearing register MOVP *1 Reading X-axis rotating Detecting absolute FROMP H0001 K7872 direction parameter position polarity and A1SD71 Rotation direction parameter WAND H0004 rotating direction...
Page 336 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Reading 4 bits K1X30 Read ABS data enabled counter Masking 2 bits WAND H0003 Adding 2 bits Reading ABS data Right rotation of A0 2 bits 32 bits DROR (2 bits 16 times) Adding check sum Counting frequency of ABS data reception...
Page 337 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) *1 A1SD71: reading home DFROP H0001 K7912 position address Check sum OK Restoring absolute Inserting constant K for conversion (Note) into the unit of feed per pulse position data Adding home position address to absolute position Detecting ABS Setting ABS coordinate error...
Page 338 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) ABS transfer retry start pulse Check sum NG Setting retry flag Retry start Retry pulse counter Retry counter ABS transfer retry control Retry wait timer (100ms) Retry flag set Resetting retry flag Retry wait timer M9039 Saving received shift data...
Page 339 15. ABSOLUTE POSITION DETECTION SYSTEM (d) X-axis control program This precludes execution of the X-axis start program while M3 (ready to send the ABS data) is OFF. Positioning X-axis start When M3 (ready to send the ABS data) command M3 mode X-axis start program is turned ON, the X-axis start command...
Page 340 15. ABSOLUTE POSITION DETECTION SYSTEM (g) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo motor must be at a stop. Set "1 1 "in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock (MBR).
Page 341 15. ABSOLUTE POSITION DETECTION SYSTEM (4) Sequence program - 2-axis control The following program is a reference example for creation of an ABS sequence program for the second axis (Y axis) using a single A1SD71 module. Create a program for the third axis in a similar manner. (a) Y-axis program Refer to the X-axis ABS sequence program and create the Y-axis program.
Page 342 15. ABSOLUTE POSITION DETECTION SYSTEM 15.8.2 MELSEC FX -32MT (FX -1PG) (2N) (2N) (1) Connection diagram (a) FX-32MT (FX-1PG) Servo amplifier FX-32MT Power supply CN1B PC-RUN ABS bit 0/Completion of positioning 3.3k DO1 4 ABS bit 1/Zero speed ZSP 19 Send data ready/Torque limit control Alarm ALM 18...
Page 343 15. ABSOLUTE POSITION DETECTION SYSTEM (b) FX -32MT (FX -1PG) Servo amplifier -32MT Power supply CN1B ABS bit 0/Completion of positioning ABS bit 1/Zero speed 3.3k ZSP 19 Send data ready/Torque limit control Alarm ALM 18 Alarm reset Servo ready CN1A Emergency stop Servo-on...
Page 344 15. ABSOLUTE POSITION DETECTION SYSTEM (2) Sequence program example (a) Conditions 1) Operation pattern ABS data transfer is made as soon as the servo-on pushbutton is turned on. After that, positioning operation is performed as shown below: Home position 300000 300000 address After the completion of ABS data transmission, JOG operation is possible using the JOG or...
Page 345 15. ABSOLUTE POSITION DETECTION SYSTEM (b) Device list X input contact Y output contact ABS bit 0 / completion of positioning Servo-on ABS bit 1 / zero speed ABS transfer mode Send ABS data ready/ torque limit control ABS request Servo alarm Alarm reset Alarm reset PB...
Page 346 15. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X-axis M8002 Setting home position address DMOV to 0 Initial pulse Setting 1PG pulse command unit 1PG max. speed: 100 kpps K100000 1PG Jog speed: 10 kpps K10000 1PG home position return K50000 speed: 50 kpps 1PG creep speed: 1 kpps...
Page 347 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Servo-on request Servo-on Retry Servo-on output Servo-on Error ABS check request flag communication error error ABS data transmission start Clearing retry counter Retry transmission start Resetting ready to send ABS data Servo-on PB Servo-on and Resetting servo-on request...
Page 348 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Alarm reset output Alarm Error flag reset PB Clearing retry counter Alarm reset Clearing ABS data receiving ZRST area Clearing ABS receive data ZRST buffer Resetting ABS data reception counter Resetting all data reception counter Servo alarm Error flag output...
Page 349 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Resetting ABS data Send data ready transfer mode ABS data 32 bits ABS request ON (2 bits 16 times) ABS data read Check sum 6 bits ABS data waiting timer 10ms T204 (2 bits 3 times) Send data...
Page 350 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) ABS data D0, D1 DMOVP K8M20 Check match Adding 1PG home position DADDP address ABS data DTOP Writing absolute position data to Setting ABS data ready Clearing check sum judging ZRST area Resetting retry flag Detecting ABS...
Page 351 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) M8000 M109 Normally M110 M111 1PG control command (not used) M112 M102 M103 Start command pulse M120 Servo Position ABS data ready start PB ready 1PG JOG command M104 Operation command control 1PG JOG command M105...
Page 352 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) M8000 K4M100 Normally Transmission of control signals FROM K3M200 Transmission of status DFROM D106 Transmission of present position D106, D107 M200 M108 Resetting start command (d) Data set type home position return After jogging the machine to the position where the home position (e.g.500) is to be set, choose the home position return mode set the home position with the home position return start (PBON).
Page 353 15. ABSOLUTE POSITION DETECTION SYSTEM (e) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo motor must be at a stop. Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock (MBR).
Page 354 15. ABSOLUTE POSITION DETECTION SYSTEM 15.8.3 MELSEC A1SD75 (1) Connection diagram Servo amplifier CN1B A1S62P 600mA Power INPUT supply AC100/200 A1SCPU A1SX40 ABS data bit 0/Positioning completion ABS data bit 1/zero speed Readying to send data/Torque limiting Trouble Alarm reset Emergency stop Servo-on Upper limit...
Page 355 15. ABSOLUTE POSITION DETECTION SYSTEM Note 1. For the dog type home position return. Need not be connected for the data set type home position return. 2. If the servo motor provided with the zero point signal is started, the A1SD75 will output the deviation counter clear (CR). Therefore, do not connect the clear (CR) of the MR-J2-A to the A1SD75 but connect it to the output module of the programmable controller.
Page 356 15. ABSOLUTE POSITION DETECTION SYSTEM (2) Sequence program example (a) Conditions 1) When the servo-on signal and power supply GND are shorted, the ABS data is transmitted at power-on of the servo amplifier or on the leading edge of the RUN signal after a PC reset operation (PC-RESET).
Page 357 15. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X axis This sequence program example assumes the following conditions: Parameters of the A1SD75-P1 positioning module 1) Unit setting pulse (PLS) 2) Travel per pulse :1 1 pulse To select the unit other than the pulse, conversion into the unit of the feed value per pulse is required.
Page 358 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Servo-on request Servo-on Reading A1SD75 1-axis RDY FROM H0000 K816 signal Masking RDY signal WAND H0001 Current position change processing instruction Current position change flag D11 K1 Processing instruction RDY signal ON judgment Servo-on Resetting ready control...
Page 359 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Initializing ABS data transmission counter ABS data transfer start Initializing checksum transmission counter Initializing checksum register Initializing ABS data register ABS transfer mode initial setting Initializing ABS data register DMOV Initializing ABS data register DMOV Resetting ABS transmission counter...
Page 360 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Reading 4 bits K1X20 Read ABS data enabled counter Masking 2 bits WAND H0003 Adding 2 bits Reading checksum 6bits (2 bits 3 times) Right rotation of A0 2 bits Counting the number of checksum data Completion of reading checksum 2 bits...
Page 361 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) ABS request reset ABS 2 bits completion Checksum 2 bits completion ABS 2 bits request ABS transfer Ready to send ABS request mode ABS data control ABS request set ABS 2 bits request 10ms delay timer T200 ABS request Ready to send ABS data...
Page 362 15. ABSOLUTE POSITION DETECTION SYSTEM (Continued from preceding page) Resetting ABS transfer mode ABS communi- Servo-on PB cation error ABS transfer mode 5s timer ABS transfer mode ABS request response 1s timer ABS transfer ABS request mode Detecting ABS ABS data send ready communication response 1s timer ABS transfer...
Page 363 15. ABSOLUTE POSITION DETECTION SYSTEM (d) X-axis program Do not execute the X-axis program while the ABS ready (M8) is off. (Note) Positioning X-axis start When "M8" (ready to send ABS data) switches on, mode command X-axis start program the X-axis start program is executed by the X-axis Ready to start command.
Page 364 15. ABSOLUTE POSITION DETECTION SYSTEM (f) Data set type home position return After jogging the machine to the position where the home position (e.g. 500) is to be set, choose the home position return mode and set the home position with the home position return start (PBON). After switching power on, rotate the servo motor more than 1 revolution before starting home position return.
Page 365 15. ABSOLUTE POSITION DETECTION SYSTEM (g) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo motor must be at a stop. Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock (MBR).
Page 366 15. ABSOLUTE POSITION DETECTION SYSTEM (3) Sequence program - 2-axis control The following program is a reference example for creation of an ABS sequence program for the second axis (Y axis) using a single A1SD75 module. Create a program for the third axis in a similar manner. (a) Y-axis program Refer to the X-axis ABS sequence program and create the Y-axis program.
Page 367 15. ABSOLUTE POSITION DETECTION SYSTEM (4) Differences between A1SD75 and A1SD71 The sequence programs shown in (2) of this section differ from those for the A1SD71 in the following portions. 1) to 20) in the following sentences indicate the numbers in the programs given in (2) of this section.
Page 368 15. ABSOLUTE POSITION DETECTION SYSTEM 6) Writing absolute position data to A1SD75 The slot number and buffer address of the X-axis current value changing area are changed from [DTOP H0001 K41 D3 K1] to [DTOP H0000 K1154 D3 K1] 14). When the current value is changed in the A1SD75, the current feed value is changed at the start of positioning data No.9003.
Page 369: Confirmation Of Absolute Position Detection Data
15. ABSOLUTE POSITION DETECTION SYSTEM 15.9 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator (servo configuration software). Crick "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen. (1) Cricking "Diagnostics" in the menu opens the sub-menu as shown below: (2) By cricking "Absolute Encoder Data"...
Page 370: Absolute Position Data Transfer Errors
15. ABSOLUTE POSITION DETECTION SYSTEM 15.10 Absolute position data transfer errors 15.10.1 Corrective actions (1) Error list The number within parentheses in the table indicates the output coil or input contact number of the A1SD71. Output coil Name Description Cause Action AD71 1PG Y11 1.
Page 371 15. ABSOLUTE POSITION DETECTION SYSTEM (2) ABS communication error (a) The OFF period of the send data ready signal output from the servo amplifier is checked. If the OFF period is 1s or longer, this is regarded as a transfer fault and the ABS communication error is generated.
Page 372: Error Resetting Conditions
15. ABSOLUTE POSITION DETECTION SYSTEM (c) To detect the ABS time-out warning (AL.E5) at the servo amplifier, the time required for the ABS request signal to go OFF after it has been turned ON (ABS request time) is checked. If the ABS request remains ON for longer than 1s, it is regarded that an fault relating to the ABS request signal or the send data ready (TLC) has occurred, and the ABS communication error is generated.
Page 373 15. ABSOLUTE POSITION DETECTION SYSTEM MEMO 15 - 66...
Page 374: App 1. Signal Arrangement Recording Sheets
Appendix App 1. Signal arrangement recording sheets (1) Position control mode CN1A CN1B P15R P15R (2) Speed control mode CN1A CN1B P15R P15R (3) Torque control mode CN1A CN1B P15R P15R App - 1...
Page 375: App 2. Status Display Block Diagram
Appendix App 2. Status display block diagram App - 2...
Page 376: App 3. Combination Of Servo Amplifier And Servo Motor
Appendix App 3. Combination of servo amplifier and servo motor The servo amplifier software versions compatible with the servo motors are indicated in the parentheses. The servo amplifiers whose software versions are not indicated can be used regardless of the versions. Servo amplifier Servo amplifier Servo motor...
Page 377 Appendix MEMO App - 4...
Page 378 REVISIONS *The manual number is given on the bottom left of the back cover. Print data *Manual number Revision SH(NA)030006-A First edition Nov.,1999 Sep.,2000 SH(NA)030006-B Addition of single-phase 100VAC specifications Compatible Servo Configuration software model name change Compliance with EC Directives 1: Review of sentence Section 1.2: Review of function block diagram Section 1.3: Moving of servo amplifier standard specifications Review of torque limit description in position control mode...
Page 379 Print data *Manual number Revision Sep.,2000 SH(NA)030006-B Section 10.2.2: Addition of description to AL.30 Addition of Cause to AL.33 Chapter 11: Changed to only outline dimensional drawing Section 11.2 (2): Addition Section 12.2 (1): Review of Note for Table 12.1 Section 12.3: Correction of dynamic brake time constant graph Chapter 13: Deletion of MR-CPC98CBL3M communication cable Section 13.1.1 (4)(c): Review of outline drawing...
Page 380 Print data *Manual number Revision Oct.,2002 SH(NA)030006-D Servo amplifier: Addition of MR-J2S-11KA, MR-J2S-15KA and MR-J2S-22KA Servo motor: Addition of HA-LFS11K2, HA-LFS15K2, HA-LFS22K2 and HC-LFS SAFETY INSTRUCTIONS: Addition of About processing of waste Addition of FOR MAXIMUM SAFETY Addition of EEP-ROM life Compliance with EC Directives 2: Addition of Note to (3) Reexamination of sentences in (4)(a) Conformance with UL/C-UL Standard: Addition of (6) Attachment of servo motor...
Page 381 Print data *Manual number Revision Oct.,2002 SH(NA)030006-D Section 13.1.3: Addition of FR-BU-55K brake unit Section 13.1.4: Addition Section 13.1.5 (1): Configuration diagram reexamination Note sentence addition Addition of connector sets and monitor cables Section 13.1.5 (2): POINT sentence addition Section 13.1.9 (2)(a): Reexamination Section 13.2.1 (1): Reexamination Section 13.2.3: Reexamination Section 13.2.4: Addition...
Page 382 Print data *Manual number Revision Jun., 2003 SH(NA)030006-E Section 13.1.4 (2): Partial connection diagram change Section 13.1.10: Addition Section 13.2.1 (1): Correction of the AWG of the recommended wire 60mm Section 13.2.10 (2) (3): Correction of the position meter model name to RRS10M202 Section 14.12.7 (2) (b): Addition of ST1 to the Forward rotation start data Addition of ST1 to the Reverse rotation start data...
Page 383 Print data *Manual number Revision Oct., 2004 SH(NA)030006-G Section 5.1.2 (2): Partial parameterNo.20 change Section 5.2.1 (1) (b): POINT sentence addition Section 10.2.2: CAUTION sectence addition,AL.12 partial Cause change,AL.52 addition of Note/change of Definition, AL.17 partial addition Section 12.1: Change of Note Section 12.3: HC-LFS series of graph is addition Section 13.1.1 (b)b.: Partial table value of reexamination Section 13.1.1 (4): Addition of POINT...
Page 384 Print data *Manual number Revision Dec., 2005 SH(NA)030006-H Section 5.1.2 (2):Addition of Note for parameter No.17 Partial reexamination of sentence for parameter No.19 Section 5.2.2:Change of sentence Section 5.2.2 (2):Addition of Note Section 6.6 (2) (a):Change of Note3 Section 10.2.1:AL. 45, 46 addition of Note Section 10.2.2:AL.
Page 385 MODEL MR-J2S-A GIJUTU SIRYOU MODEL 1CW501 CODE HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030006-H (0512) MEE Printed in Japan Specifications subject to change without notice.

This manual is also suitable for:

Melservo-j2-super series Mr-j2s-*aMr-j2s- a seriesMr-j2s-20a

Mitsubishi Electric MELSERVO MR-J2S- A Instruction Manual

1 Functions and Configuration

2 Installation

3 Signals and Wiring

4 Operation

5 Parameters

6 Display and Operation

7 General Gain Adjustment

8 Special Adjustment Functions

9 Inspection

10 Troubleshooting

11 Outline Dimension Drawings

12 Characteristics

13 Options and Auxiliary Equipment

14 Communication Functions

15 Absolute Position Detection System

Appendix

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Summary of Contents for Mitsubishi Electric MELSERVO MR-J2S- A