General-Purpose AC Servo J2-Super Series SSCNET Compatible MR-J2S- B Servo Amplifier Instruction Manual B
Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.
1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 10 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. Do not attempt to wire the servo amplifier and servo motor until they have been installed.
. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the motor by the cables, shaft or encoder. Do not hold the front cover to transport the controller. The controller may drop.
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. For safety of personnel, always cover rotating and moving parts. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load.
(4) Usage CAUTION Provide a forced stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc.
(6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative. (7) Disposal CAUTION Dispose of the product as general industrial waste.
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.
(4) Power supply (a) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section. (b) When supplying interface power from external, use a 24VDC power supply which has been insulation-reinforced in I/O.
(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 12.2.2. (b) The sizes of the cables described in Section 12.2.1 meet the following requirements. To meet the other requirements, follow Table 5 and Appendix C in EN60204-1. Ambient temperature: 40 (104) [ ( )] Sheath: PVC (polyvinyl chloride) Installed on wall surface or open table tray (c) Use the EMC filter for noise reduction.
CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier Servo motor :MR-J2S-10B to MR-J2S-700B MR-J2S-10B1 to MR-J2S-40B1 :HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS (2) Installation Install a fan of 100CFM air flow 10.16 cm (4 in) above the servo amplifier or provide cooling of at least equivalent capability.
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-18 1.1 Introduction.............................................................................................................................................. 1- 1 1.2 Function block diagram .......................................................................................................................... 1- 2 1.3 Servo amplifier standard specifications .............................................................................................
4.2 Start up..................................................................................................................................................... 4- 2 4.3 Servo amplifier display ........................................................................................................................... 4- 4 4.4 Test operation mode ................................................................................................................................ 4- 6 5.
11. CHARACTERISTICS 11- 1 to 11- 8 11.1 Overload protection characteristics ................................................................................................... 11- 1 11.2 Power supply equipment capacity and generated loss .................................................................... 11- 3 11.3 Dynamic brake characteristics........................................................................................................... 11- 5 11.4 Encoder cable flexing life .................
Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual. 1. INTRODUCTION 2. INSTALLATION 3. CONNECTORS USED FOR SERVO MOTOR WIRING 4. INSPECTION 5. SPECIFICATIONS 6. CHARACTERISTICS 7. OUTLINE DIMENSION DRAWINGS 8.
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 is connected with a servo system controller or similar device via a serial bus (SSCNET) and the servo amplifier reads position data directly to perform operation.
1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below.
1. FUNCTIONS AND CONFIGURATION 1.
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 corresponding chapters and sections. Function Description Refer to High-resolution encoder High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder. Absolute position detection system Merely setting a home position once makes home position return unnecessary Chapter 13 at every power-on.
1. FUNCTIONS AND CONFIGURATION 1.5 Model code definition (1) Rating plate MITSUBISHI MODEL AC SERVO AC SERVO Model MR-J2S-60B Capacity POWER : 600W POWER INPUT : 3.2A 3PH 1PH200-230V 50Hz 3PH 1PH200-230V 60Hz 5.5A 1PH 230V 50/60Hz OUTPUT : 170V 0-360Hz 3.
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.
1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) MR-J2S-100B or less Name/Application Refer to Battery holder Section13.3 Contains the battery for absolute position data backup. Battery connector (CON1) Used to connect the battery for absolute position data backup. Display The two-digit, seven-segment LED shows the servo status and alarm number. Section13.3 Chapter4 Axis select switch (CS1) CS1 EF B CD 345 789 Used to set the axis number of the servo amplifier.
1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200B MR-J2S-350B POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Refer to Battery holder Contains the battery for absolute position data backup. Section13.3 Battery connector (CON1) Used to connect the battery for absolute position data backup. Section13.3 Display The two-digit, seven-segment LED shows the servo status and alarm number.
1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500B POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. 89 Section13.3 Battery holder Contains the battery for absolute position data backup. Section13.3 Chapter4 EF 23 BCD 45 Refer to Display The two-digit, seven-segment LED shows the servo status and alarm number. A 67 Name/Application Battery connector (CON1) Used to connect the battery for absolute position data backup.
1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700B POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Refer to Battery connector (CON1) Used to connect the battery for absolute position data backup. Section13.3 Battery holder Contains the battery for absolute position data backup. Chapter4 BCD 4 23 5 789 A 6 Display The two-digit, seven-segment LED shows the servo status and alarm number. Section13.
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 on. CAUTION (1) For MR-J2S-200B or more Reinstallation of the front cover Removal of the front cover 1) Front cover hook (2 places) 2) 2) Front cover 1) Front cover socket (2 places) 1) Hold down the removing knob. 2) Pull the front cover toward you. 1) Insert the front cover hooks into the front cover sockets of the servo amplifier.
1. FUNCTIONS AND CONFIGURATION (3) For MR-J2S-700B Reinstallation of the front cover Removal of the front cover Front cover hook (2 places) A) B) 2) 2) 1) A) 1) Front cover socket (2 places) 1) Push the removing knob A) or B), and put you finger into the front hole of the front cover. 2) Pull the front cover toward you. 1) Insert the two front cover hooks at the bottom into the sockets of the servo amplifier. 2) Press the front cover against the servo amplifier until the removing knob clicks.
1. FUNCTIONS AND CONFIGURATION 1.8 Servo system with auxiliary equipment WARNING 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. (1) MR-J2S-100B or less (a) For 3-phase 200V to 230VAC or 1-phase 230VAC (Note2) 3-phase 200V to 230VAC power supply or 1-phase 230VAC power supply Options and auxiliary equipment Refer to Options and auxiliary equipment No-fuse breaker Section 12.2.
1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC 1-phase 100VAC power supply Options and auxiliary equipment Refer to Options and auxiliary equipment No-fuse breaker Section 12.2.2 Regenerative brake option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.1 Servo configuration software Section 12.1.7 Power factor improving reactor Section 12.2.
1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200B MR-J2S-350B 3-phase 200V to 230VAC power supply Options and auxiliary equipment Options and auxiliary equipment Refer to No-fuse breaker Regenerative brake option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.1 Servo configuration software Section 12.1.7 Power factor improving reactor Section 12.2.
1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500B 3-phase 200V to 230VAC power supply Options and auxiliary equipment Refer to Options and auxiliary equipment Refer to No-fuse breaker Section 12.2.2 Regenerative brake option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.1 Servo configuration software Section 12.1.7 Power factor improving reactor Section 12.2.
1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700B Options and auxiliary equipment 3-phase 200V to 230VAC power supply Refer to Options and auxiliary equipment Refer to No-fuse breaker Section 12.2.2 Regenerative brake option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.1 Servo configuration software Section 12.1.7 Power factor improving reactor Section 12.2.
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2. INSTALLATION 2. INSTALLATION CAUTION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range.
2. INSTALLATION 2.2 Installation direction and clearances CAUTION The equipment must be installed in the specified direction. Otherwise, a fault may occur. Leave specified clearances between the servo amplifier and control box inside walls or other equipment. (1) Installation of one servo amplifier Control box Control box 40mm (1.6 in.) or more Servo amplifier Wiring clearance 70mm (2.8 in.) Top 10mm (0.4 in.) or more 10mm (0.4 in.) or more Bottom 40mm (1.6 in.
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. Control box 100mm (4.0 in.) or more 10mm (0.4 in.) or more Servo amplifier 30mm (1.2 in.) or more 30mm (1.2 in.) or more 40mm (1.6 in.
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 weight stress are not applied to the cable connection. (2) In any application where the servo motor moves, the cables should be free from excessive stress. For use in any application where the servo motor moves run the cables so that their flexing portions fall within the optional encoder cable range. Fix the encoder cable and power cable of the servo motor.
3. SIGNALS AND WIRING 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, make sure that the voltage is safe in the tester more than 10 minutes after power-off. Otherwise, you may get an electric shock. Ground the servo amplifier and the servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock.
3. SIGNALS AND WIRING 3.1 Connection example of control signal system POINT Refer to Section 3.5 for the connection of the power supply system and to Section 3.6 for connection with the servo motor. Servo amplifier (Note 5) CN3 6 (Note 9) Servo configuration software 16 7 17 8 18 Plate (Note 4) Personal computer CN3 (Note 5,8) CN3 15m(49.2ft) or less Servo system controller A1SD75M(AD75M) (Note 10, 14) Bus cable (Option) MR-J2HBUS M-A Cable clamp (Option) or Motion controller LA 2m(6.
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 forced stop and other protective circuits. 3.
3. SIGNALS AND WIRING 3.2 I/O signals 3.2.1 Connectors and signal arrangements POINT The connector pin-outs shown above are viewed from the cable connector wiring section side.
3. SIGNALS AND WIRING 3.2.2 Signal explanations For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.4.2. (1) Connector applications Connector Name CN1A Connector for bus cable from preceding axis. CN1B Connector for bus cable to next axis CN2 Encoder connector CN3 Communication connector (I/O signal connector) Function/Application Used for connection with the controller or preceding-axis servo amplifier.
3. SIGNALS AND WIRING 3.3 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. CAUTION When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence.
3. SIGNALS AND WIRING 3.4 Interfaces 3.4.1 Common line The following diagram shows the power supply and its common line. To conform to the EMC directive, refer to the EMC Installation Guide lines (IB(NA)67310). Servo amplifier 24VDC VDD COM MBR RA EM1 DI-1 SG LA .etc Differential line driver output 35mA max. LAR .
3. SIGNALS AND WIRING 3.4.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.2.2. Refer to this section and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor. Servo amplifier 24VDC VDD COM R: Approx. 4.7 For a transistor EM1 Approx. 5mA Switch TR SG V CES 1.
3. SIGNALS AND WIRING (b) Lamp load Servo amplifier 24VDC VDD COM R MBR SG (3) Encoder pulse output DO-2 (Differential line driver system) 1) Interface Max. output current: 35mA Servo amplifier Servo amplifier LA (LB, LZ) LA (LB, LZ) Am26LS32 or equivalent 100 High-speed photocoupler 150 LAR (LBR, LZR) LAR (LBR, LZR) LG SD SD 2) Output pulse Servo motor CCW rotation LA LAR T LB LBR /2 LZ signal varies 3/8T on its leading edge.
3. SIGNALS AND WIRING (4) Analog output Output voltage : 10V Max.
3. SIGNALS AND WIRING 3.5 Power line circuit CAUTION 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. 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. 3.5.
3. SIGNALS AND WIRING (2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply (Note 1) Controller Alarm emergency stop Forced stop RA1 RA2 OFF ON MC MC SK Power supply 1-phase 100 to 120VAC or 1-phase 230VAC NFB MC L1 Servo amplifier L2 L3 (Note 2) L11 L21 VDD COM Forced stop EM1 SG Note: 1. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 2. Not provided for 1-phase 100 to 120VAC.
3. SIGNALS AND WIRING 3.5.2 Terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to Section 10.1. Symbol Signal Description Supply L1, L2 and L3 with the following power: For 1-phase 230VAC, connect the power supply to L1/L2 and leave L3 open.
3. SIGNALS AND WIRING 3.5.3 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3.5.1 using the magnetic contactor with the main circuit power supply (3-phase 200V: L1, L2, L3, 1-phase 230V: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs. 2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply.
3. SIGNALS AND WIRING 3.6 Connection of servo amplifier and servo motor 3.6.1 Connection instructions WARNING Insulate the connections of the power supply terminals to prevent an electric shock. CAUTION Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Otherwise, the servo motor will operate improperly. Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur.
3. SIGNALS AND WIRING Servo motor Connection diagram Servo amplifier Servo motor U (Red) U V (White) V W (Black) W Motor (Green) (Note 1) 24VDC HC-KFS053 (B) to 73 (B) HC-MFS053 (B) to 73 (B) HC-UFS13 (B) to 73 (B) B1 (Note2) B2 Electromagnetic brake EM1 To be shut off when servoon signal switches off or by alarm signal CN2 Encoder Encoder cable Note:1.
3. SIGNALS AND WIRING 3.6.3 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) Encoder cable 0.3m(0.
3. SIGNALS AND WIRING (2) HC-SFS HC-RFS HC-UFS2000 r/min series Servo motor side connectors Motor plate Servo motor (Opposite side) For power supply For encoder HC-SFS81(B) HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) UP CE05-2A3217PD-B HC-SFS702(B) CE05-2A22HC-RFS103(B) to 203 (B) 23PD-B HC-RFS353(B) Encoder connector HC-UFS72(B) Power supply connector Brake connector The connector for power is shared.
3. SIGNALS AND WIRING 3.7 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 forced stop signal. Contacts must be open when servo-on signal is off or when an alarm (trouble) is present and when an electromagnetic brake signal. Circuit must be opened during forced stop signal.
3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on command (from controller) ON/OFF Tb [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop.
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3. SIGNALS AND WIRING 3.8 Grounding Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box. WARNING The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor.
3. SIGNALS AND WIRING 3.9 Servo amplifier terminal block (TE2) wiring method (1) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. (Cable size: 0.2 to 2.5mm2) Approx. 10mm Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault. (Cable size: 0.2 to 2.
3. SIGNALS AND WIRING (2) Connection Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that the cable does not come off. (Tightening torque: 0.5 to 0.6N m) Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose. When using a cable of 1.5mm2 or less, two cables may be inserted into one opening. Flat-blade screwdriver Tip thickness 0.4 to 0.6mm Overall width 2.5 to 3.5mm To loosen. To tighten.
3. SIGNALS AND WIRING 3.11 Control axis selection POINT The control axis number set to CS1 should be the same as the one set to the servo system controller. Use the axis select switch (CS1) to set the control axis number for the servo. If the same numbers are set to different control axes in a single communication system, the system will not operate properly. The control axes may be set independently of the bus cable connection sequence.
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4. OPERATION AND DISPLAY 4. OPERATION AND DISPLAY 4.1 When switching power on for the first time Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (L1, L2, L3, L11, L21) of the servo amplifier. (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.
4. OPERATION AND DISPLAY 4.2 Start up WARNING Do not operate the switches with wet hands. You may get an electric shock. Do not operate the controller with the front cover removed. High-voltage terminals and charging area exposed and you may get an electric shock. During power-on or operation, do not open the front cover. You may get an electric shock. CAUTION Before starting operation, check the parameters. Some machines may perform unexpected operation.
4. OPERATION AND DISPLAY (3) Servo-on Switch the servo-on in the following procedure: 1) Switch on main circuit/control power supply. 2) The controller transmits the servo-on command. When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked. (4) Home position return Always perform home position return before starting positioning operation.
4. OPERATION AND DISPLAY 4.3 Servo amplifier display On the servo amplifier display (two-digit, seven-segment display), check the status of communication with the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm.
4. OPERATION AND DISPLAY (2) Indication list Indication Status Description Initializing The servo amplifier was switched on when power to the servo system controller is off. Ab Initializing Power to the servo system controller was switched off during power-on of the servo amplifier. The axis No. set to the servo system controller does not match the axis No. set with the axis setting switch (CS1) of the servo amplifier.
4. OPERATION AND DISPLAY 4.4 Test operation mode CAUTION The test operation mode is designed for servo operation confirmation and not for machine operation confirmation. Do not use this mode with the machine. Always use the servo motor alone. If an operation fault occurred, use the forced stop (EM1) to make a stop.
4. OPERATION AND DISPLAY (c) Program operation Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the programmed operation screen of the servo configuration software.
4. OPERATION AND DISPLAY (2) Configuration Configuration should be as in Section 3.1. Always install a forced stop switch to enable a stop at occurrence of an alarm. (3) Operation procedure (a) Jog operation, positioning operation, program operation, DO forced output. 1) Switch power off. 2) Set CS1 to “F”. When CS1 is set to the axis number and operation is performed by the servo system controller, the test operation mode screen is displayed on the personal computer, but no function is performed.
5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parameter values extremely as it will make operation instable. POINT When the servo amplifier is connected with the servo system controller, the parameters are set to the values of the servo system controller. Switching power off, then on makes the values set on the servo configuration software invalid and the servo system controller values valid. In the maker setting parameters, do not set any values other than the initial values.
5. PARAMETERS (1) Item list ClassifiNo.
5. PARAMETERS (2) Details list ClassifiNo. cation 1 Symbol *AMS Name and Function Amplifier setting Used to select the absolute position detection. Initial Value Unit Setting Range 0000 Refer to name and function column. 0000 Refer to name and function column. 0 0 0 Absolute position detection selection 0: Invalid (Used in incremental system.) 1: Valid (Used in absolute position detection system.) 2 *REG Regenerative brake resistor Used to select the regenerative brake option used.
5. PARAMETERS ClassifiNo. cation 7 Initial Value Symbol Name and Function *POL Rotation direction selection Used to select the rotation direction of the servo motor. 0: Forward rotation (CCW) with the increase of the positioning address. 1: Reverse rotation (CW) with the increase of the positioning address. Unit Setting Range 0 Refer to name and function column. 0001 Refer to name and function column.
5. PARAMETERS ClassifiNo. cation 9 Symbol RSP Name and Function Servo response Used to select the response of auto tuning. Initial Value Unit 0005 Refer to name and function column. 0 0 0 Auto tuning response level selection Set value Machine resonance frequency guideline 1 15Hz 20Hz 2 3 25Hz 30Hz 4 5 35Hz 45Hz 6 7 55Hz Middle 70Hz 8 response 85Hz 9 A 105Hz 130Hz B C 160Hz 200Hz D High E 240Hz response F 300Hz If the machine hunts or generates large gear sound, decrease the set value.
5. PARAMETERS Adjustment parameters Setting Range Initial Value Unit Speed loop gain 1 Normally this parameter setting need not be changed. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is automatically used. 177 rad/s 20 to 5000 PG2 Position loop gain 2 Used to set the gain of the position loop.
5. PARAMETERS ClassifiNo. cation 20 Symbol Name and Function INP In-position range Used to set the droop pulse range in which the in-position signal (INP) will be output to the controller. Make setting in the feedback pulse unit (parameter No. 6). For example, when you want to set 10 m in the conditions that the ballscrew is direct coupled, the lead is 10mm, and the feedback pulses are 8192 pulses/rev (parameter No.
5. PARAMETERS ClassifiNo. cation 24 Symbol Name and Function *OP2 Optional function 2 Used to select slight vibration suppression control and motor-less operation 0 Initial Value Unit Setting Range 0000 Refer to name and function column. 0000 Refer to name and function column. 0 Slight vibration suppression control selection Made valid when auto tuning selection is set to "0002" in parameter No.8. Used to suppress vibration at a stop.
5. PARAMETERS ClassifiNo. cation Symbol Name and Function Initial Value Unit 27 MO1 Analog monitor 1 offset Used to set the offset voltage of the analog monitor ch1 output. 0 mV 999 to 999 28 MO2 Analog monitor 2 offset Used to set the offset voltage of the analog monitor ch2 output. 0 mV 999 to 999 29 For manufacturer setting Must not be changed. 0001 30 ZSP Zero speed Used to set the output range of the zero speed signal (ZSP).
5. PARAMETERS ClassifiNo. cation Symbol Name and Function 38 *ENR Encoder output pulses Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase and B-phase pulses. You can use parameter No.33 to choose the output pulse setting or output division ratio setting. The number of A-phase and B-phase pulses actually output is 1/4 times greater than the preset number of pulses. The maximum output frequency is 1.
5. PARAMETERS 5.3 Analog output The servo status can be output to two channels in terms of voltage. Use this function when using an ammeter to monitor the servo status or synchronizing the torque/speed with the other servo. (1) Setting Change the following digits of parameter No.22: Parameter No. 22 0 0 Analog monitor ch2 output selection (Signal output to across MO2-LG) Analog monitor ch1 output selection (Signal output to across MO1-LG) Parameters No.
5. PARAMETERS (2) Setting description The servo amplifier is factory-set to output the motor speed to ch1 and the generated torque to ch2. The setting can be changed as listed below by changing the parameter No.22 value: Refer to (3) in this section for the measurement point. Setting 0 Output item Motor speed Description Setting 6 CCW direction 8[V] Output item Droop pulses ( 10V/128pulse) Description 10[V] CCW direction 128[pulse] Max. speed 0 Max.
Command pulse Differential Command pulse frequency Droop pulse Position control Speed command Differential Motor speed Speed control Current command Torque Current control 5 - 13 Encoder M Servo Motor Position feedback Current feedback PWM Current encoder Bus voltage 5.
5. PARAMETERS 5.4 Replacement of MR-J2- B by MR-J2S- B When using the MR-J2S- B on the servo system controller peripheral software incompatible with the MR-J2S- B, you cannot use some parameter functions. Read this section carefully and set appropriate values in the parameters. 5.4.1 Main modifications made to the parameters The following table lists the parameters whose settings have been modified from the MR-J2- B or added to the MR-J2S- B.
5. PARAMETERS 5.4.2 Explanation of the modified parameters (1) Feedback pulse number (parameter No. 6) This parameter was newly added to the MR-J2S- B. If the peripheral software of the servo system controller is not compatible with the MR-J2S- B, this parameter setting cannot be changed. When the servo motor used is the HC-KFS or HC-MFS, the feedback pulse number is 8192 pulses/rev, and when it is the HC-SFS, HC-RFS or HC-UFS, the feedback pulse number is 16384 pulses/rev. (2) Auto tuning (parameter No.
5. PARAMETERS (4) Machine resonance suppression filter 1 (parameter No. 18) The settings of this parameter were changed for the MR-J2S- B. If the peripheral software of the servo system controller is not compatible with the MR-J2S- B, the parameter settings are as indicated below. The notch depth is 40dB. 0 0 0 Notch frequency selection Set value Frequency 0 1 2 3 4 5 6 7 Invalid 4500 2250 1500 1125 900 750 642.
5. PARAMETERS (9) Optional function 6 (parameter No. 33) This parameter was newly added to the MR-J2S- B. If the peripheral software of the servo system controller is not compatible with the MR-J2S- B, this parameter setting cannot be changed. Hence, the serial communication baudrate is “9600 [bps]”, the serial communication response ready time is “invalid”, and the encoder output pulse setting selection is "output pulse setting". For details, refer to Section 5.2. (10) Encoder output pulse (parameter No.
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6. GENERAL GAIN ADJUSTMENT 6. GENERAL GAIN ADJUSTMENT 6.1 Different adjustment methods 6.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1 and manual mode 2 in this order. (1) Gain adjustment mode explanation Gain adjustment mode Parameter No.
6. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Interpolation made for 2 or more axes? Yes Interpolation mode No Operation Allows adjustment by merely changing the response level setting. First use this mode to make adjustment. Auto tuning mode 1 Operation Yes No OK? No Operation OK? Used when the conditions of auto tuning mode 1 are not met and the load inertia moment ratio could not be estimated properly, for example.
6. GENERAL GAIN ADJUSTMENT 6.1.2 Adjustment using servo configuration software POINT When using the machine analyzer, set the servo amplifier's axis number for "F". (Refer to Section 3.11.) This section gives the functions and adjustment that may be performed by using the servo amplifier with the servo configuration software which operates on a personal computer.
6. GENERAL GAIN ADJUSTMENT 6.2 Auto tuning 6.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier. (1) Auto tuning mode 1 The servo amplifier is factory-set to the auto tuning mode 1.
6. GENERAL GAIN ADJUSTMENT 6.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia moment Automatic setting Encoder Control gains PG1,VG1 PG2,VG2,VIC Command Current control Servo motor Current feedback Set 0 or 1 to turn on. Load inertia moment ratio Switch estimation section Gain table Parameter No.9 Parameter No.8 0 0 0 1 0 0 0 5 Real-time auto tuning section Position/speed feedback Speed feedback Parameter No.
6. GENERAL GAIN ADJUSTMENT 6.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows.
6. GENERAL GAIN ADJUSTMENT 6.2.4 Response level setting in auto tuning mode Set the response (parameter No.9) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
6. GENERAL GAIN ADJUSTMENT 6.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. 6.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.
6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed control gain 2 (parameter No. 16) 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.
6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (parameter No. 13) 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.
6. GENERAL GAIN ADJUSTMENT 6.4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 1 and speed control gain 1 which determine command trackability are set manually and the other gain adjusting parameters are set automatically.
6. GENERAL GAIN ADJUSTMENT 6.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super 6.5.1 Response level setting To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level setting range from the MELSERVO-J2 series. The following table lists comparison of the response level setting. Parameter No.
7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 6. If a mechanical system has a natural resonance point, increasing the servo system response may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter No. 18). Parameter No. 18 0 Notch frequency selection Setting Frequency Setting Frequency Setting Frequency Setting Frequency 00 Invalid 08 562.5 10 281.3 18 01 4500 09 500 11 264.7 19 180 02 2250 0A 450 12 250 1A 173.1 03 1500 0B 409.1 13 236.8 1B 166.7 04 1125 0C 375 14 225 1C 160.1 05 900 0D 346.2 15 214.3 1D 155.
7. SPECIAL ADJUSTMENT FUNCTIONS 7.3 Adaptive vibration suppression control (1) Function Adaptive vibration suppression control is a function in which the servo amplifier detects machine resonance and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system.
7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (parameter No.25). Parameter No. 25 0 0 Adaptive vibration suppression control selection 0: Invalid 1: Valid Machine resonance frequency is always detected to generate the filter in response to resonance, suppressing machine vibration. 2: Held Filter characteristics generated so far is held, and detection of machine resonance is stopped.
8. INSPECTION 8. INSPECTION WARNING Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 10 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.
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9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 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 9.2 or 9.3 and take the appropriate action. in the alarm deactivation column can be deactivated by the corresponding The alarms marked operations.
9. TROUBLESHOOTING 9.2 Remedies for alarms CAUTION When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase alarm (25) occurred, always make home position setting again. Otherwise, misoperation may occur. POINT When any of the following alarms has occurred, always remove its cause and allow about 30 minutes for cooling before resuming operation.
9. TROUBLESHOOTING Display Name Definition Cause Faulty parts in the servo amplifier 17 Board error 2 CPU/parts fault 19 Memory error 3 ROM memory fault Checking method Alarm (17 or 19) occurs if power is switched on after CN1A, CN1B and CN3 connectors are disconnected. 1A 20 24 Motor combination error Encoder error 2 Main circuit error 25 Absolute position erase 30 Regenerative alarm Wrong combination of servo anplifier and servo motor.
9. TROUBLESHOOTING Display 31 32 33 Name Overspeed Overcurrent Overvoltage Definition Cause Action Increase acceleration/deceleration time Speed has exceeded 1. Small acceleration/deceleration the instantaneous time constant caused overshoot to constant. permissible speed. be large. 2. Servo system is instable to cause overshoot. 1. Reset servo gain to proper value. 2.
9. TROUBLESHOOTING Display 35 36 37 Name Definition Command Input frequency of frequency error command pulse is too high. Transfer error Cause Action 1. Command given is greater than the maximum speed of the servo motor. Review opration program. 2. Noise entered bus cable. Take action against noise. 3. Servo system controller failure Change the servo system controller. Bus cable or printed 1. Bus cable is disconnected. board is faulty 2. Bus cable fault.
9. TROUBLESHOOTING Display 51 Name Overload 2 Definition Cause Machine collision or 1. Machine struck something. the like caused max. output current to 2. Wrong connection of servo motor. flow successively for Servo amplifier's output terminals several seconds. U, V, W do not match servo Servo motor locked: motor's input terminals U, V, W. 1s or more 3. Servo system is instable and hunting. 4. Encoder faulty. Action 1. Review operation pattern. 2. Install limit switches. Connect correctly. 1.
9. TROUBLESHOOTING 9.3 Remedies for warnings If E6, E7, E9 or EE occurs, the servo off status is established. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Eliminate the cause of the warning according to this section. Use the optional servo configuration software to refer to the cause of warning. Display Name Definition Cause Action 92 Open battery cable warning Absolute position 1. Battery cable is open.
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10. OUTLINE DIMENSION DRAWINGS 10. OUTLINE DIMENSION DRAWINGS 10.1 Servo amplifiers (1) MR-J2S-10B to MR-J2S-60B MR-J2S-10B1 to MR-J2S-40B1 [Unit: mm] 6 ( 0.24) mounting hole 70 (2.76) 20 B 6 (0.24) ([Unit: in]) 135 (5.32) Terminal layout (Terminal cover open) (0.79) A MITSUBISHI MITSUBISHI OPEN 168 (6.61) 156 (6.14) OPEN C N 1 A C N 1 B C N 2 E N C C N 3 TE1 L1 L2 C N 1 B C N 2 E N C C N 3 L3 (Note) 6 (0.24) 7 (0.28) Rating plate C N 1 A U V W TE2 PE terminal 6 (0.
10. OUTLINE DIMENSION DRAWINGS (2) MR-J2S-70B MR-J2S-100B [Unit: mm] 70(2.76) ([Unit: in]) 190(7.48) 22 (0.87) 20 6 (0.24) 70(2.76) Terminal layout (Terminal cover open) (0.79) 6 ( 0.24) mounting hole MITSUBISHI MITSUBISHI OPEN 7 (0.28) 6(0.24) 168(6.61) 156(6.14) OPEN C N 1 A C N 1 B C N 2 E N C C N 3 L1 L2 L3 U V W 6(0.24) 22 42 (0.87) (1.65) Rating plate PE terminal TE2 TE1 6(0.24) 6(0.24) Weight [kg]([lb]) Servo amplifier MR-J2S-70B 1.7 (3.
10. OUTLINE DIMENSION DRAWINGS (3) MR-J2S-200B MR-J2S-350B [Unit: mm] ([Unit: in]) 6 (0.24) 6 ( 0.24) mounting hole 70(2.76) 90(3.54) 78(3.07) 6 (0.24) 195(7.68) Terminal layout MITSUBISHI 168(6.61) 156(6.14) MITSUBISHI TE2 12-M4 screw TE1 PE terminal Fan air orientation Weight [kg]([lb]) Servo amplifier MR-J2S-200B 2.0 (4.41) MR-J2S-350B PE terminals TE1 L1 L2 L3 U V W Terminal screw: M4 Tightening torque: 1.24 [N m] (175.6 [oz in]) Terminal screw: M4 Tightening torque: 1.
10. OUTLINE DIMENSION DRAWINGS (4) MR-J2S-500B [Unit: mm] ([Unit: in]) OPEN (0.79) (0.24) 130(5.12) (0.24) 70 6 6 (2.76) 118(4.65) 20 7.5 (0.5) 2- 6( 0.24) mounting hole 200(7.87) (0.19) 5 Terminal layout MITSUBISHI MITSUBISHI 235(9.25) 250(9.84) OPEN C N 1 B C N 1 A C N 1 B C N 2 C N 3 C N 2 C N 3 TE2 N.P. N.P. Fan 7.5 (0.5) OPEN TE1 C N 1 A Fan 6(0.24) Fan air orientation Servo amplifier Weight [kg]([lb]) MR-J2S-500B 4.9(10.
10. OUTLINE DIMENSION DRAWINGS (5) MR-J2S-700B 70 10 (2.76) 180(7.09) 160(6.23) 7.5 (0.5) (0.39) 10 20 (0.39) 200(7.87) 138(5.43) 62 (0.79) 2- 6( 0.24) mounting hole (2.44) [Unit: mm] ([Unit: in]) 6(0.24) Terminal layout MITSUBISHI MITSUBISHI OPEN OPEN C N 1 A C N 1 B C N 1 A C N 1 B C N 2 C N 3 C N 2 C N 3 350(13.8) 335(13.2) TE2 OPEN TE1 Fan 7.5 (0.5) 6 (0.24) Fan air orientation Servo amplifier Weight [kg]([lb]) MR-J2S-700B 7.2(15.
10. OUTLINE DIMENSION DRAWINGS 10.2 Connectors (1) Servo amplifier side <3M> (a) Soldered type Model Connector Shell kit [Unit: mm] ([Unit: in]) : 10120-3000VE : 10320-52F0-008 10.0(0.39) 12.0(0.47) 14.0 (0.55) 22.0 (0.87) 39.0 (1.54) 23.8 (0.94) Logo, etc. are indicated here. 33.3 (1.31) 12.7(0.50) (b) Threaded type 33.3 (1.31) 12.7 (0.50) 10.0 14.0 (0.55) 12.0 (0.47) 27.4 (1.08) 5.7 (0.22) 39.0 (1.54) 23.8 (0.94) 22.0 (0.87) [Unit: mm] ([Unit: in]) (0.
10. OUTLINE DIMENSION DRAWINGS (2) Bus cable connector PCR-LS20LA1 PCR-LS20LA1W 10.4 (0.409) 13.0 (0.512) 20.6 (0.811) 14.2 (0.559) 38.5 (1.516) HONDA 38.5 (1.516) HONDA 1 12.2 1 (0.039) (0.48) (0.039) 23.0 (0.906) RS RS 27.4 (1.079) 32.0 (0.906) 1 1.9 (0.039) 12.2 27.4 (1.079) 32.0 (0.906) (0.075) 1 (0.039) (0.
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11. CHARACTERISTICS 11. CHARACTERISTICS 11.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. The operation characteristics of the electronic thermal relay are shown Fig 11.1 to 11.3. Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve shown below.
11. CHARACTERISTICS (3) MR-J2S-500B MR-J2S-700B HC-SFS series HC-RFS series HC-UFS series 10000 Operation time[s] 1000 During servo lock During rotation 100 10 1 0 50 100 150 200 250 Load ratio [%] Fig 11.
11. CHARACTERISTICS 11.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 11.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 11.1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and zero torque according to the duty used during operation.
11. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 11.1: P .........................................................
11. CHARACTERISTICS 11.3 Dynamic brake characteristics Fig. 11.5 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 11.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to Fig. 11.6) Forced stop(EM1) ON OFF Time constant V0 Machine speed te Time Fig. 11.5 Dynamic brake operation diagram Lmax Lmax Vo JM JL te JL ............................
Time constant [ms] 16 14 12 10 8 6 4 2 0 0 Time constant [s] 11. CHARACTERISTICS 23 43 13 500 1000 1500 2000 2500 3000 Speed [r/min] 0.02 0.018 0.016 0.014 0.012 0.01 0.008 0.006 0.004 0.002 0 0 23 73 053 43 13 500 1000 1500 2000 2500 3000 Speed [r/min] a. HC-KFS series b. HC-MFS series 0.04 0.045 121 0.03 Time constant [s] Time constant [s] 0.035 201 0.025 0.02 301 0.015 0.01 81 0.005 0 0 50 500 Speed [r/min] 1000 0.04 0.035 Time constant [s] 53 0.06 353 103 0.
11. 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-10B to MR-J2S-200B MR-J2S-10B1 to MR-J2S-40B1 30 MR-J2S-350B 16 MR-J2S-500B 15 MR-J2S-700B 11.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or auxiliary equipment, make sure that the charge lamp is off more than 10 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. CAUTION Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire. 12.1 Options 12.1.
12. OPTIONS AND AUXILIARY EQUIPMENT Unbalance torque Servo motor speed (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. Regenerative energy calculation Use the following table to calculate the regenerative energy.
12. 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] Es Ec 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. PR [W] ER/tf .....................................................................................
12. OPTIONS AND AUXILIARY EQUIPMENT (4) Connection of the regenerative brake option The regenerative brake option will generate heat of about 100 . Fully examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use flame-resistant cables and keep them clear of the regenerative brake option body. Always use twisted cables of max. 5m(16.4ft) length for connection with the servo amplifier.
12. OPTIONS AND AUXILIARY EQUIPMENT When using the regenerative brake resistor option, remove the servo amplifier's built-in regenerative brake resistor terminals (across P-C), fit them back to back, and secure them to the frame with the accessory screw as shown below. Mounting method Accessory screw For MR-J2S-500B For MR-J2S-700B Accessory screw Accessory screw For the MR-RB51 install the cooling fan as shown.
12. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawing (a) MR-RB032 MR-RB12 [Unit: mm (in)] LA 12 (0.47) 6 (0.23) 6 (0.24) mounting hole LB 144 (5.67) 5 (0.20) 6 (0.23) 12 (0.47) G3 G4 P C 6 (0.23) TE1 168 (6.61) 156 (6.14) MR-RB 1.6 (0.06) 20 (0.79) LD LC Regenerative Regenerative Resistance brake option power[W] [ ] MR-RB032 30 40 MR-RB12 100 40 (b) MR-RB32 MR-RB30 MR-RB31 Variable dimensions LA LB LC LD 30 15 119 99 (1.18) (0.59) (4.69) (3.9) 40 15 169 149 (1.57) (0.59) (6.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.2 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. The brake unit and resistor unit must be installed on a vertical surface in the vertical direction. If they are installed in the horizontal direction or on a horizontal surface, a heat dissipation effect reduces.
12. 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. See the brake unit instruction manual. You cannot connect one set of brake unit to two servo amplifiers or two sets of brake units to one servo amplifier.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) Resistor unit (FR-BR) EE (E) 204 Eye bolt (8.031) 33 (1.299) C 5 (0.197) AA 5 (0.197) FR-BR-55K Two eye bolts are provided (as shown below). 40 (1.575) EE (E) (Note) (F) Control circuit terminals Main circuit terminals BB 3 (0.118) B 5 (0.197) BA 1 (0.039) K 2- D (F) [Unit : mm(in)] A 5 (0.197) Note: Ventilation ports are provided in both side faces and top face. The bottom face is open. Resistor Unit Model A AA FR-BR15K 170 (6.693) 100 (3.
12. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier L11 L21 NFB Power factor improving reactor MC FR-BAL L1 Power supply 3-phase 200V or 230VAC L2 L3 VDD COM ALM RA2 EM1 SG SG Always remove wiring across P-C. N N/ P C P/ 5m(16.
12. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power return converters [Unit : mm(in)] Mounting foot (removable) Mounting foot movable E 2- D hole Rating plate Display panel window BA B Front cover Cooling fan K F EE D AA C A Heat generation area outside mounting dimension Power return converter A AA B BA C D E EE K F Approx. Weight [kg(Ib)] FR-RC-15K 270 200 450 432 195 (10.630) (7.874) (17.717) (17.008) (7.677) 10 (0.394) 10 (0.394) 8 (0.315) 3.2 (0.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.4 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. The broken line areas in the diagram are not options.
12. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model Description Connector: 10120-3000VE Shell kit: 10320-52F0-008 (3M or equivalent) Housing: 1-172161-9 Connector pin: 170359-1 (AMP or equivalent) Application Standard flexing life IP20 1) Standard encoder MR-JCCBL M-L cable Refer to (2) in this section. 2) Long flexing life encoder cable 3) Standard encoder MR-JHSCBL M-L Connector: 10120-3000VE cable Refer to (2) in this Shell kit: 10320-52F0-008 (3M or equivalent) section.
12. OPTIONS AND AUXILIARY EQUIPMENT No.
12. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable CAUTION If you have fabricated the encoder cable, connect it correctly. Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to Section 11.4 for the flexing life of the encoder cable. Generally use the encoder cable available as our options. If the required length is not found in the options, fabricate the cable on the customer side.
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12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL M-H These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors. 1) Model explanation Model: MR-JHSCBL MSymbol Specifications L Standard flexing life H Long flexing life Symbol Cable length [m(ft)] 2 5 10 20 30 40 50 2 (6.56) 5 (16.4) 10 (32.8) 20 (65.6) 30 (98.4) 40 (131.2) 50 (164.0) Note: MR-JHSCBL M-L has no 40(131.2) and 50m(164.0ft) sizes.
12.
12. 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.
12. OPTIONS AND AUXILIARY EQUIPMENT (4) Bus cable When fabricating the bus cable, do not make incorrect connection. Doing so can cause misoperation or explosion. CAUTION When fabricating this cable, use the recommended cable given in Section 12.2.1 and fabricate it in accordance with the connection diagram shown in this section. The overall distance of the bus cable on the same bus is 30m(98.4ft). (a) Model definition Model:MR-J2HBUS M-A Symbol 05 5 Model:MR-J2HBUS Cable Length [m(ft)] 0.5 (1.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.5 Maintenance junction card (MR-J2CN3TM) (1) Usage The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor outputs are used at the same time.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.6 Battery (MR-BAT, A6BAT) Use the battery to build an absolute position detection system.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.7 Servo configurations software The servo configuration software (MRZJW3-SETUP121E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications Item Description Communication signal Baudrate [bps] Conforms to RS-232C.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/CUL Standard, use the products which conform to the corresponding standard. 12.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
12. OPTIONS AND AUXILIARY EQUIPMENT Use wires 6) of the following sizes with the brake unit (FR-BU) and power return converter (FR-RC). Model Wires[mm2] FR-BU-15K FR-BU-30K FR-BU-55K FR-RC-15K 3.5(AWG12) 5.5(AWG10) 14(AWG6) 14(AWG6) Table 12.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.2 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.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.4 Relays The following relays should be used with the interfaces: Interface Selection example Relay used especially for switching on-off analog input To prevent defective contacts , use a relay for small signal command and input command (interface DI-1) signals (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less (Ex.) Omron : type MY 12.2.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required. Provide surge absorbers on the noise sources to suppress noises. Attach data line filters to the signal cables.
12. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques 1) 2) 3) When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required.
12. 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. MS Relay Surge suppressor Surge suppressor Surge suppressor This distance should be short (within 20cm(0.79 in.)). (Ex.) 972A.2003 50411 (Matsuo Electric Co.,Ltd. 200VAC rating) Outline drawing [Unit: mm] ([Unit: in.
12. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] ([Unit: in.]) Earth plate Clamp section diagram 2- 5(0.20) hole installation hole A B C AERSBAN-DSET 100 (3.94) 86 (3.39) 30 (1.18) AERSBAN-ESET 70 (2.76) 56 (2.20) Accessory fittings Clamp fitting L clamp A: 2pcs. A 70 (2.76) clamp B: 1pc. B 45 (1.77) 12 - 31 (0.940) 0.3 0 24 Note: Screw hole for grounding. Connect it to the earth plate of the control box. Type 10(0.39) A 35(1.38) 11(0.43) (0.24) C 22(0.
12. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. Connection diagram Outline drawing [Unit: mm] ([Unit: in.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.7 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. Select a leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely.
12. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: 2mm2 5m 2mm2 5m NV Servo amplifier MR-J2S-60B Ig1 Iga SM Ig2 Servo motor HC-MFS73 Igm Use a leakage current breaker generally available. Find the terms of Equation (12.2) from the diagram: Ig1 20 5 1000 0.1 [mA] Ig2 20 5 1000 0.1 [mA] Ign 0 (not used) Iga 0.1 [mA] Igm 0.1 [mA] Insert these values in Equation (12.2): Ig 10 {0.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.8 EMC filter For compliance with the EMC directive of the EN standard, it is recommended to use the following filter: (1) Combination with the servo amplifier Recommended filter Servo amplifier MR-J2S-10B to MR-J2S-100B MR-J2S-10B1 to MR-J2S-40B1 MR-J2S-200B MR-J2S-350B Weight [kg] Model Leakage current [mA] SF1252 38 0.75 SF1253 57 1.37 MR-J2S-500B (Note) HF3040A-TM 1.5 5.5 MR-J2S-700B (Note) HF3050A-TM 1.5 6.
12. OPTIONS AND AUXILIARY EQUIPMENT HF3040-TM HF-3050A-TM K L G F E D L M C J C H B A Model Dimensions [mm(in)] A B C D E F G H J HF3040A-TM 260 (10.23) 210 (8.27) 85 (3.35) 155 (6.10) 140 (5.51) 125 (4.92) 44 (1.73) 140 (5.51) 70 (2.76) HF3050A-TM 290 (11.42) 240 (9.45) 100 (3.94) 190 (7.48) 175 (6.89) 160 (6.30) 44 (1.73) 170 (5.51) 100 (3.94) 12 - 36 K R3.
13. ABSOLUTE POSITION DETECTION SYSTEM 13. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If an absolute position erase alarm (25) has occurred, always perform home position setting again. Not doing so can cause runaway. 13.1 Features For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
13. ABSOLUTE POSITION DETECTION SYSTEM 13.2 Specifications (1) Specification list Item Description System Electronic battery backup system 1 piece of lithium battery ( primary battery, nominal Battery 3.6V) Type: MR-BAT or A6BAT Maximum revolution range Home position (Note 1) Maximum speed at power failure 500r/min (Note 2) Battery backup time Approx. 10,000 hours (battery life with power off) (Note 3) Data holding time during battery replacement Battery storage period 32767 rev.
13. ABSOLUTE POSITION DETECTION SYSTEM 13.3 Battery installation procedure WARNING Before starting battery installation procedure, make sure that the charge lamp is off more than 10 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. Always take the following precautions: Ground human body and work bench.
13. ABSOLUTE POSITION DETECTION SYSTEM 13.4 Confirmation of absolute position detection data You can confirm the absolute position data with servo configuration software (MRZJW3-SETUP121E). Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen. (1) Choosing "Diagnostics" in the menu opens the sub-menu as shown below: (2) By choosing "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window appears.
REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Sep., 2000 SH(NA)030007-A First edition Jan., 2001 SH(NA)030007-B Servo amplifier: Addition of MR-J2S-500B and MR-J2S-700B Servo motor: Addition of HC-KFS73, HC-SFS502, HC-SFS702, HC-RFS353, HC-RFS503, HC-UFS502 and HC-UFS352 Section 1.4: Addition of brake unit and return converter Section 1.7: Overall reexamination Section 3.5.2: Addition of return converter and brake unit Section 3.
