Instruction Manual
Table Of Contents
- Safety Instructions
- COMPLIANCE WITH EC DIRECTIVES
- CONFORMANCE WITH UL/C-UL STANDARD
- <
> - CONTENTS
- Optional Servo Motor Instruction Manual CONTENTS
- 1. FUNCTIONS AND CONFIGURATION
- 2. INSTALLATION
- 3. SIGNALS AND WIRING
- 3.1 Standard connection example
- 3.2 Internal connection diagram of servo amplifier
- 3.3 I/O signals
- 3.4 Detailed description of the signals
- 3.5 Alarm occurrence timing chart
- 3.6 Interfaces
- 3.7 Input power supply circuit
- 3.8 Connection of servo amplifier and servo motor
- 3.9 Servo motor with electromagnetic brake
- 3.10 Grounding
- 3.11 Servo amplifier terminal block (TE2) wiring method
- 3.12 Instructions for the 3M connector
- 3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA
- 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
- 13.1 Options
- 13.1.1 Regenerative brake options
- 13.1.2 Brake unit
- 13.1.3 Power regeneration converter
- 13.1.4 External dynamic brake
- 13.1.5 Cables and connectors
- 13.1.6 Junction terminal block (MR-TB20)
- 13.1.7 Maintenance junction card (MR-J2CN3TM)
- 13.1.8 Battery (MR-BAT, A6BAT)
- 13.1.9 MR Configurator (Servo configurations software)
- 13.1.10 Power regeneration common converter
- 13.1.11 Heat sink outside mounting attachment (MR-JACN)
- 13.2 Auxiliary equipment
- 13.2.1 Recommended wires
- 13.2.2 No-fuse breakers, fuses, magnetic contactors
- 13.2.3 Power factor improving reactors
- 13.2.4 Power factor improving DC reactors
- 13.2.5 Relays
- 13.2.6 Surge absorbers
- 13.2.7 Noise reduction techniques
- 13.2.8 Leakage current breaker
- 13.2.9 EMC filter
- 13.2.10 Setting potentiometers for analog inputs
- 13.1 Options
- 14. COMMUNICATION FUNCTIONS
- 14.1 Configuration
- 14.2 Communication specifications
- 14.3 Protocol
- 14.4 Character codes
- 14.5 Error codes
- 14.6 Checksum
- 14.7 Time-out operation
- 14.8 Retry operation
- 14.9 Initialization
- 14.10 Communication procedure example
- 14.11 Command and data No. list
- 14.12 Detailed explanations of commands
- 14.12.1 Data processing
- 14.12.2 Status display
- 14.12.3 Parameter
- 14.12.4 External I/O pin statuses (DIO diagnosis)
- 14.12.5 Disable/enable of external I/O signals (DIO)
- 14.12.6 External input signal ON/OFF (test operation)
- 14.12.7 Test operation mode
- 14.12.8 Output signal pin ON/OFF output signal (DO) forced output
- 14.12.9 Alarm history
- 14.12.10 Current alarm
- 14.12.11 Other commands
- 15. ABSOLUTE POSITION DETECTION SYSTEM
- 15.1 Outline
- 15.2 Specifications
- 15.3 Battery installation procedure
- 15.4 Standard connection diagram
- 15.5 Signal explanation
- 15.6 Startup procedure
- 15.7 Absolute position data transfer protocol
- 15.8 Examples of use
- 15.9 Confirmation of absolute position detection data
- 15.10 Absolute position data transfer errors
- Appendix
- REVISIONS
3 - 22
3. SIGNALS AND WIRING
Connector pin No.
Control
mode
Signal Symbol
7kW or
less
11kW or
more
Functions/Applications
I/O
division
PST
Encoder Z-phase
pulse
(Open collector)
OP CN1A
14
CN1A
14
Outputs the zero-point signal of the encoder. One pulse is
output per servo motor revolution. OP turns on when the
zero-point position is reached. (Negative logic)
The minimum pulse width is about 400
s. For home
position return using this pulse, set the creep speed to
100r/min. or less.
DO-2
Encoder A-phase
pulse
(Differential line
driver)
LA
LAR
CN1A
6
CN1A
16
CN1A
6
CN1A
16
Encoder B-phase
pulse
(Differential line
driver)
LB
LBR
CN1A
7
CN1A
17
CN1A
7
CN1A
17
Outputs pulses per servo motor revolution set in
parameter No. 27 in the differential line driver system.
In CCW rotation of the servo motor, the encoder B-phase
pulse lags the encoder A-phase pulse by a phase angle of
/2.
The relationships between rotation direction and phase
difference of the A- and B-phase pulses can be changed
using parameter No. 54.
DO-2
Encoder Z-phase
pulse
(Differential line
driver)
LZ
LZR
CN1A
5
CN1A
15
CN1A
5
CN1A
15
The same signal as OP is output in the differential line
driver system.
DO-2
Analog monitor 1 MO1 CN3
4
CN4
1
Used to output the data set in parameter No.17 to across
MO1-LG in terms of voltage. Resolution 10 bits
Analog
output
Analog monitor 2 MO2 CN3
14
CN4
2
Used to output the data set in parameter No.17 to across
MO2-LG in terms of voltage. Resolution 10 bits
Analog
output
(3) Communication
POINT
Refer to Chapter 14 for the communication function.
Control
mode
Signal Symbol
Connec-
tor pin
No.
Functions/Applications
I/O
division
PST
RS-422 I/F SDP
SDN
RDP
RDN
CN3
9
CN3
19
CN3
5
CN3
15
RS-422 and RS-232C functions cannot be used together.
Choose either one in parameter No. 16.
RS-422
termination
TRE CN3
10
Termination resistor connection terminal of RS-422 interface.
When the servo amplifier is the termination axis, connect this
terminal to RDN (CN3-15).
RS-232C I/F RXD
TXD
CN3
2
CN3
12
RS-422 and RS-232C functions cannot be used together.
Choose either one in parameter No. 16.