Car Amplifier User Manual

ManualsBrandsMitsubishi Electronics ManualsCar AmplifierMELSERVO MR-J2S- A

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Table Of Contents

Safety Instructions
COMPLIANCE WITH EC DIRECTIVES
CONFORMANCE WITH UL/C-UL STANDARD
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CONTENTS
Optional Servo Motor Instruction Manual CONTENTS
1. FUNCTIONS AND CONFIGURATION
- 1.1 Introduction
- 1.2 Function block diagram
- 1.3 Servo amplifier standard specifications
- 1.4 Function list
- 1.5 Model code definition
- 1.6 Combination with servo motor
- 1.7 Structure
  - 1.7.1 Parts identification
  - 1.7.2 Removal and reinstallation of the front cover
- 1.8 Servo system with auxiliary equipment
2. INSTALLATION
- 2.1 Environmental conditions
- 2.2 Installation direction and clearances
- 2.3 Keep out foreign materials
- 2.4 Cable stress
3. SIGNALS AND WIRING
- 3.1 Standard connection example
- 3.2 Internal connection diagram of servo amplifier
- 3.3 I/O signals
  - 3.3.1 Connectors and signal arrangements
  - 3.3.2 Signal explanations
- 3.4 Detailed description of the signals
- 3.5 Alarm occurrence timing chart
- 3.6 Interfaces
  - 3.6.1 Common line
  - 3.6.2 Detailed description of the 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
  - 3.11.1 For the servo amplifier produced later than Jan. 2006
  - 3.11.2 For the servo amplifier produced earlier than Dec. 2005
- 3.12 Instructions for the 3M connector
- 3.13 Power line circuit of the MR-J2S-11KA to MR-J2S-22KA
4. OPERATION
- 4.1 When switching power on for the first time
- 4.2 Startup
- 4.3 Multidrop communication
5. PARAMETERS
- 5.1 Parameter list
  - 5.1.1 Parameter write inhibit
  - 5.1.2 Lists
- 5.2 Detailed description
6. DISPLAY AND OPERATION
- 6.1 Display flowchart
- 6.2 Status display
- 6.3 Diagnostic mode
- 6.4 Alarm mode
- 6.5 Parameter mode
- 6.6 External I/O signal display
- 6.7 Output signal (DO) forced output
- 6.8 Test operation mode
7. GENERAL GAIN ADJUSTMENT
- 7.1 Different adjustment methods
  - 7.1.1 Adjustment on a single servo amplifier
  - 7.1.2 Adjustment using MR Configurator (servo configuration software)
- 7.2 Auto tuning
- 7.3 Manual mode 1 (simple manual adjustment)
  - 7.3.1 Operation of manual mode 1
  - 7.3.2 Adjustment by manual mode 1
- 7.4 Interpolation mode
- 7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super
  - 7.5.1 Response level setting
  - 7.5.2 Auto tuning selection
8. SPECIAL ADJUSTMENT FUNCTIONS
- 8.1 Function block diagram
- 8.2 Machine resonance suppression filter
- 8.3 Adaptive vibration suppression control
- 8.4 Low-pass filter
- 8.5 Gain changing function
9. INSPECTION
10. TROUBLESHOOTING
- 10.1 Trouble at start-up
- 10.2 When alarm or warning has occurred
11. OUTLINE DIMENSION DRAWINGS
- 11.1 Servo amplifiers
- 11.2 Connectors
12. CHARACTERISTICS
- 12.1 Overload protection characteristics
- 12.2 Power supply equipment capacity and generated loss
- 12.3 Dynamic brake characteristics
- 12.4 Encoder cable flexing life
- 12.5 Inrush currents at power-on of main circuit and control circuit
13. OPTIONS AND AUXILIARY EQUIPMENT
- 13.1 Options
- 13.2 Auxiliary equipment
14. COMMUNICATION FUNCTIONS
- 14.1 Configuration
  - 14.1.1 RS-422 configuration
  - 14.1.2 RS-232C configuration
- 14.2 Communication specifications
  - 14.2.1 Communication overview
  - 14.2.2 Parameter setting
- 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
  - 14.11.1 Read commands
  - 14.11.2 Write commands
- 14.12 Detailed explanations of commands
15. ABSOLUTE POSITION DETECTION SYSTEM
- 15.1 Outline
  - 15.1.1 Features
  - 15.1.2 Restrictions
- 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
  - 15.10.1 Corrective actions
  - 15.10.2 Error resetting conditions
Appendix
- App 1. Signal arrangement recording sheets
- App 2. Status display block diagram
- App 3. Combination of servo amplifier and servo motor
REVISIONS

8 - 5

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.

(2) You want to increase the gains during settling to shorten the stop settling time.

(3) You want to change the gains using an external signal to ensure stability of the servo system since the

load inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).

8.5.2 Function block diagram

The valid control gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions

selected by gain changing selection CDP (parameter No. 65) and gain changing condition CDS (parameter

No. 66).

Valid

GD2 value

Command pulse

frequency

Droop pulses

Model speed

External signal

CDP

Comparator

Valid

PG2 value

Valid

VG2 value

Valid

VIC value

Changing

PG2 PG2B

100

VIC VICB

100

VG2 VG2B

100

GD2

Parameter No.61

GD2

Parameter No.34

PG2

Parameter No.35

VG2

Parameter No.37

VIC

Parameter No.38

CDP

Parameter No.65

CDS

Parameter No.66