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General-Purpose AC Servo

MODEL

MR-J2M-P8A

MR-J2M- DU

MR-J2M-BU

SERVO AMPLIFIER

INSTRUCTION MANUAL

General-Purpose Interface Compatible

J2M Series

Summary of content (272 pages)

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General-Purpose AC Servo J2M Series General-Purpose Interface Compatible MODEL MR-J2M-P8A MR-J2M- DU MR-J2M-BU SERVO AMPLIFIER INSTRUCTION MANUAL E
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Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the units until you have read through this Instruction Manual, Installation Guide, Servo Motor Instruction Manual and appended documents carefully and can use the equipment properly. Do not use the units until you have a full knowledge of the equipment, safety information and instructions.
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1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the base unit and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire for each unit and the servo motor until they are installed. Otherwise, you can obtain the electric shock.
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. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport each unit. Each unit may drop.
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(2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and drive unit. Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly. Do not let a magnetic contactor, etc. intervene.
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(4) Usage CAUTION Provide an forced stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc.
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(6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the drive unit will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative. (7) General instruction To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards.
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COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products.
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(3) Environment Operate MELSERVO-J2M at or above the contamination level 2 set forth in IEC60664-1 For this purpose, install MELSERVO-J2M in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54). (4) Power supply (a) Operate MELSERVO-J2M to meet the requirements of the overvoltage category II set forth in IEC60664-1 For this purpose, a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section.
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CONFORMANCE WITH UL/C-UL STANDARD The MELSERVO-J2M complies with UL508C. (1) Unit and servo motors used Use the each units and servo motors which comply with the standard model. Interface unit Drive unit Base unit Servo motor :MR-J2M-P8A :MR-J2M- DU :MR-J2M-BU :HC-KFS HC-MFS HC-UFS (2) Installation Install a fan of 100CFM (2.8m3/min) air flow 4 [in] (10.16 [cm]) above the servo amplifier or provide cooling of at least equivalent capability.
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<> This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use MELSERVO-J2M for the first time. Always purchase them and use the MELSERVO-J2M safely. Also read the manual of the servo system controller. Relevant manuals Manual name MELSERVO-J2M Series To Use the AC Servo Safely (Packed with the MR-J2M-P8A, MR-J2M- DU and MR-J2M-BU MELSERVO Servo Motor Instruction Manual EMC Installation Guidelines Manual No.
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CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-10 1.1 Overview................................................................................................................................................... 1- 1 1.2 Function block diagram .......................................................................................................................... 1- 2 1.3 Unit standard specifications........................................................................................................
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3.7 Servo motor with electromagnetic brake ............................................................................................. 3-43 3.8 Grounding................................................................................................................................................ 3-46 3.9 Instructions for the 3M connector......................................................................................................... 3-47 4. OPERATION AND DISPLAY 4- 1 to 4-18 4.
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6.2.2 Auto tuning mode operation ............................................................................................................ 6- 4 6.2.3 Adjustment procedure by auto tuning............................................................................................ 6- 5 6.2.4 Response level setting in auto tuning mode .................................................................................. 6- 6 6.3 Manual mode 1 (simple manual adjustment).............................................
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12.1.1 Regenerative brake options ......................................................................................................... 12- 1 12.1.2 Cables and connectors.................................................................................................................. 12- 8 12.1.3 Junction terminal block (MR-TB50) .......................................................................................... 12-17 12.1.4 Junction terminal block (MR-TB20) ......................................
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14. ABSOLUTE POSITION DETECTION SYSTEM 14- 1 to 14-12 14.1 Outline.................................................................................................................................................. 14- 1 14.1.1 Features......................................................................................................................................... 14- 1 14.1.2 Restrictions.................................................................................................................
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Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in this Instruction Manual. 1. INTRODUCTION 2. INSTALLATION 3. CONNECTORS USED FOR SERVO MOTOR WIRING 4. INSPECTION 5. SPECIFICATIONS 6. CHARACTERISTICS 7. OUTLINE DIMENSION DRAWINGS 8.
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1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Overview The Mitsubishi general-purpose AC servo MELSERVO-J2M series is an AC servo which has realized wiring-saving, energy-saving and space-saving in addition to the high performance and high functions of the MELSERVO-J2-Super series.
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1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram Control circuit power suppy L11 L21 Pulse train position command Pulse train position command L1 L2 L3 P N C Input signal Stroke end Forced stop I/O signals for slots 1 to 4, e.g. servo-on I/O signals for slots 5 to 8, e.g.
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1. FUNCTIONS AND CONFIGURATION 1.
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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. (1) Drive unit (Abbreviation DRU) Function High-resolution encoder Auto tuning Gain changing function Adaptive vibration suppression control Low-pass filter Description High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder. Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.
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1. FUNCTIONS AND CONFIGURATION (5) Option unit Function Description Reference Merely setting a home position once makes home position return unnecessary at every power-on. Battery unit MR-J2M-BT (shortly correspondence schedule) is necessary. The encoder feedback is output from extension IO unit MR-J2M-D01 (shortly correspondence schedule) by the A B Z phase pulse. The number of pulses output by the parameter can be changed. Absolute position detection system Encoder pulse output 1.
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1. FUNCTIONS AND CONFIGURATION (3) Base unit (a) Rating plate Rating plate MITSUBISHI MODEL Model Applicable power supply Serial number MR-J2M-BU4 INPUT : 3PH 200-230 14A 50/60Hz SERIAL: N87B95046 BC336U246 MITSUBISHI ELECTRIC PASSED MADE IN JAPAN (b) Model code MR-J2M-BU Symbol Number of slots Maximum servo motor connection capacity [W] Continuous capacity [W] 4 6 8 4 6 8 1600 2400 3200 1280 1920 2560 1.
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1. FUNCTIONS AND CONFIGURATION 1.7 Parts identification (1) Drive unit Mounting screw Status indicator LED Indicates the status of the drive unit. Blinking green: Servo off status Steady green: Servo on status Blinking red: Warning status Steady red: Alarm status Rating plate CN2 Encoder connector Connect the servo motor encoder CNP2 Servo motor connector For connection of servo motor power line cable (2) Interface unit Display Indicates operating status or alarm.
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1. FUNCTIONS AND CONFIGURATION (3) Base unit The following shows the MR-J2M-BU4.
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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 base unit to the protective earth (PE) of the control box. 3-phase 200V to 230VAC power supply (Note) 1-phase 200V to 230VAC Options and auxiliary equipment No-fuse breaker (NFB) or fuse Reference Regenerative brake option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.
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1.
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2. INSTALLATION AND START UP 2. INSTALLATION AND START UP CAUTION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range.
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2. INSTALLATION AND START UP 2.2 Installation direction and clearances CAUTION The equipment must be installed in the specified direction. Otherwise, a fault may occur. Leave specified clearances between each unit and control box inside walls or other equipment. 40mm(1.57inch) or more 40mm(1.57inch) or more 40mm(1.57inch) or more (1) Installation of one MELSERVO-J2M 40mm(1.57inch) or more 40mm(1.57inch) or more Leave 100mm(3.94inch) or more clearance or install fan for forced air cooling. 40mm(1.
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2. INSTALLATION AND START UP (3) Others When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that MELSERVO-J2M is not affected. Install MELSERVO-J2M on a perpendicular wall in the correct vertical direction. 2.3 Keep out foreign materials (1) When installing the unit in a control box, prevent drill chips and wire fragments from entering each unit. (2) Prevent oil, water, metallic dust, etc.
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2. INSTALLATION AND START UP 2.5 Mounting method (1) Base unit As shown below, mount the base unit on the wall of a control box or like with M5 screws. Wall (2) Interface unit/drive unit (MR-J2M-40DU or less) The following example gives installation of the drive unit to the base unit. The same also applies to the interface unit. Sectional view Base unit Drive unit Wall 1) Catch Positioning hole 1) Hook the catch of the drive unit in the positioning hole of the base unit.
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2. INSTALLATION AND START UP Sectional view 3) 3) Wall 3) Tighten the M4 screw supplied for the base unit to fasten the drive unit to the base unit. POINT Securely tighten the drive unit fixing screw. Sectional view Wall (3) Drive unit (MR-J2M-70DU) When using the MR-J2M-70DU, install it on two slots of the base unit. The slot number of this drive unit is that of the left hand side slot of the two occupied slots, when they are viewed from the front of the base unit.
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2. INSTALLATION AND START UP 2.6 When switching power on for the first time Before starting operation, check the following: (1) Wiring (a) Check that the control circuit power cable, main circuit power cable and servo motor power cable are fabricated properly. (b) Check that the control circuit power cable is connected to the CNP1B connector and the main circuit power cable is connected to the CNP3 connector. (c) Check that the servo motor power cable is connected to the drive unit CNP2 connector.
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2. INSTALLATION AND START UP 2.7 Start up WARNING Do not operate the switches with wet hands. You may get an electric shock. Do not operate the controller with the front cover removed. High-voltage terminals and charging area exposed and you may get an electric shock. During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the regenerative brake resistor, servo motor, etc. Their temperatures may be high and you may get burnt or a parts may damaged.
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2. INSTALLATION AND START UP (1) Power on Switching on the main circuit power/control circuit power places the interface unit display in the scroll status as shown below. In the absolute position detection system, first power-on results in the absolute position lost (A.25) alarm and the servo system cannot be switched on. This is not a failure and takes place due to the uncharged capacitor in the encoder.
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2. INSTALLATION AND START UP (4) Slot number confirmation Confirm the slot number in the interface unit display section of the installed drive unit. For MR-J2M-BU4 Display First slot Third slot Slot number Drive unit status Slot number Second slot Fourth slot (5) Servo-on Switch the servo-on in the following procedure: 1) Switch on main circuit/control power supply. 2) Turn on the servo-on (SON ). When the servo-on status is established, operation is enabled and the servo motor is locked.
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2. INSTALLATION AND START UP (8) Stop In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.8, (2) for the servo motor equipped with electromagnetic brake. Note that the stop pattern of forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) OFF is as described below. (a) Servo-on (SON ) OFF The base circuit is shut off and the servo motor coasts.
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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 base unit and the servo motor securely. Do not attempt to wire each unit and servo motor until they have been installed. Otherwise, you may get an electric shock.
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3. SIGNALS AND WIRING 3.1 Control signal line connection example POINT Refer to Section 3.4 for connection of the power supply line and to Section 3.5 for connection with servo motors.
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3. SIGNALS AND WIRING (Note 9) MR Configurator (servo configuration Personal computer software) (Note 5)CN3 CN3 Communication cable (Note 13) CN5 Symbol Slot 1 (Note 6) LSP LSN SG 4 MO1 A 14 MO2 A 7 MO3 A Slot 2 Slot 3 Slot 4 3 4 5 6 7 10 11 (Note 6) 13 14 LG Base unit CON3A (Slot 1) Slot 6 Slot 7 Slot 8 11 12 (Note 12) Monitor output Max.
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3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the base unit to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the forced stop and other protective circuits. 3. The forced stop switch (normally closed contact) must be installed. 4. CN1A CN1B, CN4A CN4B have the same shape.
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3. SIGNALS AND WIRING 3.2 I/O signals of interface unit 3.2.1 Connectors and signal arrangements POINT The connector pin-outs shown above are viewed from the cable connector wiring section side.
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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 3.2.5. The pin No.s in the connector pin No. column are those in the initial status. (1) Input signals Signal Symbol Connector Functions/Applications pin No.
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3.
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3. SIGNALS AND WIRING Signal Symbol Connector Functions/Applications pin No.
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3. SIGNALS AND WIRING (2) Output signals Signal Symbol Connector Functions/Applications pin No. Trouble A ALM_A CN1A-27 ALM_A: Alarm signal for slot 1 to 4 Trouble B ALM_B CN1B-27 ALM_B: Alarm signal for slot 5 to 8 I/O division DO-1 ALM -SG are disconnected when power is switched off or the protective circuit is activated to shut off the base circuit. Without alarm, ALM -SG are connected within about 3s after power on.
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3. SIGNALS AND WIRING (3) Communication POINT Refer to Chapter 13 for the communication function. Signal RS-422 I/F RS-422 Symbol Connector Functions/Applications pin No. SDP CN3-9 RS-422 and RS-232C functions cannot be used together. SDN CN3-19 Choose either one in IFU parameter No. 16. RDP CN3-5 RDN CN3-15 TRE CN3-10 termination Termination resistor connection terminal of RS-422 interface. When the servo amplifier is the termination axis, connect this terminal to RDN (CN3-15).
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3. SIGNALS AND WIRING 3.2.3 Detailed description of the signals (1) Pulse train input (a) Input pulse waveform selection Encoder pulses may be input in any of three different forms, for which positive or negative logic can be chosen. Set the command pulse train form in DRU parameter No. 21. Arrow or in the table indicates the timing of importing a pulse train. A- and B-phase pulse trains are imported after they have been multiplied by 4.
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3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collector system Connect as shown below: Servo amplifier 24VDC OPC PP Approx. 1.2k NP Approx. 1.2k SD The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (DRU parameter No.21 has been set to 0010). The waveforms in the table in (a), (1) of this section are voltage waveforms of PP and NP based on SG.
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3. SIGNALS AND WIRING 2) Differential line driver system Connect as shown below: Servo amplifier PP PG NP NG SD The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (DRU parameter No.21 has been set to 0010). For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows. The waveforms of PP , PG , NP and NG are based on that of the ground of the differential line driver.
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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 (DRU parameter No. 5). INP -SG may remain connected when low-speed operation is performed with a large value set as the in-position range.
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3. SIGNALS AND WIRING 3.2.4 Internal connection diagram MR-J2M-P8A (Note) CN1A symbol slot 1 slot 2 SG CR RES CN1A (Note) slot 4 slot 1 26 1 VIN SON slot 3 37 12 36 32 7 31 5 29 4 2 PG 44 42 40 38 PP 19 17 15 13 NG 45 43 41 39 NP 20 18 16 14 Approx.6.8k Approx.6.8k Approx.100 Approx.100 Approx.1.2k 5V ALM_A 33 6 28 RD 35 8 30 3 INP 25 24 23 22 OP 21, 46, 50 5VDC Approx.1.
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3. SIGNALS AND WIRING 3.2.5 Interface (1) Common line The following diagram shows the power supply and its common line. Interface unit INP 24VDC RA VIN SON DI-1 SD MO1 MO2 MO3 , etc. SG OPC (Note) , etc. Analog monitor output LG PG NG PG NP SDP SDN RDP RDN LG SG SD Base unit RS-422 TXD RXD Drive unit RS-232C Servo motor encoder MR MRR LG SD Servo motor M E Extension IO unit LA, etc. Differential line driver output 35mA max. LAR, etc.
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3. SIGNALS AND WIRING (2) Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.2.2. Refer to this section and connect the interfaces with the external equipment. (a) Digital input interface DI-1 Give a signal with a relay or open collector transistor. Interface unit 24VDC 300mA or more VIN For transistor R: Approx. 4.7k SON etc. Approx. 5mA Switch SG TR VCES 1.
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3. SIGNALS AND WIRING (c) Pulse train input interface DI-2 Give a pulse train signal in an open collector or differential line driver system. 1) Open collector system Interface unit 24VDC OPC Max. input pulse frequency 200kpps 2m(78.74in) or less PP Approx. 1.2k , NP SD tHL tc tLH tHL tc 2 s tF 3 s 0.9 0.1 PP tc tLH 0.2 s tF NP 2) Differential line driver system Interface unit Max. input pulse frequency 500kpps 10m (393.
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3. SIGNALS AND WIRING (d) Encoder pulse output DO-2 1) Open collector system Max. intake current 35mA Interface unit Interface unit OP 5 to 24VDC OP Photocoupler LG LG SD SD 2) Differential line driver system Max. output current 35mA extension IO unit (LB LA , LZ ) extension IO unit Am26LS32 or equivalent LA , LZ ) (LB 100 150 LAR (LBR , LZR ) LAR (LBR , LZR ) LG SD SD Sarvo motor CCW rotation LA LAR T LB LBR /2 LZ LZR 400 s or more OP (e) Analog output Output voltage: 4V Max.
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3. SIGNALS AND WIRING 3.3 Signal and wiring for extension IO unit 3.3.1 Connection example POINT The pins without symbols can be assigned any devices using the MR Configurator (servo configuration software). MR-J2M-D01 (Note 3) 24VDC (Note 2) CN4A VIN 11, 36 SG 12, 37 1 Approx. 6.8k 2 3 4 5 6 7 8 26 27 28 29 30 31 32 33 Approx. 6.
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3. SIGNALS AND WIRING (Note 2) CN4B 1 Approx. 6.8k 2 3 4 5 6 7 8 26 27 28 29 30 31 32 33 Approx. 6.
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3. SIGNALS AND WIRING 3.3.2 Connectors and signal configurations (1) Signal configurations POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. The pins without symbols can be assigned any devices using the MR Configurator (servo configuration software).
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3. SIGNALS AND WIRING 3.3.3 Signal explanations For the IO interfaces (system in I/O column in the table), refer to section 3.2.5. (1) Input signal Signal Symbol Connector CN4A-1 CN4A-2 CN4A-3 CN4A-4 I/O Functions/Applications pin No. division No signals are factory-assigned to these pins. Using the MR Configurator (servo configuration software), you can assign the input devices for corresponding slots as signals. Refer to Section 3.3.4 for assignable devices.
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3. SIGNALS AND WIRING Connector Signal Symbol Encoder A-phase pulse 1 Encoder B-phase pulse 1 LA1 LAR1 LB1 LBR1 LZ1 CN4A-50 CN4A-25 CN4A-49 CN4A-24 CN4A-48 LZR1 CN4A-23 Encoder Z-phase pulse 1 Functions/Applications pin No. As LA , LAR , LB and LBR , the pulses per servo motor revolution set in the DRU parameter No. 27 (Encoder output pulses) of the corresponding slots are output in the differential line driver system.
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3. SIGNALS AND WIRING (3) Power supply Signal Power input for Symbol VIN digital interface Common for SG digital interface Connector Functions/Applications pin No. CN4A-11 Driver power input terminal for digital interface. CN4A-36 Used to input 24VDC (200mA or more) for input interface. CN4B-11 24VDC 10% CN4B-36 Not connected to VIN of the interface unit. CN4A-12 Common terminal to VIN. Pins are connected internally. CN4A-37 Separated from LG.
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3. SIGNALS AND WIRING 3.3.4 Device explanations (1) Input device Using the MR Configurator (servo configuration software), you can assign the devices given in this section to the pins of connectors CN4A and CN4B of the MR-J2M-D01 extension IO unit.
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3.
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3.
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3.
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3. SIGNALS AND WIRING 3.3.5 Detailed description of the device (1) Electronic gear switching The combination of CM1 -SG and CM2 -SG gives you a choice of four different electronic gear numerators set in the DRU parameters. As soon as Electronic gear selection (CM1 ) / Electronic gear selection 2 (CM2 ) is turned ON or OFF, the denominator of the electronic gear changes. Therefore, if any shock occurs at this change, use position smoothing (DRU parameter No. 7) to relieve shock.
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3. SIGNALS AND WIRING 3.3.6 Device assignment method POINT When using the device setting, preset "000E" in IFU parameter No. 19. (1) How to open the setting screen Click "Parameters" on the menu bar and click "Device setting" in the menu. Making selection displays the following window. Click "Yes" button reads and displays the function assigned to each pin from the interface unit and extension IO unit. Click "No" button displays the initial status of the interface unit and extension IO unit.
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3. SIGNALS AND WIRING (2) Screen explanation (a) DIDO device setting window screen This is the device assignment screen of the interface unit/option unit. In Dev. selection, choose the IFU (interface unit) or D01 (extension IO unit). Making selection displays the pin assignment status per unit. a) b) d) c) 1) Read of function assignment ( a)) Click the "Read" button reads and displays all functions assigned to the pins from the interface unit and extension IO unit.
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3. SIGNALS AND WIRING (b) DIDO function display window screen This screen is used to select the slot numbers and functions assigned to the pins. Choose the slot numbers in Input device slot selection and Output device slot selection. The functions displayed below Input device function and Output device function are assignable. a) b) In the DIDO function display window, choose the slot numbers where you want to assign the functions. Move the pointer to the place of the function to be assigned.
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3. SIGNALS AND WIRING (C) Function device assignment check/auto ON setting display Click the "Function device assignment check/auto ON setting" button in the DIDO function display window displays the following window. a) b) c) d) e) The assigned functions are indicated by . The functions assigned by auto ON are grayed. When you want to set auto ON to the function that is enabled for auto ON, click the corresponding cell. Clicking it again disables auto ON.
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3. SIGNALS AND WIRING 3.4 Signals and wiring for base unit When each unit has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. Use the trouble (ALM_ ) to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire. Fabricate the cables noting the shapes of the CNP1A housing (X type) and CNP1B housing (Y type). CAUTION 3.4.
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3. SIGNALS AND WIRING (2) For 1-phase 200 to 230 VAC power supply Forced Trouble A Trouble B stop A RA1 RA2 Forced stop B OFF ON MC MC SK NFB (Note) Power supply 1-phase 200 to 230VAC MELSERVO-J2M MC CNP3 L1 1 L2 2 L3 3 CNP1B CN1A L11 1 27 ALM_A L21 2 26 RA1 Trouble A VIN CN5 Forced stop A Forced stop B EMG_A 20 EMG_B 19 SG 8 CN1B 27 ALM_B 26 VIN 24VDC Note. Connect a 1-phase 200 to 230VAC power supply to L1/L2 and keep L3 open.
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3. SIGNALS AND WIRING 3.4.2 Connectors and signal configurations POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. CNP1B (Y type) CNP1A (X type) 1 1 Base unit N L11 2 2 P L21 3 3 C CNP3 3 L3 2 L2 1 L1 The connector frames are connected to the PE (earth) terminal of the base unit. Cable side connector Connector Model Maker Housing: 1-178128-3 (X type) CNP1A Contact: 917511-2 (max. sheath OD: 353717-2 (max. sheath OD: 2.8[mm] ( 0.
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3. SIGNALS AND WIRING 3.4.3 Terminals Refer to Section 10.2 for the layouts and signal configurations of the terminal blocks. Connector CNP3 CNP1B Pin No. Code 1 L1 2 L2 3 L3 1 L11 2 L21 Connection target (1) When using a three -phase power supply Supply L1, L2 and L3 with three-phase, 200 to 230VAC, 50/60Hz Main circuit power 1 N 2 P 3 C (Earth) power. (2) When using a signal -phase power supply Supply L1 and L2 with signal-phase, 200 to 230VAC, 50/60Hz power.
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3. SIGNALS AND WIRING (3) Forced stop CAUTION Install an forced stop circuit externally to ensure that operation can be stopped and power shut off immediately. Make up a circuit which shuts off main circuit power as soon as EMG_ -SG are opened at a forced stop. To ensure safety, always install a forced stop switch across EMG_ -SG. By disconnecting EMG_ -SG, the dynamic brake is operated to bring the servo motor to a stop. At this time, the display shows the servo forced stop warning (A.E6).
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3. SIGNALS AND WIRING 3.5.2 Connection diagram The following table lists wiring methods according to the servo motor types. Use the connection diagram which conforms to the servo motor used. For cables required for wiring, refer to Section 12.2.1. For encoder cable connection, refer to Section 12.1.2. For the signal layouts of the connectors, refer to Section 3.5.3. For the servo motor connector, refer to Chapter 3 of the Servo Motor Instruction Manual.
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3. SIGNALS AND WIRING 3.5.3 I/O terminals (1) Drive unit POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. CN2 20 19 P5 17 MRR 15 P5 18 P5 16 MDR 10 9 Drive unit BAT 8 7 MR 5 MD 14 13 4 3 12 11 CNP2 2 4 V 1 3 U W 6 LG LG 2 1 LG Cable side connector Connector LG CN2 CNP2 Model Maker 1. Soldering type Connector: 10120-3000VE Shell kit: 10320-52F0-008 2.
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3. SIGNALS AND WIRING 3.6 Alarm occurrence timing chart CAUTION When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. As soon as an alarm occurs, turn off Servo-on (SON ) and power off the main circuit. When an alarm occurs in the MELSERVO-J2M, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence.
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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 interface unit signals but also by an external forced stop (EMG_ ). Contacts must be open when Circuit must be servo-on (SON ) is off, when an opened during trouble (ALM_ ) is present and forced stop when an electromagnetic brake (EMG_ ). interlock (MBR ).
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3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on (SON ) command (from controller) ON/OFF Tb [ms] after the servo-on (SON ) is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to about the same as the electromagnetic brake operation delay time to prevent a drop.
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3. SIGNALS AND WIRING (d) Both main and control circuit power supplies off (10ms) Servo motor speed Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake (Note)15 to 100ms ON Base circuit OFF Invalid(ON) Electromagnetic brake interlock(MBR Trouble (ALM_ ) Valid(OFF) Electromagnetic brake operation delay time No(ON) ) Yes(OFF) ON Main circuit power Control circuit OFF Note. Changes with the operating status.
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3. SIGNALS AND WIRING 3.8 Grounding Ground the base unit and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal of the base unit with the protective earth (PE) of the control box. WARNING The base unit switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, MELSERVO-J2M may be affected by the switching noise (due to di/dt and dv/dt) of the transistor.
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3. SIGNALS AND WIRING 3.9 Instructions for the 3M connector When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core Sheath External conductor Pull back the external conductor to cover the sheath Strip the sheath.
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3.
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4. OPERATION AND DISPLAY 4. OPERATION AND DISPLAY On the interface unit display (5-digit, seven-segment display), check the status of communication with the servo system controller at power-on, check the slot number, and diagnose a fault at occurrence of an alarm. 4.1 Display flowchart When powered on, the MELSERVO-J2M is placed in the automatic scroll mode in which the statuses of the interface unit/drive units installed on the base unit appear at intervals of 2 seconds in due order.
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4. OPERATION AND DISPLAY 4.1.1 Normal indication The normal indication shows the interface unit status or the slot number and current status (during servo ON or during servo OFF) of the corresponding drive unit to allow you to diagnose faults at alarm occurrence. The following are the drive unit status display data in the normal indication. (Note 1)Indication @ C@ @ d@ (Note 2) @A**@ Status Description Servo off Servo off status. Servo-on Servo on status.
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4. OPERATION AND DISPLAY 4.1.2 If alarm/warning occurs (1) If alarm/warning occurs in drive unit An alarm/warning which occurred in the drive unit is represented by the following indication. The following indication example assumes that an encoder error (A.16) occurred in the drive unit of installed on slot 1. During alarm occurrence digits flicker. 1. A 1 6. 1 Slot number Alarm/warning number Denotes alarm/warning indication.
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4. OPERATION AND DISPLAY 4.1.3 If test operation POINT Test operation can be performed using the MR Configurator (servo configuration software). (1) When test operation is being performed Test operation being performed is indicated as follows. @. T C @. Slot number. Test operation being performed is indicated as follows. Indicates the current status. Refer to the following table for below. Denotes test operation indication. Slot number Indication Current Status @T C@. Servo off status @T d@.
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4. OPERATION AND DISPLAY 4.2 Interface unit display 4.2.1 Display flowchart of interface unit Use the display (5-digit, 7-segment LED) on the front panel of the interface unit for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. The automatic scroll mode is selected at power-on.
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4. OPERATION AND DISPLAY 4.2.2 Status display of interface unit MELSERVO-J2M status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears. Press the "SET" button to display its data.
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4. OPERATION AND DISPLAY 4.2.3 Diagnostic mode of interface unit Name Display Description 2) 1) 2) 1) Interface unit external input signal Interface unit external output signal Interface unit output signal (DO) forced output Shows the ON/OFF states of the external input signals. 1) Forced stop A (EMG_A) ON: On OFF: Off 2) Forced stop B (EMG_B) ON: On OFF: Off Shows the ON/OFF states of the external output signals.
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4. OPERATION AND DISPLAY 4.2.4 Alarm mode of interface unit The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below. Name Display Description Indicates no occurrence of an alarm in the interface unit. Current alarm Indicates the occurrence of overvoltage (A.10) in the interface unit. Flickers at occurrence of the alarm.
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4. OPERATION AND DISPLAY 4.2.5 Interface unit parameter mode The parameters whose abbreviations are marked* are made valid by changing the setting and then switching power off once and switching it on again. Refer to Section 5.2.2. The following example shows the operation procedure performed after power-on to change the regenerative brake resistor (IFU parameter No. 1) to 0005 (MR-RB15). Using the "MODE" button, show the basic parameter screen. The parameter number is displayed.
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4. OPERATION AND DISPLAY 4.2.6 Interface unit output signal (DO) forced output POINT This function is available during test operation. The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, etc. This operation must be performed in the servo off state (SON off). Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. Press UP button twice. Press SET button for more than 2s.
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4. OPERATION AND DISPLAY 4.3 Drive unit display 4.3.1 Drive unit display sequence Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. The automatic scroll mode is selected at power-on.
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4. OPERATION AND DISPLAY 4.3.2 Status display of drive unit The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears. Press the "SET" button to display its data.
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4. OPERATION AND DISPLAY (2) Drive unit status display list The following table lists the servo statuses that may be shown: Refer to Appendix 2 for the measurement point. Name Symbol Unit Description Cumulative feedback pulses @.C pulse Servo motor speed @.r r/min Feedback pulses from the servo motor encoder are counted and displayed. The value in excess of 99999 is counted, bus since the interface display is five digits, it shows the lower five digits of the actual value.
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4. OPERATION AND DISPLAY 4.3.3 Diagnostic mode of drive unit Name (Note) Display Drive unit external Refer to section 4.3.6. input signal Drive unit external Refer to section 4.3.6. output signal Drive unit output Description Shows the ON/OFF statuses of the external input signals. Each signal corresponds to the function assignment. (The corresponding segment is lit when the function-assigned signal turns on.) Shows the ON/OFF statuses of the external output signals.
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4. OPERATION AND DISPLAY 4.3.4 Alarm mode of drive unit Name (Note) Display @ Description Indicates no occurrence of an alarm in the drive unit. Current alarm @ @ Indicates the occurrence of overvoltage (A.33) in the drive unit. Flickers at occurrence of the alarm. Indicates that the last alarm is overload 1 (A.50) in the drive unit. @ Indicates that the second alarm in the past is overvoltage (A.33) in the @ Indicates that the third alarm in the past is undervoltage (A.
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4. OPERATION AND DISPLAY 4.3.5 Drive unit parameter mode The parameter setting of the drive unit is the same as that of the interface unit. Refer to Section 4.2.5. To use the expansion parameters, change the setting of DRU parameter No. 19 (parameter write disable). Refer to section 5.1.1. 4.3.6 Drive unit external input signal display The ON/OFF states of the digital input signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on.
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4. OPERATION AND DISPLAY 4.3.7 Drive unit external output signal display The ON/OFF states of the digital output signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. @ Press UP button once.
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4. OPERATION AND DISPLAY 4.3.8 Drive unit output signal (DO) forced output POINT This function is usable during test operation only. The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, etc. This operation must be performed in the servo off state (SON off). Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. @ Press UP button twice. @ Press SET button for more than 2 seconds.
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5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parameter values extremely as it will make operation instable. 5.1 DRU parameter list 5.1.1 DRU parameter write inhibit POINT After setting the DRU parameter No. 19 value, switch power off, then on to make that setting valid. In the MELSERVO-J2M servo amplifier, its parameters are classified into the DRU basic parameters (No. 0 to 19), DRU expansion parameters 1 (No. 20 to 49) and DRU expansion parameters 2 (No.
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5. PARAMETERS 5.1.2 Lists POINT For any DRU parameter whose symbol is preceded by *, set the DRU parameter value and switch power off once, then switch it on again to make that DRU parameter setting valid. (1) Item list No.
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5. PARAMETERS No.
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5. PARAMETERS No.
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5. PARAMETERS (2) Details list Class No. Symbol 0 Name and function For manufacturer setting Initial value Unit Setting range 0000 Do not change this value any means. 1 *OP1 Function selection 1 0000 Used to select the absolute position detection system. Name and 0 0 0 function column.
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5. PARAMETERS Class No. Symbol 3 CMX Initial value Name and function Electronic gear numerator (Command pulse multiplying factor numerator) Used to set the electronic gear numerator value. Unit Setting range 1 0 1 to 65535 1 1 to 65535 For the setting, refer to Section 5.2.1. Setting "0" automatically sets the resolution of the servo motor connected. For the HC-MFS series, 131072 pulses are set for example.
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5. PARAMETERS Class No. Symbol 8 9 10 11 12 13 14 15 16 *BPS Basic DRU parameters value For manufacturer setting Do not change this value any means. 100 500 1000 0 0 0 0 0 Alarm history clear Clear the alarm history. 0000 0 0 17 18 19 *BLK 000A 000B 000C 000E 100B 100C 100E 20 *OP2 Operation Setting range Refer to and 0 function For manufacturer setting Do not change this value any means. DRU parameter write inhibit Used to select the reference and write ranges of the parameters.
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5. PARAMETERS Class No. Symbol 21 *OP3 Name and function Function selection 3 (Command pulse selection) Used to select the input form of the pulse train input signal. (Refer to Section 3.2.3.) Initial value 0000 Unit Setting range Refer to Name and function column.
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5. PARAMETERS Class No. Symbol Expansion DRU parameters 1 28 TL1 29 30 31 32 33 MBR 34 GD2 35 PG2 36 VG1 37 VG2 38 VIC 39 VDC 40 41 42 *DI1 Name and function Internal torque limit 1 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[%]. When 0 is set, torque is not produced. When torque is output in analog monitor, this set value is the maximum output voltage ( 4V). (Refer to Section 3.3.
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5. PARAMETERS Class No. Symbol Initial value Name and function 43 For manufacturer setting 0000 44 Do not change this value any means. 0000 45 0000 46 0000 47 0000 48 0000 49 0000 50 0000 51 *OP6 Function selection 6 0000 Unit Setting range Refer to Used to select the operation to be performed when the reset (RES ) Name switches on. and 0 function 0 0 column.
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5. PARAMETERS Class No. Symbol 55 *OPA Initial value Name and function Function selection A 0000 Unit Setting range Refer to Used to select the position command acceleration/deceleration time Name constant (DRU parameter No. 7) control system. and 0 0 function 0 column. Position command acceleration/deceleration time constant control 0: Primary delay 1: Linear acceleration/deceleration 56 For manufacturer setting 0 57 Do not change this value any means.
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5. PARAMETERS Class No. Symbol 60 LPF Name and function Low-pass filter/adaptive vibration suppression control Used to selection the low-pass filter and adaptive vibration suppression Initial value 0000 Unit Setting range Refer to Name and function column. control. (Refer to Chapter 7.) 0 Low-pass filter selection 0: Valid (Automatic adjustment) 1: Invalid VG2 setting 10 When you choose "valid", 2 (1 GD2 setting 0.1) [Hz] bandwidth filter is set automatically.
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5. PARAMETERS Class No. Symbol 66 CDS Name and function Initial value 10 Gain changing condition Unit Setting range kpps 10 Used to set the value of gain changing condition (command frequency, droop pulse to pulses, servo motor speed) selected in parameter No. 65 (Gain changing r/min 9999 selection). The set value unit changes with the changing condition item. (Refer to Section 7.5.
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5. PARAMETERS 5.2 Interface unit 5.2.1 IFU parameter write inhibit POINT Use the unit operation section pushbutton switches or MR Configurator (servo configuration software) to set the IFU parameters of the interface unit. Use the unit pushbutton switches or MR Configurator (servo configuration software) to set the interface unit parameters. When assigning the devices, change the setting to "000E".
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5. PARAMETERS (1) Item list Classifi- Expansion IFU parameter Basic IFU parameters cation No.
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5. PARAMETERS (2) Details list Classification No. Symbol 0 *BPS Name and Function Serial communication function selection, alarm history clear Initial Value 0000 Unit Setting Range Refer to Used to select the serial communication baudrate function selection, name select various communication conditions, and clear the alarm and history. function column.
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5. PARAMETERS Classification No. Symbol 3 MD1 Name and Function Analog monitor 1 output Initial Value 0000 Choose the signal to be output to analog monitor 1. Unit Setting Range Refer to name and 0 0 function column. Basic IFU parameters Analog monitor 1 selection 0: Servo motor speed ( 4V/max. Servo motor speed) 1: Torque ( 4V/max. Torque) 2: Servo motor speed ( 4V/max. Servo motor speed) 3: Torque ( 4V/max. Torque) 4: Current command ( 4V/max.
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5. PARAMETERS Classification No. Symbol 5 *MD3 Name and Function Analog monitor 3 output Initial Value Unit 0000 Setting Range Refer to Choose the signal to be output to analog monitor 3. name and 0 0 function Basic IFU parameters column. Analog monitor 3 selection 0: Servo motor speed ( 4V/max. Servo motor speed) 1: Torque ( 4V/max. Torque) 2: Servo motor speed ( 4V/max. Servo motor speed) 3: Torque ( 4V/max. Torque) 4: Current command ( 4V/max.
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5. PARAMETERS Classification No. Symbol 10 *INS Name and Function Interface unit serial communication Initial Value 0 Unit Setting Range 0 Choose the serial communication station number of the interface to unit. 31 When making selection, avoid setting the station number used by any other unit. 11 *SL1 1 slot serial communication station number selection 1 0 Choose the station number of the drive unit connected to the first to slot of the base unit.
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5. PARAMETERS Classification No. Symbol 16 *SL6 Initial Name and Function Value Unit Setting Range 6 6 slot serial communication station number selection 0 Choose the station number of the drive unit connected to the sixth to slot of the base unit. 31 When making selection, avoid setting the station number used by any other unit.
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5. PARAMETERS 5.3 Detailed description 5.3.1 Electronic gear CAUTION Wrong setting can lead to unexpected fast rotation, causing injury. POINT 1 CMX 500. 50 CDV 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. The following specification symbols are required to calculate the electronic gear.
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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 CMX CDV Pt 0.01 131072 [pulses/rev] 131072 4/64 360 Timing belt : 4/64 65536 ................................................................................. (5.1) 1125 Since CMX is not within the setting range in this status, it must be reduced to the lowest term.
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5. PARAMETERS (3) Setting for use of AD75P The AD75P also has the following electronic gear parameters. Normally, the servo amplifier side electronic gear must also be set due to the restriction on the command pulse frequency (differential 400kpulse/s, open collector 200kpulse/s).
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5. PARAMETERS To rotate the servo motor at 3000r/min in the open collector system (200kpulse/s), set the electronic gear as follows f CMX CDV f : N0 : Pt : N0 60 pt Input pulses [pulse/s] Servo motor speed [r/min] Servo motor resolution [pulse/rev] 200 103 CMX CDV CMX CDV 3000 131072 60 3000 60 131072 200 3 3000 131072 60 200000 4096 125 The following table indicates the electronic gear setting example (ballscrew lead AD75P is used in this way.
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5. PARAMETERS 5.3.2 Analog monitor The servo status can be output to 3 channels in terms of voltage. Using an ammeter enables monitoring the servo status. (1) Setting Change the following digits of IFU parameter No.3 to 5: IFU parameter No. 3 Analog monitor 1 selection (Signal output to across MO1-LG) Slot number of analog monitor 1 IFU parameter No. 4 Analog monitor 2 selection (Signal output to across MO2-LG) Slot number of analog monitor 2 IFU parameter No.
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5. PARAMETERS Setting 2 Output item Servo motor speed Data CW direction 4[V] Setting 9 CCW direction Output item Data Droop pulses 4[V] ( 4V/32768pulse) CCW direction 32768[pulse] 0 Max. speed 0 Max. speed 4[V] CW direction 3 Torque (Note) A Driving in CW direction 4[V] Driving in CCW direction Droop pulses 4[V] ( 4V/131072pulse) 32768[pulse] CCW direction 131072[pulse] 0 Max. torque 0 Max. torque CW direction 4 Current command Max.
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Command pulse PP,NP Command pulse frequency 5 - 27 Cumulative feedback pulse CDV CMX Electronic gear Cumulative command pulse Position control Load inertia moment ratio Auto tuning section Droop pulse Speed control Differential Current control Low Within onerevolution position High Current position calculation Speed feedback Servo motor speed Instantaneously occurring torque ABS counter Absolute position encoder M Servo motor Within onerevolution position ABS counter PWM Peak hold
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5. PARAMETERS 5.3.3 Using forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) to change the stopping pattern The stopping pattern is factory-set to make a sudden stop when the forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) is made valid. A slow stop can be made by changing the DRU parameter No. 22 (Function selection 2) value. DRU parameter No.22 Setting 0 (initial value) Stopping method Sudden stop Motor stops with droop pulses cleared.
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5. PARAMETERS 5.3.5 Position smoothing By setting the position command acceleration/deceleration time constant (DRU parameter No.7), you can run the servo motor smoothly in response to a sudden position command. The following diagrams show the operation patterns of the servo motor in response to a position command when you have set the position command acceleration/deceleration time constant. Choose the primary delay or linear acceleration/deceleration in DRU parameter No.
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5.
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6. GENERAL GAIN ADJUSTMENT 6. GENERAL GAIN ADJUSTMENT 6.1 Different adjustment methods 6.1.1 Adjustment on a MELSERVO-J2M The gain adjustment in this section can be made on the MELSERVO-J2M. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1 and manual mode 2 in this order. (1) Gain adjustment mode explanation Gain adjustment DRU parameter Estimation of load Automatically set Manually set mode No.
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6. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Interpolation made for 2 or more axes? Used when you want to Yes match the position gain 1 Interpolation mode No (PG1) between 2 or more axes. Normally not used for Operation Allows adjustment by Auto tuning mode 1 merely changing the response level setting. Operation Yes other purposes. First use this mode to make No OK? adjustment.
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6. GENERAL GAIN ADJUSTMENT 6.2 Auto tuning 6.2.1 Auto tuning mode The MELSERVO-J2M has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the MELSERVO-J2M. (1) Auto tuning mode 1 The MELSERVO-J2M is factory-set to the auto tuning mode 1.
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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 Command Control gains PG1,VG1 PG2,VG2,VIC Current control Servo motor Encoder Current feedback Set 0 or 1 to turn on. Gain table Real-time auto tuning section Switch Load inertia moment ratio estimation section Position/speed feedback Speed feedback DRU parameter No. 34 Load inertia moment ratio estimation value DRU parameter No.
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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. Auto tuning adjustment Acceleration/deceleration repeated Yes Load inertia moment ratio estimation value stable? No Auto tuning conditions not satisfied.
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6. GENERAL GAIN ADJUSTMENT 6.2.4 Response level setting in auto tuning mode Set the response (The first digit of DRU parameter No.2) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibrationfree range.
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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 DRU parameters. 6.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.
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6. GENERAL GAIN ADJUSTMENT (3) Adjustment description (a) Position control gain 1 (DRU parameter No. 6) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling.
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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 2 and speed control gain 2 which determine command trackability are set manually and the other parameter for gain adjustment are set automatically.
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6.
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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 level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
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7. SPECIAL ADJUSTMENT FUNCTIONS You can use the machine resonance suppression filter 1 (DRU parameter No. 58) and machine resonance suppression filter 2 (DRU parameter No. 59) to suppress the vibration of two resonance frequencies. Note that if adaptive vibration suppression control is made valid, the machine resonance suppression filter 1 (DRU parameter No. 58) is made invalid. Machine resonance point Mechanical system response level Frequency Notch depth Frequency DRU parameter No.
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7. 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. The machine characteristic can be grasped beforehand by the machine analyzer on the MR Configurator (servo configuration software).
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7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (DRU parameter No.60). DRU parameter No. 60 Adaptive vibration suppression control selection Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 (DRU parameter No. 58) invalid.
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7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation. 7.5.1 Applications This function is used when: (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation. (2) You want to increase the gains during settling to shorten the stop settling time.
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7. SPECIAL ADJUSTMENT FUNCTIONS 7.5.3 Parameters 4 " in DRU parameter No.2 (auto tuning) to When using the gain changing function, always set " choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode. DRU Abbrevi- parameter No. ation Name Unit Description 6 PG1 Position control gain 1 rad/s Position and speed gains of a model used to set the 36 VG1 Speed control gain 1 rad/s response level to a command. Always valid.
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7. SPECIAL ADJUSTMENT FUNCTIONS (1) DRU parameters No. 6 34 to 38 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and speed integral compensation to be changed. (2) Ratio of load inertia moment to servo motor inertia moment 2 (GD2B: DRU parameter No. 61) Set the ratio of load inertia moment to servo motor inertia moment after changing.
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7. SPECIAL ADJUSTMENT FUNCTIONS 7.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting DRU parameter No. Abbreviation Name Setting Unit 6 PG1 Position control gain 1 100 rad/s 36 VG1 Speed control gain 1 1000 rad/s 4 0.
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7. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting DRU parameter No. Abbreviation Setting Unit 6 PG1 Position control gain 1 Name 100 rad/s 36 VG1 Speed control gain 1 1000 rad/s 34 GD2 40 0.1 times Ratio of load inertia moment to servo motor inertia moment 35 PG2 Position control gain 2 120 rad/s 37 VG2 Speed control gain 2 3000 rad/s 38 VIC Speed integral compensation 20 ms 100 0.
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7.
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8. INSPECTION 8. INSPECTION WARNING Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 15 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.
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8.
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9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Trouble at start-up CAUTION Excessive adjustment or change of parameter setting must not be made as it will make operation instable. POINT Using the optional MR Configurator (servo configuration software), you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. (1) Troubleshooting No.
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9. TROUBLESHOOTING No. 4 Start-up sequence Gain adjustment Possible cause Reference Rotation ripples Fault Make gain adjustment in the Gain adjustment fault Chapter 6 (speed fluctuations) following procedure: are large at low 1. Increase the auto tuning speed. Investigation response level. 2. Repeat acceleration and deceleration several times to complete auto tuning.
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9. TROUBLESHOOTING (2) How to find the cause of position shift Positioning unit MELSERVO-J2M (a) Output pulse counter Electronic gear (DRU parameters No.
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9. TROUBLESHOOTING 9.2 Alarms and warning list POINT The alarm/warning whose indication is not given does not exist in that unit. When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 9.3 or 9.4 and take the appropriate action. When an alarm occurs in any of slots 1 to 4, ALM_A-SG open. When an alarm occurs in any of slots 5 to 8, ALM_B-SG open. The alarm can be canceled by turning the power OFF to ON.
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9. TROUBLESHOOTING Alarms Display A.10 A.12 A.13 A.15 A.16 A.17 A.19 A.1A A.1C A.1D A.1E A.20 A.24 A.25 A.30 A.31 A.32 A.33 A.35 Warnings A.37 A.45 A.46 A.50 A.51 A.52 A.53 A.54 A.78 A.79 A.8A A.8E 88888 A.92 A.96 A.9F A.E0 A.E1 A.E3 A.E6 A.
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9. TROUBLESHOOTING 9.3 Remedies for alarms CAUTION When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase (A.25) occurred, always make home position setting again. Otherwise, misoperation may occur. As soon as an alarm occurs, turn off Servo-on (SON ) and power off the main circuit.
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9. TROUBLESHOOTING Display IFU DRU Name Definition @A.12@ Memory error 1 RAM, memory fault @A.13@ Clock error Printed board fault. @A.15@ Memory error 2 EEP-ROM fault Cause 1. Faulty parts in the drive unit Action Change the drive unit. Checking method Alarm (A.15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. 2. The number of write times to EEPROM exceeded 100,000. @A.16@ Encoder error 1 Communication error 1.
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9. TROUBLESHOOTING Display IFU DRU Name @A.24@ Main circuit error Definition Cause Ground fault occurred 1. Power input wires and servo motor at the servo motor outputs (U,V and W phases) of the drive unit. Action Connect correctly. output wires are in contact at CNP2. 2. Sheathes of servo motor power Change the cable. cables deteriorated, resulting in ground fault. 3. Main circuit of drive unit failed. Change the drive unit. Checking method Alarm (A.
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9. TROUBLESHOOTING Display IFU DRU Name @A.31@ Overspeed Definition Speed has exceeded the instantaneous permissible speed. Cause Action 1. Input command pulse frequency is Set the command pulse correctly. too high. 2. Small acceleration/deceleration time Increase acceleration/ constant caused overshoot to be deceleration time constant. large. 3. Servo system is instable to cause overshoot. 1. Reset servo gain to proper value. 2.
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9. TROUBLESHOOTING Display IFU DRU FA.37 Name IFU parameter error Definition IFU parameter setting is wrong. @A.37@ DRU parameter DRU parameter error setting is wrong. @A.45@ Main circuit Main circuit device device overheat overheat. @A.46@ Servo motor overheat @A.50@ Overload 1 Cause 1. Interface unit fault caused the IFU parameter setting to be rewritten. 2. The number of write times to EEPROM exceeded 100,000 due to parameter write, program write, etc. 1.
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9. TROUBLESHOOTING Display IFU DRU Name @A.51@ Overload 2 Definition Machine collision or Cause 1. Machine struck something. Action 1. Review operation pattern. the like caused max. 2. Install limit switches. output current to flow 2. Wrong connection of servo motor. successively for Drive unit's output terminals U, V, Connect correctly. several seconds. W do not match servo motor's input Servo motor locked: terminals U, V, W. 0.3s or more 3.
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9. TROUBLESHOOTING Display IFU DRU FA.53 Name Definition Multiple axis Drive unit whose overload effective load factor is Cause 1. Drive unit having large load is adjacent. Action 1. Change the slot of the drive unit whose load is large. 85% or more is 2. Reduce the load. adjacent. 3. Reexamine the operation pattern. 4. Use a servo motor whose output is large. 2. Servo system is instable and hunting. 1. Repeat acceleration/ deceleration and perform auto tuning. 2.
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9. TROUBLESHOOTING 9.4 Remedies for warnings If an absolute position counter warning (A.E3) occurred, always make home position setting again. Otherwise, misoperation may occur. CAUTION 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.
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9.
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10. OUTLINE DRAWINGS 10. OUTLINE DRAWINGS 10.1 MELSERVO-J2M configuration example The following diagram shows the MR-J2M-BU8 base unit where one interface unit and eight drive units are installed. 158 (6.22) 130 (5.12) 28 (1.10) [Unit: mm] ([Unit: in]) 35 (1.38) 30 (1.12) 50 (1.67) 25 (0.98) 240 (9.45) 350 (13.78) 6 (0.24) 27 (1.06) 6 (0.24) 86 (3.39) 27 (1.
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10. OUTLINE DRAWINGS 10.2 Unit outline drawings 10.2.1 Base unit (MR-J2M-BU ) [Unit: mm] ([Unit: in]) Variable Dimensions Mass [kg]([lb]) B A 1.1 (2.43) MR-J2M-BU4 230 (9.06) 218 (8.58) MR-J2M-BU6 290 (11.42) 278 (10.95) 1.3 (2.87) MR-J2M-BU8 350 (13.78) 338 (13.307) 1.5 (3.31) Base Unit A B 6 (0.24) 27 (1.06) 6 (0.24) Connector layout CNP1A, CNP1B A B 1 N L11 2 P L21 3 C 6 (0.24) 86 (3.39) 140 (5.51) NAME PLATE CC NN PP 11 AB 27 (1.
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10. OUTLINE DRAWINGS 10.2.3 Drive unit (MR-J2M- DU) (1) MR-J2M-10DU to MR-J2M-40DU Approx.70 (2.76) 138.5 (5.45) 130 (4.72) 6.5 (0.26) 5 (0.20) Connector layout 4.5 ( 0.18) mounting hole CNP2 5 (0.20) 30 (1.18) (1 (0.04)) [Unit: mm] ([Unit: in]) 2 4 V SON ALM MITSUBISHI 3 U W PLATE MITSUBISHI C N 2 120 (4.72) 1 NAME 130 (5.12) MELSERVO Mounting screw : M4 Tightening torque : 1.5 [N m] (13.3 [lb in]) NAME PLATE C N P 2 Mass: 0.4kg (0.
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10. OUTLINE DRAWINGS 10.2.4 Extension IO unit (MR-J2M-D01) [Unit: mm] ([Unit: in]) (1 (0.04)) Approx.80 (3.15) 130 (4.72) 6.5 (0.26) 5 (0.20) 25 (0.89) 138.5 (5.45) 5 (0.20) 2- 4.5 ( 0.18) mounting hole Mounting screw : M4 Tightening torque : 1.5 [N m] (13.3 [lb in]) C N 4 B 120 (4.72) 120 (4.72) 130 (5.12) C N 4 A 5 (0.20) NAME PLATE Mass: 0.2kg (1.10lb) 10.2.5 Battery unit (MR-J2M-BT) [Unit: mm] ([Unit: in]) 130 (5.45) 6.5 (0.26) 5 (0.20) Approx.70 (2.76) (1 (0.04)) 25(0.89) 5 (0.
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10. OUTLINE DRAWINGS 10.3 Connectors (1) CN1A CN1B CN4A CN4B connector <3M> (a) Soldered type Model Connector : 10150-3000VE Shell kit : 10350-52F0-008 [Unit: mm] ([Unit: in]) 14.0 (0.55) 17.0 (0.67) 18.0 (0.71) 52.4 (2.06) 12.7 (0.50) 46.5 (1.83) Logo, etc. are indicated here. 39.0 (1.54) 23.8 (0.94) 41.1 (1.62) (b) Threaded type Model Connector Shell kit : 10150-3000VE : 10350-52A0-008 Note. This is not available as option and should be user-prepared. [Unit: mm] ([Unit: in]) 14.0 (0.55) 17.
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10. OUTLINE DRAWINGS (2) CN2 CN3 connector <3M> (a) Soldered type Model Connector Shell kit : 10120-3000VE : 10320-52F0-008 [Unit: mm] ([Unit: in]) 10.0 39.0 (1.54) 14.0 (0.55) 33.3 (1.31) 12.7 (0.50) Logo, etc. are indicated here. 23.8 (0.98) 22.0 (0.87) (0.39) 12.0 (0.47) (b) Threaded type Model Connector Shell kit : 10120-3000VE : 10320-52A0-008 Note. This is not available as option and should be user-prepared. [Unit: mm] ([Unit: in]) 10.0 (0.39) 12.0 (0.47) 39.0 (1.54) 5.7 (0.22) 23.
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10. OUTLINE DRAWINGS (c) Insulation displacement type Model Connector : 10120-6000EL Shell kit : 10320-3210-000 [Unit: mm] ([Unit: in]) 11.5 42.0 (1.65) 20.9 (0.82) Logo, etc. are indicated here. 33.0 (1.3) 2- 0.5 ( 0.02) (0.45) 6.7 ( 0.26) 29.7 (1.17) (3) CN5 connector <3M> [Unit: mm] ([Unit: in]) 10.0 27.4 (1.08) 14.0 (0.55) Logo, etc. are indicated here. 3.0 (0.12) R 4.0 (0.16) 4.0 (0.16) A 4.0 (0.16) 7.6 (0.3) 10.7 12.7 (0.42 (0.50) 23.35 (0.92) 0.2 0.08) .R 0. 3 33.3 (1.
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10. OUTLINE DRAWINGS (4) CNP1A/CNP1B connector Model CNP1A housing CNP1B housing Contact : 1-178128-3 : 2-178128-3 : 917511-2 (max. sheath OD: 2.8 [mm] ( 0.11 [in])) 353717-2 (max. sheath OD: 3.4 [mm] ( 0.13 [in])) : 91560-1 (for 917511-2) 937315-1 (for 353717-2) Applicable tool [Unit: mm] ([Unit: in]) 5.08 (0.2) 7.15 (0.28) 29.7 (0.12) 1 2 3 AMP 22.8 (0.90) 0-3 16.3 (0.06) X 19.24 (0.76) 6.55 (0.
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10. OUTLINE DRAWINGS (6) Connectors for CNP2 [Unit: mm] 0.6 (0.024) 0.6 (0.024) ([Unit: in]) 5 4 3 R0.3 1.2 Circuit number (0.047) 10 8.5 (0.335) 11.6 (0.457) 6 3.3 (0.13) 6.3 (0.248) 4.2 (0.165) 2.5 (0.098) 9.6 (0.378) 3 (0.118) 1.5 (0.059) 19.6 (0.772) 7 1 5.4 (0.213) Layout diagrams classified by the number of poles 10.7 (0.421) 9 2 3 (0.118) 5.4 (0.213) 1 2 3 4 4 poles 3.5 (0.138) Variable Dimensions Model 5557-04R A B 4.2 (0.165) 9.6 (0.378) 4.2 (Pitch) (0.
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10.
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11. CHARACTERISTICS 11. CHARACTERISTICS 11.1 Overload protection characteristics 1000 1000 100 100 During rotation During rotation 10 Operation time [s] Operation time [s] An electronic thermal relay is built in the drive unit to protect the servo motor and drive unit from overloads. Overload 1 alarm (A.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 11.1. Overload 2 alarm (A.
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11. CHARACTERISTICS 11.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the drive unit Table 11.1 indicates drive unit's power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 11.1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation.
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11. CHARACTERISTICS (2) Heat dissipation area for enclosed drive unit The enclosed control box (hereafter called the control box) which will contain the drive unit should be designed to ensure that its temperature rise is within 10 (50 ) at the ambient temperature of 40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 11.1: P ............................................................
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11. CHARACTERISTICS 11.3 Dynamic brake characteristics Fig. 11.4 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 11.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to Fig. 11.4) Forced stop(EMG_ ) ON OFF Time constant V0 Machine speed te Time Fig. 11.3 Dynamic brake operation diagram Lmax Lmax Vo JM JL te JL V0 te 1 ...............
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16 14 12 23 10 8 6 053 4 2 0 0 Time constant [s] Time constant [ms] 11. CHARACTERISTICS 73 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 a. HC-KFS series 23 43 053 73 13 500 1000 1500 2000 2500 3000 Speed [r/min] b. HC-MFS series 0.07 73 0.06 Time constant [s] 0.05 0.04 0.03 43 0.02 23 13 0.01 0 0 50 500 1000 1500 2000 2500 3000 Speed [r/min] c. HC-UFS3000r/min series Fig. 11.
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11. CHARACTERISTICS 11.4 Encoder cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.
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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 15 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. CAUTION Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire. 12.1 Options 12.1.
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12. OPTIONS AND AUXILIARY EQUIPMENT Calculate the total of the 3000r/min-equivalent inertia moments of the axes to be decelerated simultaneously, and find the maximum total of 3000r/min-equivalent inertia moments. Also find the sum total of permissible load inertia moments of the drive units installed on the same base unit. (Maximum total of 3000r/min-equivalent inertia moments) inertia moments of drive units) 1.42 (Sum total of permissible load Regenerative brake option is unnecessary.
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12. 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: 1) Regenerative energy calculation Use the following table to calculate the regenerative energy.
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12.
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12. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection of the regenerative brake option POINT When using the MR-RB54, cooling by a fan is required. Please obtain a cooling fan at your discretion. Set IFU parameter No.1 according to the option to be used. The regenerative brake option will generate heat of about 100 (212 ). Fully examine heat dissipation, installation position, used cables, etc. before installing the option.
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12. OPTIONS AND AUXILIARY EQUIPMENT (4) Outline drawing (a) MR-RB032 MR-RB14 [Unit: mm (in)] LA 12 (0.47) 6 (0.23) 6 (0.24) mounting hole LB 144 (5.67) TE1 Terminal block 5 (0.20) G3 G4 P C 6 (0.23) 12 (0.47) G3 G4 P C 6 (0.23) TE1 168 (6.61) 156 (6.14) MR-RB Terminal screw: M3 1.6 (0.06) 20 (0.79) LD LC Regenerative brake option MR-RB032 MR-RB14 LA 30 (1.18) 40 (1.57) Tightening torque: 0.5 to 0.6 [N m](4 to 5 [lb in]) Mounting screw Screw size: M5 Tightening torque: 3.2 [N m](28.
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12. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB54 200 (7.87) 223 (8.78) 17 (0.67) 12.5 (0.49) 12.5 (0.49) 82.5 (3.25) 133 (5.24) 2.3 (0.09) 12 (0.47) Mounting screw Screw : M6 Wind blows in the arrow direction. 7 (0.28) 108 (4.25) 120 (4.73) [Unit: mm (in)] P C Terminal screw: M4 G3 Tightening torque: 1.2 [N m](10.6 [lb in]) G4 G4 G3 C P 162.5 (6.39) 14 slot 350 (13.78) 7 Terminal block 162.5(6.39) 82.5 49 (1.93) (3.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.2 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. The broken line areas in the diagram are not options.
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12. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model 1) Standard encoder MR-JCCBL M-L cable Refer to (2) (a) in this section. 2) Long flexing life encoder cable 3) Description Connector: 10120-3000VE Shell kit: 10320-52F0-008 (3M or equivalent) Application Housing: 1-172161-9 Standard Pin: 170359-1 flexing life (Tyco Electronics or equivalent) IP20 Cable clamp: MTI-0002 (Toa Electric Industry) MR-JCCBL M-H Refer to (2) (a) in this section.
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12. OPTIONS AND AUXILIARY EQUIPMENT No. Product 11) Power supply Model MR-PWCNK3 connector Description Application Plug: 5557-04R-210 Servo motor Terminal: 5556PBT3L (for AWG16) (6 pcs.) power cable (Molex) 12) Base unit MR-J2MCNM For CNP1B Housing: 2-178128-3 (5 pcs.) connector set Y Contact: 917511-2 (max. sheath OD ( 2.8 [mm] 0.11[in]) 15 pcs.) (Tyco Electronics) For CNP1A Housing: 1-178128-3 (5 pcs.) X Contact: 917511-2 (max. sheath OD ( 2.8 [mm] 0.11[in]) 15 pcs.
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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. 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 .
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12.
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12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JC4CBL M-H POINT When using this encoder cable, set "1 " in DRU parameter No. 20. 1) Model explanation Model: MR-JC4CBL M- H Long flexing life Symbol Cable length [m(ft)] 30 40 50 30 (98.4) 40 (131.2) 50 (164.0) 2) Connection diagram The signal assignment of the encoder connector is as viewed from the pin side. For the pin assignment on the drive unit side, refer to Section 3.5.3.
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12. OPTIONS AND AUXILIARY EQUIPMENT MR-JC4CBL30M-H to MR-JC4CBL50M-H Encoder side Drive unit side P5 LG P5 LG P5 LG 19 11 20 12 18 2 MR MRR MD MDR BAT LG 7 17 6 16 9 1 7 8 1 2 4 5 3 (Note) SD Plate 9 Note. Always make connection for use in an absolute position detection system. This wiring is not needed for use in an incremental system. When fabricating an encoder cable, use the recommended wires given in Section 12.2.
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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.
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12. OPTIONS AND AUXILIARY EQUIPMENT (4) Battery cable When fabricating, use the recommended wire given in Section 12.2.1 and fabricate as in the connection diagram shown in this section. (a) Definition of model Model: MR-J2MBTCBL M Symbol 03 1 Cable Length L [m(ft)] 0.3 (0.1) 1 (3.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.3 Junction terminal block (MR-TB50) (1) How to use the junction terminal block Always use the junction terminal block (MR-TB50) with the junction terminal block cable (MR-J2MCN1TBL M) as a set.
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12. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable (MR-J2M-CN1TBL M) (a) Model explanation Model: MR-J2M-CN1TBL M Symbol Cable length[m(ft)] 05 0.5 (1.64) 1 1 (3.28) (b) Connection diagram PCR-S50FS(Servo amplifier side) Symbol Pin No.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.4 Junction terminal block (MR-TB20) (1) How to use the junction terminal block Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MRJ2TBL M-1A) as a set.
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12. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable (MR-J2TBL M-1A) (a) Model explanation Model: MR-J2TBL M-1A Symbol Cable length[m(ft)] 05 0.5 (1.64) 1 1 (3.28) (b) Connection diagram Junction terminal block side connector(3M) D7920-B500FL(Connector) Symbol CN5 Junction Terminal Pin No. Block No.
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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 are used at the same time. Interface unit Communication cable Maintenance junction card (MR-J2CN3TM) Bus cable MR-J2HBUS M CN3B CN3A CN3 CN3C A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6 TRE RDP P5 SDN LG LG PE LG LG MO1 MO2 Analog monitor 2 Not used.
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12. OPTIONS AND AUXILIARY EQUIPMENT (4) Bus cable (MR-J2HBUS (a) Model explanation M) Model: MR-J2HBUS M Symbol Cable length [m(ft)] 05 1 5 0.5 (1.64) 1 (3.28) 5 (16.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.6 MR Configurator (servo configurations software) POINT Required to assign devices to the pins of CN4A and CN4B of the MRJ2M-D01 extension IO unit. The MR Configurator (servo configuration software) uses the communication function of the interface unit to perform parameter setting changes, graph display, test operation, etc. on a personal computer.
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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 (CSA) Standard, use the products which conform to the corresponding standard. 12.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
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12. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 12.2 Wires for option cables Type Length [m(ft)] Model 2 to 10 (6.56 to 32.8) 20 30 (65.6 98.4) 2 5 (6.56 16.4) 10 to 20 (32.8 to 65.6) 30 to 50 (98.4 to 164) MR-JCCBL M-L Encoder cable MR-JCCBL M-H MR-JC4CBL M-H Communication MR-CPCATCBL3M cable Bus cable MR-J2HBUS M Battery unit cable MR-J2MBATCBL M Core size Number of Cores [mm2] 0.08 0.3 0.
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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 drive unit. Make selection as indicated below according to the total output value of the servo motors connected to one base unit. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. (1) No-fuse breaker Servo motor output total No-fuse breaker 550W max.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.3 Power factor improving reactors The input power factor is improved to be about 90%. Make selection as described below according to the sum of the outputs of the servo motors connected to one base unit. [Unit : mm] ([Unit : in]) H 5(0.2) NFB MC 3-phase 200 to 230VAC W R FR-BAL X S Y T Z L1 L2 L3 Base unit MR-J2M-BU D1 NFB Installation screw MC (Note) 1-plase 200 to 230VAC D 5(0.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.4 Relays The following relays should be used with the interfaces: Interface Selection example Relay used for digital input signals (interface DI-1) To prevent defective contacts , use a relay for small signal (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 12.2.5 Surge absorbers A surge absorber is required for the electromagnetic brake.
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12. OPTIONS AND AUXILIARY EQUIPMENT (b) Reduction techniques for external noises that cause MELSERVO-J2M to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near MELSERVO-J2M and MELSERVO-J2M may malfunction, the following countermeasures are required. Provide surge absorbers on the noise sources to suppress noises. Attach data line filters to the signal cables.
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12. 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 MELSERVO-J2M or run near MELSERVO-J2M, such devices may malfunction due to noises transmitted through the air. The following techniques are required. 1. Provide maximum clearance between easily affected devices and MELSERVO-J2M. 2.
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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 MELSERVO-J2M is shown below. Use this product or equivalent. MC Surge suppressor Relay 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.
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12. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] ([Unit: in]) Earth plate Clamp section diagram 2- 5(0.20) hole installation hole AERSBAN-DSET AERSBAN-ESET A B C 100 86 30 (3.94) (3.39) (1.18) 70 56 (2.76) (2.20) Accessory fittings Clamp fitting clamp A: 2pcs. A clamp B: 1pc. B 12 - 32 L 70 (2.76) 45 (1.77) (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.
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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 MELSERVO-J2M and also in suppressing high-frequency leakage current side (zero-phase current) especially within 0.5MHz to 5MHz band.
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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 base unit, servo motor, etc. securely.
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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: Some EMC filters are large in leakage current.: (1) Combination with the base unit Base unit Recommended filter Model Leakage current [mA] SF1253 57 Mass [kg(lb)] MR-J2M-BU4 MR-J2M-BU6 1.37 (3.
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12.
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13. COMMUNICATION FUNCTIONS 13. COMMUNICATION FUNCTIONS MELSERVO-J2M has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc. However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS422 and RS-232C with IFU parameter No.0. (Refer to Section 13.2.2.) 13.1 Configuration 13.1.
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13. COMMUNICATION FUNCTIONS (2) Cable connection diagram Wire as shown below: (Note 3) 30m(98.4ft) max.
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13. COMMUNICATION FUNCTIONS 13.1.2 RS-232C configuration (1) Outline (Example) Run/operate. MELSERVO-J2M Controller such as personal computer Station Station Station Station Station Station Station Station Station 0 1 2 3 4 5 6 7 8 To CN3 (2) Cable connection diagram Wire as shown below. The communication cable for connection with the personal computer (MRCPCATCBL3M) is available. (Refer to Section 12.1.
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13. COMMUNICATION FUNCTIONS 13.2 Communication specifications 13.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (drive unit) is called a slave station. When fetching data successively, the master station repeatedly commands the slave station to send data.
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13. COMMUNICATION FUNCTIONS 13.2.2 Parameter setting When the RS-422/RS-232C communication function is used to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again. (1) Serial communication baudrate Choose the communication speed. Match this value to the communication speed of the sending end (master station). IFU parameter No.
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13. COMMUNICATION FUNCTIONS 13.3 Protocol POINT Whether station number setting will be made or not must be selected if the RS-232C communication function is used. Since up to 32 axes may be connected to the bus, add a station number to the command, data No., etc. to determine the destination unit of data communication. Set the station number per unit using the IFU parameters. Send data are valid for the unit of the specified station number. S O H Slave station 10 frames (data) S T X Data No.
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13. COMMUNICATION FUNCTIONS 13.4 Character codes (1) Control codes Hexadecimal Code name Personal computer terminal key operation Description (ASCII code) (General) SOH 01H start of head ctrl A STX 02H start of text ctrl B ETX 03H end of text ctrl C EOT 04H end of transmission ctrl D (2) Codes for data ASCII unit codes are used.
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13. COMMUNICATION FUNCTIONS 13.5 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station. The error code sent in upper case indicates that the MELSERVO-J2M is normal and the one in lower case indicates that an alarm occurred.
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13. COMMUNICATION FUNCTIONS 13.7 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times.
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13. COMMUNICATION FUNCTIONS 13.9 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after: (1) 1s or more time has elapsed after the slave station is switched on; and (2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems. 13.
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13. COMMUNICATION FUNCTIONS 13.11 Command and data No. list POINT If the command/data No. is the same, its data may be different from the interface and drive units and other servo amplifiers. The commands/data No. of the respective interface unit and drive units are those marked field. in the Unit 13.11.1 Read commands (1) Status display (Command [0][1]) Command Data No.
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13. COMMUNICATION FUNCTIONS (4) Alarm history (Command [3][3]) Command Data No.
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13. COMMUNICATION FUNCTIONS 13.11.2 Write commands (1) Status display (Command [8][1]) Command Data No. [8][1] [0][0] Description Status display data clear Setting range Frame length 1EA5 4 Setting range Frame length Unit IFU DRU (2) Parameter (Command [8][4]) Command Data No. [8][4] [0][0] to [8][4] Description Each parameter write Depends on the The decimal equivalent of the data No. value parameter. [1][D] (hexadecimal) corresponds to the parameter number.
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13. COMMUNICATION FUNCTIONS (6) External input signal disable (Command [9][0]) Command Data No. [9][0] [0][0] Description Setting range Frame length 1EA5 4 1EA5 4 1EA5 4 1EA5 4 Setting range Frame length Unit IFU DRU Turns off the external input signals (DI), external input signals and pulse train inputs with the exception of EMG_ LSP and LSN , , independently of the external ON/OFF statuses. [9][0] [0][3] Changes the external output signals (DO) into the value of data No. [0][1].
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13. COMMUNICATION FUNCTIONS 13.12 Detailed explanations of commands 13.12.1 Data processing When the master station transmits a command data No. or a command data No. data to a slave station, a reply or data is returned from the slave station according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc. Therefore, data must be processed according to the application.
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13. 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. The data to be sent is the following value. 0 Data is transferred in hexadecimal.
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13. COMMUNICATION FUNCTIONS 13.12.2 Status display (1) Status display data read When the master station transmits the data No. (refer to the following table for assignment) to the slave station, the slave station sends back the data value and data processing information. 1) Transmission Transmit command [0][1] and the data No. corresponding to the status display item to be read. Refer to Section 13.11.1. 2) Reply The slave station sends back the status display data requested.
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13. COMMUNICATION FUNCTIONS 13.12.3 Parameter (1) Parameter read Read the parameter setting. 1) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No. The data No. is expressed in hexadecimal equivalent of the data No. value corresponds to the parameter number. Command Data No. [0][5] [0][0] to [0][5] [0][0] to Unit IFU DRU [1][D] [5][4] 2) Reply The slave station sends back the data and processing information of the requested parameter No.
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13. 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. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to the parameter number. When the data to be written is handled as decimal, the decimal point position must be specified.
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13. COMMUNICATION FUNCTIONS 13.12.4 External I/O pin statuses (DIO diagnosis) (1) External input pin status read (CN1A CN1B) Read the ON/OFF statuses of the external input pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. Command Data No. [1][2] [4][0] Unit IFU DRU (b) Reply The ON/OFF statuses of the input pins are sent back. b31 b1 b0 1: ON 0: OFF Command of each bit is transmitted to the master station as hexadecimal data.
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13. COMMUNICATION FUNCTIONS (3) External input pin status read (CN4A CN4B) Read the ON/OFF statuses of the external input pins. (a) Transmission Transmit command [1][2] and data No. [4][3]. Command Data No. [1][2] [4][3] Unit IFU DRU (b) Reply The slave station sends back the ON/OFF statuses of the output pins. b1b0 b31 1: ON 0: OFF Command of each bit is transmitted to the master station as hexadecimal date.
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13. COMMUNICATION FUNCTIONS (5) External output pin status read (CN4A CN4B) Read the ON/OFF statuses of the external output pins. (a) Transmission Transmit command [1][2] and data No. [C][1]. Command Data No. [1][2] [C][1] Unit IFU DRU (b) Reply The slave station sends back the statuses of the output pins. b1b0 b31 1: ON 0: OFF Command of each bit is transmitted to the master station as hexadecimal date.
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13. COMMUNICATION FUNCTIONS 13.12.5 Disable/enable of external I/O signals (DIO) Inputs can be disabled independently of the external I/O signal ON/OFF. When inputs are disabled, the input signals are recognized as follows. Among the external input signals, forced stop (EMG_ ), forward rotation stroke end (LSP ) and reverse rotation stroke end (LSN ) cannot be disabled.
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13. COMMUNICATION FUNCTIONS 13.12.6 External input signal ON/OFF (test operation) Each input signal can be turned on/off for test operation. Turn off the external input signals. Send command [9] [2], data No. [0] [0] and data. Command Data No. Data [9][2] [0][0] See below Unit IFU DRU b31 b1 b0 1: ON 0: OFF Command of each bit is transmitted to the slave station as hexadecimal data.
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13. COMMUNICATION FUNCTIONS 13.12.7 Test operation mode (1) Instructions for test operation mode The test operation mode must be executed in the following procedure. If communication is interrupted for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a stop and servo-locked. To prevent this, continue communication without a break, e.g. monitor the status display. (a) Execution of test operation 1) Turn off all external input signals.
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13. COMMUNICATION FUNCTIONS (2) Jog operation Transmit the following communication commands: (a) Setting of jog operation data Item Command Data No. Unit Data IFU Speed [A][0] [1][0] Write the speed [r/min] in hexadecimal. Acceleration/deceleration [A][0] [1][1] Write the acceleration/deceleration time constant time constant DRU [ms] in hexadecimal.
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13. COMMUNICATION FUNCTIONS (c) Start of positioning operation Transmit the speed and acceleration/deceleration time constant, turn on the servo-on (SON ) and forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ), and then send the moving distance to start positioning operation. After that, positioning operation will start every time the moving distance is transmitted. To start opposite rotation, send the moving distance of a negative value.
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13. COMMUNICATION FUNCTIONS 13.12.8 Output signal pin ON/OFF (output signal (DO) forced output) In the test operation mode, the output signal pins can be turned on/off independently of the servo status. Using command [9][0], disable the output signals in advance. (1) Choosing DO forced output in test operation mode Transmit command [8][B] data No. [0][0] data "0004" to choose DO forced output.
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13. COMMUNICATION FUNCTIONS 13.12.9 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last alarm) to No. 5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data No. [1][0] to [1][5]. Refer to Section 13.11.1(4). (b) Reply The alarm No. corresponding to the data No. is provided. 0 0 Alarm No. is transferred in decimal. For example, “0032” means A.32 and “00FF” means A._ (no alarm).
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13. COMMUNICATION FUNCTIONS 13.12.10 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] Unit IFU DRU (b) Reply The slave station sends back the alarm currently occurring. 0 0 Alarm No. is transferred in decimal. For example, “0032” means A.32 and “00FF” means A._ (no alarm). (2) Read of the status display at alarm occurrence Read the status display data at alarm occurrence.
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13. COMMUNICATION FUNCTIONS 13.12.11 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. Note that overflow will occur in the position of 16384 or more revolutions from the home position. (a) Transmission Send command [0][2] and data No. [9][0]. Command Data No. [0][2] [9][0] Unit IFU DRU (b) Reply The slave station sends back the requested servo motor end pulses.
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13. COMMUNICATION FUNCTIONS (4) Read of slot connection status Read the absolute position in the command unit. (a) Transmission Send command [0][0] and data No.[8][0]. Command Data No. [0][0] [8][0] Unit IFU DRU (b) Reply The slave stations send back the statuses of the units connected to the slots. b1b0 b31 1: Connected 0: Not connected Command of each bit is sent to the slave station in hexadecimal.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14. ABSOLUTE POSITION DETECTION SYSTEM If an absolute position erase (A.25) or an absolute position counter warning (A E3) has occurred, always perform home position setting again. Not doing so can cause runaway. CAUTION 14.1 Outline 14.1.1 Features For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.2 Specifications (1) Specification of battery unit MR-J2M-BT POINT The revision (Edition 44) of the Dangerous Goods Rule of the International Air Transport Association (IATA) went into effect on January 1, 2003 and was enforced immediately. In this rule, "provisions of the lithium and lithium ion batteries" were revised to tighten the restrictions on the air transportation of batteries.
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14. ABSOLUTE POSITION DETECTION SYSTEM (3) DRU parameter setting " in DRU parameter No.1 to make the absolute position detection system valid. Set " 1 DRU parameter No. 1 Selection of absolute position detection system 0: Used in incremental system 1: Used in absolute position detection system 14.3 Signal explanation The following is the signal used in an absolute position detection system. For the I/O interfaces (symbols in the I/O category column in the table), refer to section 3.2.5.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.5 Startup procedure (1) Connection of a battery unit (2) Parameter setting Set "1 "in DRU parameter No. 1 of the servo amplifier and switch power off, then on. (3) Resetting of absolute position erase (A.25) After connecting the encoder cable, the absolute position erase (A.25) occurs at first power-on. Leave the alarm as it is for a few minutes, then switch power off, then on to reset the alarm.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.6 Absolute position data transfer protocol 14.6.1 Data transfer procedure Every time the servo-on (SON ) turns on at power-on or like, the controller must read the current position data in the drive unit. Not performing this operation will cause a position shift. Time-out monitoring is performed by the controller. Controller MELSERVO-J2M SON RD ON ON Absolute position data command transmission Command [0][2] data No.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.6.2 Transfer method The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the servo-on (SON ) going OFF, a forced stop, or alarm, is explained below. In the absolute position detection system, always give the serial communication command to read the current position in the drive unit to the controller every time the ready (RD ) turns on.
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14. ABSOLUTE POSITION DETECTION SYSTEM (3) At the time of alarm reset If an alarm has occurred, detect the trouble (ALM_ ) and turn off the servo-on (SON ). After removing the alarm occurrence factor and deactivating the alarm, get the absolute position data again from the drive unit in accordance with the procedure in (1) of this section.
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14. ABSOLUTE POSITION DETECTION SYSTEM (4) At the time of forced stop reset 200ms after the forced stop is deactivated, the base circuit turns on, and further 20ms after that, the ready (RD ) turns on. Always get the current position data from when the ready (RD ) is triggered until before the position command is issued.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.6.3 Home position setting (1) Dog type home position return Preset a home position return creep speed at which the machine will not be given impact. On detection of a zero pulse, the home position setting (CR ) is turned from off to on. At the same time, the servo amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the nonvolatile memory as the home position ABS data.
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14. 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. Perform manual operation such as JOG operation to move to the position where the home position is to be set.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.7 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator (servo configuration software MRZJW3SETUP151E). Clicking "Diagnostics" on the menu bar and click "Absolute encoder data" in the menu. (1) (2) By clicking "Absolute encoder data" in the sub-menu, the absolute encoder data display window appears. (3) Click the "Close" button to close the absolute encoder data display window.
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14.
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Command pulse PP,NP Command pulse frequency App - 1 Cumulative feedback pulse CDV CMX Electronic gear Cumulative command pulse Position control Load inertia moment ratio Auto tuning section Droop pulse Speed control Differential Current control Low Within onerevolution position High Current position calculation Speed feedback Servo motor speed Instantaneously occurring torque ABS counter Absolute position encoder M Servo motor Within onerevolution position ABS counter PWM Peak hol
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APPENDIX MEMO App - 2
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REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Jan., 2002 SH(NA)030014-A First edition Sep., 2002 SH(NA)030014-B Safety Instructions: Addition of Note to 4. (1) Deletion of (7) in 4. Additional instructions Addition of About processing of waste Addition of EEP-ROM life Section 1.5 (2) (a): Partial change of rating plate Section 2.7: Partial change of CAUTION sentences Section 2.7 (8): Change of POINT Section 3.
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Print Data *Manual Number Mar., 2004 SH(NA)030014-C Revision 3. To prevent injury: Reexamination of sentence 4. Additional instructions (1): Addition of Note/Reexamination of sentence (5): Reexamination of wiring drawing COMPLIANCE WITH EC DIRECTIVES 2. PRECAUTIONS FOR COMPLIANCE: IEC664-1 is modified to IEC60664-1 in (3) and (4). CONFORMANCE WITH UL/C-UL STANDARD (2): Reexamination of sentence Section 1.3 (1): Addition of “Inrush current” Section 2.4 (2): Reexamination of sentence Section 2.
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Print Data *Manual Number Oct., 2005 SH(NA)030014-E Revision Section 5.1.2 (2): Correction of DRU parameter No.38 Section 5.3.2: Partial reexamination of sentences Section 5.3.2 (2): Addition of Note in table Chapter 8: Partial change of WARNING sentences Section 9.2: Alarm code No.A. 45 A.46: Addition of Note in table Section 9.3: Addition of CAUTION sentence DRU parameter No.@A.17@: Addition of contents Section 9.4: Addition of CAUTION sentence Addition of POINT DRU parameter No.@A.
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MEMO
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MODEL MODEL CODE HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030014-E (0510) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.