Instruction manual

ManualsBrandsMitsubishi ManualsAmplifierMelservo-J2-JR SERIES

Summary of content (185 pages)

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0 Safety Instructions (Always read these instructions beforeusing the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly.Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.
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1. To prevent electric shock, note the following: AWARNING Before wiring orinspection, switch power offand wait for more than10 minutes. Then,confirm the voltage is safe with vottagetester. Otherwise, you may get an electric shock. Connect the servoamplifier and servo motor to ground. Any person who isinvolved in wiring and inspection should be fully competent to do the work. Do not attempt to wirethe servo amplifier and servo motor until they have been installed. Otherwise, you may get an 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 A CAUTION Transport the products correctly according to their weights. Stacking in excessof the specified number of products is not allowed. Do not carrythe motor by the cables, shaftor encoder. Do not hold the frontcover to transportthe controller. The controller may drop.
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A CAUTION Securely attach the servo motor to the machine. If attach insecurely, the servo motor maycome off during operation. The servo motor with reduction gearmust be installed in the specified direction prevent to oil leakage. For safety of personnel, always cover rotatingand moving parts. Never hit the servo motor or shaft, especially when coupling the servomotor to the machine. The encoder may become faulty. Do not subject the servo motor shaftto more than the permissible load.
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A CAUTION Provide an external emergency stop circuitto ensure that operationcan be stopped and power switched off immediately. Any person who is involvedin disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal is off to prevent an accident. A sudden restart is made if an alarm is reset withthe run signalon. Do not modify the equipment. Use a noise filter, etc.
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(7) Disposal I A CAUTION 2 I Dispose of the product as generalindustrial waste. (8) General instruction To illustrate details, the equipmentin the diagrams of this Instruction Manual may have been drawn without covers and safety guards.When the equipment is operated, thecovers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.
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COMPLIANCE WITH EC DIRECTIVES I . WHAT ARE EC DIRECTIVES? l'he EC Directives were issued to standarche the regulations of the EU countries and ensure smooth iistribution of safety-guaranteed products. In the EU countries, the Machmery Directive (effective in January, 1995), EMC Directive(effective inJanuary, 1996) and Low VoltageDirective (effective in January, 1997) of the EC Directives require that productsto be sold should meet their fundamental safety requirements and carry the CE marks (CE markmg).
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(5) Auxiliary equipment and options (a) The circuit protector used should described in Section 12.2.2. be the EN or IEC Standard-compliant product of the model (b) The sizes of the cables described in Section 12.2.2 meet the following requirements. To meet the other requirements, follow Table 5 and Appencbx C in Eh'60204.
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CONFORMANCE WITH UUC-UL STANDARD The standard modelsof the servo amphfier and servomotor comply with theULIC-UL Standard. Unlessotherwisespecdied,the h a n d h g , performance,specdications, etc. of the ULIC-UL Standardcompliant models are the same as those of the standardmodels. When using 24VDcpower supply, options and a d a r y equipment, use those w h c h conform to the UUCCL Standard.
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CONTENTS 1. FUNCTIONS AND CONFIGURATION l.lIntroduction ........................................................................... 1.2Function.st ........................................................................... 1 . 3 M o d e l C o d e D e b t i o n .................................................................. 1.4CombinationwithServoMotor ........................................................... 1.5PartsIdent.cati on ..................................................................... 1.
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14. OPERATION 4- 1 to 4- 61 4.1 men Switchng power On for the First T h e ............................................. 4.2st artup ................................................................................ 4.2.1 Selectionof control mode ............................................................. 4.2.2 positioncontrolmode ................................................................ 4,2.3Speedcontrolmod e .................................................................. 4.2.
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7 . 3 Gain Adjustment by Auto Tuning ........................................................ 'i.3.lAdjustmentmethod ................................................................. 'i.3.2V.dcon.tions ..................................................................... 7 .4ManudG&Adjustment ............................................................... 7.4.1 When ngi&ty is low ......................................................... 7.4.2 When the machne vibrates dueto machne resonance frequency- ......
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12.2.3&lays .......................................................................... 12.2.4 Noise reduction t e c h q u e s ........................................................ 13. COMMUNICATION FUNCTIONS 12- 11 12- 11 13- 1 to 13- 26 13.1co~guration ........................................................................ 1 3 , 1 . 1 ~ ~ - 4 2 2.............................................................. ~ ~ ~ ~ ~ t i ~ ~ RS-232C 13.1.2 ............................................................
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Optional Servo Motor Instruction ManualCONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contentsof the Servo Motor Instruction Manual are not included in the ServoA m p a e r Instruction Manual. 1. INTRODUCTION I 2. INSTALLATION I 13. CONNECTORS USED FOR SERVO MOTOR WIRING 1 4. INSPECTION I 5. SPECIFICATIONS 1 6. CHARACTERISTICS I 7. OUTLINE DIMENSION DRAWINGS I 1 18.
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About the Manuals T h s Instruction Manual and theMELSERVO Servo MotorInstruction Manual are requiredd y o u use the General-Purpose AC servo MR-JZ-03A5for the first time. Always purchase them and use the MR-JZ-03A5 safely. I Relevant manuals I Manual Name Manual MEISERVO-J2-Jr Series Installation Guide No.
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1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONSANDCONFIGURATION 1.1 Introduction The MELSERVO-J2-Jr series general-purpose AC servo has been developed as an ultracompact, s m d capacity servo system compatible with theMELSERVO-J2 series 24VDC power supply. It canbe used in a wide range of fields from semiconductor equipment to small robots, etc. The input signalsof the servo amphfier control system are compatible with those of the MR-J2-OA.
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1. FUNCTIONS AND CONFIGURATION 1.2 Function List The following table lists the functions of the MR-J2-03A5. For details of thefunctions, refer tothe corresponding chapters and sections. External IiO display .
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1. FUNCTIONS AND CONFIGURATION Function Servo configuration software Alarm code output (Note) Control Mode Description Using a personal computer, parameter setting, test operation, status display, etc. canbe performed. If an alarm has occurred, the corresponding alarm number is output in 3-bitcode. Refer To P, S, T Section 12.1.3 P, S, T Section 9.2.
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1. FUNCTIONS AND CONFIGURATION 1.5 Parts Identification Refer To Display The four-digit, seven-segment LED shows the servo status and alarm number. Chapter6 Operation section Used to perform status display, diagnostic, alarm and parameter operations. MODE 1 UP DOWN SET '-used to set parameter data. Chapter6 Used to change the display or data in each mode. I Used to change the mode. ~ ~~ I/O signal connector (CN1A) Used to connect digital I/O signals. Section3.
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1. FUNCTIONS AND CONFIGURATION 1.6 Servo System with Auxiliary Equipment /j\WARNING Power supply 24VDC To prevent an electric shock, fit the suppliedearthterminal (E) to the servo amplifier (refer to (2), Section 3.9) and alwaysconnectittotheearth (E)of the control box.
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2. INSTALLATION 2. INSTALLATION TlON Stacking in excess of the limited numberof products is not allowed. Install the equipment to incombustible. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing placein 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 2.2 Installation direction and clearances I I other The equipment must installed be ACAUTION I in the specified direction. Otherwise, fault may a occur. Leave specified clearancesbetween the servo amplifier and control box insidewalls I I or (1) Installation of one servo amplifier Control box Control box TfP lOmm (0.4 in.) or more 1Omm -(0.4 in.
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2.INSTALLATION 2.3 Keep out foreign materials (1) When i n s t a l h g the unit in a control box, prevent drill chps and wire fragments from entering the servo amphfier. (2) Prevent oil, water, m e u c dust, etc. from entering the servo a m p a e r through openings in the control box or a fan installed on the ceding.
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2.INSTALLATION 2.5 Using the DIN rail for installation (1) Fitting intothe DIN rail Put the upper catchon the DIN rad and push the unit until it clicks. all N rail (2) Removal from DIN rail 1)Pull downthe hook. 2) Pull it towardyou. 3) Lift and remove the unit.
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3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, make sure that the voltage is safe in the tester more10than minutes after power-off. Otherwise, you may get an electric shock. Ground the servo amplifier and the servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock.
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3. SIGNALS AND WIRING 3.1 Standard connection example I 3.1.1 For the connection of the power supply system, refer to Section 3.7.1. Position control mode AD75PO (A1 SD75PO) supply power 24VDC circuit I protector amplifier Servo Md lCNP1, P24M 1 P24GI (Nole4j CNlE I I 3 4 [Note 6) Trouble Zero speed Limiting toque (Note 8) 10m (32ft)max.
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3. SIGNALS AND WIRING Note: 1. To prevent a n electric shock, fit the supplied earth terminal (E) to the servo a m p u e r a n d always connect it to the earth(E) of the control box. (Refer to sechon 3.9.) 2. Connect the &ode in the correct direction. If it is connected reversely, the servo ampldier w d be faulty and wlll not output signals, h a b h g the forced stop and otherprotective circuits. 3. The forced stop switchmust be installed. 4. CNlA and CNlB have the same shape.
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3. SIGNALS AND WIRING 3.1.2 Speed control mode 24VDC power supply Circuit Servo amplifier Speed Selection 1 (Note 3) Forced stop Speed selection 2 Forward rotation start Reverse rotation start (Note 5) Forward rotation stroke end (differential line driver) Encoder A-phase pulse (differential lined r i e r ) Encoder B-phase pulse (differentlal line driver) +10V/max. current Encoder 2-phase pulse Servo configuration i 1 (Notel) I Note: 1.
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3. SIGNALS AND WIRING 3.1.3 Torque control mode circuit 24VDC power supply Servo amplifier (Note 5 ) Trouble Speed Selection 1 Zero speed Limiting torque (Note 4,6) (Note 3) Forced stop Servo on Reset Speed selection2 SP2 Forward rotation selection Reverse rotation selection (Note 4,6) ,CNlAI Upper limit setting D14F) 11 Analog torque command +BV/max.
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3.SIGNALS AND WIRING 3.2 internal Connection Diagram of Servo Amplifier CNP2 3 9- 82 B1 (Note) I I I I Note.
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3. SIGNALS AND WIRING 3.3 I/O Signals 3.3.1 Connectorsand signal arrangements POINT I The connector pin-outs shown above are viewed from the cable connector wiring section side. &fer to the next pagefor CNlA and C N l B signal assignment. (1) Signal arrangement CN1B CN1A w CNPl CNP2 Amplifier's internal wiring T h e connector frames are connected with the E (earth) terminal inside the servo amplifier.
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3. SIGNALS AND WIRING (2) CNlA and CNl B signal assignment The signal assignmentof connector changes with the control mode as indicated below; page.
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3. SIGNALS ANDWIRING Note: 1. I : Input signal,0: Output signal, -:Others (e. g. power) 2. P : Position control mode,S: Speed control mode,T: Torque control mode, P/S: Positiodspeed control change mode,SIT: Speedtorque control change mode,TIP: Torquelposition control changemode 3. Set parameter No. 45 to use CR. 4. Set parameter No. 47 to use PC. 5. Set parameter No. 48 to use TL. 6. By setting parameters No. 43 to 48 to make TL avdable, "L4 can be used. 7 . Set parameter No. 49 to use WNG. 8.
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3. SIGNALS AND WIRING 3.3.2 Signal explanations For the I/O interfaces (symbols in 110 column in the table), refer to Section3.6.2. In the Control Mode field of the table P : Position control mode,S: Speed control mode,T: Torque control mode 0 : Denotes that the signalmay be used in the initial setting status. A : Denotes that the signalmay be used by setting the corresponding parameter among parameters43 to 49. (1) Input signals Signal I ZonnecSymbol tor Pin No.
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3. SIGNALS AND WIRING Signal Torque limit - - Symbol IIO Division tor Pin Functions/Applications r DI-1 TL Short TL-SG to make the analog torque limit valid. Forward rotation start ST 1 CNlB I For details, refer to (2), section 3.3.1. I Used to start the servo motor in anvof the following dlrections: (Note) Input signals ST2 I ST1 DI-1 Servo Motor Starting Direction I Reverse rotation start ST2 1 Forward rotation selection RS1 Note.
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3. SIGNALS AND WIRING - - - ~~ Signal 2onnector Pin No. ;peed selection 1 CNlA 8 ntrol I10 3ivision FunctiondApplications DI-1 :Speed control mode> Used to select the command speedfor operation. J (Note) Input signals SP2 0 I SP1 Analog speed command (VC) 0 Internal speed command 1 (parameter No. 8) 0 1 Speed Command Internal speed command 2 O (parameter NO. 9) Internal speed command 3 b a r a m e t e r NO. 10) 1 Note.
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3. SIGNALS AND WIRING Signal 'orced stop Xear EMG CR LOP ~ ~~ Control I/O Division - Connect PC-SG to switch the speed amplifier from the DI-1 8 proportional integral type to the proportional type. [f the servo motor a t a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift.
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3. SIGNALS AND WIRING -Signal 3ymbol 2onnec tor Pin -- lFunctions/Applications No. TL4 CNlB 12 -4nalog torque command Analog speed command Analog speed limit Forward rotation pulse train Reverse rotation pulse train CNlB 2 CNlA 3 CN 1.4 2 CN 1.4 13 CN 1 4 12 - To use thissignal in thespeedcontrolmode,setany of parameters No. 43 to 48 to make TL available. When the analog torque limlt (TU)is valid, torque is llmlted In the fullservomotoroutputtorquerange. Apply 0 to +IO 6DC across TLA-LG.
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3.SIGNALS AND WIRING (2)Output signals ConnecSignal l'rouble I ALM I I CNlB / 1 8 Ready 18 77 Speed reached Limiting speed VLC 1B CN 6 Limiting torque TLC CNlB 6 Zero speed Electromagnetx x a k e Interlock ZSP CNlB 19 T I I FunctionsiApplications Control I k Division 'I0 ALM-SG aredisconnectedwhenpower is switched off or the DO-1 protective circuit is activated to shutoff the base circuit. Without alarm, .4LM-SG are connected within 1 after power on.
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3. SIGNALS AND WIRING - T Connec- Symbol tor Pin I/o Division FunctiondApplications No. darm code CN 1A 19 CNlA 18 CN 1B 19 To use this signal, set 0 0 0 1 in parameter No. 49. This signal is output when an alarmoccurs. When there is nc INP, SA ZSP) are output. alarm, respective ordinary signals0, Alarm codes and alarm names are listedbelow: (Note) Alam GqGii A'arm I9 Pin lgy,l 0 4 1 Display 1 1 Note.
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3. SIGNALS AND WIRING - T hnnector Pin No. Signal Encoder Z-phase OP PUh (Open collector) Encoder B-phase PUk (Differential line driver) Encoder Z-phase PUl= (Differential line driver) CN 1A 14 Outputs the zero-point signal of the encoder. One pulse is output per servo motor revolution. OP and LG are connected when the zero-point position is reached. (Negative logic) The maximum pulse width is about 4OOp. For zeroing using this pulse, set the creep speedto 100r/min. or less.
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3. SIGNALS AND WIRING (3) Power supply Signal [iF internal 3ower supply Digital I F power supply input -Symbo \-DD COM )pen collector lower input Iigital I F :ommon OPC ICl5V power Pl5R SG ,UPPlY 2ontrol common Connec tor Pin No. LG CNlB 3 CNlA 9 CNlB 13 CN 1.4 11 CNlA 10 20 CNlB 10 20 CNlA 4 CN 1B 11 CNlA 1 CNlB I Functions/Applications I/O Division Control F Used to output 24IDC for input interface. Connected with P24L inside the servo amplifier.
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3. SIGNALS AND WIRING 3.4 Detailed Description of the Signals 3.4.1 Position control mode (1) Pulse train input (a) Input pulse waveform selection Encoder pulses maybe input in anyof three dlfferent forms,for w h c h positive or negative logic can be chosen. Set the command pulse train form in parameter No. 21. Arrow flor in the table inhcates the timing of importing a pulse train. A- and B-phase pulse trains are imported after they have been multipliedby 4.
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3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collector system Connect as shownbelow: Servo amdier OPC + I The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the table in (a), (1) of this section are voltage waveforms of PP and NP based on SG.
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3. SIGNALS AND WIRING 2) Differential h e driver system Connect as shown below: Servo amplifier YSD The explanation assumesthat the inputwaveform has been set to the negative logic and forward and reverse rotation pulsetrains (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 dnver.
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3. SIGNALS AND WIRING (2) Torque limit (a) Torque limit and generated torque By setting parameter No. 28 (internal torque limit 1). torque is always limited to the maximum value during operation.A relationshp between the h i t value and servo motor-generated torque is shown below. Torque limit value [%I A relationshp between the applied voltage of the analog torque h i t (TU)and the torque limit value of the servo motor is shown below.
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3. SIGNALS AND WIRING (b) Torque limit value selection Choose the torque h i t made valid by the internal torqueh i t value 1 (parameter No. 28) using the external torque limit selection (TL) or the torque h i t made vahd by the analog torque h i t (TU) as indicated below: Torque LimitValue Made Valid (Note) TL If TLA > Parameter No. 28 If TLA < Parameter No. 28 Internal torque limit value 1 (parameter No. 28) Internal torque limit value 1 Analog torque limit (TU) (parameter No. 28) 0 1 Note.
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3. SIGNALS AND WIRING 3.4.2Speed control mode (1) Speed setting (a) Speed command and speed The servo motoris run at the speeds set in the parameters or at thespeed set in theapplied voltage of the analog speed command(VC). A relationshp between the analog speed command (VC) applied voltage and the servomotor speed is shown below: Rated [r'minl ~ Forward rotation (CCW) CCW direction -1 0 CW direction 1 VC applied voltage [VI .__._- I Rated speed .
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3. SIGNALS AND WIRING (b) Speed selection 1 (SPl), speed selection2 (SP2) and speed command value Choose any of the speed settings made by the internal speed commands1to 3 using speed selection 1(SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command(VC). ~~ (Note) External Input Signals SP2 I 0 0 0 1 1 Speed Command Value SP1 1 0 1 Analog speed command (VC) Internal speed command 1 (parameter No. 8) Internal speed command 2 (parameter No.
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3.SIGNALS AND WIRING 3.4.3 Torque control mode (1) Torque control (a) Torque command and generated torque A relationship between the applied voltage of the analog torque command (TC) and the torque generated by the servo motor is shown below. The maximum torque is generated at +8V. Note that the torque generated at f8V input can be changed with parameter No. 26. h CCW direction Generated torque d.05 +8 TC applied voltage [VI Max.
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3. SIGNALS AND WIRING (b) Analog torque command offset Using parameter No. 30, the offset voltage of -999 to +999mV can be added to the TC applied voltage as shown below. Max. // :I P c Parameter No.30offset range I -999 to +999mV '1 +8 (-8) TC applied voltage [VI (2) Torque limit By setting parameter No. 28 (internal torque h i t l),torque is always lunited to the maximum value during operation. A relationshp between h i t value and servo motor-generated torque is as in (2) in section 3.4.1.
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3. SIGNALS AND WIRING (b) Speed selection 1 (SPl)/speed selection 2 (SP2) and speed command values Choose any of the speed settings made by the internal speed h i t s 1 to 3 using speed selection 1 (SP1) and speed selection2 (SP2) or the speed setting madeby the speed limit command(VLA). (Note) External Input Signals I 1 0 1 1 Speed Command Value I Speed limit command &%A) Parameter No. 8 Parameter No. 9 Parameter NO. 10 I Note.
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3. SIGNALS AND WIRING 3.4.4 Position/speed control change mode Set 0001 in parameter No. 0 to switch to the positiodspeed control change mode. Ths function is not avadable in the absolute position detectionsystem. (1) Control change (LOP) Use control change(LOP) to switch between theposition control mode and the speedcontrol mode from an external contact.
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3. SIGNALS AND WIRING (3)Speed setting in speed control mode (a) Speed commandand speed The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed set in the applied voltage of the analog speed command (VC). A relationshp between analog speed command (VC) applied voltage and servo motor speed and the rotation duections determined by the forward rotation start signal (ST1) and reverse rotation start signal(ST2) are as in (a), (1) in section 3.4.2.
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3. SIGNALS AND WIRING 3.4.5 Speedhorque control change mode Set 0003 in parameterXo. 0 to switch to the speedtorquecontrol change mode. (1) Control change (LOP) Use control change (LOP) to switch between the speed controlmode and the torque control mode from an externalcontact. Relationshps betweenLOP-SG status andcontrol modes are indicated below: Note. 0:LOP-SG off (open) 1: LOP-SG on (short) The control mode may be changed a t any time.
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3. SIGNALS AND WIRING ~ (4) Speed limitin torque control mode (a) Speed lunit value and speed The speed is limited to the h i t value set in parameterNo. 8 (internal speed limit1)or the value set in the applied voltageof the analog speedh i t (VLA). A relationshp between the analog speed hit (VLA) applied voltage and the servo motor speed is as in (a),(3) in section 3.4.3. Generally, make connectionas shown below: Servoamplifier .
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3. SIGNALS AND WIRING 3.4.6 Torque/position control change mode Set 0005 in parameter No. 0 to switch to the torque/position control change mode. (1) Control change(LOP) Use control change (LOP) to switch between the torque control mode and the position control mode below: from a n external contact. Relationships betweenLOP-SG status and control modes are indxated h Servo Control Mode Torque control mode Position control mode Note.
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3. SIGNALS AND WIRING 3.5 Alarm Occurrence Timing Chart When an alarm hasoccurred,removeitscause, make sure thattheoperation signal is not being input, ensure safety, and reset the alarm before restarting operation. &AUTION When an alarm occurs in the servo ampMer, the base circuit is shut off and the servo motoris coated to a stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the control circuit power supplyoff, then on.
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3. SIGNALS AND WIRING 3.6 Interfaces 3.6.1 Common line The following b a g r a m shows the power supply andits common line. CNPl 1 I i DO-1 SON etc. ALM etc.
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3. SIGNALS AND WIRING 3.6.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indxated in Section 3.3.2. Refer to t h s section and connect the interfaces with the external equipment. (1) Digital input interface Dl-1 Give a signal with a relayor open collectortransistor. Servo amplifier 24VDC For a transistor I I Approx. 5mA r V CESS1.
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3. SIGNALS AND WIRING (3) Pulse train input interfaceDl-2 Provide a pulse train signal in the open collector or Merential h e dnver system. (a) Open collector system 1)Interface 24VDC Servo amplifier !.
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3. SIGNALS AND WIRING (b) Dlfferential line driver system 1) Interface Servo amplifier Max.input pulse frequency 500kpps Y SD 2) Conhtions of the input pulse J , tC tLH = tHL c 0.luS (4) Encoder pulse output DO-2 (a) Open collector system Interface Max. output current 35mA Servo amplifier Servo amplifier m 5 to 24VDC I I ' ,.
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3. SIGNALS AND WIRING @) Ddferential h e dnver system 1)Interface Maxoutput current 35mA Servo amplifier Servo amplifier I LA (LB,LZ) Am26LS32 or equivalent I (LBRUR) + 1-/---I I , , I . I 8 , 1 I _ _ _ . { - 1OOR High-speed photocoupler U / 1 / ..
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3. SIGNALS AND WIRING 3.7 Input Power Supply Circuit A 3.7.1 ~ ~ ~ _ _ _ _ _ ~~ CAUTION ~~ ~~~~~~~ When the servo amplifierhas become faulty,switchpower off on the servo amplifier power side. Continuousflow of a large current may causea fire. Connection example Forced Stop RA1 OFF ON G Circuit CNlB 3 VDD 13 COM 18 ALM Forced RA3 OFF Stop ON Y I P24L 3 1 SG 1 10 I Forced protector RA6 ENPl P24M 1 P24G 2 Servo ampllfler CNlB CN1B EMG 15 SG 10 & Y -- Note: 1.
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3. SIGNALS AND WIRING 3.7.2 Explanation of signals Abbreviation Signal Name Description P24M Main circuit power input P24G Power ground P24L Control power input _L - Ground Power supply for main circuit Main circuit power supply and control power supply. Connected to SG and LG inside the unit. Control power supply and digital 1/0 power supply. Always use a stabilizing power supply. Grounding terminal Connect to the earthof the control box for grounding. - 3.7.
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3. SIGNALS AND WIRING (3) Forced stop A CAUTION To stop operation and switch power off immediately, provide a forced stop circuit. Make up a circuit whch shutsoff 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 &sconnecting EMG-SG, the dynamic brake is operated to bring the servo motor to a suddenstop. At ths time, the &splay shows the servo forced stop warning (A. E6).
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3.SIGNALS AND WIRING 3.8 Servo Motor with Electromagnetic Brake (1) Setting Using parameter No.33 (electromagnetic brake sequence output), set a time delay from electromagnetic shown in (2) in this section. brake operation to base circuit shut-off as in the timing chart (2) Operation timing (a) Servo on signal command (from controller) ON/OFF Tb after the servo-on signal is switched off, the base circuit is shut off and the servo motor coasts.
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3. SIGNALS AND WIRING (c) Alarm occurrence Dynamic brake - y l & r o m a g Dynamic n e t i c brake brake Servo motor speed ------- ---I I Base circuit ON -_--- 1- OFF Electromagnetic Invalid(oN) brake(CNP2-9) Valid(OFF) .- - - - ' Electromagnetic brake operation delay time(l0ms) Y No(0N) Trouble (ALM) Electromagneticbrake , , --- --- Yes(0FF) (d) Main circuit power off When main circuitpowerswitches off, the undervoltage alarm timing is as shown in (c) of this section. (A.
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3. SIGNALS AND WIRING 3.9 Grounding ~~~~~ A WARN'NG ~ ~ ~~ ~ ~ ~ Ground the amplifier servo motor servo securely. and To prevent an electric shock, always connect the earth terminal (E) of the servo amplifier to the earth (E) of the control box (refer to (2) of this section for the fitting method of the earthterminal). I (1) Connection diagram The servo ampM1er switches thepower transistor on-off to supply power tothe servo motor.
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3. SIGNALS AND WIRING (2) Fitting of earth (E) terminal (AERSBAN-JR) As shown below, fit the earth (E) terminal to thebottom or top of the servo ampM1er Positioning Earth (E) terminal AERSBAN-JR 3.10 Instructions for the 3M Connector When fabricatinga n encoder cable or the &e, securely connect theshelded external conductor of the cable to the ground plate as shown in ths section and fm it to the connector shell.
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4. OPERATION 4. OPERATION 4.1 When Switching Power On for the First Time Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (P24M P24G P24L) of the servo amphfier. (b) The servo motor power supply terminals (U, V, W) of the servo amphfier match in phase with the power input terminals(UT, V , W) of the servo motor.
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4. OPERATION 4.2 Startup A A WARNING Do not operate the switches with wet hands. You may get an electric shock. CAUTION Before starting operation, check the parameters. Some machines may perform unexpected operation. During power-on or soon after power-off, do not touch the servo motor as they may be at high temperatures.You may get burnt. Connect the servo motor with a machine after confirming that theservo motor operates properly alone. 4.2.1 Selection of control mode Use parameter No.
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4.OPERATION (4) Servo on Switch the servo on in thefollowing procedure: (a) Switch on main circuitkontrol power. (b) Switch on the servo on signal (SON) (short SON-SG). When placed in the servo-on status, the servo amphiier is ready to operate and the servo motor is locked. ( 5 ) Command pulse input Entry of a pulse train from the positioningdevice rotates the servo motor. At Grst, runit at low speed and check the rotation direction, etc.
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4.OPERATION 4.2.3 Speed control mode (1 ) Power on (a) Switch off the servo on (SON) signal (b) When main circuit power/control circuit power is switched on, "r (motor speed)" appears on the parameter unit. (2) Test operation Using jog operation in the "test operation mode" of the Parameter unit, make sure that the servo motor operates. (Refer to Section 6.8.2.) (3) Parameter setting Set the parametersaccording to the structure and specficationsof the machme. Refer to Chapter 5 for to Sections 6.
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4. OPERATION (6)Stop In any of the following statuses, the servo ampuler interrupts and stops the operation of the servo motor: Refer to Section 3.8, (2) for theservomotorequippedwithelectromagneticbrake. Note that simultaneous ON or simultaneous OFF of stroke end(LSP, LSN) OFF and forward rotationstart (ST1) or reverse rotationstart (ST2) signal has the same stop pattern as described below. (a) Servo on (SON) OFF The base circuitis shut off and the servo motor coasts.
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4. OPERATION (4) Servo on Switch the servo on in the following procedure: 1) Switch on main circuitlcontrol power. 2) Switch on the servo on signal(SON) (short SON-SG). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked. (5) Start Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed.
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5. PARAMETERS 5 . PARAMETERS Never adjust or change the parameter values extremely as it will make operation instable. ~~~ 5.1 5.1.1 ~ ~ Parameter List Parameter write inhibit I POINT 1 After setting the parameterNo. 19 value, switch poweroff, then on to make that setting valid. r In the MR-J2-03A5 servo amphfier, its parameters are classdied into the basic parameters (No. 0 to 19) and expansion parameters (No. 20 to 49) according to their safety aspects and frequencies of use.
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5. PARAMETERS I POINT 1 For any parameter whose symbol is preceded by*, set the parametervalue and switch power off once, then switch it on againto make that parameter setting valid. For details of the parameters, refer to the corresponding items. The symbols in theControl Mode column of the table indxate thefollowing modes: P : Position control mode S : Speed control mode T : Torque control mode (1) Item list 15 16 17 18 19 P . S .T 0 P . S .
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5. PARAMETERS Note 1. The setting of " 0provides the rated servo motor speed. 2. Depends on the servo ampMer.
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5. PARAMETERS *STT (2)Details list Control mode, regenerative brake option selection Used t o select the control mode and regenerative brake option. 0 0 - Unit Setting Control Range Mode OOOOh P . S 'I to 0005h the control mode. 0:Position 1:Position and speed 2:speed 3:Speed and torque 4:Torque 5:Torque and position ?unction selection 1: Used to selecttheinputsignalfilterandCNlB-pin signal.
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5.PARAMETERS ATU ,ut0 tuning: Used to set the response level, etc.for execution of auto tuning. 0 r L .- - -- u'alue Range 0104 OOOlh to 0215h - - Initial Name and Function ymbol I -Auto jetting ontrol P.S tuning response level setting I Low response Middle response High response If the macine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value. Select the machine.
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5. PARAMETERS - Name and Function INP In-position range: Usedtosetthe drooppulserange In whichthe imposition (INP signal will be output. Position loop gain 1: Used to set the gain of position loop 1. Increase the gain to improve trackability in response to the positior command. Position command accelerationldeceleration time constant (smoothing): Used to set the time constantof a low pass filter in responseto the position command.
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5.PARAMETERS sc3 nternal speed command symbol - Initial Value Name and Function 3: Used to set speed 3 of internal speed commands. Setting Control Mode Unit S 1000 instantaneous permissible nternal speed limit 3: Used to set speed 3 of internal speed limits. STA kceleration time constant: Used to set the acceleration time requlred to reach the rated speed from zero speedinresponsetotheanalogspeedcommandand internal speed commands 1 to 3.
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5. PARAMETERS :lass No. Symbo 14 TQC - Initial Value Name and Function Control Mode 0 rorque command time constant: Used to set the constantof a low pass filter in response to the torque command. ms I T :t 20000 Torque I . . TQC Time TQC: Torque command time constant 15 *SNO 16 'BPS LC 0 + E 2 0 Station number setting Used to specify the station numberfor multidrop communication. Always set one station to one axis of servo amplifier.
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5. PARAMETERS --- ~~ Initial Value Name and Function Unit OOOOh 0000 status display selection: to Used toselect the status displayshown at power-on.
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5. PARAMETERS Name and Function *OP2 ?unction selection 2: Used to select restart after instantaneous power failure, servo lock at a stop in speedcontrolmode,andslightvibratior suppression control. u - -Restart -- --- -Initial Value 0000 Unit Setting Control Range Mode OOOOh to Olllh after instantaneous power failure If the input power supply voltage had reducedin thespeed control mode to stop the servo motor due to the undervoitage alarm(A.
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5.PARAMETERS - Initial Symbol Name and Function *OP4 'unction selection 4: Used to select stop processing a t LSPLSN signal off and choose the machine resonance suppression filter. : to make a stop whenLSPILSN signal is valid. 0: Sudden stop 1: Slow stop In the position control mode, the servo motoris decelerated to a stop accordingto parameter No. 7 setting. In the speed control mode, the servo motoris decelerated to a stop accordingto parameter No. 12 setting.
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5.PARAMETERS 7 - Initial Value No. Name and Function 23 ?eed forward gain: Used to set the fee forward gain. Whenitissetto 100%. drooppulses will not be generatedin constant-speed operation. Sote that sudden acceleration/deceleration will increase overshoot. When setting this parameter, always set auto tuning (parameter No. - I :ero speed: Used to set the output rangeof the zero speed signal(ZSP).
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5.PARAMETERS :lass No. Symbol Name and Function Initial Value - --Unit VCO command Analog speed offset: Depends Used to set the offsetvoltage of the analog speed command (VC). onservo When automatic VC offset is used, the automatically offset value is amplifier set to this parameter. The initial value is the value provided by the automatic VC offset function before shipment at theVC-LG voltage of OV. Analog speed limit offset: Used to set the offset voltage of the analog speed limit (VLA).
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5. PARAMETERS - Name and Function Speed differential compensation: Used to set the differential compensation. Made valid when the proportion control signal is switched on. Spare [nput signal automaticON selection: Used to set automaticON of SON,LSP and LSN. 0 : Initial Value 980 0 0000 Range 0 5 OOOOh to Olllh on signal (SON) input selection 0: Switched d o f f by external input. 1: Switched on automatically in servo: amplifier.
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5. PARAMETERS -- -Initial Value Name and Function ~~~ ~~ ~~~~ ~~~ ~~~ ~ nput signal selection2 (CNlB-pin 5 ) : This parameter is unavailable when parameterNo. 42 is set to assign the control change signal (LOP) to CNlB-pin 5 . Allows any input signalto be assigned to CNlB-pin 5 . Note that the setting digit and assigned signal differ according to the control mode. Setting Control Mode OOOOh ?.S.
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5 . PARAMETERS Name and Function nput signal selection 4 (CNlA-pin 8): This parameter is unavailable when parameter No. 42 is set to assign the control change signal(LOP) to CN1 A-pin 8. Allows any input signal to be assigned to CNlA-pin 8. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43). Initial Value - 3000h to D999h 0770 i p u t signal selection 5 (CNlB-pin 7): This parameter is unavailable when parameterNo.
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5. PARAMETERS - - Range Initial Value Name and Function 0000 3utput slgnal selection 1: Usedto selecttheconnector warning (WNG). pins t o outputthe I SetValue 1 0 L Connector Pins CNlB-19 INPor SA 71 :Note) Alam NlBlCNlA :NIA T in 19 pin 18 z Watchdoa Name A. 12 Memory error 1 error A. 18 Board error 3 A.37 Parameter error A. 8E Serial communication error A. 33 Ovewoboe A. 10 1 1 t A. 50 (Ovedoad 1 I A. 51 ]Overload2 . Il A.24 I Undewoltage I Motor outDut fault .
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5. PARAMETERS 5.2 Detailed Description 5.2.1 Electronic gear POINT I The g u i d e h e of the electronicgearsettingrange is $c < 50. If the set value is outside t h s range, noise may be generated during acceleratioddeceleration or operation may not be performed at the preset meed andoracceleratioddeceleration time constants. (1 ) Concept of electronic gear The machme can bemoved at anymultiplication factor to input pulses. c -CMX - - ParameterNo.3 CDV - Parameter N O .
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5. PARAMETERS (2)Setting for use of AD75P TheAD75P also has the followingelectronicgearparameters.Normally,theservoampfierside electronic gear must also be set due to the restriction on the command pulse frequency (differential 500kpps, opencollector 2OOkpps).
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5 . PARAMETERS 5.2.2 Changing the status display screen The status &splay itemof the servo amplifier &splay showna t power-on can be changed by changing the parameter No. 18 settings. The item &splayedin the initial status changes with the control mode as follows: Control Mode Position control mode Speed control mode Torque control mode Displayed Item Cumulative feedback pulses Motor speed Torque command voltage For &splay details, referto Section 6.2.
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5.PARAMETERS 5.2.3 Using forwardheverse rotation stroke end to change the stopping pattern The stopping pattern is factory-set to make a sudden stop when the forwardheverse rotation stroke end is made vahd. A slow stop can be made by changing the parameterNo. 22 value. Parameter No.22 Setting nono (initial value) Stopping Method Sudden stop Droop pulses are reset to make a stop.
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6. DISPLAY AND OPERATION 6. DISPLAY AND OPERATION 6.1 Display Flowchart Use the &splay (C&git, 7-segment LED) on the front panel of the servo amplifier for status &play, an alarm, c o n f i r m external parametersetting,etc.Settheparameters before operation,hagnose sequences, and/or confirm the operation status. Press the "MODE" "UPr or "DOWN' button once to move to the next screen. To refer to or set the expansion parameters, make them valid with parameter No. 19 (parameter write disable).
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6. DISPLAY AND OPERATION 6.2 Status Display Theservo status during operation is shown on the 4-digt, 7-segmentLEDdisplay. 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. The servo amph6er &splay shows thelower four & g i t sof 13 data items such as the motor speed.
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6. DISPLAY AND OPERATION - The following table lists the servo statuses that maybe shown: - Description Unit pulse rlmin pulse pulse v U Analog torque command voltage Analog torque limit voltage I Regenerative load ratio v I L n Effective load ratio I Peak load ratio b % Within one-revolution position Cy pulse Multi-revolution counter LS rev dc 0.1 Times Load inertia moment ratio I - Display Range -9999 Feedbackpulses from theservomotorencoderarecountedand to displayed.
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6.DISPLAY AND OPERATION 6.3 Diagnostic mode Description DisDlav Name ~~~ Not ready. Indicates that the servo ampllfier is being initialized or an alarm has occurred. Sequence Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is readyto operate. Refer to section6.6. External I/O signal iisplay Indicates the ON-OFF statesof the external 110 signals. The upper segments correspondto the input signals and the lower segmentsto the output signals.
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6. DISPLAY AND OPERATION 6.4 Alarm mode The current alarm, past alarm hstory and parameter error are &splayed. The lower 2 &gibon the &splay indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below Name Description Display I Current alarm tklI ' Indicates no occurrence of an alarm. Indicates the occurrenceof alarm 33 (overvoltage). Flickers at occurrence of the alarm. Indicates that the last alarm is alarm 50 (overload 1).
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6. DISPLAY AND OPERATION 6.5 Parameter mode The servo amphfieris factory-set in the position control mode. Change the parameter settings when: * The control mode is changed; * The number of pulses per servo motor revolution is changed; or * The machme mounted with the servo motor hunts or operational performance is further improved. Some parameters are madevalid by changing the setting and then switchmg power off once and switchmg it on again. (Refer to Section 5.1.2.
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6.DISPLAY AND OPERATION (b) 5-&git parameter Thefollowing example shows the operation procedure performed denominator (parameter No. 4) into "12345": to change the electronic gear Call the &splay screen shown after power-on. L a- @ @ @ Press MODE once. Select oarameter No.4 with UP / DOWN. 0 nI setting digit Press SET once. Fifth setting Lower 4 digits Press MODE once. Press SET once. .. The screen flickers.
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6.DISPLAY AND OPERATION 6.6 External I/O signaldisplay The ON/OFF states of the dgital IIO signals connected to the servoa m p u e r can be confirmed. (1) Operation Call the display screen shown after power-on. IC I I 0 I 0 Press MODE once. I 0 0 Press UP once.
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6. DISPLAY AND OPERATION (a) Control modes and 110 signals Note: 1. I : Input signal, 0: Output signal 2. P : Position control mode, S: Speed control mode, T: Torque control mode,Pis: Positionispeed control change mode, S/T: Speedkorque control change mode,TIP: Torqueiposition control change mode 3. Set parameter No. 45 to use CR. 4. Set parameter No. 47 to use PC. 5. Set parameter No. 48 to use TL. 6 . Set parameter No. 49 to use WNG. 7. Set parameters No. 43 to 48 to change signals. 8. Set parameter No.
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6.
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6. DISPLAY AND OPERATION 6.7 Output signal forced output (DO forced output) POINT I When the servo system is used in a vertical Lft application, turning off CNP2-9 (electromagnetic brake)wdl release the electromagnetic brake, side. causing a drop.Take drop preventive measures on the machme The output signal can be forced odoff independently of the servo status. "ius function is used for output signal wiring check,etc. T h s operation mustbe performed in the servooff state (SON signal off).
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6.DISPLAY AND OPERATION 6.8 Test operation mode A CAUTION The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. If any operational fault has occurred, stop operation using the forced stop (EMG) signal. I POINT The Servo Configuration softwareis required to perform positioning operation. 6.8.1 Mode change Call the &splay screen shown after power-on.
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6. DISPLAY AND OPERATION 6.8.2 Jog operation Jog operation canbe performed when there is no command from the external command device. (1) Operation Connect EMG-SG to start jog operation and connectVDD-COM to use the internal power supply. Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the ServoConfigurationsoftware,you can change the operation conhtions.
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6.DISPLAY AND OPERATION Positioning operation 6.8.3 POINT 1 The Servo Configuration softwareis required to perform positioning operation. Positioning operation can device. be performed once when there is no command from the external command (1) Operation Connect EMG-SG to s t a r t positioning operation and connect VDD-COM to use the internal power supply.
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6. DISPLAY AND OPERATION 6.8.4 Motor-lessoperation Without connecting the servo motor, you can provide output signals or monitor the status display asif the servo motor is running in response to external input signals. T h s operation can be used to check the sequence of a host programmable controller or the &e. (1) Operation After turning off the signal across SON-SG, choose motor-less operation. After that, perform external operation a s in ordmary operation.
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7. ADJUSTMENT 7. ADJUSTMENT 7.1 What Is Gain Adjustment? 7.1 .I Difference between servo amplifier and other drives Besides the servo amphfier, there are other motor dnves suchas an inverter and stepping dnver.Among these drives, the servo amphfier requires gain adjustment. The inverter and stepping dnver arein a n open loop (actual motor speed and position are not detected on the driver side).
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7. ADJUSTMENT A general servo system configuration is shown above. The servo control system consists of three loops: current loop, speed loop and position loop. Amongthese three loops, the response of the insideloop must be increased 4 to 6 times hgher. If t h s condtion is not satisfied, vibration wlll be generated. If the conhtion further worsens, huntingwill occur. (1) Current loop For this servo amphfier, the response levelof the current loop is factory-set to a h g h value and need not be adjusted.
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7. ADJUSTMENT 7.2Gain Adjustment 7.2.1 Parameters required forgain adjustment 7.2.2 Blockdiagram The block h a g r a m of the ServoAmphfierservo omitted.) controlsection is shown above. (The current loop is (1) Actual loop section A control loop designed to control the actual motor and acts to control the servo system stably response to the load torque of the machme. in (2) Model section Acts to provide the ideal operation values to the currentloop in response to the command.
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7. ADJUSTMENT 7.2.3 What is auto tuning? The load inertia moment is estimated from the angular speed (a)and torque (T) in accordance with the equation of motion (7.1) used for motor acceleratiorddeceleration. In actuality, theacceleratioddeceleration characteristics of the model and those of the actual motor are comparedto estimate the inertia momentof the load in realtime.
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7. ADJUSTMENT 7.3 Gain Adjustment by Auto Tuning Adjustmentmethod 7.3.1 In thefactory setting of the servo amphfier, auto tuning is valid and theresponse setting is "2". The initial settingsprovide sufficient tuningfor general machnes. Higher-level tuning canbe provided by No. 2) according to machme rigichty. adjusting the response setting (parameter The following table lists g u i d e h e s for response setting to drive systems.
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7. ADJUSTMENT 7.4ManualGain Adjustment On some m a c h e s , gain adjustment may not be made by auto tuning or excellent gain setting may notbe made if gain adjustment is performed by auto tuning. In t h s case, adjust the gains manually. Use any of the methods given in t h s section to adjust the gains. 7.4.
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7. ADJUSTMENT 7.4.2 When the machine vibrates due to machine resonance frequency (1) Machine condition The servo motor shaft is oscdlating a t h g hfrequency (100Hzor more). The servo motor shaft motion cannot be c o h e d visually. However, if the machme generates large noise and vibrates, make Adjustment1. If h g h e r "response setting" of auto tuning increases vibration, make Adjustment 2. (2) Adjustment procedure Adjustment 1 1)Perform auto tuning with the response setting of slow response.
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7. ADJUSTMENT 7.4.3 Load inertia moment is 20 or more times (1) Machine condition The machme inertia moment is 20 times or more and the servo motor oscdates at low frequency (5Hz or more). Atthis time, servo motor shaft vibration can be confirmed visually.
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7. ADJUSTMENT 7.4.4 When shortening the settling time (1) Machine condition The s e t t h g time wdl be increasedby the gains providedby auto tuning. (2) Adjustment procedure 1)Choose the response settingof slow response. Set 0101 in parameter No.2. 2)Alternate a start and a stop several times, execute auto tuning, and check whether the machne does not vibrate. 3) Set theload inertia moment ratio (machme inertia moment ratio in parameter No. 34).
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7.4.5 When the same gain is used for two or more axes (1) Machine condition To perform interpolation operation with twoor more axes of servo amphiiers, the positionloop gains of the axes are setto the same value. (2) Adjustment procedure 1) To adjust the gains of each axis, adjust the gains of all axes in the adjustment procedures in Sections 7.4.1 to 7.4.4. 2) Set 0 0 0 0 or 0 2 0 0 in parameter No. 2. 0 0 0 0 : Interpolation control. . The following parameter values change at the next startfstop.
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8. INSPECTION 8. INSPECTION Before starting maintenance/inspection, switch power off, and after more than 10 seconds have elapsed,confirm that the voltageis 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 getanelectricshock.Forrepairandpartsreplacement, contact your safes representative.
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9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Trouble at Start-up I 1 Excessive adjustment or change of parameter setting must not be made as it will make operation instable. /i\CAUTIoN I POINT Using the optional Servo Configurationsoftware, 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 correspondmg action. 9.1.1 - Position control mode (1) Troubleshooting No.
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9. TROUBLESHOOTING Investigation Possible Cause Refer To i In the Gain adjustment fault Make gainChapter adjustment following procedure: 1. Increase the auto tunlng response level. 2. Repeat acceleration and deceleration several times to complete auto tunlng. Large load inertia Make gain adjustment in the Gam adjustment fault moment causes the following procedure: servo motor shaft to If the servo motor maybe oscillate side to side.
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9.TROUBLESHOOTING (2) How to find the cause of position shift Servo amplifier unit Positioning (a) Output pulse counter Machine Electronic gear (parameters No. 3,4) - bP (A) (C) Servo on (SON), stroke end (LSPLSN) input n - c CMX CDV (b) Cumulative command pulses - ; (B) I I C (c) Cumulative feedback pulses When a position s M occurs, check (a) output pulse counter, (b) cumulative command pulse display, (c) cumulative feedback pulse &splay, and(d) machme stop position in theabove hagram.
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9.TROUBLESHOOTING 9.1.2 No. 1 Speed control mode Start-Up Sequence 'ower on 2 switch on servo-on ,ignal. 3 h i t c h on forward ,otation start (ST1) )r reverse rotation ; t a r t (ST2). 4 ;ain adjustment Fault LED is not lit. LED flickers. ilarm occurs. ilarm occurs. ;ervo motor shaft is lot servo-locked is free). servo motor does lot rotate. iotation ripples speed 5uctuations) tre large a t low ;peed. Arge load inertia noment causes the servo motor shaft to willate side to side.
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9.TROUBLESHOOTING 9.1.3 Torque control mode Start-up Sequence Power on Switch on servo-on signal. Switch on forward rotation s t a r t (RS1) or reverse rotation start (RS2). Refer To Possible Cause Investigation if connectors 1.Powersupplyvoltagefault CN1.4, CNlB and CNP2 are 2. Servo amplifier is faulty. disconnected. Improved when connectors Power supply of CN1 cablingis shorted. CNlA and CNlB are disconnected. 1. Power supply of encoder Improved when connector cabling is shorted. CNP2 is disconnected.
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9. TROUBLESHOOTING 9.2 When Alarm or Warning Has Occurred 9.2.1 Alarmsand Warning list When a fault occurs during operation, the correspondmg alarm or warning is displayed. If any alarm or warning has occurred, refer t o Section 9.2.2 or 9.2.3 and take the appropriate action. Set 0001 in parameter No. 49 to output the alarm code in ONlOFF status across the corresponding pin and SG. Warnings (A. 96 to A. E9) have nocodes. Any alarm code is output a t occurrence of the correspondmg alarm.
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9.TROUBLESHOOTING 9.2.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm,andrestartoperation.Otherwise,injurymayoccur. ACAUTIoN POINT I When any of the following alarms has occurred, always remove its cause and allow about 15 minutesfor cooling before resuming operation. If operation is resumed by switchmg control circuit power off, then on to reset the alarm, the servo ampmer andservo motor may become faulty. * Overload 1 (A.
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9. TROUBLESHOOTING Definition ?aulty parts in the servo amplifier Change the servo amplifier. Checking method Alarm (A. 1 7 o rA. 18) occurs if power is switched on after connectors CN1.4. C N l B , .. 20 .. 24 .. 31 Encoder error 2 Communication error occurred between encoder and servo amplifier. Ground fault IMotor outout occurred at the ground fault servo motor outputs (U,V and W phases) of the servo amplififer. Speed hasexceeded loverspeed the instantaneous permissible speed.
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9.TROUBLESHOOTING Definition Dis la Cause nput pulse pulse frequency requency of the ommand pulse is error 00 high. Parameter 37 pulse is too high. 2, Noise entered command pulses. 3 . Command device failure 'arameter setting i: vrong. Jarameter setting to be rewritten. a a d exceeded 1. Servo amplifier is usedin excess 'verload protection of its continuous output current. haracteristic of ervo amplifier. a a d ratio 200%: 2. Servo system is instable and 86s or more hunting. ~~ i. 1.
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9.TROUBLESHOOTING Display L. 51 Name herload 2 Action Cause Definition 1. Review operation pattern. vlachine collision or 1. Machine struck something. 2. Install limit switches. he like caused max. lutput currentto 2. Wrong connection of servo motor. Connect correctly. low successively for Servo amplifier's output terminals everal seconds. U, V, W do not match servo ;ervo motor locked: motor's input terminals U, V , W . 1s or more 3. Servo system is instable and 1.
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9.TROUBLESHOOTING Display 1 Name 3 Action Cause Definition ~~ .A. 8E (Serial Serial L . Communication cable fault lcommunication communication (Open cable or short clrcuit) error occurred error between servo amplifier and ?.Communication device (e.g. Change the communication communication personal computer) faulty personal computer). device (e.g. persona computer). CPU, parts faulty device (e.g. 7ault of partsinservoamplifierChangeservoamplifier.
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IO. SPECIFICATIONS 10. SPECIFICATIONS 10.1 Servo Amplifier Standard Specifications Servo Amplifier MKJ2-03A5 Item 21.6 to 30VDC (instantaneous permissible voltage 34\7 Continuous 0.8.4,max. 2.4A Continuous 1.6.4, max. 4.8A Continuous 2.4.4, max. 7.2.4 24VDC+IO%, 200m.4(400mA whenusingtheservomotorequippedwith electromagnetic brake) Voltage Circuit power supply Power supply capacity HC-.4Q0135D HC-.4Q0235D HC-.
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10. SPECIFICATIONS 10.2 Outline Dimension Drawings 10.2.1 Servo amplifiers ~ 7 (2.756) 0 max. 1 90 (3.543) ,- ' [Unit: mm] ([Unit: in]) 1 Ej 295 (00,197)hole (0.906) Servo Amplifier Weight [kg1 W l ) MR-J2-03A5 0.2 (0.44) (Note) H TXD SDP 1 P24L RXD 4 Note: One connector (5557-08R) and10 terminals (5556) for CNPl wiring are includedin the package. IEarth terminall c Terminal screw: M4 Tightening torque: 1.24[N.m] (175.6 [oz.
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10. SPECIFICATIONS 10.2.2 Connectors (1) Connectors for CNlNCNlB Model kit [Unit: rnm] Connector : 10120-3000VE Shell : 10320-52FO-008 - Model in]) ([Unit: 12.0 (0.47) 22.0 (0.87) 14.0 (0.55) -r-! Model Shell kit : 10320-52A0-008 an option. Note: Not available as h Q) (? Shell kit : 10320-3210-000 14.0 2 7 Logo, etc. are indicated'here. ([Unit: in]) The crimping toolis required for wiringto the connector. For the crimpingtool, contact Nippon AMP.
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10. SPECIFICATIONS (2) Connectors for CNPlICNPZCNP3 Connector 0.6 ( 0 . 0 2 4 h $1 [Unit: mrn] ([Unit: in]) number Layout diagrams clossifiedby the number of pdes - poles 4 lv 8 poles Variable Dimensions Model (0.138) I 5557-08R 5557-12R Terminal Model: 5556 12 pdes A I B I 12.6(0.496) I 18.0(0.709) I I 21 .O (0.827) I 26.4(1.039) [Unit: mrn] ([Unit: in]) h -8 .f W *[- 5.5 (0.217) 14.7 (0.579) 6.6 (0.26) I4 (0.079) d fl (0.
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11. CHARACTERISTICS 11. CHARACTERISTICS 1 1.1 Overload Protection Characteristics An electronic thermal relay is b d t in the servo amphfier to protect the servo motor and servo amphfier from overloads. The operation characteristics of the electronic thermal relay are shown below. Overload 1 alarm (A. 50) occurs if overload operation performed is above the electronic thermal relay protection curve shown below. Overload 2 alarm (A.
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1 1. CHARACTERISTICS 11.2 Dynamic Brake Characteristics When an alarm, emergency stop orpower failure occurs, the dynamic brakeis operated t o bring the servo motor to a sudden stop. Fig. 11.2 shows the pattern in whch the servo motor comes to a stop when the dynamic brake is operated. Use Equation 11.1to calculate an approximate coasting distanceto a stop. The dynamic brake time constant T varies with the servo motor and machine operation speeds.(Refer to Fig. 11.3.
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11. CHARACTERISTICS 11.3 Encoder Cable Flexing Life The flexing Me of the MR-JRCBLOM-H cable is shown below. T h s graph gwes calculated values. Since they are not guaranteed values, providea little allowance for these values.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT 1 Before connecting any option or auxiliary equipment, switch power off, and after more than 10 secondshaveelapsed, confirm that the voltage is safe in a testeror the like. Not doingso can cause an electric shock. AWARNING ACAUTION Use the specified auxiliary equipmentand options. Unspecified ones may lead to a fault or fire. 12.1 Options 12.1.
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12. OPTIONS AND AUXILIARY EQUIPMENT ~~~ Model Application Description IP44 MR-JRCBLOM-H Servo amplifiersideconnectorServomotorsideconnector Refer to (2) in this (Molex make) (Molex make) Connector: 5555-12R-210 Connector: 5559-12P-210 section 5558 Terminal: 5556 Terminal: Motor cable connector set MR-JRCNM Control signal connector set MR-J2CN1 Junctlon termlnal block cable MR-JPTBLO5M Refer to section 12.1.2.
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12. OPTIONS AND AUXILIARY EQUIPMENT (2) Motor cable h If you have fabricatedthe motor cable, connectit correctly. Otherwise, misoperation or explosion may occur. /S\CAUTIoN POINT cable is not oil resistant. Refer tosection 11.3 for the flexing Me of the motor cable. Generally use the encoder cable avadable a s our options. If the required length is not found in the options, fabricate the cable on the customer side.
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12. OPTIONS AND AUXILIARY EQUIPMENT (c) Connection hagram When fabricating the cable,use the recommended wire (J14B1180) given in Section 12.2.1 and follow the connection hagram shown below. A cable of up to 30m maybefabricated for t h s connection.
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12. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT 1 T h s cable may not be used with some personal computers.After fully examining the signals of the RS-232C connector, refer tot h s section and fabricate the cable. Select the communicationcableaccordmg t~ theshape of the RS-232Cconnector of the personal computer used. When fabricating the cable, refer to the connection hagram inthis section.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.2 Junction terminal block (MR-TB20) (1) How to use the junction terminal block Alwaysuse thejunctionterminal block(MR-TB2O) withthejunctionterminal J2TBL05M) as a set.
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12. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable (MR-J2TBL05M) Model: MR-J2TBLOSM T Cable length: 0.5[m] Junction terminal block side connector (Hirose Electric) Servo amplifier side (CNlA CNl 8) connector (3M) HIF38A-20D-2.54R(connector) 1020-6000EL (connector) 10320-3210-000 (shell kit) Note: The labels are designedfor position control mode. Sincethe signals change with parameter setting andcontrol mode, use the accessory signal seals to change thesignal symbols.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.3 Servo configurations software The Servo Coniiguration software uses the communication function of the servo amphfier to perform parameter settingchanges, graph display, test operation, etc. on a personal computer. (1) Specifications Itern (Note 1) Description Communication signal Conforms to Rs-232C.
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12. OPTIONS AND AUXILIARY EQUIPMENT - (b) Configuration hagram 1)When using RS-232C Servo amplifier Personal computer !/ Communication cable J I I motor CNP3 ServoCNP2 I TO RS-232C 2) When using RS-422 You can make multidrop connection of up to 32 axes.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.2 Auxiliaty Equipment Always use the devices indicated inths section or equivalent. To comply with the EN Standard or ULICUL Standard, use the productswhich conform to the correspondmg standard. 12.2.1 Recommended wires (1) Wires for power supply wiring The following hagram shows thewiresused equivalent. for wiring.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.3 Relays The following relays shouldbe used with the interfaces: Interface Relay used especially for switching on-off input command (interface DI-1) signals Selection Example To prevent defective contacts, use a relay for small slgnal (twin contacts). (Ex.) OMRON : type G 2 A , MTi Relay used for digital output signals (interfaceDO-1) Small relay with 12\rDC or 24VDC of 40mA or less 12.2.
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12. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radated by the servo amphfier that cause peripheral devices to malfunction Noises produced by the servo amphfier are classfled into those radiatedfrom the cables connected its main circuits (input and output circuits), those induced to the servo amphfier and electromagnetically or statically by the signal cablesof the peripheral deviceslocated near the main circuit cables, and those transmitted through the power supply cables.
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12. OPTIONS AND AUXILIARY EQUIPMENT - Noise TransmissionRoute Suppression Techniques When measuring instruments, receivers, sensors. etc. which handle weak signals and may malfunction due to nome and/or their signal cables are containedin a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. Thefollowing techniques are required.
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12. OPTIONS AND AUXILIARY EQUIPMENT (b) Cable clamp fitting (AERSBAN-OSET) Generally, the earth of the sluelded cablemay only be connected to the connector's SD terminal. However, the effect can be increased by drectly connecting the cableto an earth plate as shown below. Install the earth plate near the servo a m p a e r for the encoder cable. Peel part of the cable sheath to expose the external conductor, and press that part against the earth plate with the cable clamp.
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13. COMMUNICATION FUNCTIONS 13. COMMUNICATION FUNCTIONS The MR-JZ-03A5 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 parameter No.16. (Refer to Section 5.2.5.) This function is also available for RS-485. Make the same connections, settings, etc. asRS-422. in 13.1 Configuration 13.
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13. COMMUNICATION FUNCTIONS 13.1.2 RS-232C configuration (1 ) Outline A single axis of servo amphiieris operated. Servo amplifier m Controller such as personal computer (2) Cable connection diagram Wire as shown below. Thecommunication cable for connection with the personal computer CPCATCBLSM MR-CPC98CBL3hI) is avadable. (Refer to Section 12.1.1.) . Persoml computer connector D-SUBS(socket) , (Note 2) 15m m a .
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13. COMMUNICATION FUNCTIONS 13.2 Communication Specifications 13.2.1 Communication overview The MELSERVO-J2 series is designedto send a reply on receipt of an instruction. The device w h c h gives t h s instruction (e.g. personal computer) is called a master station and the device whch sends a reply in response to the instruction (servo ampMer) iscalled a slave station. When f e t c h g data successively, the to send data.
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13. COMMUNICATION FUNCTIONS 13.2.2 Parameter setting When the RS-422IRS-232C communication function is used to operate the servo, set the communication specdications of the servo amphfier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again. (1) Communication baudrate Choose the communication speed. Match t h s value to the communication speed of the sending end (master station). Parameter No.
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13. COMMUNICATION FUNCTIONS 13.3 Protocol 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 servo ampMer of data communication. Set the station number to each servo amphfier using the parameter. Transmission data is vahd for the servo amphfier of the specfied station number.
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13. COMMUNICATION FUNCTIONS 13.4 Character Codes (1) Control codes Code Name SOH STX ETX EOT Hexadecimal Personal Computer Terminal Description (ASCII code) 01H s t a r t of h e a d 02H s t a r t of text 03H 04H e n d of text Key Operation (General) ctrl + A ctrl + B ctrl + C ctrl + D end of t r a n s m i s s i o n (2) Codes for data JIS8 unit codes are used.
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13. COMMUNICATION FUNCTIONS 13.5 Error Codes Error codes are used in the following casesand an errorcode of single-code length is transmitted. On receipt of data from the master station, theslave station sends the errorcode correspondmg to that data to the master station. The error code sent in upper-case ind~catesthat the servo is normal and the one in lower-case indcates that an alarmoccurred.
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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 theabove 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,a t power-on, orchary communication should be started after: (1) 1s or more time has elapsed after the slave station is switched on; and (2) Makmg sure that normal communication can be made by readlng the parameter or other data whch does not pose any safety problems. 13.
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13. COMMUNICATION FUNCTIONS 13.11 Command and Data No. List 13.1 1.1 Read commands (1) Status display (Command[ON1I) Command Data No.
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13. COMMUNICATION FUNCTIONS (5) Currentalarm(Command [OH21 [3][5]) Command Data No.
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13.
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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 KO.or a command + data No. + data to a slave station, the servo ampuler returns areply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc. Therefore, data must be processed accordmg 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 specfled. If it is not specfied, the data cannot be written. When the data is handled as hexadecimal, spec& "0" as the decimal pointposition. The data tobe sent is the following value.
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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 [O][l] and the dataNo. corresponding to thestatus &splay item to be read. Refer to Section 13.11.1. 2) %Ply The slave station sends back the status display data requested.
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13. COMMUNICATION FUNCTIONS 13.12.3Parameter (1) Parameter read Read the parameter setting. 1) Transmission Transmit command [0][5] and the dataNo. corresponding to the parameter No. The data No. isexpressedinhexadecimalequivalent of the data No. valuecorrespondstothe parameter number. 2) Reply The slave station sends back the data and processing d o r m a t i o n of the requested parameterNo..
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13. COMMUNICATION FUNCTIONS (2) Parameter write POINT I The number of parameter write times is restricted to 100,000 times. I Write the parameter setting. Write the valuew i t h the setting range.Refer to Section 5.1 for the setting range. Transmit command [8][4], the dataNo., and the set data. The data No. is expressed in hexadecimal. Thedecimal equivalent of the data No. value corresponds to the parameter number.
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13. COMMUNICATION FUNCTIONS 13.12.4 External I/O pin statuses ( D l 0 diagnosis) (1) External input pin status read Read the ON/OFF statusesof the external input pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. ($1 Reply The ON/OFFstatuses of the input pins are sent back. I : ON 0 : OFF Command of each bitis transmitted to the master station as hexadecimal data.
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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 ONIOFF. When inputs are dsabled, the input signals are recognized as follows. Among the external input signals, EMG, LSP and LSN cannot be disabled.
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13. COMMUNICATION FUNCTIONS 13.12.6 External input signal ON/OFF (Test operation) Each input signal canbe turned ordoff for test operation. Turnoff the external input signals. Send command[9][2], data No. [O] [O] and data. I Command [9][2] I I Data No. [O] [O] I Set Data I See below I I 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 operationmode must be executed in the following procedure. If communication is interrupted for longer than 0.5s during test operation, the servo amphfier causes themotor to be decelerated to a the stop and servo-locked. To prevent ths, continuecommunicationwithoutabreak,e.g.monitor 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 thefollowing communication commands: (a) Settingof jog operation data Command Data No. Item Speed Acceleration/decelerati on time constant 1-41P I [A][O] [l][O] [ 11[l] Data Write the speed [r/min] in hexadecimal. Write the acceleratioddeceleration time constant [ms] in hexadecimal. (b) Start Turn on the external input signals SON and STl/ST2by using command 191[2] + data No. [O] [O].
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13. COMMUNICATION FUNCTIONS 13.12.8 Output signal pin ON/OFF (DO forced output) In the test operationmode, the outputsignal pins canbe turned odoff independently of the servo status. Using command [9][0], disable the outputsignals in advance. (1) Choosing DO forced output in test operation mode Transmit command [8][B] + data No. [O][O]+ 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 timesof No. 0 (last alarm) to No. 5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data KO.[lJ[O]to [1][5]. Refer to Section 13.11.1. 0)Reply The alarm No. corresponlng to the data No. is provided. m L I a m No. is transferred in decimal. For example, “0032” means A. 32 and “OOFF’means A. - (no alarm).
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13. COMMUNICATION FUNCTIONS 13.12.10 Current alarm (1) Current alarm read Read the alarm No. whch isoccurring currently. (a) Transmission Send command [0][2] and dataNo. [ O ] [ O ] . CO) Reply The slave station sends backthe alarm currently occurring. A l a n No. is transferred in decimal For example, “0032’ means A. 32 and “OOFF means A. - (no alarm). (2) Read of the status display at alarm occurrence Read the status &splay data at alarm occurrence. When the data No.
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13. COMMUNICATION FUNCTIONS 13.1 2.1 1 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. (a) Transmission Send command [0][2] and data No. [9][0]. Command I Data No. co) Reply The slave station sendsback the requested servomotor end pulses. Absolute valueis sent backin hexadecimal in the servo motor end pulse unit. (Must be converted into decimal) For example, data "000186AO' is 100000 Lpulse] in the motor end pulse unit.
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REVISIONS *The manual number is given on the bottom left of the back cover. Print Data ‘Manual Revision Number Feb..1999 SH(NA)3200-A Oct.,1999 SH(NA)3200-B First e h t i o n Deletion of 2(3)(a) in COMPLIANCE WITH EC DIRECTIVES Section 1.3: Rating plate changed Section 3.2: Corrections made to CNlB-4 and CNlA-18 connections Section 3.3.1 (1): Addition of CNPlICNP2ICNP3 signal arrangement Section 3.3.
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*The manual numberis given on the bottom left of the back cover. Print Data 'Manual Number Revision Section10.2.2 (1): A d h t i o n of theoutlinedrawings of connector10120 -3000EL and shellkt 10320-52AO-008 Section 11.1: Addition Section12.2.1 (2): of descriptionrelatedtoloadduring stop a Addition of h s h m g OD Changes made to the core insulation sheath outline d of J14B1180 Changes made to the numberof cores of UL20276AWG28 Section12.2.4(l)(c):Figurecorrection Section 13.1.
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