General-Purpose AC Servo J2-Jr Series SSCNET Compatible MODEL MR-J2-03B5 SERVO AMPLIFIER INSTRUCTION MANUAL B
Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.
1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed.
. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
CAUTION Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty.
(4) Usage CAUTION Provide a forced stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc.
(6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. (7) General instruction To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards.
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.
(3) Power supply Use a 24VDC power supply which has been insulation-reinforced in I/O. (4) Grounding To prevent an electric shock, always connect the protective earth terminal (E) to the servo amplifier and always connect it to the earth (E) of the control box. (5) Auxiliary equipment and options (a) The circuit protector used should be the EN or IEC standard-compliant products of the models described in Section 11.2.2. (b) The sizes of the cables described in Section 11.2.1 meet the following requirements.
CONFORMANCE WITH UL/C-UL STANDARD The standard models of the servo amplifier and servo motor comply with the UL/C-UL Standard. Unless otherwise specified, the handling, performance, specifications, etc. of the UL/C-UL Standardcompliant models are the same as those of the standard models. When using 24VDC power supply, options and auxiliary equipment, use those which conform to the UL/C-UL Standard.
MEMO A - 10
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 6 1.1 Introduction.............................................................................................................................................. 1- 1 1.2 Servo amplifier standard specifications ................................................................................................ 1- 2 1.3 Function list ................................................................................................................................
5. PARAMETERS 5- 1 to 5- 8 5.1 Parameter write inhibit .......................................................................................................................... 5- 1 5.2 Lists........................................................................................................................................................... 5- 1 6. ADJUSTMENT 6- 1 to 6-10 6.1 What is gain adjustment? ...................................................................................................
11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-20 11.1 Options.................................................................................................................................................. 11- 1 11.1.1 Cables and connectors.................................................................................................................. 11- 1 11.1.2 Servo configurations software ....................................................................................................
MEMO 4
1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The MELSERVO-J2-Jr series general-purpose AC servo has been developed as an ultracompact, small capacity servo system compatible with the MELSERVO-J2 series 24VDC power supply. It can be used in a wide range of fields from semiconductor equipment to small robots, etc. The input signals of the servo amplifier control system are compatible with those of the MR-J2- B.
1. FUNCTIONS AND CONFIGURATION 1.2 Servo amplifier standard specifications Servo amplifier MR-J2-03B5 Item Circuit Voltage power Power supply supply capacity (Note) 21.6 to 30VDC (instantaneous permissible voltage 34V) HC-AQ0135D Continuous 0.8A, max. 2.4A HC-AQ0235D Continuous 1.6A, max. 4.8A HC-AQ0335D Continuous 2.4A, max. 7.
1. FUNCTIONS AND CONFIGURATION 1.4 Model code definition (1) Rating plate MITSUBISHI MODEL AC SERVO MR-J2-03B5 Capacity POWER : 30W INPUT : DC24V OUTPUT: A5 SERIAL : T3 Model Applicable power supply Rated output current AAAAG52 PASSED Serial number MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN (2) Model - 03 B 5 MR-J2 Series name Rating plate 24VDC power supply specification SSCNET Compatible Rated output 30[W] 1.5 Combination with servo motor The HC-AQ series servo motors can be used.
1. FUNCTIONS AND CONFIGURATION 1.6 Parts identification Name/Application Display The two-digit, seven-segment LED shows the servo status and alarm number. Reference Section 4.3 Axis select switch (CS1) CS1 B CD 345 789 Used to set the axis number of the servo amplifier. F0 1 B CD 345 789 Section 3.9 Bus cable connector (CN1A) Used to connect the servo system controller or preceding axis servo amplifier. Section 3.
1. FUNCTIONS AND CONFIGURATION 1.7 Servo system with auxiliary equipment WARNING To prevent an electric shock, fit the supplied earth terminal (E) to the servo amplifier (refer to (2), Section 3.7) and always connect it to the earth (E) of the control box.
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2. INSTALLATION 2. INSTALLATION CAUTION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range.
2. INSTALLATION 2.2 Installation direction and clearances CAUTION The equipment must be installed in the specified direction. Otherwise, a fault may occur. Leave specified clearances between the servo amplifier and control box inside walls or other equipment. (1) Installation of one servo amplifier Control box Control box 40mm (1.6 in.) or more Wiring clearance Servo amplifier MITSUBISHI 10mm (0.4 in.) or more OPEN MELSERVO CN1A CNP1 CN1B 10mm (0.4 in.) or more 70mm (2.8 in.
2. INSTALLATION (2) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions. Control box 100mm (4.0 in.) or more MITSUBISHI 10mm (0.4 in.) or more MITSUBISHI MELSERVO OPEN CN1A CNP1 1mm (0.04 in.) or more MELSERVO OPEN CN1B CNP2 CN1A CNP1 CNP3 CN1B 10mm (0.4 in.
2. INSTALLATION 2.4 Cable stress (1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection. (2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) supplied with the servo motor, and flex the optional motor cable or the power supply and brake wiring cables. Use the optional motor cable within the flexing life flexing life range.
2. INSTALLATION 2.5 Using the DIN rail for installation (1) Fitting into the DIN rail Put the upper catch on the DIN rail and push the unit until it clicks. Wall Wall Upper catch DIN rail DIN rail (2) Removal from DIN rail 1) Pull down the hook. 2) Pull it toward you. 3) Lift and remove the unit.
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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 servo amplifier and the servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock.
3. SIGNALS AND WIRING 3.1 Connection example of control signal system POINT Refer to Section 3.5 for the connection of the power supply system. Do not apply the test lead bars or like of a tester directly to the pins of the connectors supplied with the servo motor. Doing so will deform the pins, causing poor contact.
3. SIGNALS AND WIRING Note 1. To prevent an electric shock, fit the supplied earth terminal (E) to the servo amplifier and always connect it to the earth (E) of the control box. (Refer to Section 3.7.) 2. If the controller does not have an emergency stop function, always install a forced stop switch (Normally closed). 3. CN1A and CN1B have the same shape. Wrong connection of the connectors will lead to a fault. 4. When starting operation, always connect the forced stop (EM1) and P24G.
3. SIGNALS AND WIRING 3.2 I/O signals 3.2.1 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. CN1A CN1B 1 2 RD LG 3 6 RD* 5 LG TD* 16 EMG 18 BT LG RD 13 3 TD 15 5 6 LG LG MITSUBISHI EMG MELSERVO 10 BT CNP1CNP2 1 P24M 6 CNP2 CNP3 2 P24G The connector frames are connected with the E (earth) terminal inside the servo amplifier.
3. SIGNALS AND WIRING 3.2.2 Signal explanations For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.4.2. (1) Connector applications Connector Name CN1A Connector for bus cable from preceding axis. CN1B Connector for bus cable to next axis CNP1 Power supply input connector CNP2 CNP3 Motor connector Communication connector CNP21 Electromagnetic brake contact connector Function/Application Used for connection with the controller or preceding-axis servo amplifier.
3. SIGNALS AND WIRING 3.3 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. CAUTION When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence.
3. SIGNALS AND WIRING 3.4 Interfaces 3.4.1 Common line The following diagram shows the power supply and its common line. To conform to the EMC directive, refer to the EMC Installation Guide lines (IB(NA)67310).
3. SIGNALS AND WIRING 3.4.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.2.2. Refer to this section and connect the interfaces with the external equipment. Digital input interface DI-1 Give a signal with a relay or open collector transistor. Servo amplifier For a transistor EM1 Approx. 5mA R: Approx. 4.7k Switch TR V CES 1.
3. SIGNALS AND WIRING 3.5 Input power supply circuit CAUTION When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. Switch power off at detection of an alarm. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire. POINT If the equipment does not comply with the EN Standard, use the insulated 24VDC power supply. 3.5.
3. SIGNALS AND WIRING 3.5.2 Explanation of signals Abbreviation Signal Name P24M Main circuit power input Description Power supply for main circuit. P24G Power ground Main circuit power supply and control circuit power supply ground. Connected to SG and LG inside the unit. P24L Control circuit power input Control circuit power supply and digital I/O power supply. Always use a stabilizing power supply. Ground Connect to the earth of the control box for grounding. 3.5.
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. If the controller does not have an emergency stop function, make up a circuit which shuts off main circuit power as soon as EM1-P24G are opened at a forced stop. To ensure safety, always install a forced stop switch across EM1-P24G. By disconnecting EM1-SG, the dynamic brake is operated to bring the servo motor to a stop.
3. SIGNALS AND WIRING 3.6 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop (EM1). Circuit must be opened during forced stop (EM1). EM1 Servo amplifier Servo motor CAUTION CNP2 The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking.
3. SIGNALS AND WIRING (3) Operation timings (a) Servo-on command (from controller) ON/OFF Tb [ms](parameter No.21) after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop.
3. SIGNALS AND WIRING (c) Alarm occurrence POINT When the overcurrent alarm (32) occurs, the dynamic brake is not operated.
3. SIGNALS AND WIRING 3.7 Grounding WARNING Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the earth terminal (E) of the servo amplifier to earth (E) of the control box (refer to (2) of this section for the fitting method of the earth terminal). (1) Connection diagram The servo amplifier switches the power transistor on-off to supply power to the servo motor.
3. SIGNALS AND WIRING (2) Fitting of earth (E) terminal (AERSBAN-JR) As shown below, fit the earth (E) terminal to the bottom or top of the servo amplifier.
3. SIGNALS AND WIRING 3.8 Instructions for the 3M connector When fabricating a cable with the 3M connector, 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.
3. SIGNALS AND WIRING 3.9 Control axis selection Use the axis select switch (CS1) to set the control axis number for the servo. The control axis number set to CS1 should be the same as the one set to the servo system controller. If the same numbers are set to different control axes in a single communication system, the system will not operate properly. The control axes may be set independently of the bus cable connection sequence.
4. OPERATION AND DISPLAY 4. OPERATION AND DISPLAY 4.1 When switching power on for the first time Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (P24M, P24G, P24L) of the servo amplifier. (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.
4. OPERATION AND DISPLAY 4.2 Start up WARNING Do not operate the switches with wet hands. You may get an electric shock. Do not operate the controller with the front cover removed. High-voltage terminals and charging area exposed and you may get an electric shock. During power-on or operation, do not open the front cover. You may get an electric shock. CAUTION Before starting operation, check the parameters. Some machines may perform unexpected operation.
4. OPERATION AND DISPLAY (5) Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. When the servo motor is equipped with an electromagnetic brake, refer to Section 3.6. Operation/command Servo off command Servo system controller Stopping condition The base circuit is shut off and the servo motor coasts. The base circuit is shut off and the dynamic brake Emergency stop command operates to bring the servo motor to stop.
4. OPERATION AND DISPLAY 4.3 Servo amplifier display On the servo amplifier display (2-digit, 7-segment display), check the status of communication with the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm.
4. OPERATION AND DISPLAY (2) Indication list Indication Status Description Initializing The servo amplifier was switched on when power to the servo system controller is off. Ab Initializing Power to the servo system controller was switched off during power-on of the servo amplifier. The axis No. set to the servo system controller does not match the axis No. set with the axis setting switch (CS1) of the servo amplifier.
4. OPERATION AND DISPLAY 4.4 Test operation mode CAUTION The test operation mode is designed for servo operation confirmation and not for machine operation confirmation. Do not use this mode with the machine. Always use the servo motor alone. If an operation fault occurred, use the forced stop (EM1) to make a stop.
4. OPERATION AND DISPLAY (c) Program operation Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the programmed operation screen of the servo configuration software.
4. OPERATION AND DISPLAY (2) Configuration Configuration should be as in Section 3.1. Always install a forced stop switch to enable a stop at occurrence of an alarm. (3) Operation procedure (a) Jog operation, positioning operation, program operation. 1) Switch power off. 2) Set CS1 to âFâ. When CS1 is set to the axis number and operation is performed by the servo system controller, the test operation mode screen is displayed on the personal computer, but no function is performed.
5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parameter values extremely as it will make operation instable. POINT When the servo amplifier is connected with the servo system controller, the parameters are set to the values of the servo system controller. Switching power off, then on makes the values set on the servo configuration software invalid and the servo system controller values valid. In the maker setting parameters, do not set any values other than the initial values.
5. PARAMETERS (1) Item list ClassifiNo.
5. PARAMETERS (2) Details list ClassifiNo. cation Symbol Name and Function For manufacturer setting Don't change this value by any means. 1 2 3 Unit Setting Range 0000 0000 0080 4 For automatic setting by servo system controller Automatically set from the servo system controller 5 6 0000 1 0 *POL Rotation direction selection Used to select the rotation direction of the servo motor. 0: Forward rotation (CCW) with the increase of the positioning address.
5. PARAMETERS ClassifiNo. cation 9 Symbol RSP Initial Value Name and Function Servo response Used to select response of auto tuning. Unit 0004 Setting Range 0001h to 000Ch 0 0 0 Basic parameters Response selection Optimum response can be selected according to the rigidity of the machine. As machine rigidity is higher, faster response can be set to improve tracking performance in response to a command and to reduce settling time.
5. PARAMETERS Adjustment parameters Setting Range Initial Value Unit Speed loop gain 1 Normally this parameter setting need not be changed. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning is selected, the result of auto tuning is automatically used. 873 rad/s 20 to 5000 PG2 Position loop gain 2 Used to set the gain of the position loop. Set this parameter to increase position response to load disturbance.
5. PARAMETERS ClassifiNo. cation Unit In-position range Used to set the droop pulse range in which the in-position signal (INP) will be output to the controller. 100 pulse 0 to 10000 Electromagnetic brake sequence output Used to set a time delay between electromagnetic brake operation and base drive circuit shut-off. 0 ms 0 to 1000 Name and Function 20 INP 21 MBR 22 23 *OP1 For manufacturer setting Don't change this value by any means.
5. PARAMETERS ClassifiNo. cation Symbol Initial Value Name and Function For manufacturer setting Don't change this value by any means. 27 28 Unit Setting Range 0 0 0001 29 30 ZSP Zero speed Used to set the output range of the zero speed signal (ZSP). 50 r/min 0 to 10000 31 ERZ Error excessive alarm level Used to set the output range of the error excessive alarm. 80 k pulse 0 to 1000 32 OP5 Optional function 5 Used to select PI-PID control switch-over.
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6. ADJUSTMENT 6. ADJUSTMENT 6.1 What is gain adjustment? 6.1.1 Difference between servo amplifier and other drives Besides the servo amplifier, there are other motor drives such as an inverter and stepping driver. Among these drives, the servo amplifier requires gain adjustment. The inverter and stepping driver are in an open loop (actual motor speed and position are not detected on the driver side).
6. ADJUSTMENT 6.1.2 Basics of the servo system Servo motor Command pulse train Deviation counter PG2 Position control section VG2 Speed control section Current control section Power control section Motor Current loop Speed loop Position loop Encoder A general servo system configuration is shown above. The servo control system consists of three loops: current loop, speed loop and position loop. Among these three loops, the response of the inside loop must be increased 4 to 6 times higher.
6. ADJUSTMENT 6.2 Gain adjustment 6.2.1 Parameters required for gain adjustment Parameter No. Symbol Name 8 ATU Auto tuning 9 RSP Servo response 12 GD2 13 PG1 14 VG1 Speed loop gain 1 15 PG2 Position loop gain 2 16 VG2 Speed loop gain 2 17 VIC Speed integral compensation 18 NCH Notch filter Ratio of load inertia moment to servo motor inertia moment (load inertia moment) Position loop gain 1 6.2.
6. ADJUSTMENT 6.2.3 What is auto tuning? The load inertia moment is estimated from the angular speed ( ) and torque (T) in accordance with the equation of motion (6.1) used for motor acceleration/deceleration. In actuality, the acceleration/ deceleration characteristics of the model and those of the actual motor are compared to estimate the inertia moment of the load in real time. d J T ................................................................ (6.
6. ADJUSTMENT 6.3 Gain adjustment by auto tuning 6.3.1 Adjustment method In the factory setting of the servo amplifier, auto tuning selection is valid (parameter No. 8: 0001) and the response selection is "4" (parameter No. 9: 0004). The initial settings provide sufficient tuning for general machines. Higher-level tuning can be provided by adjusting the response selection (parameter No. 9) according to machine rigidity. The following table lists guidelines for response selection to drive systems.
6. ADJUSTMENT 6.4 Manual gain adjustment On some machines, gain adjustment may not be made by auto tuning or excellent gain setting may not be made if gain adjustment is performed by auto tuning. In this case, adjust the gains manually. Use any of the methods given in this section to adjust the gains. 6.4.1 When machine rigidity is low (1) Machine condition Because of low machine rigidity, the response selection of auto tuning is set to low response and it takes too much time to reach the target position.
6. ADJUSTMENT 6.4.2 When the machine vibrates due to machine resonance frequency (1) Machine condition The servo motor shaft is oscillating at high frequency (100Hz or more). The servo motor shaft motion cannot be confirmed visually. However, if the machine generates large noise and vibrates, make Adjustment 1. If higher "response setting" of auto tuning increases vibration, make Adjustment 2. (2) Adjustment procedure (a) Adjustment 1 1) Perform auto tuning with the response selection of low response.
6. ADJUSTMENT 6.4.3 Load inertia moment is 20 or more times (1) Machine condition The machine inertia moment is 20 times or more and the servo motor oscillates at low frequency (5Hz or more). At this time, servo motor shaft vibration can be confirmed visually.
6. ADJUSTMENT 6.4.4 When shortening the settling time (1) Machine condition The settling time will be increased by the gains provided by auto tuning. (2) Adjustment procedure 1) Select the response setting of slow response. Set parameter No. 8 to "0001" and parameter No. 9 to "0003" or less. 2) Alternate a start and a stop several times, execute auto tuning, and check whether the machine does not vibrate. 3) Set the load inertia moment ratio (parameter No. 12).
6. ADJUSTMENT 6.4.5 When the same gain is used for two or more axes (1) Machine condition To perform interpolation operation with two or more axes of servo amplifiers, the position loop gains of the axes are set to 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 6.4.1 to 6.4.4. 2) Set "0000" or "0002" in parameter No. 8. "0000": Interpolation control ............
7. INSPECTION 7. INSPECTION WARNING Before starting maintenance/inspection, switch power off, and after more than 10 minutes have elapsed, 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. TROUBLESHOOTING 8. TROUBLESHOOTING 8.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 8.2 or 8.3 and take the appropriate action. in the After its cause has been removed, the alarm can be deactivated in any of the methods marked alarm deactivation column.
8. TROUBLESHOOTING 8.2 Remedies for alarms CAUTION When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. POINT When any of the following alarms has occurred, always remove its cause and allow about 15 minutes for cooling before resuming operation. If operation is resumed by switching control circuit power off, then on to reset the alarm, the servo amplifier and servo motor may become faulty.
8. TROUBLESHOOTING Display 15 Name Definition Memory error 2 EEP-ROM fault Cause Action 1. Faulty parts in the servo amplifier Change the servo amplifier. Checking method Alarm (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. 16 17 Encoder error 1 Communication 1. Motor connector (CNP2) error occurred disconnected. between encoder 2. Encoder fault and servo amplifier. 3.
8. TROUBLESHOOTING Display 32 Name Overcurrent Definition Cause Current that flew is 1. Short occurred in servo amplifier higher than the output phases U, V and W. permissible current 2. Transistor of the servo amplifier of the servo faulty. amplifier. Checking method Alarm (32) occurs if power is switched on after CNP2 connector are disconnected. Action Correct the wiring. Change the servo amplifier. 3. Ground fault occurred in servo amplifier output phases U, V and W. Correct the wiring. 4.
8. TROUBLESHOOTING Display 50 Name Overload 1 Definition Load exceeded overload protection characteristic of servo amplifier. Cause Action 1. Servo amplifier is used in excess of its continuous output current. 1. Reduce load. 2. Review operation pattern. 3. Use servo motor that provides larger output. 2. Servo system is instable and hunting. 1. Repeat acceleration/ deceleration to execute auto tuning. 2. Change auto tuning response setting. 3.
8. TROUBLESHOOTING Display 52 Name Definition Error excessive Droop pulse value of the deviation counter exceeded the parameter No.31 setting value (initial value: 80k pulse). Cause Action 1. Acceleration/deceleration time constant is too small. Increase the acceleration/deceleration time constant. 2. Torque limit value is too small. Increase the torque limit value. 3. Motor cannot be started due to torque shortage caused by power supply voltage drop. 1. Review the power supply capacity. 2.
8. TROUBLESHOOTING 8.3 Remedies for warnings If E6, E7 or E9 occurs, the servo off status is established. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Eliminate the cause of the warning according to this section. Use the optional servo configuration software to refer to the cause of warning.
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9. OUTLINE DIMENSION DRAWINGS 9. OUTLINE DIMENSION DRAWINGS 9.1 Servo amplifiers 14 (0.551) 76 (2.992) MELSERVO Display setting section cover 37.3 (1.469) CNP2 90 (3.543) 35.4 (1.394) Rating plate CNP1 2- 5 ( 0.197) hole (mounting hole) CN1B 6 (0.24) CNP3 5 (0.197) Earth terminal plate (accessory) 13 (0.512) 23 (0.906) 12 (0.472) 14 18 5 (0.197) 10 (0.394) 100 (3.937) CN1A 5 (0.197) 27.3 (1.075) MITSUBISHI OPEN [Unit: mm] ([Unit: in]) 90 (3.543) 5 (0.197) 45 (1.772) 8 (0.
9. OUTLINE DIMENSION DRAWINGS 9.2 Connectors (1) Servo amplifier side <3M> (a) Soldered type Model Connector Shell kit [Unit: mm] ([Unit: in]) : 10120-3000VE : 10320-52F0-008 10.0(0.39) 12.0(0.47) 14.0 (0.55) 22.0 (0.87) 39.0 (1.54) 23.8 (0.94) Logo, etc. are indicated here. 33.3 (1.31) 12.7(0.50) (b) Threaded type 33.3 (1.31) 12.7 (0.50) 10.0 14.0 (0.55) 12.0 (0.47) 27.4 (1.08) 5.7 (0.22) 39.0 (1.54) 23.8 (0.94) 22.0 (0.87) [Unit: mm] ([Unit: in]) (0.
9. OUTLINE DIMENSION DRAWINGS (2) Connectors for CNP1/CNP2/CNP3 0.6 (0.024) Connector 0.6 (0.024) [Unit: mm] ([Unit: in]) R0.3 4 5 9 10 3 1.2 Circuit number (0.047) 11.6 (0.457) 8.5 (0.335) 6.3 (0.248) 4.2 (0.165) 2.5 (0.098) 9.6 (0.378) 3.3 (0.13) 5.4 (0.213) Layout diagrams classified by the number of poles 3 (0.118) 19.6 (0.772) 6 7 5.4 (0.213) 10.7 (0.421) 1 2 3 (0.118) 1.5 (0.059) 2.7 (0.
9. OUTLINE DIMENSION DRAWINGS (3) Bus cable connector (a) Honda Tsushin Industry PCR type PCR-LS20LA1 PCR-LS20LA1W 10.4 (0.409) 38.5 (1.516) HONDA RS 38.5 (1.516) 1 12.2 1 (0.039) (0.48) (0.039) 27.4 (1.079) 32.0 (0.906) HONDA 14.2 (0.559) 20.6 (0.811) 13.0 (0.512) 23.0 (0.906) RS 27.4 (1.079) 32.0 (0.906) 1 1.9 (0.039) 12.2 (0.075) Number of Pins 20 [Unit: mm] (Unit: in) 1 (0.039) (0.
9. OUTLINE DIMENSION DRAWINGS (b) Honda Tsushin Industry HDR type Model HDR Number of Pins Connector Connector case 14 HDR-E14MG1 HDR-E14LPA5 26 HDR-E26MG1 HDR-E26LPA5 (Note) Crimping terminal Wire straightening tool : FHAT-0029 Insulation displacement tool : FHPT-0004C Note: Not available from us and to be supplied by the customer. Model Connector : HDR-E26MG1 Connector case : HDR-E26LPA5 Model Connector : HDR-E14MG1 Connector case : HDR-E14LPA5 [Unit: mm] ([Unit: in]) 21.8 (0.86) 6 7 (0.
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10. CHARACTERISTICS 10. CHARACTERISTICS 10.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 10.1, Overload 2 alarm (51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc.
10. CHARACTERISTICS 10.2 Dynamic brake characteristics Fig. 10.2 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 10.1 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. 10.3) Forced stop(EM1) ON OFF Time constant V0 Machine speed Time te Fig. 10.2 Dynamic brake operation diagram Lmax Vo JM JL te JL V0 te 1 ........................
10. CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher than this value, the servo amplifier may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. Servo amplifier Load inertia moment ratio [times] MR-J2-03B5 100 10.3 Motor cable flexing life The flexing life of the MR-JRCBL M-H cables is shown below. This graph calculated values.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or auxiliary equipment, switch power off, and after more than 10 minutes have elapsed, 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. 11.1 Options 11.1.
11. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model Description Application 1) Bus cable MR-J2HBUS M-A Connector: PCR-S20F Refer to (4) in this Case: PCR-LS20LA1 section. (Honda Tsushin) Connector: 1020-6000EL Shell kit: 10320-3210-000 (3M or equivalent) 2) Bus cable MR-J2HBUS M Refer to (4) in this section.
11. OPTIONS AND AUXILIARY EQUIPMENT No. Product 10) Communication cable Model Refer to (3) in this section. Description Connector: 5557-04R-210 Terminal: 5556 Connector: DE-25PF-N Case: DB-C2-J9 (molex) (Japan Aviation Electronics) Connector: 5557-04R-210 Terminal: 5556 (molex) Connector: DE-9SF-N Case: DE-C1-J6-S6 (Japan Aviation Electronics) 11) Communication cable Refer to (3) in this section.
11. OPTIONS AND AUXILIARY EQUIPMENT (2) Motor cable CAUTION If you have fabricated the encoder cable, connect it correctly. Otherwise, misoperation or explosion may occur. Use the MR-JRBRCBL M-H when using the servo motor provided with electromagnetic brake. POINT The encoder cable is not oil resistant. Refer to Section 10.3 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 .
11. OPTIONS AND AUXILIARY EQUIPMENT 3) Connection diagram When fabricating the cable, use the recommended wire (J14B1180) given in Section 11.2.1 and follow the connection diagram shown below. A cable of up to 30m(98.4ft) may be fabricated for this connection. Servo motor side Connector: 5559-12P-210 Terminal :5558 Servo amplifier side Connector: 5557-12R-210 Terminal :5556 LG P5 B2 B1 U V W E MR Blue 0.5mm Orange 0.5mm Yellow 0.3mm White 0.3mm Red 0.5mm White 0.5mm Black 0.5mm Green 0.
11. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JRBRCBL M-H Use this cable when using the servo motor provided with electromagnetic brake. 1) Model explanation Model: MR-JRBRCBL M-H Long flexing life Symbol 2 5 10 20 30 Cable Length [m]([ft]) 2(6.5) 5(16.4) 10(32.8) 20(65.6) 30(98.4) 2) Outline drawing 1 2 5(0.19) 5(0.19) B 7 8 9 10 11 12 1 2 3 4 5 6 12 11 10 9 8 7 A 15 (0.59) C View C View A 6 5 4 3 2 1 200 (7.87) 15 (0.
11. 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. Select the communication cable according to the shape of the RS-232C connector of the personal computer used. When fabricating the cable, refer to the connection diagram in this section.
11. OPTIONS AND AUXILIARY EQUIPMENT (4) Bus cable CAUTION When fabricating the bus cable, do not make incorrect connection. Doing so can cause misoperation or explosion. When fabricating this cable, use the recommended cable given in Section 11.2.1 and fabricate it in accordance with the connection diagram shown in this section. The overall distance of the bus cable on the same bus is 30m(98.4ft). (a) MR-J2HBUS M-A 1) Model definition Model:MR-J2HBUS M-A Symbol 05 1 5 Cable Length [m(ft)] 0.5 (1.
11. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J2HBUS M 1) Model definition Model:MR-J2HBUS M Symbol 05 1 5 Cable Length [m(ft)] 0.5 (1.64) 1 (3.28) 5 (16.
11. OPTIONS AND AUXILIARY EQUIPMENT (c) Q172J2BCBL M 1) Model definition Model:Q172J2BCBL M Symbol 05 1 5 Cable Length [m(ft)] 0.5 (1.64) 1 (3.28) 5 (16.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.2 Servo configurations software The servo configuration software (MRZJW3-SETUP81E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications Item Description Communication signal Baudrate [bps] Conforms to RS-232C. 9600 Batch display, high-speed display, graph display (Minimum resolution changes with the processing speed of the personal computer.
11. OPTIONS AND AUXILIARY EQUIPMENT 11.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/CUL Standard, use the products which conform to the corresponding standard. 11.2.1 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.
11. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 11.1 Wires for option cables Type Length Model [m(ft)] Number size of Structure [mm2] Cores [Wires/mm] 0.2 MR-JRCBL 2 to 30 M-H (6.56 to 98.4) 0.3 0.5 Motor 0.2 cable 2 to 30 (6.56 to 98.4) MR-JRBRCBL M-H Characteristics of one core Core 0.3 0.5 2 (1 pairs) 2 (1 pairs) 6 (3 pairs) 2 (1 pairs) 2 (1 pairs) 6 (3 pairs) 40/0.
11. OPTIONS AND AUXILIARY EQUIPMENT 11.2.2 Circuit protector Servo amplifier Circuit protector MR-J2-03B5 (Note) CP-30BA 1P 1-M5A Note: Use the operation characteristic of "mid-speed type". 11.2.3 Relays The following relays should be used with the interfaces: Interface Selection example Relay used for open and close of digital input command To prevent defective contacts , use a relay for small signal (interface DI-1) signals (twin contacts). (Ex.) Omron : type G2A , MY 11.2.
11. OPTIONS AND AUXILIARY EQUIPMENT (b) Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required. Provide surge absorbers on the noise sources to suppress noises. Attach data line filters to the signal cables.
11. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques 1) 2) 3) When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required.
11. OPTIONS AND AUXILIARY EQUIPMENT (b) Cable clamp fitting (AERSBAN -SET) Generally, the earth of the shielded cable may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an earth plate as shown below. Install the earth plate near the servo amplifier 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.
11. OPTIONS AND AUXILIARY EQUIPMENT 11.2.5 Snubber unit This section provides the recommended snubber circuit unit which is installed to the forced stop contact for servo motor with electromagnetic brake. Refer to Section 3.6 (1) for the connection method. Spark quencher for control equipment Model: SQ13150BF (Nisshin Seigyo Kiko) Operating Voltage Electrostatic Capacitance ACV F 20% 150 0.3 Resistance Value 20% 150 34(1.34) 1 29(1.14) 1 11(0.43) 1 22(0.87) 1 W 0.5 1 5(0.
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REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Nov.,2000 SH(NA)030005-A First edition May.,2003 SH(NA)030005-B SAFETY INSTRUCTIONS 3: Partial text addition SAFETY INSTRUCTIONS 4 (1): Partial text addition, Note addition SAFETY INSTRUCTIONS (7): Change Addition of About processing of waste Addition of FOR MAXIMUM SAFETY Addition of EEP-ROM life Partial addition of text to CONFORMANCE WITH UL/C-UL STANDARD Section 1.
MODEL MODEL CODE HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030005-B (0305) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.
