General-Purpose AC Servo J2-Super Series Equivalatent to CC-Link MODEL MR-J2S- CP-S084 MR-J2S-T01 Specifications
ADDITION TO MR-J2S-CP-S084 SERVO AMPLIFIER SPECIFICATIONS The device number and signal abbreviation of each I/O signal of the servo amplifier MR-J2S-CP-S084 are indicated below. The input signals can be used as either CC-Link or CN1A/CN1B external input signals. Make selection in parameters No. 116, 117, 118. The output signals can be used as CC-Link and CN1A/CN1B external output signals simultaneously.
(2) When two stations are occupied PLC Servo Amplifier (RYn) (Note) Device No. Signal name Servo Amplifier PLC (RXn) External Signal input abbreviation (Note) Device No.
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.
4. 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 motor by the cables, shaft or encoder. Do not hold the front cover to transport the controller. The controller 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. For safety of personnel, always cover rotating and moving parts. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load.
(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. Please consult our sales representative. (7) General instruction To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards.
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.
(4) Power supply (a) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section. (b) When supplying interface power from external, use a 24VDC power supply which has been insulation-reinforced in I/O.
CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier series :MR-J2S-10CP-S084 to MR-J2S-700CP-S084 MR-J2S-10CP1-S084 to MR-J2S-40CP1-S084 Servo motor series :HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS (2) Installation Install a fan of 100CFM air flow 10.16 cm (4 in) above the servo amplifier or provide cooling of at least equivalent capability.
MEMO A - 10
- CONTENTS 1. OVERVIEW 2. SPECIFICATION LISTS 3. CC-Link COMMUNICATION FUNCTION 4. POSITIONING FUNCTION 5. CONNECTION DIAGRAM 6. TERMINAL EXPLANATION 7. OPERATION TIMINGS 8. OPERATION MODES 9. DISPLAY 10. PARAMETERS 11. PROTECTIVE FUNCTIONS 12. OUTLINE DRAWING 1. OVERVIEW This specification describes the CC-Link equivalent positioning function built-in servo amplifier MR-J2SCP-S084 and CC-Link interface unit MR-J2S-T01.
(1) Features of the communication function 1) Fast communication Cyclic transmission of not only bit data but also word data can be made to enable fast communication. (a) 10Mbps high-speed communication can be achieved (b) The adoption of the broadcast polling system ensures high speed of max. 3.9ms to 6.7ms link scan.
1) Operation using CC-Link communication function All signals can be controlled by CC-Link communication. In addition, point tables can be set, point tables can be selected, parameter values can be changed, set and monitored, and servo motors can be run. RS-232C MR-J2SCP-S084 MR-J2S-T01 No. 2 axis No. 1 axis Personal computer MR-J2SMR-J2SMR-J2SMR-J2S-T01 MR-J2S-T01 CP-S084 CP-S084 MR-J2S-T01 CP-S084 1 1 No. 3 axis Max. No.
MEMO 1-4
2.
Power supply Servo Amplifier Model MR-J2S-10CP1 -S084 MR-J2S-20CP1 -S084 MR-J2S-40CP1 -S084 Voltage, frequency Note 1 Three-phase 100V to 120VAC, 50/60Hz Permissible voltage fluctuation Three-phase 85V to 127VAC Permissible frequency fluctuation Within 5% Control method Sine-wave PWM control/current control method Protective functions Overcurrent shutoff, regenerative overvoltage shutoff, overload shutoff (electronic thermal relay), servo motor overheat protection, encoder error protection, reg
3. CC-Link COMMUNICATION FUNCTION 3.1 Communication Specifications The MR-J2S-CP-S084 MR-J2S-T01 is equivalent to a remote device station. For details of the PLC side specifications, refer to the CC-Link System Master Unit Manual. Communication specification list MR-J2S-T01 5VDC Supplied from servo amplifier. Ver.1.10 MR-J2S- CP -S084 10M / 5M / 2.
3.2 System Configuration 3.2.1 Configuration example (1) PLC side Mount the "AJ61BT11", "A1SJ61BT", "AJ61QBT11" or "A1SJ61QBT" Control & Communication Link system master/local unit on the main base unit or extension base unit of the PLC CPU that will act as the master station. (2) Wiring Connect the PLC CC-Link unit master station and MR-J2S-T01 CC-Link interface units by twisted pair cables (three-wire type).
3.2.2 Wiring method (1) Communication connector The pin layout of the communication connector CN10 on the MR-J2S-T01 slave unit is shown below. Pin No. 1 2 3 4 5 1 2 3 4 5 Signal Name DA DB DG SLD FG (2) Connection example The wiring of the option unit and PLC CC-Link master unit is shown below.
(4) CC-Link terminal block (CN10) wiring method (a) Strip the cable and separate the internal wires and braided shield. (b) Strip the braided shield and internal wires, and twist the conductors. Braided shield Approx. 10mm (0.394in.) 3-core twisted pair cable (c) Twist the same wires or braided shields of the cable connected to the preceding axis or PLC and the cable connected to the next axis into one piece.
3.2.3 Station number setting (1) Numbering the stations Set servo station numbers before powering on the servo amplifiers. Note the following when setting station numbers. (a) Station numbers can be set in the range 1 to 64. (b) One servo amplifier occupies one or two stations. (One PLC remote device station) (c) Max. number of connected units: 42 Note that the following conditions must be satisfied.
3.2.4 Communication baudrate setting Set the CC-Link transfer baudrate with the transfer baudrate switch (RSW3) on the front panel of the option unit MR-J2S-T01. The initial setting is 156kbps. The overall distance of the system changes depending on the set transfer speed. For details, refer to the CC-Link System Master/Local Unit User's Manual. No. RSW3 0(Initial value) 156kbps 3 5 0 4 1 2 6 9 Baudrate 1 625kbps 2 2.5Mbps 3 5Mbps 4 10Mbps 7 5 to 9 Not used. 8 3.2.
3.2.6 LED indications The MR-J2S-T01 option unit has six LEDs. Their indications are indicated below. L.RUN SD RD L.ERR S.ERR WD L.RUN SD LED RD : Turned on at normal receive of refresh data. Turned off when refresh data is broken for a predetermined period. : Turned on when send data is "0". : Turned on when a carrier is detected in receive data. : Turned on when the data addressed to the host is in CRC or abort error. : Turned on when the servo amplifier is in an alarm status.
3.3 Functions 3.3.1 Function block diagram How I/O data are transferred to/from the servo amplifier in CC-Link will be described using function blocks. (1) Between the master station and servo amplifier in the CC-Link system, link refresh is always made at 3.5 to 18ms (512 points). The link scan time for link refresh changes depending on the communication speed. For details, refer to the CC-Link System Master/Local Unit User's Manual.
(1) Operation mode The MR-J2S-CP-S084 has the following operation modes. 1) Test operation mode A servo motor is run with the amplifier front LED buttons. 2) CC-Link operation mode A servo motor is run with a PLC program via the MR-J2S-T01 (CC-Link interface unit). (2) Operation mode switching (a) Operation mode switching conditions Before operation mode switching, check that: 1) The servo motor is at a stop. 2) The forward or reverse rotation signal is OFF.
3.4 Inputs/Outputs from/to the PLC CPU 3.4.1 I/O signals The input signals can be used as either the CC-Link or CN1 external input signals. Make selection with parameter Nos. 116, 117 and 118. The output signals can be used as both the CC-Link and CN1 external output signals together.
(b) When two stations are occupied (RX/RY: 32 points each (can be increased to up to 64 points), RWr/w: 8 points each) RYn0 RYn1 RYn2 RYn3 RYn4 RYn5 RYn6 RYn7 RYn8 RYn9 PLC to Servo Amplifier (RY) Servo-on Forward rotation start Reverse rotation start Proximity dog Forward rotation stroke end Reverse rotation stroke end Automatic/manual selection Temporary stop/restart Monitor output execution demand Instruction code execution demand RXn0 RXn1 RXn2 RXn3 RXn4 RXn5 RXn6 RXn7 RXn8 RXn9 RYnA RYnB RYnC RYnD R
PLC to Servo Amplifier (RWw) Monitor 1 *1 1 Monitor 2 *1 2 Instruction code 3 Write the data 4 Position instruction data under 16 bits/point No. *2 RWwn 5 Position instruction data upper 16 bits RWwn 6 Speed instruction data/point No.
3.4.2 I/O signal details (1) When one station is occupied Device No.
(2) When two stations are occupied Device No.
Device No. RY(n 2)0 RY(n 2)1 RY(n RY(n RY(n RY(n RY(n 2)2 2)3 2)4 2)5 2)6 RY(n 1)7 RY(n 1)8 RY(n 2)9 RY(n 2)A RY(n 2)B RY(n 3)A Signal Name Description Position instruction When Pr. 41 = 0, set the point table No. to RWw4 and demand turn on Position instruction demand. When Pr. 41 = 1 or 2, set the position instruction data to RWw4 and RWw5 and turn on Position instruction demand. When data is secured, Position instruction execution completion (RX(n 2)0) turns on.
3.4.3 Data Communication Timing Chart (1) Monitor codes 1) When one station is occupied Monitor 1 code (RWw0) Monitor 2 code (RWw1) Monitor execution demand (RY8) Monitoring (RX8) Monitor 1 data (RWr0) Monitor 2 data (RWr1) Answer code (RWr2) Data held Set monitor codes to Monitor 1 (RWw0) and Monitor 2 (RWw1), and turn on Monitor output execution demand (RY8). Turning on RY8 sets the following data. Data are all in hexadecimal. At this time, Monitoring (RXC) turns on simultaneously.
2) When two stations are occupied Monitor 1 code (RWw0) Monitor 2 code (RWw1) Monitor execution demand (RY8) Monitoring (RX8) Monitor 1 data Under 16 bits (RWr0) Monitor 1 data Upper 16 bits (RWr1) Monitor 2 data Under 16 bits (RWr5) Monitor 2 data Upper 16 bits (RWr6) Answer code (RWr2) Data held Set monitor codes to Monitor 1 (RWw0) and Monitor 2 (RWw1), and turn on Monitor output execution demand (RY8). Turning on RY8 sets the following data.
(2) Instruction codes 1) Read instruction code Instruction code (RWw2) Instruction code execution demand (RY9) Instruction code execution completion (RX9) Read the data (RWr3) Answer code (RWr2) Data read period Set the data to be read to Instruction code (RWw2) and turn on Instruction code execution demand (RY9). Turning on RY9 sets the data corresponding to the set read code to Read the data (RWr3). Data are all in hexadecimal.
2) Write instruction code Instruction code (RWw2) Write the data Under 16 bits (RWw3) Instruction code execution demand (RYD) Instruction code processing Write execution processing Instruction code execution completion (RXD) Answer code (RWr2) Set the write instruction code to Instruction code (RWw2) and the data to be written (data to be executed) to Write the data (RWw3), and turn on Instruction code execution demand (RY9).
(3) Setting of position/speed using remote register When the manual/automatic selection signal is automatic, choosing Point table No./direct designation changing selection for direct designation selects the direct designation mode. The direct designation mode has three designation systems: point table No. designation, position instruction and speed/acceleration/deceleration point No. designation, and position/speed instruction. Set the designation system in parameter No. 41.
2) Direct command data setting/point table No. (speed command) setting Preset 1 in parameter No. 41 to validate operation using the speed and acceleration/ deceleration of the position instruction data/point No. Manual/automatic selection Position instruction data Under 16 bits (RWw4) Position instruction data Upper 16 bits (RWw5) Point No.
3) Position command data/speed command data setting Preset 2 in parameter No. 41 to validate operation using the position instruction data/speed instruction data. Use the setting of point table No. 1 as the acceleration/deceleration time constant during operation.
(4) Remote register positioning operation 1) Parameter setting items Using parameter No. 00 (STY), select the absolute value command or incremental value command. Setting Positioning System 0 Absolute value command 1 Incremental value command Using parameter No. 1 (FTY), set the rotation direction of the start signal based on Forward rotation start signal (ST1). Setting Rotation Direction 0 Rotation in CCW direction with address increase 1 Rotation in CW direction with address increase Using parameter No.
3) Positioning timing chart a) Pr. 00 = 0 , absolute value command When incremental value/absolute position selection is off (absolute position is selected) The axis is positioned at the value specified.
When incremental value/absolute position selection is on (incremental value is selected) The axis moves by the value specified.
b) Pr. 00 = 1 , incremental value command The axis moves in the start signal direction by the value specified.
3.4.4 Remote register RWw setting ranges RWW RWwn RWwn 1 RWwn 2 RWwn 3 RWwn 4 RWwn 5 RWwn 6 RWwn 7 Description Monitor code 1 Monitor code 2 Instruction code Write code Setting Range 0000 to 001D 0000 to 001D Those given in the instruction code list Refer to the instruction code details. Refer to the corresponding details for the parameters and position/speed blocks. Position instruction data Pr. 00 = 0 under 16 bits : Position instruction 999999 to 999999 1 Position instruction data Pr.
3.5 Communication Codes 3.5.1 Monitor codes Monitor code list The following table indicates the word data (monitor codes) to be specified for Monitor 1 code RWw0 and Monitor 2 code RWw1. Monitor Data Code No.
3.5.2 Monitor data Read the data, which were demanded by Monitor code 1 and Monitor code 2, from Monitor data 1 RWr0 and Monitor data 2 RWr1. (1) Monitor data reading method Refer to the monitor code execution timing chart in Section 3.4.3 (1). 3.5.3 Instruction codes Instruction code list The following table indicates the word data (read instruction codes) to be specified for Instruction code RWw2. Point table Code No.
(1) The following table indicates the word data (write instruction codes) to be specified for Instruction code RWw2. Code No. 8000 to 800F Empty Item Remarks 8010 Alarm reset command 8101 Feedback pulse value display data is clear 8200 to 827C Writes parameter No. 00 to 124 to RAM 8300 to 837C Writes parameter No.
(2) Instruction code details 1) Read instruction code details (servo amplifier to PLC) The servo amplifier data are read as 16-bit data. : Read the data (RWr3) Instruction Code 0000 0002 Instruction Operation mode Read Code (RWr3) Contents (Servo amplifier to PLC) Reads the current operation mode. Operation mode 0000: CC-Link operation 0001: Test operation Travel multiplying Reads the multiplying factor of the point table data set in factor parameter No. 1.
Instruction Code 0030 to 0035 Instruction Alarm occurrence time 0 to 6 in alarm history Read Code (RWr3) Contents (Servo amplifier to PLC) Reads six past alarm occurrence times in order of newer to older alarms.
Instruction Code 0050 Instruction Output status reading 0 Read Code (RWr3) Contents (Servo amplifier to PLC) Reads the ON/OFF (0 or 1) data of the output signals.
Instruction Code 00A0 Instruction Ratio of load inertia moment reading Read Code (RWr3) Contents (Servo amplifier to PLC) Reads the estimated ratio of load inertia moment.
Instruction Code Instruction Read Code (RWr3) Contents (Servo amplifier to PLC) 0200 Parameter No. 00 Reads the setting of parameter No. 00 to 124. to 027C to 124 data reading Parameter data ) of the instruction code No. correspond to The under 2 digits (02 the parameter number converted into decimal. When the instruction code of the number blocked in Pr. 19 is issued, an error code is returned and data cannot be read. The read Pr. 01 data is headed by "FF".
Instruction Code Instruction 0400 Reads the point to 041F table No. 00 to 31 target position 0500 to 051F Instruction Code Instruction 0600 Reads the point to 061F table No. 00 to 31 motor speed Read Code (RWr3) Contents (Servo amplifier to PLC) Reads the target position of point table No. 00 to 31. The target position set to the demanded point table No. is returned. Target position data , 05 ) of the instruction code No.
Instruction Code Instruction 0900 Reads the point to 091F table No. 00 to 31 dwell time Read Code (RWr3) Contents (Servo amplifier to PLC) Reads the dwell time of the point table No. 00 to 31. The dwell time set to the demanded point table No. is returned. Dwell time data ) of the instruction code No. correspond to The under 2 digits (09 the point table number converted into decimal. Instruction Code Instruction 0A00 Reads the point to 0A1F table No.
2) Write instruction code execution details (PLC to servo amplifier) Data are written to the servo amplifier and operation is performed. : Write the data (RWw3) Instruction Code 8010 Instruction Alarm reset command Write Data (RWw3) Contents (PLC to Servo amplifier) Performs an alarm reset. Alarm reset command 1EA5: Execution The servo alarm that can be reset is reset. Immediately valid.
Instruction Code Instruction 8400 Writes the point to 841F table target position data to 8500 RAM to 851F Instruction Code Instruction 8600 Writes the point to 861F table motor speed data to RAM Write Data (RWw3) Contents (PLC to Servo amplifier) Writes the target position data of point table No. 00 to 31 to the RAM. This setting is erased at power-off. Target position data: Make setting after conversion into hexadecimal. The under 2 digits (84 , 85 ) of the instruction code No.
Instruction Code Instruction Write Data (RWw3) Contents (PLC to Servo amplifier) 8800 Writes the point Writes the deceleration time constant data of point table No. 00 to to 881F table deceleration 31 to the RAM. This setting is erased at power-off. time constant data Deceleration time constant data: Make setting after to RAM conversion into hexadecimal. ) of the instruction code No. correspond to The under 2 digits (88 the point table No. converted into decimal.
Instruction Code Instruction 8B00 Writes the point to 8B1F table target position data to 8C00 EEPROM to 8C1F Instruction Code Instruction 8D00 Writes the point to 8D1F table motor speed data to EEPROM Write Data (RWw3) Contents (PLC to Servo amplifier) Writes the target position data of point table No. 00 to 31 to the EEPROM. Since the data is written to the EEPROM, the setting is saved if power is switched off. Target position data: Make setting after conversion into hexadecimal.
Instruction Code Instruction Write Data (RWw3) Contents (PLC to Servo amplifier) 8F00 Writes the point Writes the deceleration time constant data of point table No. 00 to to 8F1F table deceleration 31 to the EEPROM. Since the data is written to the EEPROM, the time constant data setting is saved if power is switched off. to EEPROM Deceleration time constant data: Make setting after conversion into hexadecimal. The under 2 digits (8F ) of the instruction code No. correspond to the point table No.
(3) Read, write data Read the word data, which are demanded to be read by instruction codes 0000H to 0A1FH, from Read the data RWr3. Set the word data, which are demanded to be written by instruction codes 8000H to 911FH, to Write the data RWw3. (4) Instruction code execution method Refer to Section 3.4.3 (2) Instruction code execution timing chart. 3.5.4 Answer code When data is read or written using remote register RWw or RWr, the error condition is read from RWr2.
MEMO 3-46
Command system 4. POSITIONING FUNCTION 4.1 Specifications of the Positioning Function Item Specifications Operation Positioning by specifying the point table No. (31 points) specifications Position Setting using the point table instruction Feed distance setting range of 1 point: 1[ m] to 999.999[ m] input Point table number input Setting using the point table Speed Set the acceleration/deceleration time using the point table.
Operation mode Item Specifications Home position return is made with reference to the front end of the proximity dog. Count type Home position address can be set. (Front end Home position shift distance can be set. detection) Home position return direction can be selected. On-dog automatic retraction home position return Manual home Stroke automatic retraction function position return Home position return is made using the first Z-phase pulse with reference mode to the front end of the proximity dog.
5. CONNECTION DIAGRAM MC L1 L2 L3 Power supply 3-phase 200VAC CN1A COM SG ZP SG 9 8 10 18 20 SD Plate (Spare) Home position return completion RA1 CN1B EMG LSP LSN DOG Forced stop Forward rotation stroke end Reverse rotation stroke end Proximity dog (Spare) (Spare) (Spare) (Spare) Do not connect here when using external power supply. Rough match Movement finish Trouble Ready TE1 L11 L21 C TE2 D P When connecting external regenerative brake option, always disconnect lead across P-D.
Instructions WARNING 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct orientation. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and CAUTION other protective circuits. 3. The external forced stop switch must be installed. (When devices are selected) 4.
6. TERMINAL EXPLANATION (1) Main and control circuit terminal blocks Terminal Signal Name Abbreviations Description Block Main circuit power input terminals. Main circuit L1, L2, L3 TE1 MR-J2SCP-S084 : Connect three-phase 200 to 230VAC 50/60Hz. power supply MR-J2SCP1-S084 : Connect 100 to 120VAC 50/60Hz to L1, L2. Servo motor Servo motor power output terminals. U, V, W TE1 outputA Connect to the servo motor power supply terminals (U, V, W). Control circuit power input terminals.
(3) CN1B Pin Signal Name Abbreviation Connector Description No. Interface internal power output VDD 3 Digital interface power input COM 13 P15R 11 SG 10 20 LG 1 15VDC power output Digital interface common Control common Digital interface driver power output terminal. Connect to COM when not using an external power supply. 24VDC is output across VDD-SG. The permissible current is 80mA. Digital interface driver power input terminal. COMs are all connected internally.
(4) Function device explanation Input devices The following devices can be assigned to any connector pins among CN1A-8, CN1B-5, 7, 8, 9, 14, 15, 16, 17 and CN1A-19 (when the input device is selected using the parameter). Automatic ON setting can also be made using parameters. Signal Name Abbreviation Description No assigned Function is not assigned. function Forced stop input device.
Signal Name Abbreviation Description Point table No. selection signal input device. Valid when the automatic mode is selected. The following table indicates the point table No. combined by DI0, DI1, DI2, DI3 and DI4. Point table No.
Output devices The following devices can be assigned to any connector pins among CN1A-18, CN1B-4, 6, 18, 19 and CN1A19 (when the output device is selected using the parameter). AbbrevDescription Signal Name iation No assigned Function is not assigned. function Ready output device. Ready RD After servo-on, RD-SG conduct in a trouble-free operation-enabled status. Trouble signal output device.
Movement finish output MEND Movement finish output device. MEND-SG conduct when the in position output and rough match signals are output. Point No. output devices. The point table No. is output at completion of positioning. PT0 PT1 Point No.
(6) Initial settings of I/O devices Connector Pin CN1A- 8 CN1A-18 I/O Output CN1A-19 CN1B- 4 CN1B- 5 CN1B- 6 CN1B- 7 CN1B- 8 CN1B- 9 CN1B-14 CN1B-15 CN1B-16 CN1B-17 CN1B-18 CN1B-19 Output Output Input Input Input Input Output Output Assigned Device Empty Home position return completion (ZP) Empty Rough match (CPO) Empty In position (INP) Proximity dog (DOG) Empty Empty Empty Forced stop (EMG) Forward rotation stroke end (LSP) Reverse rotation stroke end (LSN) Trouble (ALM) Ready (RD) (7) Device settin
MEMO 6-8
7. OPERATION TIMINGS (1) Servo on Power supply Control initialization Within 1s SON signal 50msec 3.5msec Base circuit (2) Forward and reverse rotation strokes Motor speed Forward rotation stroke Reverse rotation stroke For the forward and reverse rotation strokes, a slow stop can be selected using the parameter.
(4) In position Power supply Control initialization Within 1s Base circuit Alarm Parameter setting Droop pulses In position The in position signal is not output when the base circuit is off.
(5) Electromagnetic brake output 1) Servo-on signal on/off Servo-on signal Base circuit Ready signal Electromagnetic brake output Tb 2) Reset signal on/off Reset signal Base circuit Ready signal Tb Electromagnetic brake output 3) At alarm occurrence Alarm occurrence Base circuit Ready signal Electromagnetic brake output 7-3
MEMO 7-4
8. OPERATION MODES (1) Positioning operation with point table specified by device designation 1) Parameter setting items Using parameter No. 00 (STY), select the absolute value command or incremental value command. Setting Positioning System Absolute value 0 command Incremental value 1 command Using parameter No. 01 (FTY), set the rotation direction of the start signal based on the forward rotation start signal (ST1).
2) Point table The number of point tables that can be set is 31 (Point table No. 0 is used to specify a home position return). The point table is as described below. Setting Name Unit Description Range The axis moves at the preset value. 10STM Select the incremental value command/absolute value command using the Target 999999 to m parameter. position 999999 A negative value cannot be set for the incremental value command. Set the servo motor command speed for positioning.
Auxiliary function setting "0" or "2" Speed Point table No. 1 Point table No. 2 Start signal Auxiliary function setting "1" or "3", dwell time "0" When the auxiliary function setting is "1" or "3" and the dwell time setting is "0", the acceleration/deceleration time constant is that of the selected point table No. In the diagram shown on the left, operation is performed using the time constant of point table No. 1. Speed Point table No. 1 Point table No.
Auxiliary function "0", "1": Travel is absolute value Auxiliary function "2", "3": Travel is incremental value Example: Positioning operation performed at the setting of point table No. 1 POS table No. 2 POS 10.000 Speed 1) Point table No. 1 H "0", point table No. 2 H "0" At positioning completion Target position 5.000 Point table No. 1 10.000 5.000 and point Target position 10.000 Point table No. 2 Start signal Speed 2) Point table No. 1 H "2", point table No.
3) Positioning operation Select the point table No. Under an absolute value command, turning on Forward rotation start (ST1) starts positioning to the preset position data. At this time, Reverse rotation start (ST2) is invalid. Under an incremental value command, turning on Forward rotation start (ST1) or Reverse rotation start (ST2) starts positioning to the preset position data. The following is the timing chart for positioning operation performed.
(2) Manual operation 1) Jog feed Step 1: Set the jog speed. The acceleration/deceleration time is the setting of point table No. 1. Parameter No. 14 (STC) of S-pattern acceleration/deceleration time constant is valid. Step 2: Turn on the start signal (ST1, ST2) to start jog feed.
(3) Manual home position return 1) Manual return setting Using parameter No. 08 (ZTY) "home position return type", select the home position return method. Setting Home Position Return Method 0 Dog type (rear end detection) 1 Count type (front end detection) 2 Data setting type 3 Stopper type 4 Home position ignorance (SON position as home position) 5 Dog type rear end reference 6 Count type front end reference 7 Dog cradle type Using parameter No.
2) Dog type home position return Timing chart for dog type (rear end detection) home position return ON Servo-on (SON) ON Ready (RD) ON Trouble (ALM) ON Automatic/manual selection (MD0) In position (INP) ON ON OFF Rough match (CPO) ON Home position return completion (ZP) OFF Home position return speed Creep speed Motor speed Home position address 5ms or less Home position shift distance Proximity dog Z-phase pulse ON ON Dog input signal(DOG) OFF ON Forward rotation start (ST1) OFF Reverse
3) Count type home position return Timing chart for count type (front end detection) home position return ON Servo-on (SON) ON Ready (RD) ON Trouble (ALM) ON Automatic/manual selection (MD0) In position (INP) ON ON OFF OFF Rough match (CPO) ON Home position return completion (ZP) OFF Home position return speed Creep speed Motor speed Home position address Moving distance after proximity dog 5ms or less Home position shift distance Proximity dog Z-phase pulse Dog input signal(DOG) ON Forward
4) Data setting type home position return Timing chart for data setting type home position return ON Servo-on (SON) ON Ready (RD) ON Trouble (ALM) ON Automatic/manual selection (MD0) In position (INP) OFF ON ON OFF Rough match (CPO) ON Home position return completion (ZP) OFF Motor speed Home position address ON Forward rotation start (ST1) Reverse rotation start (ST2) ON OFF OFF OFF 8ms or more OFF 8-10
5) Stopper type home position return Timing chart for stopper type home position return ON Servo-on (SON) ON Ready (RD) ON Trouble (ALM) ON Automatic/manual selection (MD0) In position (INP) ON ON ON OFF ON Rough match (CPO) ON Home position return completion (ZP) OFF Home position return speed Home position address Motor speed Stopper ON Forward rotation start (ST1) Reverse rotation start (ST2) OFF 8ms or more ON Limiting torque Torque limit value OFF Parameter No. 44 Parameter No.
6) Home position ignorance Timing chart for home position ignorance (SON position as home position) ON Servo-on (SON) OFF ON Ready (RD) OFF ON Trouble (ALM) Automatic/manual selection (MD0) In position (INP) OFF ON ON Rough match (CPO) ON Home position return completion (ZP) OFF Home position address Motor speed 8-12
7) Dog type rear end reference home position return Timing chart for dog type (rear end detection) home position return The repeatability of a home position return depends on the creep speed. Set a low creep speed. The accuracy of a home position return is creep speed 1.5[ms].
8) Count type front end home position return Timing chart for count type (front end detection) home position return The repeatability of a home position return depends on the home position return speed. Set a low home position return speed. The accuracy of a home position return is creep speed 1.5[ms].
9) Dog cradle type home position return Timing chart for dog type (front end detection) home position return ON Servo-on (SON) ON Ready (RD) ON Trouble (ALM) No.0 Point No.
(4) High-speed home position return 1) Setting of high-speed home position return Using parameter No. 09 (ZRF), set the home position return speed. Using parameter No. 42 (ZPS), set the home position return position data. The acceleration/deceleration time is the setting of point table No. 1. Parameter No. 14 (STC) of S-pattern acceleration/deceleration time constant is invalid.
9. DISPLAY (1) Display sequence MODE button Status display Pos Diagnosis rd-oF Alarm AL Current position [ 10STMmm] Sequence Current alarm Command position [ 10STMmm] External I/O signal display Last alarm do-on Second alarm in past CPoS rn Command remaining distance [ 10STMmm] PT Point table No. Output signal forced output F For manufacturer setting U For manufacturer setting Po 002 Point table No.
(2) Status display Name Symbol Current position PoS Command position CPoS Command remaining distance Point table No. rn PT Cumulative feedback pulses C Servo motor speed r Droop pulses E Spare F Spare u Regenerative load ratio L Display Range 99999 to 99999 99999 to 99999 99999 to 99999 0 to 31 Unit Definition The current position relative to the machine home position of "0" is displayed.
(3) Diagnosis display Name Display Description Sequence CN1A 19 CN1B CN1B 15 9 External I/O signals CN1A 14 CN1B 8 Not ready. Indicates that the servo amplifier is being initialized or an alarm has occurred. Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. Indicates the ON-OFF states of CN1B CN1A CN1B CN1B CN1B CN1B 7 8 14 5 17 16 the external I/O signals.
Name Display Description Press set for about 2s to switch to the motorless test operation Motorless operation set 2sec screen. On the motorless test operation screen, the meanings of the keys change as described below. mode Changes the test operation status display screen (next section). The up and down buttons are invalid. Machine analyzer operation Servo Configuration Software Note: To reset the motorless test operation, switch power off, then on.
Name Display Motor series ID Description The motor series ID is displayed. Press set to display the motor series ID. set The motor type ID is displayed. Motor type ID Press set to display the motor type ID. set The encoder ID is displayed. Encoder ID Press set to display the encoder ID. set During DO signal check or test operation, the decimal point in the first digit flickers.
(4) Alarm display Name Display Description Indicates no alarm occurrence. Current alarm Indicates the occurrence of alarm 33 (overvoltage). Lit at occurrence of the alarm. Indicates that the last alarm is alarm 50 (overload 1). Press set for 2s to display detailed information at history Alarm history set alarm occurrence. For the display data of the detailed information, refer to the chapter of "9. ALARMS/WARNINGS". Indicates that the second alarm in the past is alarm 33 (overvoltage).
(5) Point table setting Po 001 Displayed when point table setting is selected. Use the up or down button to select the point table number. Press the set button to enable point table item selection. PoS Use the up or down button to select the point table item. Press the up down buttons to return to point table selection. 123 Press the set button to display the data of the selected point table No. item. Press the up or down buttons to return to point table item selection.
MEMO 9-8
Expansion parameters 1 Basic parameters 10. PARAMETERS (1) Parameter list AbbrevInitial Name and Function Unit Remarks Class No.
54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 Abbreviation *OP5 *OP6 *OP7 *OP8 *OP9 *OPA ORP NH1 NH2 LPF GD2B PG2B VG2B VICB *CDP CDS CDT VPI VLI ERZ ER2 SRT TRT DBT *DI0 *DI1 *DI2 *DI3 *DI4 *DI5 *DI6 *DI7 *DI8 DI9 *DO1 *DO2 *DO3 91 92 93 94 95 96 97 98 99 *OPB *FCT BC1 BC2 FCM FCD OSL ZSP *DSP Special parameters Expansion parameters 2 Class No.
Option unit parameters Class No.
Basic parameters (2) Parameter details Class No. Abbreviation 0 Name and Function Initial Value *STY Command mode/regenerative brake option selection Select the command mode and regenerative brake option. Setting Range 0000 Refer to name and function column. 0000 *FTY Feeding function selection Set the ST1 coordinate system and feed distance multiplying factor. Refer to name and function column.
Basic parameters Class No. AbbrevName and Function iation 3 ATU Auto tuning Set the response level, etc. of auto tuning.
AbbrevInitial Name and Function iation Value 7 PG1 Position loop gain 1 35 Set the gain of position loop 1. Increase the gain to improve trackability in response to the position command. When auto tuning has been set, the result of auto tuning is set automatically. 8 ZTY Home position return type 0010 Set the home position setting system, home position return direction and proximity dog signal input polarity. Basic parameters Class No.
AbbrevInitial Name and Function iation Value 16 *BPS Communication speed/communication I/F selection, alarm 0000 history clear Select the serial communication speed, communication I/F and alarm history clear. Basic parameters Class No. Unit Setting Range Refer to name and function column.
AbbrevName and Function iation 18 *DMD Status display selection Select the status display shown at power-on. Basic parameters Class No. Initial Value 0000 Unit Setting Range Refer to name and function column. Selection of amplifier status display at power-on 00: Current position 01: Command position 02: Command remaining distance 03: Point table No.
AbbrevName and Function iation 19 *BLK Parameter block Select the reference and write ranges of the parameters. Basic parameters Class No. Setting 0000 000A 000B 000C 000E 000F 00AB Reference Parameter Range Basic parameters (0 to 19) Parameter No.
AbbrevName and Function iation 20 *OP2 Function selection 2 Select slight vibration suppression control. Expansion parameters 1 Class No. Initial Value 0000 Unit Setting Range Refer to name and function column. Slight vibration suppression control selection 0: Invalid 1: Valid Note: Made valid when "03 " or "04 " is set in parameter No. 2 (ATU). 21 *OP3 For manufacturer setting 0002 Note: After setting the values of the parameters marked *, switch power off once.
AbbrevInitial Name and Function iation Value 22 OP4 Function selection 4 0000 Select the stop mode when the soft limit is detected and the LSP/LSN signal turns off. Expansion parameters 1 Class No. Unit Setting Range Refer to name and function column.
AbbrevInitial Name and Function iation Value 28 TL1 Internal torque limit 1 100 Set this parameter to limit servo motor-generated torque on the assumption that the maximum torque is 100%. When "0" is set, torque is not produced. When the internal torque limit selection signal is turned on, Internal torque limits 1 and 2 are compared and the torque is limited to the lower level value. When torque monitor is selected for the monitor output, this set level becomes 8V. Expansion parameters 1 Class No.
AbbrevInitial Name and Function iation Value 35 PG2 Position loop gain 2 35 Set the gain of the position loop. Set this parameter to increase position response to load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise. Expansion parameters 1 Class No. Unit rad/s Setting Range 1 to 1000 When auto tuning is valid, the result of auto tuning is automatically set. Manual setting can be made by setting " 4 " in parameter No. 2 (ATU).
AbbrevInitial Name and Function iation Value 42 *ZPS Home position return position data 0 Set the current position at completion of a home position return. Expansion parameters 1 Class No. Unit 10STM m 10STM m Setting Range 32768 to 32767 43 DCT Moving distance after proximity dog For a count type home position return, set the moving distance after the proximity dog.
AbbrevName and Function iation 54 *OP5 For manufacturer setting Expansion parameters 2 Class No. 55 *OP6 Function selection 6 Select the function operation to be performed when the alarm reset signal is shorted. Initial Value 0000 0001 Unit Setting Range Refer to name and function column. Operation performed when alarm reset signal is shorted 0: Base circuit switches off. 1: Base circuit does not switch off. Note: After setting the values of the parameters marked *, switch power off once.
AbbrevName and Function iation 56 *OP7 For manufacturer setting Expansion parameters 2 Class No. 57 *OP8 Function selection 8 Select the protocol of serial communication. Initial Value 0000 0000 Unit Setting Range Refer to name and function column. Protocol station number selection 0: Station number presence 1: Station number absence Note: After setting the values of the parameters marked *, switch power off once. Switching power on again completes the setting.
AbbrevName and Function iation 58 *OP9 For manufacturer setting Expansion parameters 2 Class No. Initial Value 0000 59 *OPA For manufacturer setting 0000 60 ORP 0000 For manufacturer setting Unit Setting Range Note: After setting the values of the parameters marked *, switch power off once. Switching power on again completes the setting.
AbbrevInitial Name and Function iation Value 61 NH1 Machine resonance suppression filter 1 0000 Set the machine resonance suppression filter. Selecting " 1 " or " 2 " in parameter No. 63 (LPF) "adaptive vibration suppression control selection" makes the machine resonance suppression filter 1 invalid. Expansion parameters 2 Class No. Notch filter frequency Setting Frequ- Setting ency 0 8 1 4500 9 2 2250 A 3 1500 B 4 1125 C 5 900 D 6 750 E 7 642.9 F Unit Setting Range Refer to name and function column.
AbbrevName and Function iation 63 LPF Low-pass filter, adaptive vibration suppression control Set the low-pass filter and adaptive vibration suppression control. Expansion parameters 2 Class No. Initial Value 0000 Unit Setting Range Refer to name and function column. Low-pass filter function selection 0: Automatic adjustment 1: Manual At the automatic setting, the filter of VG2 setting 10 [HZ] band is set. 2 (1 + GD2 setting 0.
AbbrevName and Function iation 68 *CDP Gain changing selection Select the gain changing selection condition. Expansion parameters 2 Class No. Initial Value 0000 Unit Setting Range Refer to name and function column. Gain changing selection 0: Invalid 1: Input signal (CDP) (valid when on) 2: Command frequency (valid when more) 3: Droop pulses (valid when more) 4: Model speed (valid when more) 69 CDS Gain changing enable range Set the range where the changing ratios set in parameter No. 67 to No.
AbbrevInitial Name and Function iation Value 78 *DIO I/O device selection 0000 Select whether the CN1A-19 pin is used as an input device or output device. Special parameters Class No. Unit Setting Range Refer to name and function column. CN1A-19 pin 0: Output device 1: Input device 79 *DI1 Input device selection 1 Select the functions of the CN1A-8 and CN1A-19 pins. 0000 Refer to name and function column. Set the function of the CN1A-8 pin.
Special parameters Class No. AbbrevName and Function iation 80 *DI2 Input device selection 2 Select the functions of the CN1B-5 and CN1B-7 pins. Initial Value 0900 Unit Setting Range Refer to name and function column. Set the function of the CN1B-5 pin. The setting and its function are the same as those of the CN1A-19 pin. Refer to parameter No. 79. Set the function of the CN1B-7 pin. The setting and its function are the same as those of the CN1A-19 pin. Refer to parameter No. 79.
Special parameters Class No. AbbrevName and Function Initial iation Value 84 *DI6 Input device selection 6 0000 Select the function device signals that will be turned on automatically. Unit Setting Range Refer to name and function column. Forced stop Servo-on Forward rotation stroke Reverse rotation stroke Automatic/manual selection Note: After setting the values of the parameters marked *, switch power off once. Switching power on again completes the setting.
AbbrevInitial Name and Function iation Value 85 *DI7 Input device selection 7 0000 Select the function device signal that will be turned on automatically. Special parameters Class No. Unit Setting Range Refer to name and function column. Proportion control Note: After setting the values of the parameters marked *, switch power off once. Switching power on again completes the setting.
AbbrevInitial Name and Function iation Value 86 *DI8 Input device selection 8 0000 Select the function device signals that will be turned on automatically. Special parameters Class No. Unit Setting Range Refer to name and function column. Point table No. selection 1 Point table No. selection 2 Point table No. selection 3 Point table No. selection 4 Point table No. selection 5 87 DI9 For manufacturer setting 0000 Note: After setting the values of the parameters marked *, switch power off once.
AbbrevName and Function iation 88 *DO1 Output device selection 1 Select the functions of the CN1A-18 and CN1A-19 pins. Special parameters Class No. Initial Value 0005 Unit Setting Range Refer to name and function column. Set the function of the CN1A-18 pin. The setting and its function are the same as those of the CN1A-19 pin. Set the function of the CN1A-19 pin.
Option unit parameters Special parameters Class No.
Abbrev Name and Function -iation 116 *IN1 External I/O function selection 1 Set any signals to be imported from CN1. 0 1 2 3 4 5 6 7 8 9 A B C D E F 1 0 bit Setting Function made valid by CN1 external I/O 1 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 Initial Value 0230 Unit Setting Range Refer to name and function column.
0 1 2 3 4 5 6 7 8 9 A B C D E F 119 120 121 122 to 124 Setting 1 0 Function made valid by option unit bit Function made valid by CN1 external I/O Option unit parameters Class No. Abbrev Name and Function -iation 118 *IN3 External I/O function selection 3 Set any signals to be imported from CN1. Initial Unit Value 0000 Setting Range Refer to name and function column.
MEMO 10-30
11. PROTECTIVE FUNCTIONS (1) Alarm list No.
(3) Operation at error occurrence Location of Error 1) Servo alarm 2) Option unit communicat ion error 3) CC-Link communicat ion error 4) PLC alarm/STOP 5) Servo side alarm occurrence Description Servo operation Amplifier option unit data communication CC-Link Option unit data communication Servo operation Amplifier option unit data communication Option unit CC-Link data communication Servo operation Amplifier option unit data communication Option unit CC-Link data communication Servo operation Amplifi
3) CC-Link communication error A communication error is indicated by any of the following alarm/warnings. At a servo alarm, the motor is stopped by the dynamic brake operated. At a servo warning, the warning is displayed. Check the MR-J2S-T01 unit LED states (refer to 6-1 LED On/Off) and remove the cause, or check the CC-Link master station. At error occurrence, receive data RX, RWw are all turned off or cleared to "0". At CC-Link warning occurrence, normal communication is made.
MEMO 11-4
12. OUTLINE DRAWING (1) MR-J2S-T01 MR-J2S-T0 [Unit: mm(in)] 135(5.32) 6 (0.24) 6 (0.24) 25(0.98) (0.24) 6 2- 6(0.24)Mounting hole Module screw tightening torque 70(2.76) 2.5[N m] (354.0[oz in]) C N 1 0 R S W 1 156(6.14) 168(6.61) 2 3 1 2 S W C N 3 0 NAME PLATE F POWER F CPU 6 (0.24) SD ERR LRUN RD SERR WD C N 4 0 Weight: 0.3kg(0.
MEMO 12-2
REVISIONS *The manual number is given on the bottom left of the back cover. Print Data Oct.
MODEL MODEL CODE HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030030-A (0210) MEE Printed in Japan This specifications uses recycled paper. Specifications subject to change without notice.
