Bose MR-J2S- B User Manual

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General-Purpose AC Servo

J2-Super

Series

SSCNET Compatible MR-J2S- B Servo Amplifier Instruction Manual

Safety Instructions

(Always read these instructions before using the equipment.)

Do not attempt to install, ope rate, maint ain or inspect the servo amplif ier and servo m otor until you hav e read through this I nstruction M anual, Insta llation guid e, Servo motor Instructio n Manual and appen ded docum ents carefully and can us e th e equ i pment correctl y. D o no t us e t he s er vo amplifier an d servo motor un ti l you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

Indicates that incorrect handling may cause hazardous conditions,

WARNING CAUTION

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols:

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.

: Indicates what must not be done. For example, "No Fire" is indicated by : Indicates what must be done. For example, grounding is indicated by

In this Instructi on Manual, ins tructions at a lo wer level t han the abo ve, instruc tions for other func tions, an d so on are classified into "POINT". After reading this Instruction Manual, always keep it accessible to the operator.

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1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock.

Connect the serv o a mpl i fie r and se rvo mot o r to grou nd . 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. Otherwise, you

may get an electric shock. Operate the switches with dry hand to prevent an electric shock. The cables should not be damaged , stressed, loaded, or pinched. Othe rwi se, you may get an ele ctric shoc k.

2. To prevent fire, note the following:

CAUTION

Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles. Otherwise a fire may cause.

When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous flow of a large current may cause a fire.

When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

3. To prevent injury, note the follow

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur.

Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the servo

amplifier heat sink, regenerative brake resistor, servo motor, etc. Their temperatures may be high and you may get burnt or a parts may dameged.

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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. Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual. Do not climb or stand on servo equipment. Do not put heavy objects on equipment. The controller and servo motor must be installed in the specified direction. Leave specified clearances between the servo amplifier and control enclosure walls or other equipment. Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier. Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads. Use the servo amplifier and servo motor under the following environmental conditions:

Environment

Ambient temperature

Ambient humidity

Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level

Vibration

Operation

Storage Operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)

Storage 90%RH or less (non-condensing)

[ ]0 to 55 (non-freezing) 0 to 40 (non-freezing) [

] 32 to 131 (non-freezing) 32 to 104 (non-freezing) [ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing) [

] 4 to 149 (non-freezing) 5 to 158 (non-freezing)

[m/s2] 5.9 or less

] 19.4 or less

[ft/s

Servo amplifier Servo motor

Conditions

HC-UFS202 to 502

HC-SFS502 to 702

HC-UFS202 to 502

HC-SFS502 to 702

HC-KFS Series

HC-MFS Series

HC-UFS13 to 73

HC-SFS81 HC-SFS52 to 152 HC-SFS53 to 153

HC-RFS Series

HC-UFS 72

HC-SFS121 201 HC-SFS202 HC-SFS203

HC-SFS301

HC-KFS Series

HC-MFS Series

HC-UFS 13 to 73

HC-SFS81 HC-SFS52 to 152 HC-SFS53 to 153

HC-RFS Series

HC-UFS 72

HC-SFS121 201 HC-SFS202 HC-SFS203

HC-SFS301

152

352 353

152

352 353

Y : 49

Y : 24.5

X : 24.5 Y : 49

X : 24.5 Y : 29.4

Y : 161

Y : 80

X : 80 Y : 161

X : 80 Y : 96

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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. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi.

(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor, surge absorb er or radio nois e filter (FR-BI F option) bet ween the servo

motor and servo amplifier. Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Do not connect AC power directly to the servo motor. Otherwise, a fault may occur. The surge absorbi ng diode in stal le d on th e DC ou t put si gna l r el ay must be wired in the specifie d dire ctio n .

Otherwise, the forced stop and other protective circuits may not operate.

Servo Amplifier

(24VDC)

Control

output

signal

COM

Servo Amplifier

(24VDC)

Control

output

signal

COM

(3) Test run adjustment

CAUTION

Before operat ion, check the par ameter setti ngs. Im proper sett ings m ay cause som e mac hines to p erform unexpected operation.

The parameter settings must not be changed excessively. Operation will be insatiable.

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(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 resettin g an alarm , make sure th at the run s igna l is of f to pr event an acc ident. A sudden r est art is

made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc. to minim i ze the inf lue nce of electr om agne tic int erfer enc e, wh ich m ay b e ca use d b y

electronic equipment used near the servo amplifier. Use the servo amplifier with the specified servo motor. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used

for ordinary braking. For such reas ons as servic e life and m echanical struc ture (e.g. wher e a ballscre w and the servo motor

are coupled via a tim ing belt) , the e lectrom agnet ic br ake m ay not ho ld the motor shaft. T o ens ure saf ety, install a stoppe r on the machin e si de.

(5) Corrective actions

CAUTION

When it is ass umed that a hazardous c ondition ma y take place a t the occur d ue to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prev en ti on .

Configure th e electromagnet ic brake circu it so that it is activated n ot only by t he servo amplifier s ignals but also by a forced stop signal.

Contacts must be open when servo-on signal is off, when an alarm (trouble) is present and when an electromagnetic brake signal.

Servo motor

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation.

When power is restor ed after an inst antaneous power failu re, keep away from the machine because th e machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

Circuit must be opened during forced stop signal.

EM1RA

24VDC

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(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) Disposal

CAUTION

Dispose of the product as general industrial waste.

(8) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safet y guards. W hen the equipm ent is operate d, the covers and safet y guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.

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COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRECTIVES?

The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC dire ctive (effecti ve in January, 1996) and low voltage directive (effective in January,

1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE mar king). CE marking applies to machines and equipment into which servo amplifiers have been installed.

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment. This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation Guidelines (IB(NA)67310). This servo is certified by TUV, third-party assessment organization, to comply with the EMC di rective in the conforming methods of the EMC Installation Guidelines.

(2) Low voltage di re ctiv e

The low voltage directive applies also to servo units alone. Hence, they are designed to comply with the low voltage directive. This servo is certified by TUV, third-party assessment orga nization, to comply with the low voltage directive.

(3) Machine directive

Not being machines, the servo amplifiers need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE

(1) Servo amplifiers and servo motors used

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifie r :MR-J2S-10B t o MR-J2 S -700 B

MR-J2S-10B1 to MR-J2S-40B1

Servo motor :HC-KFS

HC-MFS HC-SFS HC-RFS HC-UFS

(2) Configuration

Control box

Reinforced insulating type

Reinforced insulating transformer

No-fuse breaker

NFB

Magnetic contactor

24VDC power supply

Servo amplifier

Servo motor

(3) Environment

Operate the servo amplifier at or above the contamination level 2 set forth in IEC664. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).

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(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.

(5) Grounding

(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked

servo amplifier to the protective earth (PE) of the control box.

(b) Do not co nnect two g round c ables to the same pro tective e arth (PE) terminal. Always c onnect the

cables to the terminals one-to-one.

) of the

PE terminals

of the servo amplifier must be con ne ct ed t o t h e c orr espo ndi n g eart h te rmin als .

(6) Wiring

(a) The cables to be connected to the terminal block of the servo amplifier must have crimping

terminals provided with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

(b) When the servo motor has a power supply lead , use a fixed terminal block to connect it with the

servo amplifier. Do not connect cables directly.

Terminal block

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(7) Auxiliary equipment and options

(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant

products of the models described in Section 12.2.2.

(b) The sizes of the cable s described in Section 12.2. 1 meet the following req uirements. To meet t he

other requirements, follow Table 5 and Appendix C in EN60204-1.

Ambient tempera t ur e: 40 (104 ) [ ( )] Sheath: PVC (polyvinyl chloride) Installed on wall surface or open table tray

(8) Performing EMC tests

When EMC tests are ru n on a machine/device in to which the servo amplifier has been installed, i t must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specificati ons. For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation Guidelines(IB(NA)67310).

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CONFORMANCE WITH UL/C-UL STANDAR D

(1) Servo amplifiers and servo motors used

Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifie r :MR-J2S-10B t o MR-J2 S -700 B

MR-J2S-10B1 to MR-J2S-40B1

Servo motor :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.

(3) Short circuit rating

This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo amplifier conforms to the above circuit.

(4) Capacitor discharge time

The capacitor disc har ge tim e is a s listed belo w. To ensu re safety , do no t touch th e ch arg ing sec tion for 10 minutes after power-off.

Servo amplifier

MR-J2S-10B(1) 20B(1) 1

MR-J2S-40B(1) 60B 2 MR-J2S-70B to 350B 3 MR-J2S-500B 700B 5

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

<<About the manual s>>

This Instruction Manua l and the MEL SERVO Se rvo Moto r Ins truc tion M anua l are re quired if yo u use the General-Purpose AC servo MR-J2S-B for the first time. Always purchase them and use the MRJ2S-B safely. Also read the manual of the servo system controller.

Relevant manuals

Discharge time

[min]

Manual name Manual No.

MELSERVO-J2-Super Series To Use the AC Servo Safely (Packed with the servo amplifier) MELSERVO Servo Motor Instruction Manual SH(NA)3181 EMC Installation Guidelines IB(NA)67310

A - 10

IB(NA)0300010

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-18

1.1 Introduction.............................................................................................................................................. 1- 1

1.2 Function block diagram ..........................................................................................................................1- 2

1.3 Servo amplifier standard specifications................................................................................................1- 3

1.4 Function list.............................................................................................................................................1- 4

1.5 Model code definition ..............................................................................................................................1- 5

1.6 Combination with servo motor...............................................................................................................1- 6

1.7 Structure...................................................................................................................................................1- 7

1.7.1 Parts identification...........................................................................................................................1- 7

1.7.2 Removal and reinstallation of the front cover ..............................................................................1-11

1.8 Servo system with auxiliary equipment...............................................................................................1-13

2. INSTALLATION 2- 1 to 2- 4

2.1 Environmental conditions.......................................................................................................................2- 1

2.2 Installation direction and clearances ....................................................................................................2- 2

2.3 Keep out foreign materials .....................................................................................................................2- 3

2.4 Cable stress..............................................................................................................................................2- 4

3. SIGNALS AND WIRING 3- 1 to 3-26

3.1 Connection example of control signal system.......................................................................................3- 2

3.2 I/O signals................................................................................................................................................. 3- 4

3.2.1 Connectors and signal arrangements.............................................................................................3- 4

3.2.2 Signal explanations ..........................................................................................................................3- 5

3.3 Alarm occurrence timing chart ..............................................................................................................3- 6

3.4 Interfaces.................................................................................................................................................. 3- 7

3.4.1 Common line .....................................................................................................................................3- 7

3.4.2 Detailed description of the interfaces.............................................................................................3- 8

3.5 Power line circuit....................................................................................................................................3-11

3.5.1 Connection example.........................................................................................................................3-11

3.5.2 Terminals..........................................................................................................................................3-13

3.5.3 Power-on sequence...........................................................................................................................3-14

3.6 Connection of servo amplifier and servo motor...................................................................................3-15

3.6.1 Connection instructions ..................................................................................................................3-15

3.6.2 Connection diagram.........................................................................................................................3-15

3.6.3 I/O terminals....................................................................................................................................3-17

3.7 Servo motor with electromagnetic brake .............................................................................................3-19

3.8 Grounding................................................................................................................................................3-22

3.9 Servo amplifier terminal block (TE2) wiring method.........................................................................3-23

3.10 Instructions for the 3M connector.......................................................................................................3-24

3.11 Control axis selection ...........................................................................................................................3-25

4. OPERATION AND DISPLAY 4- 1 to 4- 8

4.1 When switching power on for the first time..........................................................................................4- 1

4.2 Start up.....................................................................................................................................................4- 2

4.3 Servo amplifier display ...........................................................................................................................4- 4

4.4 Test operation mode................................................................................................................................4- 6

5. PARAMETERS 5- 1 to 5-18

5.1 Parameter write inhibit.......................................................................................................................... 5- 1

5.2 Lists...........................................................................................................................................................5- 1

5.3 Analog output..........................................................................................................................................5-11

5.4 Replacement of MR-J2-

5.4.1 Main modifications made to the parameters ................................................................................5-14

5.4.2 Explanation of the modified parameters.......................................................................................5-15

6. GENERAL GAIN ADJUSTMENT 6- 1 to 6-12

6.1 Different adjustment methods ...............................................................................................................6- 1

6.1.1 Adjustment on a single servo amplifier.......................................................................................... 6- 1

6.1.2 Adjustment using servo configuration software............................................................................6- 3

6.2 Auto tuning ..............................................................................................................................................6- 4

6.2.1 Auto tuning mode .............................................................................................................................6- 4

6.2.2 Auto tuning mode operation............................................................................................................6- 5

6.2.3 Adjustment procedure by auto tuning............................................................................................6- 6

6.2.4 Response level setting in auto tuning mode...................................................................................6- 7

6.3 Manual mode 1 (simple manual adjustment).......................................................................................6- 8

6.3.1 Operation of manual mode 1 ...........................................................................................................6- 8

6.3.2 Adjustment by manual mode 1 .......................................................................................................6- 8

6.4 Interpolation mode .................................................................................................................................6-11

6.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super..........................6-12

6.5.1 Response level setting ..................................................................................................................... 6-12

6.5.2 Auto tuning selection.......................................................................................................................6-12

B by MR-J2S- B....................................................................................... 5-14

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7- 4

7.1 Function block diagram ..........................................................................................................................7- 1

7.2 Machine resonance suppression filter...................................................................................................7- 1

7.3 Adaptive vibration suppression control.................................................................................................7- 3

7.4 Low-pass filter ......................................................................................................................................... 7- 4

8. INSPECTION 8- 1 to 8- 2

9. TROUBLESHOOTING 9- 1 to 9- 8

9.1 Alarms and warning list.........................................................................................................................9- 1

9.2 Remedies for alarms................................................................................................................................9- 2

9.3 Remedies for warnings............................................................................................................................9- 7

10. OUTLINE DIMENSION DRAWINGS 10- 1 to 10- 8

10.1 Servo amplifiers...................................................................................................................................10- 1

10.2 Connectors............................................................................................................................................10- 6

11. CHARACTERISTICS 11- 1 to 11- 8

11.1 Overload protection characteristics...................................................................................................11- 1

11.2 Power supply equipment capacity and generated loss....................................................................11- 3

11.3 Dynamic brake characteristics...........................................................................................................11- 5

11.4 Encoder cable flexing life....................................................................................................................11- 7

12. OPTIONS AND AUXILIARY EQUIPMENT 12- 1 to 12-36

12.1 Options..................................................................................................................................................12- 1

12.1.1 Regenerative brake options.........................................................................................................12- 1

12.1.2 Brake unit......................................................................................................................................12- 7

12.1.3 Power return converter................................................................................................................12- 9

12.1.4 Cables and connectors.................................................................................................................12-12

12.1.5 Maintenance junction card (MR-J2CN3TM) ............................................................................12-21

12.1.6 Battery (MR-BAT, A6BAT).........................................................................................................12-22

12.1.7 Servo configurations software ....................................................................................................12-23

12.2 Auxiliary equipment ..........................................................................................................................12-24

12.2.1 Recommended wires....................................................................................................................12-24

12.2.2 No-fuse breakers, fuses, magnetic contactors...........................................................................12-26

12.2.3 Power factor improving reactors................................................................................................12-26

12.2.4 Relays............................................................................................................................................12-27

12.2.5 Surge absorbers ...........................................................................................................................12-27

12.2.6 Noise reduction techniques.........................................................................................................12-27

12.2.7 Leakage current breaker.............................................................................................................12-33

12.2.8 EMC filter.....................................................................................................................................12-35

13. ABSOLUTE POSITION DETECTION SYSTEM 13- 1 to 13- 4

13.1 Features................................................................................................................................................13- 1

13.2 Specifications .......................................................................................................................................13- 2

13.3 Battery installation procedure...........................................................................................................13- 3

13.4 Confirmation of absolute position detection data.............................................................................13- 4

Optional Servo Motor Instruction Manual CONTENTS

The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is in troduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual.

1. INTRODUCTION

2. INSTALLATION

3. CONNECTORS USED FOR SERVO MOTOR WIRING

4. INSPECTION

5. SPECIFICATIONS

6. CHARACTERISTICS

7. OUTLINE DIMENSION DRAWINGS

8. CALCULA TI ON ME TH O DS F OR DES I G NI N G

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is ba sed on the MELSERVO-J2 series and has further higher performance and higher functions. It is connected with a servo system controller or simila r device via a serial bus (SSCNE T) and the servo amplifier reads position data directly to perform operation. Data from a command unit controls the speed and rotation direction of the servo motor and executes precision positioning. A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the main circuit from overcurrent due to sudden acceleration/deceleration or overload. The torque limit value can be changed to any value with an external analog input or the parameter. As this new series has the RS-232C serial communication function, a servo configuration softwareinstalled personal computer or the like can be used to perform p arameter setting, test operation, status display monitoring, gain adjustment, etc. With real-time auto tuning, you can automatically adjust the servo gains according to the machine. The MELSERVO-J2-Super series servo motor is equipped with an absolute position encoder which has the resolution of 131072 pulses/rev to ensure more accura te control as compared to the MELSERVO-J2 series. Simply adding a battery to the servo amplifier makes up an abso lute position dete ction system. This makes home position return unnecessary at power-on or alarm occurrence by setting a home position once.

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.

Regenerative brake option

(Note 3)

(Note 2) Power

NFB MC supply 3-phase 200 to 230VAC, 1-phase 230VAC or 1-phase 100to120VAC

Servo amplifier

(MR-J2S-200B or more)

RADS

Regenerative brake transistor

CHARGE lamp

Fan

Control power supply

(Note 1)

Current detector

Dynamic

brake

Servo motor

E1 E2

U V W

Electromagnetic

U V W

brake

Regenerative brake

Position command input

Model position

control

Actual position

control

Base amplifier

Model speed

control

Model position

speed

Actual speed

control

I/F Control

CN1A CN1B

Voltage

detection

Overcurrent

protection

Virtual motor

Model torqueModel

Current control

RS-232C

detection

Virtual

encoder

CN3

Current

D/A

CN2

Encoder

MR-BAT

CON1

Optional battery (for absolute position)

Controller

Servo amplifier

termination

connector

Analog monitor (2 channels)

Personal computer

Note:1. The built-in regenerative brake resistor is not provided for the MR-J2S-10B(1).

2. For 1-phase 230VAC, connect the power supply to L L

3. For MR-J2S-350B or less.

is not provided for a 1-phase 100to120VAC power supply.

and leave L3 open.

1,L2

1 - 2

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Servo Amplifier

MR-J2S-

Item

Voltage/frequency

Permissible voltage fluctuation

Permissible fr eq uency

Power supply

fluctuation

Power supply capacity Refer to Section 11.2 System Sine-wave PWM control, curr ent control system Dynamic brake Built-in

Protective functions

Structure Self-cooled, open (I P00) Force-cooling, open (IP00 )

Ambient

temperature

Ambient

humidity

Ambient

Environment

Altitude Max. 1000m (3280ft) above sea level

Vibration

Weight

Operation

Storage Operation

Storage

10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 10B1 20B1 40B1

3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC, 50/60Hz 3-phase 200 to 230VAC:170 to 253VAC 1-phase 230VAC: 207 to 253VAC

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder fault protection, regenerative fault protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection

[ ]0 to 55 (non-freezing)

] 32 to 131 (non-freezing)

[ [ ] 20 to 65 (non-freezing) [

] 4 to 149 (non-freezing)

90%RH or less ( non - condensing) Indoors (no dir ect su nl i gh t )

Free from corrosive gas, flammable gas, oil mist, dust and dirt

5.9 [m/s2] or less

19.4 [ft/s

[kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 7.2 0.7 0.7 1.1

[lb] 1.5 1.5 2.4 2.4 3.75 3.75 4.4 4.4 10.8 15.9 1.5 1.5 2.4

] or less

3-phase 200 to 230VAC, 50/60Hz

3-phase 170 to 253VAC

Within

1-phase 100 to 120VAC 50/60Hz

1-phase 85 to 127VAC

Self-cooled,

open(IP00)

1 - 3

1. FUNCTIONS AND CONFIGURATION

1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the corresponding chapters and sections.

Function Description Refer to

High-resolution encoder High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder. Absolute position detection system Adaptive vibration suppression control

Low-pass filter

Machine analyzer function

Machine simulation

Gain search function Slight vibration suppression

control

Auto tuning

Regenerative brake option

Brake unit

Return conv erter

Torque limit Servo motor-generated torque can be limited to any value. Forced stop signal automaticONForced stop signal (EM1) can be automatically switched on internally to

Output signal (DO) forced output

Test operati on mode Analog monitor output Servo status is output in terms of voltage in real time. Parameter No. 22 Servo configurati on sof tw a re

Merely setting a home position once makes home position return unnecessary at every power-on. Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. Suppresses high-frequency resonance which occurs as servo system response is increased. Analyzes the frequency characteristic of the mechanical system by simply connecting a servo configuration software-installed personal computer and servo amplifier. Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results. Personal computer changes gains automatically and searches for overshootfree gains in a short time.

Suppresses vibration of Automatically adjusts the gain to optimum value if load applied to the servo

motor shaft varies. Higher in performance than MELSERVO-J2 series servo amplifier. Used when the built-in regenerative brake resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated. Used when the regenerative brake option cannot provide enough regenerative power. Can be used with the MR-J2S-500B Used when the regenerative brake option cannot provide enough regenerative power. Can be used with the MR-J2S-500B

invalidate it. Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc. Servo motor can be run from the operation section of the servo amplifier without the start signal entered.

Using a personal computer, parameter setting, test operation, status display, etc. can be performed.

1 pulse produced at a servo motor stop. Parameter No.24

MR-J2S-700B.

Chapter 13

Section 7.3

Section 7.4

Chapter 6

Section 12.1.1

Section 12.1.2

Section 12.1.3

Parameters No.10, 11

Parameter No.23 Section 4.4

(1) (e) Section 4.4

Section 12.1.7

1 - 4

1. FUNCTIONS AND CONFIGURATION

1.5 Model code definition (1) Rating plate

(2) Model

MR–J2S–

Series

MITSUBISHI

MODEL

POWER

MR-J2S-60B

POWER : INPUT :

OUTPUT : SERIAL :

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

600W

3.2A 3PH 1PH200-230V 50Hz

5.5A 1PH 230V 50/60Hz 170V 0-360Hz 3.6A TC3XXAAAAG52

Power Supply

Symbol

None

(Note1)

Power supply

3-phase 200 to 230VAC (Note2) 1-phase 230VAC

1-phase 100V to 120VAC

Note:1. Not supplied to the servo amplifier of MR-J2S-60B or more.

2. Not supplied to the servo amplifier of MR-J2S-100B or more.

SSCNET compatible

Rated output

Symbol

Rated output [W]

10010 20020 40040 60060 70070

AC SERVO

3PH 1PH200-230V 60Hz

PASSED

Rated

Symbol

output [W]

1000100 2000200 3500350 5000500 7000700

Model Capacity

Applicable power supply

Rated output current Serial number

MR–J2S–100B or less

MR–J2S–200B 350B

Rating plate

MR-J2S-500B

MR-J2S-700B

Rating plate Rating plate

Rating plate

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.6 Combination with servo motor

The following table lists combina tion s of servo amplifie rs and se rvo mo tors. The same combina tions ap ply to the models with electromagnetic brakes and the models with reduction gears.

Servo motors

Servo amplifier

MR-J2S-10B(1) 053 13 053 13 13 MR-J2S-20B(1) 23 23 23 MR-J2S-40B(1) 43 43 43

MR-J2S-60B 52 53

MR-J2S-70B (Note) 73 73 72 73 MR-J2S-100B 81 102 103 MR-J2S-200B 121 201 152 202 153 203 103 153 152 MR-J2S-350B 301 352 353 203 202 MR-J2S-500B 502 353 503 352 502 MR-J2S-700B 702

Note: The HC-K FS 7 3 ma y n ot be connected d epending on th e pr oduction time of the servo amplifi er . Please consult u s.

HC-KFS

HC-MFS

1000r/min 2000r/min 3000r/min

HC-SFS HC-UFS

HC-RFS

2000r/min 3000r/min

1 - 6

1. FUNCTIONS AND CONFIGURATION

1.7 Structure

1.7.1 Parts identification (1) MR-J2S-100B or less

Name/Application

Battery h older Contains the battery for absolute position data backup.

Refer to

Section13.3

Battery connector (CON1) Used to connect the battery for absolute position data

Section13.3

backup. Display

The two-digit, seven-segment LED shows the servo

Chapter4

status and alarm number. Axis select switch (CS1)

CS1

servo amplifier.

Used to set the axis number of the

Section3.11

Bus cable connector (CN1A) Used to connect the servo system controller or

Section3.2

preceding axis servo amplifier. Bus cable connector (CN1B)

Used to connect the subsequent axis servo am plif ier

Section3.2

or termination connector (MR-A-TM). Communication connector (CN3)

Used to connect a perso nal computer (RS-232C) o r output analog monitor data.

Section3.2

Section12.1.4

Name plate

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Encoder connector ( C N2 ) Connector for connection of the servo motor encoder.

Main circuit terminal block (TE1) Used to connect the input power supply and servo motor.

Control circuit termi nal block (TE2 ) Used to connect the control circuit power supply and regenerative brake option.

Protective earth (PE) terminal ( ) Ground terminal.

1 - 7

Section1.5

Section3.2

Section12.1.4

Section3.5.2

Section10.1

Section3.5.2

Section10.1

Section12.1.1

Section3.8

Section10.1

1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200B MR-J2S-350B

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2.

Name/Application

Battery hol der Contains the battery for absolute position data backup.

Refer to

Section13.3

Battery connector (CON1) Used to connect the battery for absolute position data

Section13.3

backup. Display

The two-digit, seven-segment LED shows the servo

status and alarm number. Axis select switch (CS1)

Chapter4

CS1

the servo amplifier.

Used to set t he axis num b er of

Section3.11

Bus cable connect o r (CN 1 A ) Used to connect the servo system controller or

Section3.2

preceding axis servo amplifier. Bus cable connector (CN1B)

Used to connect the subsequent axis servo amplifier

Section3.2

or termination connector (MR-A-TM).

Cooling fan

Installation notch (4 places)

Communication connector (CN3) Used to connect a personal computer (RS-232C) or output analog monitor data.

Name plate

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Encoder conne cto r ( C N 2) Connector for connection of the servo motor encoder.

Main circuit terminal block (TE1) Used to connect the input power supply and servo motor.

Control circuit ter m i na l b lock (TE2) Used to connect the control circuit power supp ly a nd regenerative brake option.

Protective earth (PE) terminal ( ) Ground terminal.

1 - 8

Section3.2

Section12.1.4

Section1.5

Section3.2

Section12.1.4

Section3.5.2

Section10.1

Section3.5.2

Section10.1

Section12.1.1

Section3.8

Section10.1

1. FUNCTIONS AND CONFIGURATION

(3) MR-J2S-500B

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2.

Installation notch (4 places)

Name/Application

Battery connector (CON1) Used to connect the battery for absolute position data backup.

Battery h older Contains the battery for absolute position data backup.

Display The two-digit, seven-segment LED shows the servo status and alarm number.

Axis select switch (CS1) CS1

servo amplifier.

Used to set the axis number of the

Bus cable connector (CN1A) Used to connect the servo system controller or preceding axis servo amplifier.

Refer to

Section13.3

Chapter4

Section3.11

Section3.2

Cooling fan

Bus cable connector (CN1B) Used to connect the subsequent axis servo am plif ier or termination connector (MR-A-TM).

Communication connector (CN3) Used to connect a perso nal computer (RS-232C) o r output analog monitor data.

Encoder connector ( C N2 ) Connector for connection of the servo motor encoder.

Section3.2

Section12.1.4

Section3.2

Section12.1.4

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Control circuit termi nal block (TE2 ) Used to connect the control circuit power supply.

Section3.5.2

Section10.1

Section12.1.1

Main circuit terminal block (TE1) Used to connect the input power supply, regen e rative brake option and servo motor.

Section3.5.2

Section10.1

Name plate Section1.5 Protective earth (PE) terminal ( )

Ground terminal.

Section3.8

Section10.1

1 - 9

1. FUNCTIONS AND CONFIGURATION

(4) MR-J2S-700B

POINT

The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2.

Name/Application

Refer to

Battery connector (CON1) Used to connect the battery for absolute position data

Section13.3

backup. Battery h older

Contains the battery for absolute position data backup.

Section13.3

Display

The two-digit, seven-segment LED shows the servo status and alarm number.

Chapter4

Axis select switch (CS1) CS1

servo amplifier.

Section3.11

Used to set the axis number of the

Bus cable connector (CN1A) Used to connect the servo system controller or preceding axis servo amplifier.

Section3.2

Cooling fan

Installation notch (4 places)

Bus cable connector (CN1B) Used to c onnect th e subsequ e nt axis servo ampl i fier or termination connector (MR-A-TM).

Communication connector (CN3) Used to connect a personal computer (RS-232C) or output analog monitor data.

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Control circuit termi nal block (TE2 ) Used to connect the control circuit power supply.

Encoder connector ( C N2 ) Connector for connection of the servo motor encoder.

Name plate Main circuit terminal block (TE1)

Used to connect the input power supply, reg ene rative brake option and servo motor.

Protective earth (PE) terminal ( ) Ground terminal.

Section3.2

Section12.1.4

Section3.5.2

Section10.1

Section12.1.1

Section3.2

Section12.1.4

Section1.5

Section3.5.2

Section10.1

Section3.8

Section10.1

1 - 10

1. FUNCTIONS AND CONFIGURATION

1.7.2 Removal and reinstallation of the front cover

CAUTION

To avoid the risk of an electric s hock, do not ope n the front co ver while power is

on.

(1) For MR-J2S-200B or more

Removal of the front cover

Front cove r

1) Hold down the removing knob.

2) Pull the front cover toward you.

Reinstallation of the front cover

Front cover hook

(2 places)

Front cove r socket (2 places)

1) Insert the front cover hooks into the front cover sockets of the servo amplifier.

2) Press the front cover against the servo amplifier until the removing knob clicks.

(2) For MR-J2S-500B

Removal of the front cover

Front cover

1) Hold down the removing knob.

2) Pull the front cover toward you.

Reinstallation of the front cover

Front cover hook (2 places)

Front cover socket (2 places)

1) Insert the front cover hooks into the front cover sockets of the servo amplifier.

2) Press the front cover against the servo amplifier until the removing knob clicks.

1 - 11

1. FUNCTIONS AND CONFIGURATION

(3) For MR-J2S-700B

Removal of the front cover

Reinstallation of the front cover

Front cove r hook (2 places)

1) Push the removing knob A) or B), and put you finger into the front hole of the front cover.

2) Pull the front cover toward you.

Front cove r socket (2 places)

1) Insert the two front cover hooks at the bottom into the sockets of the servo amplifier.

2) Press the front cover against the servo amplifier until the removing knob clicks.

1 - 12

1. FUNCTIONS AND CONFIGURATION

1.8 Servo system with auxiliar y equipm ent To prevent an electric shock, always connect the protective earth (PE) terminal

WARNING

(terminal m ar ked box.

(1) MR-J2S-100B or less

(a) For 3-phas e 200V t o 230V A C or 1 -p hase 23 0V A C

(Note2) 3-phase 200V to 230VAC power supply or 1-phase 230VAC power supply

No-fuse breaker (NFB) or fuse

Options and auxiliary equipment

No-fuse breaker Magnetic contactor Servo configuration so ft ware

Servo amplifier

) of the servo amplifier to the prot ecti ve earth (P E) of the contr ol

Refer to

Section 12.2.2 Section 12.2.2 Section 12.1.7

Options and auxiliary equipment

Regenerative brake option Cables

Power factor improving reactor Section 12.2.3

Servo system

controller

or preceding axis servo amplifier

Refer to

Section 12.1.1 Section 12.2.1

Magnetic contactor (MC)

Power factor improving reactor (FR-BAL)

Control circuit terminal block

To CN2

CHARGE

To CN1A

To CN1B

To CN3

Protective earth(PE) terminal

Subsequent axis

servo amplifier

CN1A

Termination

connector

Personal computer

(Note1) Encoder cable

(Note1) Power supply lead

Servo configuration software MRZJW3-SETUP121E

L21

Regenerative brake option

Note: 1. The HC-SFS, HC-RFS series have cannon connectors.

2. A 1-phase 230VAC power supply may be used with the servo amplifier of MR-J2S-70B or less. Connect the power supply to L

and L2 terminals and leave L3 open.

Servo motor

1 - 13

1. FUNCTIONS AND CONFIGURATION

(b) For 1-phas e 10 0V t o 120V A C

1-phase 100VAC power supply

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

Power factor improving reactor (FR-BAL)

Options and auxiliary equipment

No-fuse breaker Magnetic contactor Servo configuration so ft ware

Servo amplifier

To CN2

L1 L

CHARGE

Refer to

Section 12.2.2 Section 12.2.2

Section 12.1.7

To CN1A

To CN1B

To CN3

Options and auxiliary equipment

Regenerative brake option

Refer to

Section 12.1.1

Cables Section 12.2.1 Power factor improving reactor Section 12.2.3

Servo system

controller

or preceding axis servo amplifier

Subsequent axis

servo amplifier

CN1A

Termination

connector

Personal computer

Servo configuration software MRZJW3-SETUP121E

Control circuit terminal block

Regenerative brake option

Note: The HC-SFS

Protective earth(PE) terminal

(Note) Encoder cable

(Note) Power supply lead

Servo motor

HC-RFS series have cannon connectors.

1 - 14

1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200B MR-J2S-350B

3-phase 200V to 230VAC power supply

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

Power facto r improving reactor (FA-BAL)

Options and auxiliary equipment

No-fuse breaker Magnetic contactor Servo configuration so ft ware

Servo amplifier

To CN2

Refer to

Section 12.2.2 Section 12.2.2 Section 12.1.7

Options and auxiliary equipment Refer to

Regenerative brake option

Section 12.1.1

Cables Section 12.2.1 Power factor improving reactor Section 12.2.3

Servo system

controller

or Preceding axis servo amplifier

To CN1A

Subsequent axis

servo amplifier

CN1A

To CN1B

Termination

connector

Servo

To CN3

Personal computer

configuration software MRZJW3SETUP121E

L1 L L

2 3

Regenerative brake option

1 - 15

1. FUNCTIONS AND CONFIGURATION

(3) MR-J2S-500B

3-phase 200V to 230VAC power supply

No-fuse breaker (NFB) or fuse

Options and auxiliary equipment

No-fuse breaker Magnetic contactor Servo configura tion software

Refer to

Section 12.2.2 Section 12.2.2 Section 12.1.7

Options and auxiliary equipment Refer to

Regenerative brake option

Section 12.1.1

Cables Section 12.2.1 Power factor improving reactor Section 12.2.3

Magnetic contactor (MC)

Power factor improving reactor (FA-BAL)

C Regenerative brake option

11 21

Servo system

controller

Preceding axis

Servo amplifier

To CN1A

L L

To CN1B

servo amplifier

Subsequent axis

servo amplifier

CN1A

Termination

connector

Servo configuration

U V

To CN3

Personal computer

software MRZJW3SETUP121E

To CN2

1 - 16

1. FUNCTIONS AND CONFIGURATION

(4) MR-J2S-700B

3-phase 200V to 230VAC power supply

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

Power factor improving reactor (FA-BAL)

Options and auxiliary equipment

No-fuse breaker Magnetic contactor Servo configuration software

Servo amplifier

2 1

Refer to

Section 12.2.2 Section 12.2.2 Section 12.1.7

To CN1A

To CN1B

To CN3

To CN2

U V

Options and auxiliary equipment Refer to

Regenerative brake option

Section 12.1.1

Cables Section 12.2.1 Power factor improving reactor S ection 12.2.3

Servo syste m

controller

or Preceding axis servo amplifier

Subsequent axis

servo amplifier

CN1A

Termination

connector

Servo configuration

Personal computer

software MRZJW3SETUP121E

Regene rative br ake option

1 - 17

1. FUNCTIONS AND CONFIGURATION

MEMO

1 - 18

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.

Provide an adequate protection to prevent screws, metallic detritus and other conductive matter or oil and other combustible matter from entering the servo amplifier.

Do not block the inta ke /e xhau st po rts o f th e se rv o ampl ifier. Otherwise, a fa ul t may occur.

Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment.

Do not install or operate a faulty servo amplifier.

When the product has been stored for an extended period of time, consult Mitsubishi.

2.1 Environmental con dit ions

Environment Conditions

Ambient temperature

Ambient humidity

Ambience Altitude Max. 1000m (3280 ft) above sea level Vibration

Operation

Storage

Operation Storage

[ ]0 to 55 (non-freezing) [

] 32 to 131 (non-freezing)

[ ] 20 to 65 (non-freezing)

] 4 to 149 (non-freezing)

[

90%RH or less (non-condensing)

Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt

[m/s2] 5.9 [m/s2] or less

] 19.4 [ft/s2] or less

[ft/s

2 - 1

2. INSTALLATION

2.2 Installation direction and clearances The equipment mus t be installe d in the specif ied direc tion. Other wise, a fau lt may

CAUTION

(1) Installation of one servo amplifier

10mm (0.4 in.) or more

occur.

Leave specified clearances between the servo amplifier and control box inside

walls or other equipment.

Control box Control box

40mm (1.6 in.) or more Servo amplifier

10mm (0.4 in.) or more

Wiring clearance 70mm

(2.8 in.)

Top

40mm (1.6 in.) or more

Bottom

2 - 2

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

Servo amplifier

10mm (0.4 in.) or more

30mm (1.2 in.) or more

40mm (1.6 in.) or more

30mm (1.2 in.) or more

(3) Others

When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction.

2.3 Keep out foreign materials

(1) When installin g the unit in a control box, prevent drill ch ips and wire fragmen ts from entering the

servo amplifier.

(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control

box or a fan installed on the ceiling.

(3) When insta lling the co ntrol box in a place whe re there are much toxic g as, dirt and dust, conduct an

air purge (force clean air into the contro l box from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the control box.

2 - 3

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) In any application where the servo motor moves, the cables should be free from excessive stress. For

use in any application where the servo motor moves run the cables so that their flexing portions fall within the optional encoder cable range. Fix the encoder cable and power cable of the servo motor.

(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner

or stamped by workers or vehicles.

(4) For installation on a machine where the servo motor will move, the flexing radius should be made as

large as possible. Refer to section 11.4 for the flexing life.

2 - 4

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, make sure that the voltage is safe in the tester more than 10

minutes after power-off. Otherwise, you may get an electric shock.

WARNING

CAUTION

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.

The cables should not be damaged, stressed excessively, loaded heavily, or

pinched. Otherwise, you may get an electric shock.

Wire the equipment correctly and securely. Otherwise, the servo motor may

misoperate, resulting in injury.

Connect cables to correct terminals to prevent a burst, fault, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay designed for control output

should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the forced stop and other protective circuits.

Servo Amplifier

COM

(24VDC)

Control

output

signal

Servo amplifier

COM

(DC24V)

Control output signal

Use a noise filter, etc. to minimize the influence of electromagnetic interference,

which may be given to electronic equipment used near the servo amplifier.

Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF

option) with the power line of the servo motor.

When using the regenerative brake resistor, switch power off with the alarm signal.

Otherwise, a transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

Do not modify the equipment.

POINT

CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a failure. Connect them correctly.

3 - 1

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 and to Section 3.6 for connection with the servo motor.

(Note 9) Servo configuration software

Servo system controller

A1SD75M(AD75M)

Cable clamp (Option)

or Motion controller

Cable clamp (Option)

(Note 10, 14) Bus cable MR-J2HBUS M-A

(Note 4) Personal computer

(Option)

15m(49.2ft) or less

Servo amplifier

(Note 5)

CN3

Plate

CN3

(Note 5,8)

CN3

3 4

1 14 11

Plate

(Note 5)

CN1A

(Note 5)

CN1B

CN1A

CN1B

5 10

CS1

Setting:0

MR-J2S-B

(2 axis)

CS1

Setting 1

LAR

LBR

LZR

2m(6.56ft) or less

EM1

MO1

MO2

LG SD

MBR

COM

VDD

(Note 1)

(Note 11)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Encoder Z-phase pulse (differential line driver)

(Note 3,4,7) Forced stop

RA1

Always connect.

Monitor output

10k

Max. 1mA Reading in

10k

both directions

(Note 2,6)

Magnetic brake interlock

(Note 10, 14) Bus cable (Option)

(Note 13) MR-A-TM

3 - 2

MR-J2S-B

CN1A

CN1B

Setting 2

MR-J2S-B

CN1A

CN1B

Setting: n

(3 axis)

CS1

(n axis)

CS1

(Note 11)

(Note 12)

1 to 8

3. SIGNALS AND WIRING

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked

) of the servo amplifier to the protective earth (PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the forced stop and other protective circuits.

3. If the controller does not have an emergency stop function, always install a forced stop switch (Normally closed).

4. When a personal computer is connected for use of the test operation mode, always use the maintenance junction card (MR-J2CN3TM) to enable the use of the forced stop (EM1). (Refer to section 12.1.5)

5. CN1A, CN1B, CN2 and CN3 hav e th e same sh ap e . Wron g co nn ectio n o f the con ne ctor s will le ad to a fault.

6. The sum of currents that flow in the external relays should be 80mA max.

7. When starting operation, always connect the forced stop signal (EM1) and SG. (Normally closed contacts) By setting “0001” in parameter No.23, the forced stop signal can be made invalid.

8. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR-J2CN3TM). (Refer to Section 12.1.3.)

9. Use MRZJW3-SETUP121E.

10. Use the bus cable at the overall distance of 30m(98.4ft) or less. In addition, to improve noise

immunity, it is recommended to use a cable clamp and data line filters (three or four filters connected in series) near the connector outlet.

11. The wiring of the second and subsequent axes is omitted.

12. Up to eight axe s (n

servo amplifier may be connected on the same bus.

13. Always insert the terminat ion connector (MR-A- TM) into CN1B of the servo amplifier lo cated

at the termination.

14. The bus cable used with the SSCNET depends on the preceding or subsequent controller or

servo amplifier connected. Refer to the following table and choose the bus cable.

1 to 8) may be conn ected. The MR-J2S- B/MR-J2-03B5/MR H-BN

MR-J2S- B MR-J2-03B5 MR-H BN

A1SD75M(AD75M) MR-J2HBUS M-A MR-HBUS M Motion controlle r MR-J2HBUS M-A MR-HBUS M MR-J2S- B MR-J2- B MR-J2-03B5 MR-H BN MR-J B MR-J2HBUS M-A MR-HBUS M

MR-J2HBUS

M MR-J2HBUS M-A

3 - 3

3. SIGNALS AND WIRING

3.2 I/O signals

3.2.1 Connectors and signal arrangements POINT

The connector pin-outs shown above are viewed from the cable connector wiring section side.

(1) Signal arrangement

CN1A CN1B

LG LG

RD RD*

TD TD*

LG LG

EMG

CN2 CN3

BAT

12 LG 14

MDR

18 P5 20 P5

EMG*

MRR

MITSUBISHI MELSERVO-J2

The connector frames are connected with the PE (earth) terminal inside the servo amplifier.

LG LG

RD RD*

TD TD*

LG LG

EMG

RXD

MO1

COM

VDD

TXD

MO2

LAR

LZRLZ

EM1

EMG*

MBR

LBR

3 - 4

3. SIGNALS AND WIRING

3.2.2 Signal expla na ti on s

For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.4.2.

(1) Connector applications

Connector Name Function/Application

CN1A Connector for bus cable from preceding axis.

CN1B Connector for bus cable to next axis

CN2 Encoder connector Used for connection with the servo motor encoder.

CN3

Communication connector (I/O signal connector)

(2) I/O signals

(a) Input signal

Signal Symbol

Forced stop EM1

Connector Pin

No.

CN3

Disconnect EM1-SG to bring the servo motor to a forced stop state, in which the servo is switched off and the dynamic brake is operated. In the forced stop state, connect EM1-SG to reset that state.

Used for connection with the controller or preceding-axis servo amplifier. Used for connection with the next-axis servo amplifier or for connection of the terminati on co n nector.

Used for connection w i th the personal computer. Serves as an I/O signal connector when the personal computer is not used.

Function/Application I/O Division

DI-1

(b) Output signals

MBR

LAR

LBR

LZR

Connector Pin

No.

CN3

Function/Application I/O Division

In the servo-off or alarm status, MBR-SG are disconnected. When an alarm occurs, they are disconnected, independently of the base circuit status. Outputs pulses per servo motor revolution set in parameter No.38 in the differential li ne driver system. In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of

The zero-phase signal of the encoder is output in the differential line driver system.

Used to output the data set in parameter No.22 to across MO1-LG in terms of voltage. Resolution 10 bits Used to output the data set in parameter No.22 to across MO2-LG in terms of voltage. Resolution 10 bits

/2.

Signal Symbol

Electromagnetic brake interlock

Encoder A-phase pulse (Differential line driver)

Encoder B-phase pulse (Differential line driver)

Encoder Z-phase pulse (Differential line driver)

Analog monitor 1 MO1

Analog monitor 2 MO2

VDD

COM

Connector Pin

No.

CN3

Function/Application

Driver power output terminal for digital interface. Used to output Permissible current: 80mA Driver power input terminal for digital interface. Used to input 24VDC (200mA or more) for input interface. Connect with VDD. Common terminal to VDD and COM. Pins are connected internally. Separated from LG. Common termin al to MO1 an d MO2.

24V 10% to across VDD-COM. Connect with COM.

Signal Symbol

Internal power output for interface

Power input for digital interface

Common for digital interface

Control common LG

Shield SD Plate Connect the external conductor of the shield cable.

DO-1

DO-2

Analog

output

Analog

output

3 - 5

3. SIGNALS AND WIRING

3.3 Alarm occurrence timing chart

When an alarm has occurred, remove its cause, make sure that the 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. To deactivate the alarm, power the control circuit off, then on or give the error reset or CPU reset command from the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.

Main circuit Control circuit

Base circuit

Dynamic brake Servo-on command

(from controll er ) Alarm Reset command

(from controll er )

power

signal is not being input, ensure safety, and reset the alarm before restarting operation.

OFF

Valid

Invalid

OFF

NO YES

Alarm occurs.

Brake operation

50ms or more

Remove cause of trouble.

Power off

Brake operation

YES

60ms or more

Power on

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent (32), overload 1 (50) or overload 2 (51) alarm after its occurrence, without removing its cause, the servo amplifier and servo motor may become faulty due to temperature rise. Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation.

(2) Regenerative alarm

If operation is repeated by switching control circuit power off, then on to reset the regenerative (30) alarm after its occurrence, the external regenerative brake resistor will generate hea t, result ing in an accident.

(3) Instantane ou s pow e r fa il ur e

Undervoltage (10) occurs if power is restored after a 60m s or longer power failure of the con trol circu it power supply or after a drop of the bus voltage to or below 200VDC. If the power failure persists further, the control circuit power switches off. When the power failure is rese t in this state, the alarm is reset and the servo amplifier returns to the initial state.

3 - 6

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).

Servo amplifier

24VDC

VDD

DI-1

COM

EM1 SG

MBR

Servo motor

Ground

LA .etc

LAR .etc

LG SD

MO1 MO2

TXD RXD

MRR

LG SD

Analog monitor output

RS-232C

Servo motor encoder

CN2

Differential lin driver output

35mA max.

3 - 7

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.

(1) Digital input interface DI-1

Give a signal with a relay or open collector transistor.

Servo amplifier

24VDC

R: Approx. 4.7

For a transistor

Approx. 5mA

1.0V

CES

100 A

CEO

VDD

COM

EM1

Switch

SGTR

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush current suppressing resister (R) for a lamp load. (Permissible current: 40mA or less, inrush current: 100mA or less) (a) Inductive load

Servo amplifier

24VDC

VDD

COM

MBR

Load

If the diode is not connected as shown, the servo amplifier will be damaged.

3 - 8

3. SIGNALS AND WIRING

(b) Lamp load

Servo amplifier

24VDC

(3) Encoder pul se outp ut D O- 2

(Differential line driver system)

1) Interface Max. output current: 35mA

Servo amplifier Servo amplifier

LA (LB, LZ)

Am26LS32 or equivalent High-speed photocoupler

VDD

COM

MBR

LA (LB, LZ)

100

LAR (LBR, LZR)

2) Output pulse

150

Servo motor CCW rotation

LAR

LBR

LZR

LAR (LBR, LZR)

LZ signal varies 3/8T on its leading edge.

400 s or more

3 - 9

3. SIGNALS AND WIRING

(4) Analog output

Output voltage : Max. output current :1mA Resolution :10bit

Servo amplifier

10V

MO1

(MO2)

10k

Reading in one or both directions 1mA meter

3 - 10

3. SIGNALS AND WIRING

3.5 Power line circuit When the servo amplifier has become faulty, switch power off on the amplifier

power side. Continuous flow of a large current may cause a fire.

CAUTION

3.5.1 Connection example

Wire the power supply/main circuit as shown below so that power is shut off and the servo-on signal turned off as soon as an alarm occurs, a servo forced stop is made valid, or a controller emergency stop is made valid. A no-fuse breaker (NFB) must be used with the input cables of the power supply.

(1) For 3-phase 200 to 230VAC power supply

Use the trouble signal to switch power off. Otherwise, a regenerative brake

transistor fault or the like may o verheat the r egenerative b rake resist or, causing a fire.

(Note)

Alarm

RA1

Controller

emergency stop

RA2

Forced

stop

OFF

NFB MC

Power supply 3-phase 200 to 230VAC

Forced stop

Servo amplifier

L L

VDD

COM

EM1

Note: Configure up the power supply circuit which switches off the magnetic contactor after detection of

alarm occurrence on the controller side.

3 - 11

3. SIGNALS AND WIRING

(2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply

(Note 1)

Alarm

RA1

Controller

emergency stop

RA2

Forced

stop

OFF

Power supply 1-phase 100 to 120VAC or 1-phase 230VAC

NFB MC

Servo amplifier

(Note 2)

L L

VDD

COM

Forced stop

EM1

Note: 1. Configure up the power supply circuit which switches off the magnetic contactor after detection

of alarm occurrence on the controller side.

2. Not provided for 1-phase 100 to 120VAC.

3 - 12

3. SIGNALS AND WIRING

3.5.2 Terminals

The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to Section 10.1.

Symbol Signal Description

Supply L1, L2 and L3 with the following power: For 1-phase 230VAC, connect the power supply to L

L1, L2, L3Main circuit power supply

Servo amplifier

Power supply

3-phase 200 to 230VAC, 50/60Hz 1-phase 230VAC, 50/60Hz

MR-J2S-10B to

70B

1L2L3

1L2

1-phase 100 to 120VAC, 50/60Hz

U, V, W Servo motor output Connect to the servo motor power supply terminals (U, V, W).

and leave L3 open.

1/L2

MR-J2S-100B

to 700B

MR-J2S-10B1

to 40B1

1L2

L11, L21Control circuit power supply

P, C, D Regenerative brake option

Return conv erter

Brake unit

Protective eart h (PE)

Servo amplifier

Power supply

1-phase 200 to 230VAC, 50/60Hz 1-phase 100 to 120VAC, 50/60Hz

MR-J2S-10B to 700B MR-J2S-10B1 to 40B1

11L21

1) MR-J2S-350B or less Wiring is factory-connected across P-D (servo amplifier built-in regenerative brake resistor). When using the regenerative brake option, always remove the wiring from across P-D and connect the regenerative brake option across P-C.

2) MR-J2S-500B or more Wiring is factory-connected across P-C (servo amplifier built-in regenerative brake resistor). When using the regenerative brake option, always remove the wiring from across P-C and connect the regene rative brake option a cr oss P-C .

Refer to Section 12.1.1 for details. When using the return convert er o r b ra ke unit, connec t it across P-N. Do not connect it to the servo amplifier of MR-J2S-350B or less. Refer to Sections 12.1.2 and 12.1.3 for details.

Connect this terminal to the protective earth (PE) terminals of the servo motor and contro l box for ground ing.

3 - 13

3. SIGNALS AND WIRING

3.5.3 Power-on sequence (1) Power-on procedure

1) Always wire the power supp ly as shown in above Section 3. 5.1 using the magnetic con tactor with the main circuit power supply (3-phase 200V: L external sequence to switch off the magnetic contactor as soon as an alarm occurs.

2) Switch on the control circuit power supply L supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier can accept the servo-on command within 3s the main circuit power supply is switched on. (Refer to paragraph (2) in this section.)

(2) Timing chart

SON accepted

(3s)

Main circuit Control circuit

Base circuit Servo-on command

(from controller)

power

OFF

, L2, L3, 1-phase 230V: L1, L2). Configure up an

, L21 simultaneously with the main circuit power

10ms 60ms60ms

(3) Forced stop

CAUTION

Install an emergency 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-SG are opened at a forced stop. To ensure safety, always install a forced stop switch across EM1-SG. By disconnecting EM1-SG, the dynamic brake is operated to bring the servo motor to a stop. At this time, the display shows the servo forced stop warning (E6). During ordinary operation, do not use forced stop signal to alternate stop and run. The service life of the servo amplifier may be shortened.

Servo amplifier

VDD

COM

Forced stop

EM1

3 - 14

3. SIGNALS AND WIRING

3.6 Connection of servo amplifier and servo motor

3.6.1 Connection instructions

WARNING

Insulate the connections of the power supply terminals to prevent an electric

shock.

Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier

CAUTION

and servo motor. Otherwise, the servo motor will operate improperly.

Do not connect AC power supply directly to the servo motor. Otherwise, a fault

may occur.

The connection method differs according to the series and capacity of the servo motor and whether or not the servo motor has the electromagnetic brake. Perform wiring in accordance with this section.

(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal of the

servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box. Do not connect them directly to the protective earth of the control panel.

Control box

Servo amplifier

PE terminal

Servo motor

(2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake.

Always use the power supply designed exclusively for the electromagnetic brake.

3.6.2 Connection diagram

The followin g table lists w iring me thods accord ing to the servo motor types. U se the conne ction diagram which conforms to the servo motor used. For cables required for wiring, refer to Section 12.2.1. For encoder cable connection, refer to Section 12.1.4. For the signal layouts of the connectors, refer to Section

3.6.3. For the servo motor connector, refer to Chapter 3 of the Servo Motor Instruction Manual.

3 - 15

3. SIGNALS AND WIRING

Servo motor Connection diagram

Servo amplifier

U V W

(Note 1)

U (Red) V (White) W (Black)

(Green)

Servo motor

Motor

HC-KFS053 (B) to 73 (B) HC-MFS053 (B) to 73 (B) HC-UFS13 (B) to 73 (B)

HC-SFS121 (B) to 301 (B) HC-SFS202 (B) to 702 (B) HC-SFS203 (B)

353 (B) HC-UFS202 (B) to 502 (B) HC-RFS353 (B)

503 (B)

CN2

24VDC

EM1

To be shut off when servoon signal switches off or by alarm signal

Encoder cable

B1 B2

(Note2)

Electroma brake

Encoder

netic

Note:1. To prevent an electric shock, always connect the protective earth (PE) term i nal of the

servo amplifier to the protective earth (PE) of the control box.

2. This circuit applies to the servo motor with electromagnetic brake. Servo amplifier

U V

EM1

CN2

(Note 1)

24VDC

To be shut off when servoon signal switches off or by alarm signal

Encoder cable

Servo motor

U V

Motor

Electro-

magnetic brake

Encoder

(Note2)

Note:1. To prevent an electric shock, always connect the protective earth (PE) term i nal of the

servo amplifier to the protective earth (PE) of the control box.

2. This circuit applies to the servo motor with electromagnetic brake. Servo amplifier

Servo motor

HC-SFS81 (B) HC-SFS52 (B) to 152 (B) HC-SFS53 (B) to 153 (B) HC-RFS103 (B) to 203 (B) HC-UFS72 (B)

152 (B)

CN2

U V

(Note 1)

24VDC

EM1

To be shut off when servoon signal switches off or by alarm signal

Encoder cable

U V

B1 B2

Motor

(Note2)

Electro-

netic

ma brake

Encoder

Note:1. To prevent an electric shock, always connect the protective earth (PE) term i nal of the

servo amplifier to the protective earth (PE) of the control box.

2. This circuit applies to the servo motor with electromagnetic brake.

3 - 16

3. SIGNALS AND WIRING

3.6.3 I/O terminals (1) HC-KFS

Power supply connector 5557-04R-210

HC-MFS HC-UFS3000r/min series

Power supply lead 4-AWG19 0.3m(0.98ft )

Power supply connector (molex)

Encoder cable 0.3m(0.98ft) With connector 1-1721 69-9 (AMP)

Signal

13 24

2 3 4

Earth

U V

Without electromagnetic brake 5557-04R-210 (receptacle) 5556PBTL (Female termina l) With electromagnetic brake 5557-06R-210 (receptacle) 5556PBTL (Female termina l)

Lead wire color

Red White Black

Green/yellow

Power supply connector 5557-06R-210

4 25 36

Encoder connector signal arrangement

123

MRR BAT

456

MDR

789

LG SHD

Signal

1 2 3 4 5 6

Lead wire color

Green/yellowEarth B1 B2

Red

White

Black

3 - 17

3. SIGNALS AND WIRING

(2) HC-SFS HC-RFS HC-UFS2000 r/min series

Encoder connector

Motor plate (Opposite side)

DOWN UP

Brake connector

Power supply connector

Power supply connector signal arrangement

CE05-2A22-23PD-B

Key

B C

(Earth) E F

(Note) B1

(Note) B2

Note:24VDC,without polarity

Servo motor

HC-SFS81(B) HC-SFS52(B) to 152(B) HC-SFS53(B) to 153(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B)

HC-SFS702(B)

HC-RFS103(B) to 203 (B)

HC-RFS353(B) 503(B)

HC-UFS72(B) 152(B)

HC-UFS202(B) to 502(B)

CE05-2A24-10PD-B

Signal

Servo motor side connectors

For power supply For encoder

CE05-2A2223PD-B

CE05-2A24-

353(B)

Key

10PD-B CE05-2A32-

17PD-B CE05-2A2223PD-B CE05-2A2410PD-B CE05-2A2223PD-B CE05-2A2410PD-B

A B C D E

MS3102A2029P

Signal

U V

W (Earth) (Note) B1 (Note) B2

Electromagnetic brake connector

The connector for power is shared.

MS3102A10SL4P

The connector for power is shared.

MS3102A10SL4P

Note:24VDC,withou polarity

Encoder connector sig nal arr ang em en t MS3102A20-29P

Key

Signal

TP SR

MDR

MRR

BAT

G H

L M N

Signal

LG P5

Electromagnetic brake connector signal arrangement MS3102A10SL-4P

Key

(Note)B1

(Note)B2

Note:24VDC without

polarity

3 - 18

Signal

3. SIGNALS AND WIRING

3.7 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only

by the servo amplifier signals but also by an external forced stop signal.

Contacts must be open when servo-on signal is off or when an alarm (trouble) is present and when an electromagnetic brake signal.

Circuit must be opened during forced stop signal.

CAUTION

Servo motor

EM1RA

24VDC

Electromagnetic brake

The electromagnetic brake is provided for holding purpose and must not be used

for ordinary braking.

POINT

Refer to the Servo Motor Instruction Manual for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.

Note the following when the servo motor equipped with electromagnetic brake is used for applications requiring a brake to hold the motor shaft (vertical lift applications):

1) Do not share the 24VDC interface power supply between the interface and electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brak e.

2) The brake will operate when the power (24VDC) switches off.

3) Switch off the servo-on command after the servo motor has stopped.

(1) Connection diagram

Servo amplifier

VDD

Forced

stop

Servo motor

COM

MBR

24VDC

(2) Setting

In parameter No.21 (electromagnetic brake sequence output), set the time delay (Tb) from electromagnetic brake operation to base circuit shut-off at a servo off time as in the timing chart in (3) in this section.

3 - 19

3. SIGNALS AND WIRING

(3) Timing charts

(a) Servo-on command (from controller) ON/OFF

Tb [ms] 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.

Servo motor speed

0 r/min

Coasting

Electromagnetic brake operation delay time

Base circuit

Electromagnetic brake (MBR)

Servo-on command (from controller)

ON OFF

Invalid(ON) Valid(OFF)

ON OFF

(60ms)

(80ms)

(b) Emergency stop command (from controller) or forced stop signal (EM1) ON/OFF

Dynamic brake

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR)

Emergency stop command (from controller) or Forced stop (EM1)

(10ms)

ON OFF Invalid (ON) Valid (OFF) Invalid (ON) Valid (OFF)

Electromagnetic brake

Electromagnetic brake release

(180ms)

Electromagnetic brake operation delay time

3 - 20

3. SIGNALS AND WIRING

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR)

ON OFF

Invalid(ON) Valid(OFF)

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

(10ms)

Electromagnetic brake operation delay time

Trouble (ALM)

No Yes

(d) Both main and control circuit power supplies off

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Electromagnetic brake operation delay time (Note 2)

Servo motor speed

Base circuit

Electromagnetic brake interlock(MBR)

larm (ALM)

Main circuit

power

Control circuit Note: Changes with the operating status.

ON OFF Invalid(ON) Valid(OFF) No Yes ON OFF

(Note) 15 to 100ms

(10ms)

(10ms or less)

(e) Only main circuit power supply off (control circuit power supply remains on)

Dynamic brake

Electromagnetic brake

Servo motor speed

(10ms) (Note 1) 15ms or more

Base circuit

Electromagnetic brake interlock

(MBR)

Alarm

Main circuit power supply

Note: 1. Changes with the operating status.

2. When the main circuit power supply is off in a motor stop status, the main circuit off warning (E9) occurs and the ALM signal does not turn off.

OFF

Invalid(ON)

Valid(OFF)

Yes ON OFF

10ms or less

Electromagnetic brake operation delay time (Note 2)

3 - 21

3. SIGNALS AND WIRING

3.8 Grounding Ground the servo amplifier and servo motor securely.

WARNING

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground. To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).

To prevent an electric shock, always connect the protective earth (PE) terminal of

the servo amplifier with the protective earth (PE) of the control box.

Control box

(Note 1) Power supply 3-phase 200 to 230VAC, 1-phase 230VAC or 1-phase 100 to 120VAC

NFB

Servo amplifier

Line filter

L L

(Note 2)

11 21

CN1A

Servo system

controller

CN2

U V

Ensure to connect it to PE terminal of the servo amplifier. Do not connect it directly to the protective earth of the control panel.

Servo motor

Encoder

U V

Outer

Protec tive ea rth(PE)

box

Note: 1. For 1-phase 230VAC, connect the power supply to L

There is no L

2. To reduce the influence of external noise, we recommend you to ground the bus cable near the controller using a cable clamping fixture or to connect three or four data line filters in series.

for 1-phase 100 to 120VAC power supply.

L2 and leave L3 open.

3 - 22

3. SIGNALS AND WIRING

3.9 Servo amplifier terminal block (TE2) wiring method

(1) Termination of the cables

Solid wire: After the sheath has been stripped, the cable can be used as it is. (Cable size: 0.2 to

2.5mm

Twisted wire: Use the cable afte r str ipp ing th e she ath and twi stin g the core . A t th is time , ta ke ca re to

)

Approx. 10mm

avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it m ay cause a con tact fault. (C able size : 0.2 to 2.5mm

)Alternatively, a bar

terminal may be used to put the wires together.(Phoenix contact)

Bar terminal for 1 cable

(Bar terminal ferrule with insulation sleeve)

Cable size Bar terminal type

[mm2] AWG For 1 cable For 2 cables

0.25 24

0.5 20

0.75 18

118

1.5 16

2.5 14

Al0.25-6YE Al0.25-8YE Al0.5-6WH Al0.5-8WH Al0.75-6GY Al0.75-8GY Al1-6RD Al1-8RD Al1.5-6BK Al1.5-8BK Al2.5-8BU Al2.5-8BU-1000

(Twin ferrule with insulation sleeve)

Al-TWIN2 Al-TWIN2 Al-TWIN2 Al-TWIN2 Al-TWIN2 Al-TWIN2 Al-TWIN2 Al-TWIN2

Bar terminal for 2 cable

0.75-8GY

0.75-10GY 1-8RD 1-10RD

1.5-8BK

1.5-12BK

2.5-10BU

2.5-13BU

Crimping

tool

CRIMPFOX-UD6

3 - 23

3. SIGNALS AND WIRING

(2) Connection

Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that the cable does not come off. (Tightening torque: 0.5 to 0.6N opening, make sure that the screw of the terminal is fully loose. When using a cable of 1.5mm

or less, two cables may be inserted into one opening.

Flat-blade screwdriver Tip thickness 0.4 to 0.6mm Overall width 2.5 to 3.5mm

m) Before insertin g the cable into the

To loosen.

To tighten.

Cable

Opening

Control circuit terminal block

3.10 Instructions for the 3M connector

When fabricating an encoder cable or the like, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.

External conductor Sheath

Strip the sheath.

External conductor

Pull back the external conductor to cover the sheath

Screw

SheathCore

Ground plate

Cable

Screw

3 - 24

3. SIGNALS AND WIRING

3.11 Control axis selection POINT

The control axis number set to C S1 should be the same as the one set to the servo system controller.

Use the axis select switch (CS1) to set the control axis number for the servo. If the same number s 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. Set the switch to "F" when executing the test operation mode using servo configuration softwa re.

Axis select switch (CS1)

No. Description

0Axis 1 1Axis 2 2Axis 3 3Axis 4 4Axis 5 5Axis 6 6Axis 7 7Axis 8 8 Not used

9 Not used A Not used B Not used C Not used

D Not used

E Not used F Test operation mode or

when machine analyzer is used (Refer to Section 6.1.2)

3 - 25

3. SIGNALS AND WIRING

MEMO

3 - 26

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 ter minals (L

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.

power input terminals (L (d) The servo amplifier and servo motor are grounded securely. (e) Note the following when using the regenerative brake option, brake unit or power return converter:

1) For the MR-J2S-350B or less, the lead has been removed from across D-P of the control circui t terminal block, and twisted cables are used for its wiring.

2) For the MR-J2S-500B or more, the lead has been removed from across P-C of the servo amplifier built-in regenerative brake resistor, and twisted cables are used for its wiring.

(f) 24VDC or higher voltages are not applied to the pins of connector CN3. (g) SD and SG of connector CN3 are not shorted. (h) The wiring cables are free from excessive force. (i) CN1A should be connected with the bus cable connected to the servo system controller or preceding

axis servo amplifier, and CN1B should connected with the bus cable connected to the subsequent axis servo amplifier or with the termination connector (MR-A-TM.)

, L2, L3) of the servo motor.

, L2, L3, L11, L21) of the servo

(2) Axis number

The axis number setting of CS1 should be the same as that of the servo system controller. (Refer to Section 3.11 . )

(3) Parameters

On the servo system controller screen or using the servo configuration software, make sure that correct values have been set in the parameters.

(4) Environment

Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

(5) Machine

(a) The screws in the servo motor installation part and shaft-to-machine connection are tight. (b) The servo motor and the machine connected with the servo motor can be operated.

4 - 1

4. OPERATION AND DISPLAY

4.2 Start up 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

WARNING

CAUTION

Connect the servo motor with a machine after confirming that the servo motor operates properly alone.

(1) Power on

When the main and control circuit power supplie s are switched on, "d1" (for the fir st axis) appears on the servo amplifier display. In the absolute position detection system, first power-on results in the absolute position lost (25) alarm and the servo system cannot be switched on. This is not a failure and takes place due to the uncharged capaci t or in the enc od e r. The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then switching power off once and on again. Also in the absolute position detection system, if power is switched on at the servo motor speed of 500r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.

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.

Before starting operation, check the parameters. Some machines may perform

unexpected operation.

During power-on or soon after power-off, do not touch or close a parts (cable etc.)

to the servo amplifier heat sink, regenerative brake resistor, servo motor, etc. Their temperatures may be high and you may get burnt or a parts may damaged.

(2) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for the parameter definitions.

Parameter No. Name Setting Description

7 Rotation direction setting 0 8 Auto tuning 1Used.

9 Servo response 5 Slow response (initial value) is selected.

After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid.

Increase in positioning address rotates the motor in the CCW direction.

4 - 2

4. OPERATION AND DISPLAY

(3) Servo-on

Switch the servo-on in the following procedure:

1) Switch on main circuit/control power supply.

2) The controller transmits the servo-on command. When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.

(4) Home position return

Always perform home position return before starting positioning operation.

(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 3.7.

Operation/command Stopping condition

Servo off command The base circuit is shut off and the servo motor coasts.

Servo system controller

Servo amplifier

Emergency stop command

Alarm occurrence

Forced stop signal (EM1) OFF

The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The controller emergency stop warni ng (E7) occurs. The base circuit is shut off and the dynamic brake operates to bring the servo moto r to stop. The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The servo forced stop warning (E6) occurs.

4 - 3

4. OPERATION AND DISPLAY

4.3 Servo amplifier display

On the servo amplifier display (two-digit, seven-segment dis play), 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.

(1) Display sequence

Servo amplifier power ON

Waiting for servo system controller power to switch ON

Servo system controller power ON

Initial data communication with servo system controller

During emergency stop and forced stop

When alarm occurs, alarm code appears.

Servo system controller power OFF

(Note)

Ready ON

(Note)

Servo ON

(Note)

Ordinary operation

Ready OFF/servo OFF

Emergency stop and forced stop reset

Ready ON/servo OFF

Ready ON/servo ON

Servo system controller power ON

Note: The right-hand segments of b1, c1 and d1 indicate the axis number. (Axis 1 in this example)

4 - 4

4. OPERATION AND DISPLAY

(2) Indication list

Indication Status Description

AA Initializing

Ab Initializing

AC Initializing Ad Initializing The initial parameters from the servo system controller were received.

AE Initialize completion Initial data communication with the servo system controller was completed. (Note 1) b# Ready OFF The ready off signal from the servo system controller was received. (Note 1) d# Servo ON The ready off signal from the servo system controller was received. (Note 1) C# Servo OFF The ready off signal from the servo system controller was received. (Note 2) ** Alarm Warning The alarm No./warning No. that occurred is displayed. (Refer to Section 9.1.)

88 CPU er ro r (Note 3) b0. (Note 1) b#.

d#.

c#.

(Note 3) Test operati on mode

The servo amplifier was switched on when power to the servo system controller is off.

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. A servo amplifie r fault occurred or an error took place in communication with the servo system controller. In t his ca se, the indication changes: "Ab"

"AC" "Ad" "Ab"

The servo system controller is faulty. Communication started between the servo system controller and servo amplifier.

JOG operation, positioning operation, programmed operation, DO forced output.

Motor-less operation

Note: 1. # denotes any of numerals 0 to 8 and what it means is listed below:

# Description

0 Set to the test o peratio n mode. 1 Fir st axis 2 Second axis 3Third axis 4Fourth axis 5 Fifth axis 6 Sixth axis 7 Seventh axis 8 Eighth axis

2. ** indicates the warning/alarm No.

3. Requires the servo configuration software.

4 - 5

4. OPERATION AND DISPLAY

4.4 Test operation mode The test operation mode is designed for servo operation confirmation and not for

CAUTION

By using a personal computer and the servo configuration software (MRZJW3-SETUP121E), you can execute jog operation, positioning operation, motor-less operation and DO forced output without connecting the motion controller.

(1) Test operation mode

(a) Jog operation

Jog operation can be performed 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 jog operation screen of the Servo configuration software.

1) Operation pattern

machine operation confirmation. Do not use this mode with the machine. Always use the servo motor alone. If an operatio n fa ul t occur re d, u se th e fo rc ed stop (E M1 ) to make a st op .

Item Initial value Setting range

Speed [r/min] 200 0 to max. speed Acceleration/deceleration time constant [ms] 1000 1 to 20000

2) Operation method

Operation Screen control

Forward rotation start Press Forward (G) button. Reverse rotation start Press Reverse (R) button. Stop Press Stop (O) button.

(b) Positioning operation

Positioning operation can be performed 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 positioning operation screen of the servo configuration software.

1) Operation pattern

Item Initial value Setting range

Travel [pulse] 100000 0 to 9999999 Speed [r/min] 200 0 to max. speed Acceleration/deceleration time constant [ms] 1000 1 to 50000

2) Operation method

Operation Screen control

Forward rotation start Press Forward (G) button. Reverse rotation start Press Reverse (R) button. Pause Press Pause (O) button.

4 - 6

4. OPERATION AND DISPLAY

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. For full information, refer to the Servo Configuration Software Installation Guide.

Operation Screen Control

Start Press Start (G) button.

Stop Press Reset (O) button.

(d) Motorless operation

POINT

Motor-less operation may be used with the servo configuration software. Usually, however, use motor-less operation which is available by making the servo system controller parameter setting.

Without connecting the servo motor, output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running. This operation may be used to check the servo system controller sequence. Use this operation with the forced stop reset. Use this operation with the servo amplifier connected to the servo system controller. Exercise control on the motor-less operation screen of the servo configuration software.

1) Load conditions

Load Item Condition

Load torque 0 Load inertia moment ratio Same as servo motor inertia moment

2) Alarms The following alarms and warning do not occur. However, the other alarms and warning s occur as when the servo motor is connected:

Encoder error 1 (16) Encoder error 2 (20) Absolute position erasure (25) Battery cable breakage warning (92)

(e) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function for output signal wiring check, etc. Exercise control on the DO forced output screen of the servo configuration software.

4 - 7

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, DO forced output.

1) Switch power off.

2) Set CS1 to “F”. 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.

3) Switch servo amplifier power on. When initialization is over, the display shows the following screen:

Decimal poin t fli ck e r s .

4) Perform operation with the personal computer.

(b) Motor-less operation

1) Switch off the servo amplifier.

2) Perform motor-less operation with the personal computer. The display shows the following screen:

Decimal poin t flickers.

4 - 8

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. Setting may not be made to some parameters and ranges depending on the model or version of the servo system controller. For details, refer to the servo system controller user's manual.

5.1 Parameter write inhibit POINT

When setting the parameter values from the servo system controller, the parameter No. 40 setting need not be changed.

In this servo amplif ier, the parame ters a re cla ssified in to the basic pa ramete rs (No. 1 to 11) , adju stment parameters ( No. 12 to 26) and expan sion par ameter s (No. 2 7 to 40) accord ing to their safety aspec ts and frequencies of use. The values of the basic parameters may be set/changed by the customer, but those of the adjustment and expansion parameters cannot. When in-depth adjustment such as gain adjustment is required, change the parameter No. 40 value to make all parameters accessible. Parameter No. 40 is made valid by switching power off, then on after setting its value. The following table indicates the parameters which are enabled for reference and write by parameter No. 40 setting.

Setting Operation Operation from controller Operation from servo configuration

0000(initial value)

000A

000C

000E

100E

Reference

Write

Reference

Write

Reference Parameter No.1 to 40

Write

Reference

Write

Reference Parameter No.1 to 40

Write

Parameter No.1 to 39 Parameter No.1 to 11 40

Parameter No.1 to 39 Parameter No.40

Parameter No.1 to 39

Parameter No.1 to 39 Parameter No.1 to 40

Parameter No.1 to 39

Parameter No.1 to 11

Parameter No.40

5.2 Lists POINT

For any parameter whose symbol is preceded by*, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid.

5 - 1

5. PARAMETERS

(1) Item list

Classifi-

cation

Note 1: Factory settings of the drive unit. Connecting it with the servo system controller and switching power on changes them to

No. Symbol Name

1 *AMS Amplifier setting (Note 2) 0000 2 *REG Regenerative brake resistor 0000 3 0080 4 000 5 6 *FBP Feedback pulse number 0 7 *POL Rotation direction sele ction 0 8 ATU Auto tuning 0001

Basic parameters

9 RSP Servo response 0005 10 TLP Forward rotation torque limit (Note 2) 300 % 11 TLN Reverse rotation torque limit (Note 2) 300 % 12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio) 7.0 times 13 P G1 Pos ition control gain 1 35 rad/s 14 VG1 Speed control gain 1 177 rad/s 15 P G2 Pos ition control gain 2 35 rad/s 16 VG2 Speed control gain 2 817 rad/s 17 VIC Speed integral compensation 48 ms 18 N CH Machine resonance suppression filter 1 (Notch filter) 0000 19 FFC Feed forward gain 0 % 20 INP In-po sition range 100 pulse 21 MBR Electromagnetic brake sequence output 0 ms 22 MOD Analog monitor output 0001

Adjustment parame te rs

23 *OP1 Optional function 1 0000 24 *OP2 Optional function 2 0000 25 LPF Low-pass filter/adaptive vibration suppression control 0000 26 For manufacturer setting 0 27 MO1 Analog monitor 1 offset 0 mV 28 MO2 Analog monitor 2 offset 0 mV 29 For manufacturer setting 0001 30 ZSP Zer o s p eed 50 r/min 31 ERZ Error excessive alarm level 80 0.1rev 32 OP5 Optional function 5 0000 33 *OP6 Optional function 6 0000 34 VPI PI-PID control switch-over position droop 0 pulse 35 For manufacturer setting 0 36 VDC Spe ed differential compensation 980

Expansion parameters

37 For manufacturer setting 0010 38 *ENR Encoder output pulses 4000 pulse/rev 39 For manufacturer setting 0 40 *BLK Parameter blocks (Note 2) 0000

the settings of th e s ervo system controller.

2: Setting and changing cannot be made from the peripheral software of the motion controller.

For manufacturer setting

(Note 1)

Initial

Value

Unit

Customer

setting

5 - 2

5. PARAMETERS

(2) Details list

Classifi-

cation

No. Symbol Name and Function

1 *AMS Amplifier setting

Used to select the absolute position detection.

0 00

Absolute position detection selection 0: Invalid (Used in incremental system.) 1: Valid (Used in absolute position detection system.)

Initial Value

0000 Refer to

Unit

Setting

Range

name and function column.

2*REG 0000 Refer to

Regenerative brake resistor Used to select the regenerative brake option used.

0 0

Regenerative selection brake option 00: Not u sed 01: FR-RC FR-BU 05: MR-RB32 08: MR-RB30 09: MR-RB50 0B: MR-RB31 0C: MR-RB51 10: MR-RB032 11: MR-RB12

POINT

Wrong setting may cause the regenerative brake option to burn. If the regenerative brake option selected is not for use with the

Basic parameters

3 0080 4 0000 5 6*FBP 0 Refer to

servo amplifier, parameter error (37) occu rs.

For manufacturer setting Must not be changed.

1 Feedback pulse number Set the number of pulses per revolution in the controller side command unit. Information on the motor such as the feedback pulse value, present position, droop pulses and within-one-revolution position are derived from the values converted into the number of pulses set here.

Setting Number of feedback pulses

0 16384 1 8192 6 32768 7 131072

255 Depending on the number of motor resolution p u l ses .

name and function column.

POINT

If the number of pulses set exceeds the actual motor resolution, the motor resolution is set automatically.

5 - 3

5. PARAMETERS

Classifi-

cation

Basic parameters

No. Symbol Name and Function

7 *POL Rotatio n direction select ion

Used to select the rotation direction of the servo motor. 0: Forward rotation (CCW) with the increase of the positioning

address.

1: Reverse rotation (CW) with the increase of the positioning

address.

CCW

8 ATU Auto tuning

Used to select the gain adjustment mode of auto tuning.

0 00

Gain adjustment mode selection (For details, refer to Section 6.1.1.)

Set

Gain adjustment

value

mode

Interpolation mode

Description

Fixes position control gain 1 (parameter No. 13).

Initial Value

0 Refer to

0001 Refer to

Unit

Setting

Range

name and function column.

Auto tuning mode 1

Auto tuning mode 2

4Simple manual

Manual mode 1

Manual mode 2

Ordinary auto tuning. Fixes the load inertia

moment ratio set in parameter No. 12. Response level setting can be changed.

adjustment.

Manual adjustment of all gains.

5 - 4

5. PARAMETERS

Classifi-

cation

Basic parameters

No. Symbol Name and Function

9 RSP Servo response

Used to select the response o f auto tuning.

0 00

Auto tuning response level selection

Set

Response

value

1 2 3 4 5 6 7 8

9 A B C D E

F 300Hz

If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value.

level

Low

response

Middle

response

High

response

Machine resonance frequency guideline

15Hz 20Hz 25Hz 30Hz 35Hz 45Hz 55Hz 70Hz

85Hz 105Hz 130Hz 160Hz 200Hz 240Hz

Initial Value

0005 Refer to

Unit

Setting

Range

name and function column.

10 TLP Forward rotation torque limit

Assume that the rated torque is 100[%]. Used to limit the torque in the forward rotation driving mode and reverse rotation regenerative mode. In other than the test operation mode on the servo configuration software, the torque limit value on the servo system controller side is made valid.

11 TLN Reverse rotation torque limit

Assume that the rated torque is 100[%]. Used to limit the torque in the forward rotation driving mode and forward rotation regenerative mode. In other than the test operation mode on the servo configuration software, the torque limit value on the servo system controller side is made valid.

12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio)

Used to set the ratio of the load inertia (inertia moment) to the inertia moment of the servo motor shaft. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (Refer to section 6.1.1)

13 PG1 Position loop gain 1

Used to set the gain of position loop 1. Increase the gain to improve trackability performance in response to the position command.

Adjustment parame te rs

When auto turning mode 1,2 is selected, the result of auto turning is automatically used.

300 % 0

500

300 % 0

500

7.0 times 0.0 to

300.0

35 rad/s 4

2000

5 - 5

5. PARAMETERS

Classifi-

cation

No. Symbol Name and Function

14 VG1 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/o r noise. When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is automatically used.

15 PG2 Position loop gain 2

Used to 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. When auto tuning mode 1

2, manual mode and interpolation mode

is selected, the result of auto tuning is automatically used.

16 VG2 Speed loop gain 2

Set this parameter when vibration occurs on machines of low rigidity or large backlash. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1

2 and interpolation mode is selected, the

result of auto tuning is automatically used.

17 VIC Speed integral compensation

Used to set the constant of integral compensation. When auto tuning mode 1

2 and interpolation mode is selected, the

result of auto tuning is automatically used.

18 NCH Machine resonance suppression filter 1 (Notch filter)

Used to select the machine resonance suppression filter. (Refer to Section 7.2.)

Initial Value

Unit

Setting

Range

177 rad/s 20

35 rad/s 1

817 rad/s 20

20000

48 ms 1

0 Refer to

name and function column.

5000

1000

Adjustment parame te rs

19 FFC Feed forward gain

Used to set the feed forward gain for position control. Set "100" to nearly zero the droop pulse value when operation is performed at constant speed. Note that sudden acceleration/deceleration will increase overshoot. As a guideline, when you set the feed forward gain for 100%, se t the acceleration/deceleration time constant to/from the rated speed for 1s or longer.

Setting

00 01 02 03 04 05 06 07

Notch frequency selection

Frequency

Invalid

4500 2250 1500 1125 900 750

642.9

Setting

08 09 0A 0B 0C 0D 0E 0F

Frequency

Notch depth selection

Setting Depth Gain

562.5 500 450

409.1 375

346.2

321.4 300

Deep

Shallow

Setting

10 11 12 13 14 15 16 17

40dB 14dB

Frequency

281.3

264.7 250

236.8 225

214.3

204.5

195.7

8dB 4dB

Setting

18 19 1A 1B 1C 1D 1E 1F

Frequency

187.5 180

173.1

166.7

160.1

155.2 150

145.2

0%0

100

5 - 6

5. PARAMETERS

Classifi-

cation

Adjustment parame te rs

No. Symbol Name and Function

20 INP In-position range

Used to set the droop pulse range in which the in-position signal (INP) will be output to the controller. Make setting in the feedback pulse unit (parameter No. 6). For example, when you want to set ballscrew is direct coupled, the lead is 10mm, and the feedback pulses are 8192 pulses/rev (parameter No. 6 : 1), set "8" as indicated by the following expression:

10 10 10 10

21 MBR Electromagnetic brake sequence output

Used to set a time delay (Tb) from when the electromagnetic brake interlock signal (MBR) turns off until the base circuit is shut off.

22 MOD Analog monitor output

Used to select the signal provided to the analog monitor. (Refer to Section 5.3.)

8192 8.192 8

10 m in the conditions that the

Setting

Servo motor speed ( 8V/max. speed) 1 Torque ( 8V/max. torque) 2 Motor speed ( 8V/max. speed) 3 Torque ( 8V/max. torque) 4 Current command ( 8V/max. current command) 5 Command speed ( 8/max. speed) 6 Droop pulses ( 10V/128 pulses) 7 Droop pulses ( 10V/2048 pulses) 8 Droop pulses ( 10V/8192 pulses) 9 Droop pulses ( 10V/32768 pulses) A Droop pulses ( 10V/131072 pulses) B Bus voltage ( 8V/400V)

Analog monitor output selection

ch1

ch2

Initial Value

100 pulse 0

100 ms 0

0001 Refer to

Unit

Setting

Range

50000

1000

name and function column.

23 *OP1 Optional function 1

Used to make the servo forced stop function invalid.

000

Servo forced stop selection 0: Valid (Use the forced stop signal (EM1).) 1: Invalid (Do not use the forced stop signal (EM1).) Automatically switched on internally

5 - 7

0000 Refer to

name and function column.

5. PARAMETERS

Classifi-

cation

No. Symbol Name and Function

24 *OP2 Optional function 2

Used to select slight vibration suppression control and motor-less operation

0 0

Slight vibration suppression control selection Made valid when auto tuning selection is set to "0002" in parameter No.8. Used to suppress vibration at a stop. 0: Invalid 1: Valid

Motor-less operation selection 0: Invalid 1: Makes motor-less operation valid.

When motor-less operation is made valid, signal output or status display can be provided as if the servo motor is running actually in response to the servo system controller command, without the servo motor being connected. Motor-less operation is performed as in the motor-less operation using the servo configuration software. (Refer to (d), (1) in Section 4.4.)

25 LPF Low-pass filter/adaptive vibration suppression control

Used to select the low-pass filter and adaptive vibration suppression control. (Refer to Chapter 7.)

Initial Value

0000 Refer to

Unit

Setting

Range

name and function column.

Adjustment parame te rs

26 For manufacturer setting

Must not be changed.

Low-pass filter selection 0: Valid (Automatic adjustment)

1: Invalid When you choose "valid",

bandwidth filter is set automatically.

Adaptive vibration suppression control selection 0: Invalid 1: Valid Machine resonance frequency is always detected and the filter is generated in response to resonance to suppress machine vibration. 2: Held The characteristics of the filter generated so far are held, and detection of machine resonance is stopped.

Adaptive vibration suppression control sensitivity selection Used to select the sensitivity of machine resonance detection. 0: Normal

e sensitivit

1: Lar

VG2 setting 10

2 (1 GD2 setting 0.1)

[Hz]

5 - 8

5. PARAMETERS

Classifi-

cation

No. Symbol Name and Function

27 MO1 Analog monitor 1 offset

Used to set the offset voltage of the analog monitor ch1 output.

28 MO2 Analog monitor 2 offset

Used to set the offset voltage of the analog monitor ch2 output.

29 For manufacturer setting

Must not be changed.

30 ZSP Zero speed

Used to set the output range of the zero speed signal (ZSP).

31 ERZ Error excessive alarm level

Used to set the output range of the error excessive alarm.

32 OP5 Optional function 5

Used to select PI-PID control switch-over.

0 00

PI-PID control switch over selection 0: PI control is always valid.

1: Droop-based switching is valid in position control mode (refer to parameter No. 34).

2: PID control is always valid.

Initial Value

0mV999

0001

50 r/min 0

80 0.1rev 0

0000 Refer to

Unit

Setting

Range

999

10000

1000

name and function column.

33 *OP6 Option function 6

Used to select the serial communication baudrate, serial communication response delay time setting and encoder output pulse setting.

Expansion parameters

34 VPI PI-PID control switch-over position droop

Used to set the position droop value (number of pu lses) at which PI control is switched over to PID control. Set "0001" in parameter No. 32 to make this function valid.

35 For manufacturer setting

Must not be changed.

36 VDC Speed differential compensation

Used to set the differential compensation.

37 For manufacturer setting

Must not be changed.

Serial communication baudrate selection 0: 9600[bps] 1: 19200[bps] 2: 38400[bps] 3: 57600[bps]

Serial communication response delay time 0: Invalid 1: Valid , replay sent in 800 s or more

Encoder output pulse setting selection (refer to parameter No.38) 0: Output pulse setting 1: Division ratio setting

0000 Refer to

name and function column.

0pulse0

50000

980 0

1000

0010

5 - 9

5. PARAMETERS

Classifi-

cation

Expansion parameters

No. Symbol Name and Function

38 *ENR Encoder outpu t pulses

Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-p hase and B-phas e pulses. You can use parameter No.33 to choose the output pulse setting or output division ratio setting. The number of A-phase and B-phase pulses actually output is 1/4 times greater than the preset number of pulses. The maximum output frequency is 1.3Mpps (after multiplication by

4). Use this parameter within this range. For output pulse designation Set "0

" (initial value) in parameter No. 33. Set the number of pulses per servo motor revolution. Output pulse At the setting of 5600, for example, the actually output A-phase and B-phase pulses are as indicated be lo w:

A-phase and B-phase output pulses

For output division ratio setting Set "1 The number of pulses per servo motor re volution is divided by the set value.

Output pulse At the setting of 8, for example, the actually output A-phase and

B-phase pulses are as indicate d belo w:

A-phase and B-phase output pulses 4096[pulse]

39 For manufacturer setting

Must not be changed.

40 *BLK 0000 Refer to

Parameter blocks

Setting Operation Operat i on from

(initial

value)

000C

100E

set value [pulses/rev]

5600

1400[pulse]

" in parameter No. 33.

Resolution per servo motor revol ution

Set value

13107241

Operation from

controller

Reference0000

Write

Reference000A

Write

Reference Parameter No.1

Write

Reference000E

Write

Reference Parameter No.1

Write

Parameter No.1 to 39

servo configuration

Parameter No.1 to 11

Parameter No.40

to 40 Parameter No.1 to 11

40 Parameter No.1 to 40

to 40 Parameter No.40

[pulses/rev]

Initial Value

4000 pulse/rev 1

Unit

Setting

Range

65535

name and function column.

5 - 10

5. PARAMETERS

5.3 Analog output

The servo status can be output to two channels in terms of voltage. Use this function when using an ammeter to monitor the servo status or synchronizing the torque/speed with the other servo.

(1) Setting

Change the following digits of parameter No.22:

Parameter No. 22

Analog monitor ch2 output selection (Signal output to across MO2-LG)

Analog monitor ch1 output selection (Signal output to across MO1-LG)

Parameters No.27 and 28 can be used to set the offset voltages to the analog output voltages. The setting range is between

Parameter No. Description Setting range [mV]

27 Used to set the offset voltage for the analog monitor ch1 output. 28 Used to set the offset voltage for the analog monitor ch2 output.

999 and 999mV.

999 to 999

5 - 11

5. PARAMETERS

(2) Setting description

The servo amplif ier is factory-se t to output the mo tor speed to ch 1 and the gen erated torque to ch2. The setting can be changed as listed below by changing the parameter No.22 value: Refer to (3) in this section for the measurement point.

Setting Output item Description Setting Output item Description

0 Mo t or speed

8[V]

CCW direction

6 Droop pulses

(

10V/128pulse)

10[V]

CCW direction

1Torque

2 Mo t or speed

3Torque

Max. speed

CW direction

8[V]

Max. torque

Driving in CW direction

CW direction

Max. speed

CW direction

Driving in

8[V]

Max. speed

8[V]

Driving in CCW direction

Max. torque

8[V]

CCW direction

Max. speed

Driving in

CCW direction

7 Droop pulses

(

10V/2048pulse)

8 Droop pulses

(

10V/8192pulse)

9 Droop pulses

(

10V/32768pulse)

128[pulse]

CW direction

10[V]

2048[pulse]

CW direction

10[V]

8192[pulse]

CW direction

10[V]

32768[pulse]

128[pulse]

10[V]

CCW direction

2048[pulse]

10[V]

CCW direction

8192[pulse]

10[V]

CCW direction

32768[pulse]

4 Current command

(Torque command)

5Command pulse

frequency

Max. torque

8[V]

Max. current command (Max. torque command)

CW direction

8[V]

Max. speed

CW direction

Max. torque

CCW direction

Max. current command (Max. torque command)

8[V]

CCW direction

Max. speed

8[V]

5 - 12

A Droop pulses

(

10V/131072pulse)

BBus voltage

CW direction

10[V]

131072[pulse]

CW direction

8[V]

10[V]

CCW direction

131072[pulse]

10[V]

400[V]

5. PARAMETERS

(3) Analog monitor block diagram

control

Encoder

Current feedback

Position feedback

Torque

Motor speed

ential

Differ-

Servo Motor

Bus voltage

Current

encoder

PWM M

Current

command

Speed

Droop pulse

Command

pulse frequency

Speed

ential

Differ-

command

Position

Command

control

pulse

5 - 13

5. PARAMETERS

5.4 Replacement of MR-J2- B by MR-J2S- B

When using the MR-J2SMR-J2S-

B, you cannot use some parameter functions. Read this section carefully and set appropriate

B on the servo system controller peripheral software incompatible with the

values in the parameters.

5.4.1 Main modifications made to the parameters

The following table lists the parameters whose settings have been modified from the MR-J2to the MR-J 2S-

B. The peripheral software of the servo system controller may not be compatible with

B or added

some parame ters whose se ttings are diff erent or have been added . For det ails, refer to the serv o syste m controller manual.

Parameter

No.

6 FBP Feedback pulse number The encoder resolution of the

8 ATU Auto tuning Gain adjustment modes were

9 RSP Servo response The response level setting range

18 NCH Machine resonance

20 INP In-position range The setting unit became the

22 MOD Analog monitor output The data that may be output by

25 LPF Low-pass filter/adaptive

31 ERZ Error excessive alarm level The setting unit was changed in

33 OP6 Optional function 6 The communication baudrate

38 ENR Encoder output pulses The encoder feedback pulses can

Code Name Main modifications/additions

compatible motor changed to 131072 pulses/rev.

increased.

was increased to meet the enhanced response.

The machine resonan ce suppression filter 1 (Notch filter)

vibration suppression control

suppression filter (notch filter)

setting range was increased.

feedback pulse unit in

parameter No. 6.

analog monitor was added.

The low-pass filter and adaptive

vibration suppression control

functions were newly added.

response to the enhanced

resolution (131072 pulses/rev) of

the encoder.

with the personal computer was

changed to max. 57600bps.

be output from the servo

amplifier. These pulses can be

set.

(Note) Setting from peripheral software of conventional servo system controller

Setting cannot be made. The resolution is 16384 pulses/rev. Setting can be made but the added modes cannot be used. Some response levels cannot be set.

Some filter frequencies cannot be set.

Setting can be made.

Setting can be made but the bus voltage cannot be set. Setting can be made.

Setting can be made but the setting unit is [0.1 rev].

Setting cannot be made.

Note. As of January, 2000

5 - 14

5. PARAMETERS

5.4.2 Explanation of the modified parameters (1) Feedback pulse number (parameter No. 6)

This parameter was newly added to the MR-J2 Scontroller is not co mpatible with the MR- J2S-

B. If the peripheral software of the servo system

B, this parameter setting cannot be changed. When the servo motor used is the HC-KFS or HC-MFS, the feedback pulse number is 8192 pulses/rev, and when it is the HC-SFS, HC-RFS or HC-UFS, the feedback pulse number is 16384 puls es/rev.

(2) Auto tuning (parameter No. 8)

The set value s of this parameter were newly added to the MR-J2 Sthe servo system controller is not compatible with the MR-J2S-

B. If the peripheral software of

B, the parameter settings are as

indicated below. The auto tuning mode 2 and manual mode 1 cannot be used.

0 00

Gain adjustment mode selection (For details, refer to Section 6.1.1.)

Set value Gain adjustment mode

Interpol ation mode

Auto tuning mode 1

Manual mode 2

2 Manual adjustment of all gains.

Fixes position control gain 1 (parameter No. 13). Ordinary auto tuning.

Description

(3) Servo response (parameter No. 9)

The set values of this parameter were newly added to the MR-J2S-

B. In addition, the machine resonance frequency guidelines corresponding to the set values were changed. If the peripheral software of the servo system controller is not compatible with the MR-J2S-

B, the parameter settin g s

are as indicated below.

0 00

Auto tuning response level selection

Set

value

Response

level

1 2 3 4 5 6 7 8 9 A B C 160Hz

Low

response

Middle

response

High

response

Machine resonance frequency guideline

15Hz 20Hz 25Hz 30Hz 35Hz 45Hz 55Hz 70Hz

85Hz 105Hz 130Hz

5 - 15

5. PARAMETERS

(4) Machine resonance suppression filter 1 (parameter No. 18)

The settings of this parameter were changed for the MR- J2Sservo system controller is not compatible with the MR-J2Sindicated below. The notch depth is

40dB.

Notch frequency selection

Set value Frequency

Invalid

0 1 2 3 4 5 6 7

Notch depth selection

Set value Depth Gain

0 Deep 40dB

4500 2250 1500 1125

B. If the peripheral software of the

B, the parameter settings are as

900 750

642.9

(5) In-position range (parameter No. 20)

The setting o f this parame ter was change d for the MR-J2 S-

B. The setting unit was changed from

the conventional input pulse unit to the feedback pulse unit. For deta ils, refer to Section 5.2.

(6) Analog moni to r ou tp ut ( p ara met e r No. 22 )

The setting o f this par ame ter was ch ang e d f o r th e M R- J2 S-

B. "Bus voltage" is a new choice, but you cannot select it if the peripheral software of the servo system controller is not compatible with the MRJ2S-

B. Also, the droop pulse output is the encoder resolution unit of the actual motor. For details, refer to Section 5.3.

(7) Low-pass filter/adaptive vibration suppression control (parameter No. 25)

This parameter was newly added to the MR-J2 Scontroller is no t compatible with the MR-J2 S-

B. If the peripheral software of the servo system

B, this parameter setting cannot be changed. Hence, the low-pass filter is "valid" an d the adaptive vibration suppre ssion control is "invalid". For de tails, refer to Sections 7.3 and 7.4.

(8) Error excessive alarm level (parameter No. 31)

The setting o f this parame ter was change d for the MR-J2 S-

B. The setting unit was changed from conventional [k pulse] to [0.1rev]. If the peripheral software of the servo system controller is not compatible with the MR- J2S-

B, the unit is se t as [0.1rev] to the MR-J2S- B even when the on-

screen setting unit is [k pulse]. For details, refer to Section 5.2.

5 - 16

5. PARAMETERS

(9) Optional function 6 (parameter No. 33)

This parameter was newly added to the MR-J2 Scontroller is no t compatible with the MR-J2S the serial communication baudrate is “9600 [bps]”, the serial commun ication response ready time is “invalid”, and the encoder outpu t pulse setting selec tion is "o utpu t pulse setting ". For de tails, refer to Section 5.2.

(10) Encoder output pulse (parameter No. 38)

This parameter was newly added to the MR-J2Scontroller is not compatible with the MR-J2S-

B. If the peripheral software of the servo system

B, this parameter setting cannot be changed. Hence,

B. If the peripheral software of the servo system

B, this parameter setting cannot be changed.

5 - 17

5. PARAMETERS

MEMO

5 - 18

6. GENERAL GAIN ADJUSTMENT

6.1 Different adjustment methods

6.1.1 Adjustment on a single servo amplifier

The gain adjustmen t in this section can be made on a single servo amplifier. For gain adj ustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1 and manual mode 2 in this order.

(1) Gain adjustment mode explanation

Gain adjustment mode

Auto tuning mode 1 (initial value)

Auto tuning mode 2 0003 PG1 (parameter No. 13)

Manual mode 1 0004 VG1 (parameter No. 14)

Manual mode 2 0002

Interpolation mode 0000 Always estimated GD2 (parameter No. 12)

Parameter No. 8

setting

0001 Always estimated GD2 (parameter No. 12)

Estimation of load inertia

moment ratio

Fixed to parameter No. 12 value

Automatically se t

parameters

PG1 (parameter No. 13) VG1 (parameter No. 14) PG2 (parameter No. 15) VG2 (parameter No. 16) VIC (parameter No. 17)

VG1 (parameter No. 14) PG2 (parameter No. 15) VG2 (parameter No. 16) VIC (parameter No. 17)

PG2 (parameter No. 15)

PG2 (parameter No. 15) VG2 (parameter No. 16) VIC (parameter No. 17)

Manually set parameters

RSP (parameter No. 9)

GD2 (parameter No. 12) RSP (parameter No. 9)

GD2 (parameter No. 12) PG1 (parameter No. 13) VG2 (parameter No. 16) VIC (parameter No. 17) GD2 (parameter No. 12) PG1 (parameter No. 13) VG1 (parameter No. 14) PG2 (parameter No. 15) VG2 (parameter No. 16) VIC (parameter No. 17) PG1 (parameter No. 13) VG1 (parameter No. 14)

6 - 1

6. GENERAL GAIN ADJUSTMENT

(2) Adjustment sequence and mode usage

START

Interpolation

made for 2 or more

axes?

Auto tuning mode 1

Operation

Yes

OK?

Auto tuning mode 2

Operation

Yes

Interpolation mode

Operation

OK?

Yes

Usage

Used when you want to match the position gain (PG1) between 2 or more axes. Normally not used for other purposes. Allows adjustment by merely changing the respon se level setting. First u s e this mode to make adjustment. Used when the conditions of auto tuning mode 1 are not met and the load inertia moment ratio could not be estimated properly, for example.

Yes

OK?

Manual mode 1

Operation

OK?

Manual mode 2

END

This mode permits adjustment easily with three gains if you were not satisfied with auto tuning results.

You can adjust all gains manually when you want to do fast settling or the like.

6 - 2

6. GENERAL GAIN ADJUSTMENT

6.1.2 Adjustment using servo configuration software POINT

When using the machine analyzer, set the servo amplifier's axis number for "F". (Refer to Section 3.11.)

This section g ives th e fu nct ion s an d adju stme nt tha t m ay be pe rfor med by usi ng th e serv o amp lifier wi th the servo configuration software which operates on a personal computer.

Function Description Adjustment

Machine analyzer With the machine and servo motor

coupled, the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the ma chi n e res p on se.

Gain search Executing gain search under to-and-fro

positioning comma n d measures settli n g characteristic while simultaneously changing gains, and automatically searches for gains which make settling time shortest.

Machine simulation Response at positioning settling of a

machine can be simulated from machine analyzer results on personal c omp ut er.

You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter. You can automatically set the optimum gains in response to the machine characteristic. This simple adjustment is suitable for a machine which has large machine resonance and does not require much settling time. You can automatically set gains which make positioning settling time shortest.

You can optimize gain adjustment and command pattern on personal computer.

6 - 3

6. GENERAL GAIN ADJUSTMENT

6.2 Auto tuning

6.2.1 Auto tuning mode

The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.

(1) Auto tuning mode 1

The servo amplifier is factory-set to the auto tuning mode 1. In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains automatically. The following parameters are automaticall y adjust ed in the auto tuning mode 1.

Parameter No. Abbreviation Name

12 GD2 Ratio of load inertia moment to servo motor inertia moment 13 PG1 Pos ition control gain 1 14 VG1 Speed control gain 1 15 PG2 Pos ition control gain 2 16 VG2 Speed control gain 2 17 VIC Speed integral compensation

POINT

The auto tuning mode 1 may not be performed properly if the following conditions are not satisf ied.

Time to reach 2000r/min is the acceleration/ deceleration time constant of 5s or less. Speed is 150r/min or higher. The ratio of load inertia moment to motor inertia moment is not more than 100 times.

The acceleration/deceleration torque is 10% or more of the rated torque. Under operating co nditions which will impose sudden distur bance torque during acceleration/deceleration or on a machine which is extremely loose, auto tuning may not function properly, either. In such cases, use the auto tuning mode 2 or manual mode 1

2 to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment ratio (parameter No. 12). The following parameters are automaticall y adjust ed in the auto tuning mode 2.

Parameter No. Abbreviation Name

13 PG1 Pos ition control gain 1 14 VG1 Speed control gain 1 15 PG2 Pos ition control gain 2 16 VG2 Speed control gain 2 17 VIC Speed integral compensation

6 - 4

6. GENERAL GAIN ADJUSTMENT

6.2.2 Auto tuning mode operation

The block diagram of real-time auto tuning is shown below.

Load inertia moment

Encoder Servo motor

Position/speed feedback

Command

Parameter No.8

Auto tuning selection

Control gains

PG1,VG1

PG2,VG2,VIC

Gain table

Parameter No.9

50001000

Response level setting

Automatic setting

Set 0 or 1 to turn on.

Parameter No.12 Load inertia moment ratio estimation value

Current feedback

Real-time auto tuning section

Switch

Current

control

Load inertia

moment ratio

estimation section

Speed feedback

When a serv o motor is acce lerated/dec elerated, the load inerti a moment ratio estimation se ction alway s estimates the load inertia moment ratio from the current and speed of the servo motor. The results of estimation are written to parameter No. 12 (load inertia moment ratio). Thes e results can be confirmed on the status display screen of the servo configuration software section. If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, chose the "auto tuning mode 2" (parameter No.8:0003) to stop the estimation of the load inertia moment ratio (Switch in above diagram turned off), and set the load inertia moment ratio (parameter No. 12) manually. From the preset load inertia moment ratio (parameter No. 12) value and response level (parameter No. 9), the optimum control gains are automatically set on the basis of the int ernal gai n tale. The auto tuning results are saved in the EEP-ROM of the servo amplifier every 6 minutes since power-on. At power-on, auto tuning is performed with the value of each control gain saved in the EEP-ROM being used as an initial value.

POINT

If sudden disturbance torque is imposed during operation, the estimation of the inertia moment ratio may malfunction temporarily. In such a case, choose the "auto tuning mode 2" (parameter No. 8: 0003) and set the correct load inertia moment ratio in parameter No. 12.

6 - 5

6. GENERAL GAIN ADJUSTMENT

6.2.3 Adjustment procedure by auto tuning

Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows.

(1) Basic procedure

Auto tuning adjustment

Acceleration/deceleration repeated

Yes

Load inertia moment ratio

estimation value stable?

Auto tuning

conditions not satisfied.

(Estimation of load inertia

moment ratio is difficult)

Yes

Choose the auto tuning mode 2 (parameter No. 8: 0003) and set the load inertia moment ratio (parameter No. 12) manually.

Adjust response level setting so that desired response is achieved on vibration-free level.

Acceleration/deceleration repeated

Requested

performance satisfied?

END

Yes

To manual mode

6 - 6

6. GENERAL GAIN ADJUSTMENT

6.2.4 Response level setting in auto tuning mode

Set the response (parameter No.9) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high re sponse level will generate vibration. Hence, make setting until desired response is obtained within th e vibrati on-free range. If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100Hz, adaptive vibration suppression control (parameter No. 25) or machine resonance suppression filter (parameter No. 18) may be used to suppress machine resonance. Suppressing machine resonance may allow the re spo nse lev e l set tin g to increase. Refer to Sect io n 7.2, 7.3 for adaptive vibra t io n suppression control and machine resonance suppression filter.

Parameter No. 9

5000

Response level setting

Machine characteristic

Response level setting

1 Low 15Hz 2 20Hz 3 25Hz 4 30Hz 5 35Hz 6 45Hz 7 55Hz 8 Middle 70Hz

9 85Hz A 105Hz B 130Hz C 160Hz D 200Hz E 240Hz F High 300Hz

Machine rigidity

Machine resonance frequency guideline

Guideline of corresponding machine

Large conveyor

Arm robot

General machine

tool conveyor

Precision

working

machine

Inserter Mounter

Bonder

6 - 7

6. GENERAL GAIN ADJUSTMENT

6.3 Manual mode 1 (simple manual adjustment)

If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters.

6.3.1 Operation of manual mode 1

In this mode, setting the three gains of po sition control gain 1 (PG1) , speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.

User setting

GD2

PG1 VG2

VIC

Automatic setting

PG2 VG1

Therefore, you can adjust the model adaptive control system in the same image as the general PI control system (position gain, speed gain, speed integral time constant). Here, the position gain corresponds to PG1, the speed gain to VG2 and the speed integral time constant to VIC. When making gain adjustment in this mode, set the load inertia moment ratio (parameter No. 12) correctly.

6.3.2 Adjustment by manual mode 1 POINT

If machine resonance occurs, adaptive vibration suppression control (parameter No. 25) or machine resonance suppression filter (parameter No.

18) may be used to suppress machine resonance. (Refer to Section 7.2, 7.3.)

(1) For speed control

(a) Parameters

The following parameters are used for gain adjustment:

Parameter No. Abbreviation Name

12 GD2 Ratio of load inertia moment to servo motor inertia moment 16 VG2 Speed control gain 2 17 VIC Speed integral compensation

(b) Adjustment procedure

Step Operation Description

Set an estimated value to the ratio of load inertia moment to servo

motor inertia moment (parameter No. 12). Increase the speed control gain 2 (parameter No. 16) within the

vibration- and unusual noise-free range, and return slightly if vibration takes place. Decrease the speed integral compensation (parameter No. 17) within

the vibration-free range, and return slightly if vibration takes place. If the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be

increased by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 2 and 3. While checking the settling characteristic and rotational status, fine-

adjust each gain.

Increase the speed control gain.

Decrease the time constant of the speed integral compensation. Suppressi on of machine res on a n ce Refer to Section 7.2, 7.3.

Fine adjustment

6 - 8

6. GENERAL GAIN ADJUSTMENT

1) Speed control gain 2 (parameter No. 16) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expressi on:

Speed loop response frequency(Hz)

(1 ratio of load inertia moment to servo motor inertia moment)

Speed control gain setting

2) Speed integral compensation (parameter No. 17) To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Incre asing the setting lowers the response level. However, if the load inertia moment ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression:

Speed integral composition setting (ms)

Speed control gain 2 setting/ (1 ratio of load inertia moment

2000 to 3000

to servo motor inertia moment.)

(2) For position control

(a) Parameters

The following parameters are used for gain adjustment:

Parameter No. Abbreviation Name

12 GD2 Ratio of load inertia moment to servo motor inertia moment 13 PG1 Pos ition control gain 1 16 VG2 Speed control gain 2 17 VIC Speed integral compensation

(b) Adjustment procedure

Step Operation Description

Set an estimated value to the ratio of load inertia moment to servo

motor inertia moment (parameter No. 12). Set a slightly smaller value to the position control gain 1 (parameter

No. 13). Increase the speed control gain 2 (parameter No. 16) within the

vibration- and unusual noise-free range, and return slightly if vibration takes place. Decrease the speed integral compensation (parameter No. 17) within

the vibration-free range, and return slightly if vibration takes place.

5 Increase the position control gain 1 (parameter No. 13). Inc rease the position control gain.

If the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved, response may be increased by suppressing resonance with adaptive vibration

suppression control or machine resonance suppression filter and then executing steps 3 to 5. While checking the settling characteristic and rotational status, fine-

adjust each gain.

Increase the speed control gain.

Decrease the time constant of the speed integral compensation.

Suppressi on of machine res on a n ce Refer to Section 7.2 and 7.3.

Fine adjustment

6 - 9

6. GENERAL GAIN ADJUSTMENT

1) Position control gain 1 (parameter No. 13) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling.

Position control gain 1 guideline

2) Speed control gain 2 (parameter No. 16) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expressi on:

(1 ratio of load inertia moment to servo motor inertia moment)

Speed control gain 2 setting

(

)

Speed loop response frequency(Hz)

3) Speed integral compensation (parameter No. 17) To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Incre asing the setting lowers the response level. However, if the load inertia moment ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression:

Speed integ ral compensation setting(ms)

(1 ratio of load inertia moment to servo motor inertia moment)

Speed control gain 2 setting/ (1 ratio of load inertia moment to

Speed control gain 2 setting

2000 to 3000

servo motor inertia moment set value)

6 - 10

6. GENERAL GAIN ADJUSTMENT

6.4 Interpolation mode

The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 1 and spe ed con trol ga in 1 whi ch dete rmine command trac kabili ty are se t man ually and the other gain adjusting parameters are set automatically.

(1) Parameter

(a) Automatically adjusted parameters

The following parameters are automatical ly adjust ed by aut o tuning.

Parameter No. Abbreviation Name

12 GD2 Ratio of load inertia moment to servo motor inertia moment 15 PG2 Positio n c ontrol gain 2 16 VG2 Speed control gain 2 17 VIC Speed integral compensation

(b) Manually adjusted parameters

The following parameters are adjustable manually.

Parameter No. Abbreviation Name

13 PG1 Positio n c ontrol gain 1 14 VG1 Speed control gain 1

(2) Adjustment procedure

Step Operation Description

Choose the auto tuning mode 1 (parameter No. 8: 0001) and set the machine

resonance frequency of the response level to 15Hz 1 (parameter No. 9: 0001). During operation, increase the response level setting (parameter No. 9), and

return the setting if vibration occurs. Check the values of position control gain 1 (parameter No. 13) and speed control

gain 1 (parameter No. 14).

4 Choose the interpolation mode (parameter No. 8: 0000). Select the interpolation mode.

Using the position control gain 1 value checked in step 3 as the guideline of the

upper limit, set in position control gain 1 the value identical to the position loop gain of the axis to be interpolated. Using the speed control gain 1 value checked in step 3 as the guideline of the

upper limit, look at the rotation status and set in speed control gain 1 the value three or more times greater than the position control gain 1 setting. Looking at the interpolation characteristic and rotation status, fine-adjust the

gains and response level setting.

Select the auto tuning mode 1. Adjustment in auto tuning mode

1. Check the upper setting limits.

Set position control gain 1.

Set speed control gain 1.

Fine adjustment.

(3) Adjustment description

(a) Position control gain 1 (parameter No.13)

This parameter determines the response level of the position control loop. Increasing PG1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling. The droop pulse value is determined by the following expression.

Droop pulse value (pulse)

Rotation speed (r/min) 131,072(pulse)

Position control

ain 1 set value

(b) Speed control gain 1 (parameter No. 14)

Set the response level of the speed loop of the model. Make setting using the following expression as a guideline. Speed control gain 1 setting

Position control gain 1 setting 3

6 - 11

Bose MR-J2S- B User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

COMPLIANCE WITH EC DIRECTIVES

CONFORMANCE WITH UL/C-UL STANDAR D

CONTENTS

Optional Servo Motor Instruction Manual CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

1.2 Function block diagram

1.3 Servo amplifier standard specifications

1.4 Function list

1.5 Model code definition (1) Rating plate

1.6 Combination with servo motor

1.7 Structure

1.7.1 Parts identification (1) MR-J2S-100B or less

1.7.2 Removal and reinstallation of the front cover

1.8 Servo system with auxiliar y equipm ent To prevent an electric shock, always connect the protective earth (PE) terminal

2. INSTALLATION

2.1 Environmental con dit ions

2.2 Installation direction and clearances The equipment mus t be installe d in the specif ied direc tion. Other wise, a fau lt may

2.3 Keep out foreign materials

2.4 Cable stress

3. SIGNALS AND WIRING

3.1 Connection example of control signal system

3.2 I/O signals

3.2.1 Connectors and signal arrangements POINT

3.2.2 Signal expla na ti on s

3.3 Alarm occurrence timing chart

3.4 Interfaces

3.4.1 Common line

3.4.2 Detailed description of the interfaces

3.5 Power line circuit When the servo amplifier has become faulty, switch power off on the amplifier

3.5.1 Connection example

3.5.2 Terminals

3.5.3 Power-on sequence (1) Power-on procedure

3.6 Connection of servo amplifier and servo motor

3.6.1 Connection instructions

3.6.2 Connection diagram

3.6.3 I/O terminals (1) HC-KFS

3.7 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only

3.8 Grounding Ground the servo amplifier and servo motor securely.

3.9 Servo amplifier terminal block (TE2) wiring method

3.10 Instructions for the 3M connector

3.11 Control axis selection POINT

4. OPERATION AND DISPLAY

4.1 When switching power on for the first time

4.2 Start up Do not operate the switches with wet hands. You may get an electric shock.

4.3 Servo amplifier display

4.4 Test operation mode The test operation mode is designed for servo operation confirmation and not for

5. PARAMETERS

5.1 Parameter write inhibit POINT

5.2 Lists POINT

5.3 Analog output

5.4.1 Main modifications made to the parameters

5.4.2 Explanation of the modified parameters (1) Feedback pulse number (parameter No. 6)

6. GENERAL GAIN ADJUSTMENT

6.1 Different adjustment methods

6.1.1 Adjustment on a single servo amplifier

6.1.2 Adjustment using servo configuration software POINT

6.2 Auto tuning

6.2.1 Auto tuning mode

6.2.2 Auto tuning mode operation

6.2.3 Adjustment procedure by auto tuning

6.2.4 Response level setting in auto tuning mode

6.3 Manual mode 1 (simple manual adjustment)

6.3.1 Operation of manual mode 1

6.3.2 Adjustment by manual mode 1 POINT

6.4 Interpolation mode